version: 66.08
glider: 183
mission: 3
dive: 553
start: 12 21 110 7 4 31
data:
$ID,183
$MISSION,3
$DIVE,553
$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,-9839.6865
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,211210,065736,6708.830,-5722.294,24,1.2,24,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-59.8
$GPS2,211210,070358,6708.709,-5722.230,12,2.1,31,-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,289.0,142014,-17.5,-10.000
$D_GRID,733
$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,-146.0,0.0,0.0,0,150,0.00,0.00,-131.62,0.000,2,0.000,0.000,284,2787,3274,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.1,-9.0,23,174,8.35,2.03,-5.15,0.000,4,0.243,0.087,2276,3935,3522,0,0,0,0,0,0
$GC,344,-0.57,-146.0,38.4,-12.7,56,351,0.00,1.88,0.00,0.000,6,0.000,0.049,2276,2771,3524,0,0,0,0,0,0
$GC,689,-0.57,-146.0,78.8,-11.9,117,696,0.00,2.25,0.00,0.000,4,0.000,0.050,2276,1368,3524,0,0,0,0,0,0
$GC,716,-0.57,-146.0,81.9,-11.9,121,722,0.00,2.38,0.00,0.000,6,0.000,0.062,2275,2785,3523,0,0,0,0,0,0
$GC,1053,-0.59,-146.0,115.1,-9.1,166,1058,0.00,2.25,0.00,0.000,4,0.000,0.050,2275,1369,3523,0,0,0,0,0,0
$GC,1084,-0.64,-146.0,118.1,-9.5,168,1088,0.00,2.35,0.00,0.000,6,0.000,0.062,2275,2781,3523,0,0,0,0,0,0
$GC,1415,-0.67,-146.0,148.3,-8.9,199,1419,0.00,1.98,0.00,0.000,4,0.000,0.072,2270,3949,3524,0,0,0,0,0,0
$GC,1451,-0.70,-146.0,151.5,-9.6,202,1454,0.00,1.92,0.00,0.000,6,0.000,0.047,2270,2775,3524,0,0,0,0,0,0
$GC,1782,-0.73,-146.0,182.8,-9.1,233,1786,0.00,2.25,0.00,0.000,4,0.000,0.048,2270,1361,3525,0,0,0,0,0,0
$GC,1812,-0.76,-146.0,185.4,-8.8,235,1816,0.00,2.33,0.00,0.000,6,0.000,0.061,2263,2771,3525,0,0,0,0,0,0
$GC,2139,-0.76,-146.0,214.7,-8.7,265,2142,0.00,1.98,0.00,0.000,4,0.000,0.072,2254,3932,3525,0,0,0,0,0,0
$GC,2201,-0.76,-146.0,220.9,-9.6,270,2207,0.00,1.88,0.00,0.000,6,0.000,0.047,2254,2774,3524,0,0,0,0,0,0
$GC,2526,-0.76,-146.0,249.9,-8.9,301,2530,0.00,2.25,0.00,0.000,4,0.000,0.049,2255,1362,3524,0,0,0,0,0,0
$GC,2584,-0.79,-146.0,254.9,-8.4,305,2591,0.00,2.33,0.00,0.000,6,0.000,0.061,2249,2770,3524,0,0,0,0,0,0
$GC,2909,-0.79,-146.0,285.2,-9.4,336,2913,0.00,2.25,0.00,0.000,4,0.000,0.049,2249,1368,3524,0,0,0,0,0,0
$GC,2944,-0.79,-146.0,288.8,-10.0,339,2948,0.00,2.35,0.00,0.000,6,0.000,0.062,2247,2776,3524,0,0,0,0,0,0
$GC,3274,-0.79,-146.0,321.2,-9.8,370,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2776,3524,0,0,0,0,0,0
$GC,3595,-0.79,-146.0,349.9,-8.7,400,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2776,3524,0,0,0,0,0,0
$GC,3921,-0.79,-146.0,377.8,-8.4,431,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2776,3524,0,0,0,0,0,0
$GC,4253,-0.79,-146.0,405.3,-8.5,458,4257,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1363,3524,0,0,0,0,0,0
$GC,4297,-0.82,-146.0,409.7,-8.7,459,4302,0.12,2.33,0.00,0.000,6,0.096,0.060,2190,2773,3524,0,0,0,0,0,0
$GC,4616,-0.73,-146.0,449.0,-12.9,470,4618,0.17,0.00,0.00,0.000,6,0.172,0.000,2237,2773,3524,0,0,0,0,0,0
$GC,4921,-0.73,-146.0,480.2,-10.3,480,4925,0.00,2.22,0.00,0.000,4,0.000,0.048,2238,1371,3524,0,0,0,0,0,0
$GC,4959,-0.73,-146.0,484.4,-10.6,481,4963,0.00,2.30,0.00,0.000,6,0.000,0.061,2235,2769,3524,0,0,0,0,0,0
$GC,5290,-0.73,-146.0,519.0,-10.4,492,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2769,3525,0,0,0,0,0,0
$GC,5595,-0.73,-146.0,549.5,-9.7,502,5603,0.00,1.98,0.00,0.000,4,0.000,0.070,2227,3930,3525,0,0,0,0,0,0
$GC,5653,-0.73,-146.0,555.5,-10.6,503,5657,0.00,1.88,0.00,0.000,6,0.000,0.047,2227,2772,3525,0,0,0,0,0,0
$GC,5972,-0.73,-146.0,586.7,-9.6,514,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2772,3525,0,0,0,0,0,0
$GC,6281,-0.73,-146.0,615.3,-9.4,524,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2772,3525,0,0,0,0,0,0
$GC,6585,-0.73,-146.0,644.1,-9.2,534,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2771,3525,0,0,0,0,0,0
$GC,6891,-0.73,-146.0,672.0,-9.2,544,6895,0.00,2.22,0.00,0.000,4,0.000,0.049,2227,1365,3525,0,0,0,0,0,0
$GC,6924,-0.73,-146.0,675.4,-9.4,545,6928,0.00,2.35,0.00,0.000,6,0.000,0.060,2222,2774,3525,0,0,0,0,0,0
$GC,7255,-0.71,-146.0,705.6,-9.3,556,7258,0.00,1.95,0.00,0.000,4,0.000,0.071,2220,3932,3525,0,0,0,0,0,0
$GC,7283,-0.68,-146.0,708.5,-9.8,556,7290,0.12,1.88,0.00,0.000,6,0.164,0.046,2254,2759,3525,0,0,0,0,0,0
$GC,7597,-0.72,-146.0,730.9,-7.1,567,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2760,3525,0,0,0,0,0,0
$STATE,7624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7624,begin apogee
$GC,7630,-0.14,0.0,733.1,7.2,568,7761,0.50,0.00,125.68,1.050,4,0.127,0.000,2423,2595,2923,0,0,0,0,0,0
$STATE,7762,end apogee,CONTROL_FINISHED_OK
$STATE,7762,begin climb
$GC,7765,0.57,146.0,735.9,0.0,572,7905,0.68,2.40,131.95,1.027,4,0.066,0.050,2661,1186,2327,0,0,0,0,0,0
$GC,8033,0.57,146.0,712.0,12.1,579,8041,0.00,2.47,0.00,0.000,6,0.000,0.055,2660,2604,2319,0,0,0,0,0,0
$GC,8347,0.52,146.0,673.4,12.4,590,8351,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1182,2315,0,0,0,0,0,0
$GC,8559,0.52,146.0,648.6,11.6,596,8564,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2608,2314,0,0,0,0,0,0
$GC,8884,0.48,146.0,609.3,12.1,607,8889,0.12,2.20,0.00,0.000,4,0.198,0.068,2631,3929,2313,0,0,0,0,0,0
$GC,8924,0.44,146.0,604.5,11.5,608,8928,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2595,2311,0,0,0,0,0,0
$GC,9253,0.44,149.6,571.2,9.8,619,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2594,2311,0,0,0,0,0,0
$GC,9559,0.44,149.6,540.3,10.1,629,9563,0.00,2.28,0.00,0.000,4,0.000,0.068,2635,3936,2312,0,0,0,0,0,0
$GC,9604,0.39,149.6,535.0,12.1,630,9609,0.12,2.12,0.00,0.000,6,0.193,0.045,2605,2603,2311,0,0,0,0,0,0
$GC,9934,0.47,183.7,507.4,8.4,641,9967,0.00,0.00,31.17,0.906,6,0.000,0.000,2606,2602,2174,0,0,0,0,0,0
$GC,10270,0.55,198.0,477.4,9.3,652,10286,0.15,0.00,13.25,0.858,6,0.092,0.000,2670,2602,2114,0,0,0,0,0,0
$GC,10577,0.52,198.0,436.6,13.4,662,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2602,2111,0,0,0,0,0,0
$GC,10882,0.50,198.0,396.8,12.8,672,10887,0.12,2.28,0.00,0.000,4,0.184,0.053,2638,1183,2110,0,0,0,0,0,0
$GC,10910,0.55,198.0,393.7,10.7,674,10917,0.00,2.35,0.00,0.000,6,0.000,0.054,2638,2623,2111,0,0,0,0,0,0
$GC,11236,0.59,211.3,362.0,9.4,705,11259,0.00,2.25,12.62,0.799,4,0.000,0.068,2638,3928,2060,0,0,0,0,0,0
$GC,11287,0.59,211.3,356.6,11.3,709,11294,0.00,2.12,0.00,0.000,6,0.000,0.044,2639,2606,2058,0,0,0,0,0,0
$GC,11613,0.65,229.4,326.3,9.2,740,11637,0.12,2.28,16.70,0.792,4,0.103,0.052,2694,1183,1986,0,0,0,0,0,0
$GC,11673,0.65,229.4,319.2,12.3,745,11677,0.00,2.33,0.00,0.000,6,0.000,0.055,2694,2613,1986,0,0,0,0,0,0
$GC,11998,0.61,229.4,274.7,13.6,775,12002,0.00,2.17,0.00,0.000,4,0.000,0.067,2694,3924,1983,0,0,0,0,0,0
$GC,12028,0.55,229.4,270.2,15.5,777,12033,0.17,2.12,0.00,0.000,6,0.180,0.044,2650,2605,1981,0,0,0,0,0,0
$GC,12353,0.60,229.4,233.0,10.9,807,12357,0.00,2.22,0.00,0.000,4,0.000,0.053,2650,1191,1981,0,0,0,0,0,0
$GC,12410,0.69,229.4,227.1,10.1,811,12417,0.12,2.30,0.00,0.000,6,0.099,0.055,2704,2597,1981,0,0,0,0,0,0
$GC,12735,0.65,229.4,182.4,13.5,842,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2597,1981,0,0,0,0,0,0
$GC,13059,0.62,229.4,140.2,12.6,872,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2597,1981,0,0,0,0,0,0
$GC,13387,0.62,229.4,97.1,13.2,904,13394,0.00,2.25,0.00,0.000,4,0.000,0.067,2704,3934,1981,0,0,0,0,0,0
$GC,13502,0.55,229.4,79.9,14.3,924,13509,0.17,2.15,0.00,0.000,6,0.178,0.045,2658,2599,1980,0,0,0,0,0,0
$GC,13851,0.65,276.2,49.3,7.8,985,13898,0.00,2.30,39.65,0.648,4,0.000,0.054,2658,1190,1794,0,0,0,0,0,0
$GC,13953,0.83,322.2,40.9,7.9,1002,14002,0.22,2.33,38.85,0.631,6,0.079,0.055,2750,2596,1609,0,0,0,0,0,0
$FREEZE,8.45,-1.567,-1.768,0,1,0
$FREEZE,7.61,-1.568,-1.767,0,1,0
$FREEZE,6.88,-1.568,-1.767,0,1,0
$FREEZE,6.12,-1.570,-1.766,0,1,0
$FREEZE,5.40,-1.570,-1.765,0,1,0
$FREEZE,4.81,-1.570,-1.765,0,1,0
$FREEZE,4.30,-1.570,-1.765,0,1,0
$FREEZE,3.92,-1.573,-1.764,0,1,0
$FREEZE,3.40,-1.573,-1.764,0,1,0
$FREEZE,2.86,-1.573,-1.763,0,1,0
$STATE,14239,end climb,SURFACE_DEPTH_REACHED
$STATE,14239,begin surface coast
$FREEZE,2.25,-1.571,-1.763,0,1,0
$FREEZE,1.51,-1.570,-1.763,0,1,0
$FREEZE,1.11,-1.526,-1.133,0,1,0
$FREEZE,1.14,-1.550,-0.997,0,1,0
$FREEZE,1.23,-1.419,-1.753,0,1,0
$FREEZE,1.14,-1.488,-1.751,0,1,0
$FREEZE,1.03,-1.112,-1.737,0,1,0
$FINISH,1.0,1.025513
$STATE,14277,end surface coast,CONTROL_FINISHED_OK
$STATE,14277,begin surface
$SM_CCo,14293,197.90,0.581,1,0,439,609.08
$SM_GC,1.84,0.00,0.00,197.90,0.000,0.000,0.581,300,2780,439,-6.79,0.00,609.08
$RAFOS_CLK,757
$RAFOS,6,1292921347,8.833333,8.818611,65,46,42,42,42,40,716,258,203,1067,1639,1445
$RAFOS,5,1292920887,8.700000,8.690833,156,44,43,42,41,41,476,1894,1863,782,1864,753
$RAFOS,4,1292920388,8.566667,8.552222,70,52,48,48,46,45,788,343,1098,1492,1737,1918
$RAFOS,3,1292919929,8.433333,8.424723,46,45,45,42,42,40,26,1273,837,1408,1351,872
$RAFOS,2,1292919439,8.300000,8.288611,48,47,46,45,41,40,1391,924,1908,1380,1365,268
$RAFOS,1,1292918947,8.166667,8.151944,43,43,43,43,39,38,1466,165,387,1844,1558,1732
$RAFOS,0,1292918470,8.033334,8.019444,45,44,42,42,41,39,582,447,635,667,1835,940
$RAFOS_FIX,6709.674805,-5729.976074,211210,080822,3,97,0.98
$IRIDIUM_FIX,6636.54,-5719.87,211210,030349
$TT8_MAMPS,0.028462
$HUMID,45.98
$INTERNAL_PRESSURE,8.46559
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,21.6,66.313
$10V_AH,9.8,47.297
$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,17.950,106.275,409.875,197.900,0.000,29.989,44.747,139.017,2.500,0.000,35.492,2656.357,9123.060,748.747,2066.162,301.385,0.000,1761.999,0.000,1812.053,2520.000,18.528,0.000
$DEVICE_MAMPS,243.270,87.210,1050.345,580.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,40001,1060
$CAP_FILE_SIZE,144388,0
$CFSIZE,260165632,211202048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1460.5
$GPS,211210,110737,6708.940,-5728.625,27,1.3,27,-37.9