version: 66.08
glider: 183
mission: 3
dive: 551
start: 12 20 110 23 14 7
data:
$ID,183
$MISSION,3
$DIVE,551
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,3
$D_SAFE,500
$D_CALL,4
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51717
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,609.0799
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9837.1709
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,311
$PITCH_MAX,3850
$C_PITCH,2475
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,330
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2780
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2923
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00065
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.615704
$PRESSURE_SLOPE,0.00012025224
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.4000001
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,117
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043469137
$SEABIRD_T_H,0.00062159239
$SEABIRD_T_I,2.0014088e-05
$SEABIRD_T_J,1.6690842e-06
$SEABIRD_C_G,-9.9685602
$SEABIRD_C_H,1.1354375
$SEABIRD_C_I,-0.0013495153
$SEABIRD_C_J,0.00019269099
$GPS1,201210,230736,6707.940,-5711.278,33,0.9,33,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.1
$GPS2,201210,231334,6707.978,-5711.348,14,2.2,33,-37.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,290.5,149163,-17.5,-10.000
$D_GRID,654
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,153,0.00,0.00,-134.88,0.000,2,0.000,0.000,281,2788,3440,0,0,0,0,0,0
$GC,157,-0.57,-146.0,5.4,-10.2,24,177,8.25,1.98,-1.70,0.000,4,0.242,0.078,2276,3938,3522,0,0,0,0,0,0
$GC,346,-0.57,-146.0,40.0,-12.0,57,353,0.00,1.85,0.00,0.000,6,0.000,0.047,2276,2778,3523,0,0,0,0,0,0
$GC,692,-0.57,-146.0,76.2,-10.4,118,698,0.00,2.25,0.00,0.000,4,0.000,0.049,2276,1361,3522,0,0,0,0,0,0
$GC,764,-0.61,-146.0,82.9,-9.1,130,770,0.00,2.33,0.00,0.000,6,0.000,0.060,2275,2769,3522,0,0,0,0,0,0
$GC,1100,-0.61,-146.0,116.2,-10.6,176,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2769,3523,0,0,0,0,0,0
$GC,1421,-0.64,-146.0,150.2,-9.2,206,1425,0.00,2.22,0.00,0.000,4,0.000,0.049,2275,1364,3522,0,0,0,0,0,0
$GC,1472,-0.70,-146.0,155.2,-8.9,210,1476,0.00,2.30,0.00,0.000,6,0.000,0.060,2274,2769,3522,0,0,0,0,0,0
$GC,1804,-0.74,-146.0,185.2,-9.1,241,1806,0.12,0.00,0.00,0.000,6,0.102,0.000,2217,2769,3521,0,0,0,0,0,0
$GC,2122,-0.69,-146.0,223.0,-11.8,271,2126,0.12,2.25,0.00,0.000,4,0.174,0.048,2251,1371,3521,0,0,0,0,0,0
$GC,2154,-0.69,-146.0,226.6,-9.9,273,2161,0.00,2.28,0.00,0.000,6,0.000,0.060,2247,2765,3521,0,0,0,0,0,0
$GC,2480,-0.69,-146.0,256.4,-9.4,304,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2765,3521,0,0,0,0,0,0
$GC,2800,-0.69,-146.0,285.6,-8.4,334,2804,0.00,2.22,0.00,0.000,4,0.000,0.047,2247,1365,3522,0,0,0,0,0,0
$GC,2827,-0.69,-146.0,288.5,-9.0,336,2834,0.00,2.28,0.00,0.000,6,0.000,0.059,2247,2754,3522,0,0,0,0,0,0
$GC,3153,-0.69,-146.0,318.1,-8.8,367,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2754,3522,0,0,0,0,0,0
$GC,3472,-0.69,-146.0,346.4,-8.8,397,3475,0.00,1.95,0.00,0.000,4,0.000,0.068,2247,3928,3523,0,0,0,0,0,0
$GC,3499,-0.69,-146.0,349.2,-9.4,399,3506,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2755,3523,0,0,0,0,0,0
$GC,3825,-0.69,-146.0,377.8,-9.3,430,3829,0.00,2.15,0.00,0.000,4,0.000,0.047,2247,1371,3523,0,0,0,0,0,0
$GC,3847,-0.69,-146.0,380.0,-9.6,431,3853,0.00,2.30,0.00,0.000,6,0.000,0.058,2247,2767,3523,0,0,0,0,0,0
$GC,4189,-0.69,-146.0,412.0,-9.4,456,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3523,0,0,0,0,0,0
$GC,4495,-0.69,-146.0,440.8,-9.5,466,4499,0.00,2.22,0.00,0.000,4,0.000,0.047,2247,1367,3524,0,0,0,0,0,0
$GC,4534,-0.72,-146.0,444.8,-9.8,467,4538,0.00,2.28,0.00,0.000,6,0.000,0.058,2247,2758,3524,0,0,0,0,0,0
$GC,4858,-0.72,-146.0,474.5,-8.9,478,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3524,0,0,0,0,0,0
$GC,5164,-0.72,-146.0,499.1,-7.6,488,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3525,0,0,0,0,0,0
$GC,5470,-0.72,-146.0,522.4,-7.9,498,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3524,0,0,0,0,0,0
$GC,5777,-0.72,-146.0,547.4,-8.3,508,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3524,0,0,0,0,0,0
$GC,6084,-0.72,-146.0,573.5,-8.6,518,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3524,0,0,0,0,0,0
$GC,6390,-0.74,-146.0,598.7,-8.1,528,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3524,0,0,0,0,0,0
$GC,6695,-0.77,-146.0,621.9,-7.5,538,6699,0.00,2.20,0.00,0.000,4,0.000,0.048,2247,1373,3524,0,0,0,0,0,0
$GC,6731,-0.80,-146.0,624.9,-8.4,539,6735,0.00,2.28,0.00,0.000,6,0.000,0.060,2247,2755,3524,0,0,0,0,0,0
$GC,7072,-0.83,-146.0,652.0,-8.2,550,7076,0.12,2.00,0.00,0.000,4,0.104,0.070,2178,3932,3523,0,0,0,0,0,0
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7085,begin apogee
$GC,7092,-0.14,0.0,654.1,8.3,550,7222,0.77,0.00,123.07,1.005,4,0.146,0.000,2420,2589,2923,0,0,0,0,0,0
$STATE,7223,end apogee,CONTROL_FINISHED_OK
$STATE,7223,begin climb
$GC,7226,0.57,146.0,657.7,0.0,554,7364,0.70,2.38,129.23,0.979,4,0.073,0.048,2661,1185,2326,0,0,0,0,0,0
$GC,7534,0.57,146.0,630.5,11.5,564,7538,0.00,2.42,0.00,0.000,6,0.000,0.054,2662,2598,2318,0,0,0,0,0,0
$GC,7869,0.52,146.0,590.4,11.8,575,7873,0.00,2.28,0.00,0.000,4,0.000,0.053,2662,1186,2314,0,0,0,0,0,0
$GC,8078,0.52,146.0,566.8,11.6,581,8082,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2617,2314,0,0,0,0,0,0
$GC,8408,0.48,146.0,526.2,12.6,592,8413,0.12,2.17,0.00,0.000,4,0.199,0.067,2631,3925,2313,0,0,0,0,0,0
$GC,8452,0.44,146.0,520.6,11.7,593,8456,0.00,2.12,0.00,0.000,6,0.000,0.044,2634,2602,2312,0,0,0,0,0,0
$GC,8776,0.44,146.0,487.6,10.2,604,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2601,2312,0,0,0,0,0,0
$GC,9083,0.44,146.0,456.3,10.1,614,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2601,2311,0,0,0,0,0,0
$GC,9388,0.45,158.4,426.6,9.4,624,9399,0.00,0.00,9.05,0.812,6,0.000,0.000,2634,2600,2277,0,0,0,0,0,0
$GC,9696,0.45,158.4,396.2,10.7,636,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2601,2275,0,0,0,0,0,0
$GC,10016,0.45,158.4,362.7,10.4,666,10020,0.00,2.22,0.00,0.000,4,0.000,0.052,2635,1191,2275,0,0,0,0,0,0
$GC,10046,0.49,158.4,359.4,10.6,668,10050,0.00,2.33,0.00,0.000,6,0.000,0.056,2635,2612,2275,0,0,0,0,0,0
$GC,10371,0.49,158.4,325.1,10.7,698,10375,0.00,2.17,0.00,0.000,4,0.000,0.067,2634,3925,2274,0,0,0,0,0,0
$GC,10421,0.46,158.4,319.1,12.6,702,10428,0.00,2.10,0.00,0.000,6,0.000,0.045,2635,2617,2274,0,0,0,0,0,0
$GC,10747,0.46,158.4,284.7,11.1,733,10751,0.00,2.25,0.00,0.000,4,0.000,0.052,2636,1191,2274,0,0,0,0,0,0
$GC,10787,0.52,158.4,280.3,10.9,736,10791,0.00,2.30,0.00,0.000,6,0.000,0.055,2636,2614,2274,0,0,0,0,0,0
$GC,11113,0.52,158.4,245.1,10.9,766,11117,0.00,2.20,0.00,0.000,4,0.000,0.067,2636,3925,2274,0,0,0,0,0,0
$GC,11182,0.49,158.4,236.9,12.8,772,11186,0.00,2.10,0.00,0.000,6,0.000,0.044,2638,2613,2274,0,0,0,0,0,0
$GC,11514,0.52,167.0,204.3,9.6,803,11529,0.00,2.33,8.68,0.694,4,0.000,0.051,2638,1185,2242,0,0,0,0,0,0
$GC,11586,0.61,191.6,197.5,8.9,809,11615,0.00,2.33,22.52,0.719,6,0.000,0.054,2638,2609,2141,0,0,0,0,0,0
$GC,11934,0.68,228.7,167.2,8.3,842,11971,0.15,2.25,31.85,0.705,4,0.095,0.067,2702,3926,1989,0,0,0,0,0,0
$GC,12006,0.60,228.7,158.7,13.6,848,12013,0.15,2.12,0.00,0.000,6,0.188,0.044,2668,2618,1985,0,0,0,0,0,0
$GC,12332,0.64,238.3,127.2,9.6,879,12348,0.00,2.35,8.55,0.649,4,0.000,0.052,2668,1190,1951,0,0,0,0,0,0
$GC,12390,0.73,248.8,121.7,9.5,884,12406,0.12,2.33,10.60,0.655,6,0.104,0.056,2719,2621,1908,0,0,0,0,0,0
$GC,12737,0.70,248.8,71.1,14.1,932,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2620,1902,0,0,0,0,0,0
$GC,13083,0.67,248.8,25.3,12.8,993,13089,0.00,2.20,0.00,0.000,4,0.000,0.067,2719,3933,1900,0,0,0,0,0,0
$GC,13182,0.60,248.8,11.7,13.8,1010,13189,0.17,2.10,0.00,0.000,6,0.184,0.045,2673,2622,1900,0,0,0,0,0,0
$FREEZE,8.71,0.822,-1.807,0,1,0
$FREEZE,8.17,0.874,-1.806,0,1,0
$FREEZE,7.60,0.882,-1.806,0,1,0
$FREEZE,7.13,0.838,-1.806,0,1,0
$FREEZE,6.81,0.871,-1.806,0,1,0
$FREEZE,6.22,0.866,-1.805,0,1,0
$FREEZE,5.71,0.878,-1.805,0,1,0
$FREEZE,5.22,0.871,-1.805,0,1,0
$FREEZE,4.74,0.835,-1.805,0,1,0
$FREEZE,4.19,0.874,-1.804,0,1,0
$FREEZE,3.76,0.885,-1.803,0,1,0
$FREEZE,3.38,0.875,-1.803,0,1,0
$FREEZE,2.99,0.861,-1.803,0,1,0
$STATE,13268,end climb,SURFACE_DEPTH_REACHED
$STATE,13268,begin surface coast
$FREEZE,2.62,0.854,-1.803,0,1,0
$FREEZE,1.85,0.860,-1.802,0,1,0
$FREEZE,1.35,0.855,-1.802,0,1,0
$FREEZE,1.23,0.853,-1.802,0,1,0
$FREEZE,1.08,0.716,-1.809,0,1,0
$FREEZE,1.27,0.882,-1.800,0,1,0
$FREEZE,1.11,0.865,-0.933,0,1,0
$FINISH,1.1,1.013776
$STATE,13306,end surface coast,CONTROL_FINISHED_OK
$STATE,13306,begin surface
$SM_CCo,13322,227.32,0.085,0,0,440,609.08
$SM_GC,1.70,0.00,0.00,227.32,0.000,0.000,0.085,301,2784,440,-6.79,0.11,609.08
$RAFOS_CLK,695
$RAFOS,6,1292892560,0.833333,0.822222,60,44,43,43,42,41,673,1511,1660,1282,735,154
$RAFOS,5,1292892070,0.700000,0.686111,108,46,42,42,42,39,591,144,511,1625,1694,378
$RAFOS,4,1292891610,0.566667,0.558333,49,47,44,39,39,39,704,718,966,452,932,1671
$RAFOS,3,1292891125,0.433333,0.423611,48,44,42,41,39,38,144,626,1651,1848,1588,1665
$RAFOS,2,1292890627,0.300000,0.285278,45,41,41,41,40,40,145,696,1613,703,81,1769
$RAFOS,1,1292890146,0.166667,0.151667,48,47,46,45,44,44,593,1288,1270,26,407,873
$RAFOS,0,1292889662,0.033333,0.017222,47,46,44,44,43,42,162,1563,372,1866,1173,26
$RAFOS_FIX,6709.898438,-5718.858398,211210,000056,2,84,1.15
$IRIDIUM_FIX,6636.54,-5719.87,201210,191926
$TT8_MAMPS,0.028462
$HUMID,47.83
$INTERNAL_PRESSURE,8.48513
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,652.0,34.1
$24V_AH,21.9,66.045
$10V_AH,9.9,47.153
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.200,93.050,343.550,227.325,0.000,31.517,19.664,135.449,2.500,0.000,36.525,2582.775,8372.875,693.910,1988.050,286.001,0.000,1661.136,0.000,1757.243,2520.000,19.530,0.000
$DEVICE_MAMPS,241.740,82.620,1005.210,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,36735,1033
$CAP_FILE_SIZE,135223,0
$CFSIZE,260165632,211345408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,211210,030137,6709.114,-5717.034,41,1.7,41,-37.8