version: 66.08
glider: 183
mission: 3
dive: 552
start: 12 21 110 3 8 27
data:
$ID,183
$MISSION,3
$DIVE,552
$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,-9838.4277
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,211210,030137,6709.114,-5717.034,41,1.7,41,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-58.6
$GPS2,211210,030758,6709.070,-5717.018,15,2.2,34,-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,289.2,145840,-17.5,-10.000
$D_GRID,695
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,157,0.00,0.00,-137.23,0.000,2,0.000,0.000,288,2785,3464,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.9,-14.4,24,176,8.38,1.98,-1.12,0.000,4,0.243,0.079,2279,3930,3521,0,0,0,0,0,0
$GC,362,-0.57,-146.0,41.7,-10.9,59,369,0.00,1.88,0.00,0.000,6,0.000,0.048,2279,2775,3523,0,0,0,0,0,0
$GC,709,-0.59,-146.0,79.2,-10.8,120,715,0.00,1.98,0.00,0.000,4,0.000,0.074,2275,3924,3522,0,0,0,0,0,0
$GC,780,-0.63,-146.0,86.7,-10.2,132,787,0.00,1.83,0.00,0.000,6,0.000,0.048,2275,2783,3522,0,0,0,0,0,0
$GC,1116,-0.65,-146.0,119.8,-9.8,174,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2783,3522,0,0,0,0,0,0
$GC,1446,-0.67,-146.0,150.8,-9.9,205,1450,0.00,2.22,0.00,0.000,4,0.000,0.049,2275,1371,3522,0,0,0,0,0,0
$GC,1498,-0.73,-146.0,156.0,-8.8,209,1503,0.10,2.35,0.00,0.000,6,0.110,0.061,2228,2794,3522,0,0,0,0,0,0
$GC,1823,-0.67,-146.0,195.7,-11.6,239,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2794,3522,0,0,0,0,0,0
$GC,2144,-0.63,-146.0,231.0,-10.7,269,2149,0.15,2.30,0.00,0.000,4,0.166,0.050,2270,1365,3522,0,0,0,0,0,0
$GC,2185,-0.69,-146.0,234.8,-8.1,272,2189,0.00,2.35,0.00,0.000,6,0.000,0.062,2270,2786,3522,0,0,0,0,0,0
$GC,2511,-0.73,-146.0,260.3,-8.1,302,2515,0.00,2.25,0.00,0.000,4,0.000,0.050,2270,1371,3522,0,0,0,0,0,0
$GC,2533,-0.78,-146.0,262.4,-8.8,303,2540,0.15,2.35,0.00,0.000,6,0.092,0.061,2203,2791,3522,0,0,0,0,0,0
$GC,2858,-0.70,-146.0,304.0,-13.4,334,2863,0.15,2.30,0.00,0.000,4,0.178,0.050,2244,1362,3521,0,0,0,0,0,0
$GC,2889,-0.70,-146.0,307.5,-11.2,336,2893,0.00,2.35,0.00,0.000,6,0.000,0.062,2243,2774,3522,0,0,0,0,0,0
$GC,3214,-0.70,-146.0,339.2,-9.8,366,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2774,3522,0,0,0,0,0,0
$GC,3536,-0.70,-146.0,369.3,-9.4,396,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2773,3522,0,0,0,0,0,0
$GC,3865,-0.70,-146.0,398.9,-8.9,427,3869,0.00,2.25,0.00,0.000,4,0.000,0.049,2243,1369,3523,0,0,0,0,0,0
$GC,3887,-0.70,-146.0,401.5,-9.5,428,3894,0.00,2.33,0.00,0.000,6,0.000,0.061,2243,2778,3522,0,0,0,0,0,0
$GC,4201,-0.70,-146.0,430.2,-9.6,439,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2778,3523,0,0,0,0,0,0
$GC,4508,-0.70,-146.0,458.9,-9.1,449,4512,0.00,2.25,0.00,0.000,4,0.000,0.048,2243,1363,3523,0,0,0,0,0,0
$GC,4546,-0.73,-146.0,462.8,-9.1,450,4550,0.00,2.33,0.00,0.000,6,0.000,0.060,2243,2761,3523,0,0,0,0,0,0
$GC,4871,-0.73,-146.0,489.1,-7.9,461,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2761,3523,0,0,0,0,0,0
$GC,5177,-0.73,-146.0,513.9,-8.2,471,5181,0.00,2.20,0.00,0.000,4,0.000,0.049,2243,1372,3524,0,0,0,0,0,0
$GC,5206,-0.73,-146.0,516.4,-8.8,472,5210,0.00,2.28,0.00,0.000,6,0.000,0.060,2243,2754,3523,0,0,0,0,0,0
$GC,5542,-0.73,-146.0,543.8,-8.2,483,5546,0.00,1.98,0.00,0.000,4,0.000,0.070,2237,3931,3524,0,0,0,0,0,0
$GC,5564,-0.73,-146.0,546.0,-9.0,483,5568,0.00,1.90,0.00,0.000,6,0.000,0.047,2236,2756,3524,0,0,0,0,0,0
$GC,5883,-0.73,-146.0,573.8,-8.9,494,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2755,3523,0,0,0,0,0,0
$GC,6190,-0.73,-146.0,601.7,-9.1,504,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2756,3523,0,0,0,0,0,0
$GC,6495,-0.73,-146.0,629.9,-9.2,514,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2756,3523,0,0,0,0,0,0
$GC,6802,-0.73,-146.0,658.1,-9.2,524,6806,0.00,2.20,0.00,0.000,4,0.000,0.049,2236,1364,3524,0,0,0,0,0,0
$GC,6835,-0.73,-146.0,661.3,-9.1,525,6839,0.00,2.30,0.00,0.000,6,0.000,0.060,2235,2755,3523,0,0,0,0,0,0
$GC,7164,-0.73,-146.0,691.2,-9.0,536,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2755,3523,0,0,0,0,0,0
$STATE,7223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7223,begin apogee
$GC,7229,-0.14,0.0,696.6,9.0,538,7360,0.57,0.00,124.40,1.030,4,0.129,0.000,2423,2599,2923,0,0,0,0,0,0
$STATE,7360,end apogee,CONTROL_FINISHED_OK
$STATE,7360,begin climb
$GC,7364,0.57,146.0,701.1,0.0,542,7502,0.68,2.42,131.32,1.008,4,0.067,0.050,2661,1182,2327,0,0,0,0,0,0
$GC,7628,0.57,146.4,681.9,10.0,550,7632,0.00,2.47,0.00,0.000,6,0.000,0.054,2661,2599,2319,0,0,0,0,0,0
$GC,7946,0.52,146.4,647.0,11.2,561,7950,0.00,2.30,0.00,0.000,4,0.000,0.053,2662,1186,2314,0,0,0,0,0,0
$GC,8164,0.52,146.4,624.4,10.4,567,8168,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2610,2315,0,0,0,0,0,0
$GC,8483,0.47,146.4,588.5,11.4,578,8488,0.12,2.22,0.00,0.000,4,0.200,0.068,2631,3926,2313,0,0,0,0,0,0
$GC,8527,0.43,146.4,583.1,11.9,579,8531,0.00,2.15,0.00,0.000,6,0.000,0.046,2635,2595,2312,0,0,0,0,0,0
$GC,8851,0.43,146.4,549.5,10.6,590,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2595,2312,0,0,0,0,0,0
$GC,9157,0.43,146.4,517.6,10.3,600,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2595,2312,0,0,0,0,0,0
$GC,9463,0.43,146.4,486.2,10.2,610,9467,0.00,2.28,0.00,0.000,4,0.000,0.069,2634,3933,2312,0,0,0,0,0,0
$GC,9496,0.39,146.4,482.2,12.4,611,9501,0.12,2.12,0.00,0.000,6,0.194,0.045,2606,2610,2311,0,0,0,0,0,0
$GC,9826,0.47,182.8,453.9,8.3,622,9861,0.00,2.30,30.30,0.877,4,0.000,0.053,2606,1185,2177,0,0,0,0,0,0
$GC,9892,0.61,227.8,448.6,7.9,624,9938,0.20,2.38,39.20,0.864,6,0.080,0.056,2686,2619,1996,0,0,0,0,0,0
$GC,10253,0.58,227.8,396.5,14.7,637,10257,0.00,2.20,0.00,0.000,4,0.000,0.067,2686,3926,1987,0,0,0,0,0,0
$GC,10289,0.50,227.8,391.0,16.5,640,10294,0.20,2.12,0.00,0.000,6,0.180,0.046,2637,2612,1985,0,0,0,0,0,0
$GC,10615,0.55,227.8,354.3,10.9,670,10619,0.00,2.28,0.00,0.000,4,0.000,0.053,2637,1183,1984,0,0,0,0,0,0
$GC,10659,0.65,227.8,349.5,10.1,673,10667,0.15,2.30,0.00,0.000,6,0.093,0.056,2697,2605,1984,0,0,0,0,0,0
$GC,10985,0.60,227.8,299.2,15.5,704,10989,0.00,2.20,0.00,0.000,4,0.000,0.067,2697,3926,1984,0,0,0,0,0,0
$GC,11025,0.51,227.8,292.5,16.7,707,11032,0.20,2.12,0.00,0.000,6,0.180,0.045,2647,2606,1983,0,0,0,0,0,0
$GC,11350,0.56,227.8,254.8,10.7,738,11354,0.00,2.25,0.00,0.000,4,0.000,0.053,2647,1182,1983,0,0,0,0,0,0
$GC,11426,0.66,237.9,247.6,9.5,744,11441,0.12,2.30,8.35,0.707,6,0.101,0.054,2699,2606,1953,0,0,0,0,0,0
$GC,11768,0.63,237.9,200.2,13.8,776,11773,0.00,2.22,0.00,0.000,4,0.000,0.067,2698,3932,1951,0,0,0,0,0,0
$GC,11833,0.55,237.9,190.3,15.8,781,11838,0.17,2.15,0.00,0.000,6,0.181,0.044,2655,2596,1951,0,0,0,0,0,0
$GC,12161,0.61,237.9,156.0,10.2,811,12165,0.00,2.22,0.00,0.000,4,0.000,0.053,2655,1186,1950,0,0,0,0,0,0
$GC,12201,0.72,251.3,152.0,9.4,814,12225,0.15,2.30,13.00,0.690,6,0.094,0.056,2717,2593,1897,0,0,0,0,0,0
$GC,12543,0.68,251.3,106.2,14.5,846,12547,0.00,2.22,0.00,0.000,4,0.000,0.067,2717,3932,1894,0,0,0,0,0,0
$GC,12651,0.61,251.3,88.4,16.2,861,12659,0.17,2.12,0.00,0.000,6,0.184,0.045,2673,2612,1892,0,0,0,0,0,0
$GC,12999,0.67,251.3,50.3,10.2,922,13006,0.00,2.25,0.00,0.000,4,0.000,0.053,2673,1190,1892,0,0,0,0,0,0
$GC,13087,0.77,273.1,42.5,9.0,937,13113,0.15,2.30,19.25,0.646,6,0.096,0.057,2735,2609,1809,0,0,0,0,0,0
$FREEZE,8.92,-0.252,-1.794,0,1,0
$FREEZE,8.16,-0.251,-1.793,0,1,0
$FREEZE,7.60,-0.277,-1.793,0,1,0
$FREEZE,6.93,-0.280,-1.792,0,1,0
$FREEZE,6.40,-0.258,-1.791,0,1,0
$FREEZE,5.70,-0.255,-1.791,0,1,0
$FREEZE,4.87,-0.251,-1.790,0,1,0
$FREEZE,4.21,-0.257,-1.790,0,1,0
$FREEZE,3.48,-0.251,-1.789,0,1,0
$FREEZE,3.06,-0.235,-1.789,0,1,0
$FREEZE,2.55,-0.240,-1.789,0,1,0
$STATE,13401,end climb,SURFACE_DEPTH_REACHED
$STATE,13401,begin surface coast
$FREEZE,2.08,-0.242,-1.788,0,1,0
$FREEZE,1.56,-0.251,-1.788,0,1,0
$FREEZE,1.16,-0.249,-1.787,0,1,0
$FREEZE,1.14,-0.252,-1.787,0,1,0
$FREEZE,1.13,-0.225,-0.857,0,1,0
$FINISH,1.1,1.012651
$STATE,13429,end surface coast,CONTROL_FINISHED_OK
$STATE,13429,begin surface
$SM_CCo,13445,219.02,0.087,0,0,440,609.08
$SM_GC,1.81,0.00,0.00,219.02,0.000,0.000,0.087,294,2787,440,-6.81,0.20,609.08
$RAFOS_CLK,709
$RAFOS,6,1292906971,4.833333,4.825278,66,42,42,41,41,39,595,835,1518,26,1845,459
$RAFOS,5,1292906464,4.700000,4.684444,85,42,40,40,39,39,614,336,788,1611,894,1263
$RAFOS,4,1292905989,4.566667,4.552500,56,48,44,44,43,41,393,226,501,1815,813,792
$RAFOS,3,1292905530,4.433333,4.425000,44,43,42,42,40,38,1423,305,319,936,1403,872
$RAFOS,2,1292905043,4.300000,4.289722,47,46,44,43,41,41,715,1868,1050,192,1618,416
$RAFOS,1,1292904543,4.166667,4.150833,51,44,42,42,41,41,258,1019,26,534,430,1753
$RAFOS,0,1292904066,4.033333,4.018333,49,46,44,43,42,41,1096,1512,926,1702,1436,154
$RAFOS_FIX,6710.394043,-5725.672852,211210,040400,2,76,1.11
$IRIDIUM_FIX,6636.54,-5656.94,201210,232353
$TT8_MAMPS,0.029211
$HUMID,46.92
$INTERNAL_PRESSURE,8.46559
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.2
$24V_AH,21.7,66.161
$10V_AH,9.9,47.224
$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,18.600,107.250,365.825,219.025,0.000,29.117,38.450,136.151,2.250,0.000,37.738,2544.143,8521.778,703.343,1998.114,289.883,0.000,1681.365,0.000,1745.225,2520.000,16.775,0.000
$DEVICE_MAMPS,242.505,84.150,1030.455,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.781,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151620
$DATA_FILE_SIZE,36752,998
$CAP_FILE_SIZE,140696,0
$CFSIZE,260165632,211275776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.5
$GPS,211210,065736,6708.830,-5722.294,24,1.2,24,-37.8