version: 66.08
glider: 183
mission: 3
dive: 556
start: 12 21 110 18 13 23
data:
$ID,183
$MISSION,3
$DIVE,556
$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,-9843.459
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,211210,180715,6710.854,-5743.580,34,2.4,53,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.6
$GPS2,211210,181252,6710.814,-5743.608,11,2.2,30,-38.0
$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,285.3,128761,-17.5,-10.000
$D_GRID,807
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,155,0.00,0.00,-134.48,0.000,2,0.000,0.000,279,2784,3282,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.4,-11.7,24,179,8.48,2.03,-4.75,0.000,4,0.246,0.085,2278,3938,3522,0,0,0,0,0,0
$GC,203,-0.22,-146.0,24.4,-32.1,31,210,0.43,1.90,0.00,0.000,6,0.150,0.049,2404,2775,3524,0,0,0,0,0,0
$GC,550,-0.59,-146.0,47.9,-9.3,92,557,0.32,2.25,0.00,0.000,4,0.105,0.050,2286,1368,3524,0,0,0,0,0,0
$GC,588,-0.76,-146.0,51.4,-9.0,98,595,0.15,2.35,0.00,0.000,6,0.095,0.062,2222,2785,3524,0,0,0,0,0,0
$GC,939,-0.66,-146.0,103.6,-15.0,158,941,0.12,0.00,0.00,0.000,6,0.186,0.000,2255,2786,3524,0,0,0,0,0,0
$GC,1257,-0.66,-146.0,139.6,-10.7,188,1261,0.00,2.30,0.00,0.000,4,0.000,0.052,2255,1365,3523,0,0,0,0,0,0
$GC,1296,-0.66,-146.0,143.9,-10.9,191,1301,0.00,2.35,0.00,0.000,6,0.000,0.064,2249,2768,3523,0,0,0,0,0,0
$GC,1622,-0.64,-146.0,180.2,-11.5,221,1626,0.00,1.98,0.00,0.000,4,0.000,0.075,2247,3933,3523,0,0,0,0,0,0
$GC,1657,-0.64,-146.0,184.1,-11.6,224,1660,0.00,1.88,0.00,0.000,6,0.000,0.049,2247,2769,3522,0,0,0,0,0,0
$GC,1988,-0.64,-146.0,220.2,-10.6,255,1991,0.00,2.25,0.00,0.000,4,0.000,0.052,2247,1362,3522,0,0,0,0,0,0
$GC,2037,-0.64,-146.0,225.5,-9.9,259,2044,0.00,2.33,0.00,0.000,6,0.000,0.064,2247,2765,3522,0,0,0,0,0,0
$GC,2363,-0.64,-146.0,259.4,-10.4,290,2366,0.00,2.00,0.00,0.000,4,0.000,0.075,2247,3930,3522,0,0,0,0,0,0
$GC,2391,-0.64,-146.0,262.6,-11.1,292,2398,0.00,1.88,0.00,0.000,6,0.000,0.049,2246,2763,3522,0,0,0,0,0,0
$GC,2717,-0.64,-146.0,295.1,-10.3,323,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3522,0,0,0,0,0,0
$GC,3037,-0.64,-146.0,327.1,-9.7,353,3041,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1360,3523,0,0,0,0,0,0
$GC,3065,-0.64,-146.0,330.2,-10.2,355,3069,0.00,2.35,0.00,0.000,6,0.000,0.063,2247,2762,3523,0,0,0,0,0,0
$GC,3390,-0.64,-146.0,363.8,-10.3,385,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3523,0,0,0,0,0,0
$GC,3713,-0.64,-146.0,395.5,-9.6,415,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3524,0,0,0,0,0,0
$GC,4038,-0.64,-146.0,426.3,-9.0,429,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3523,0,0,0,0,0,0
$GC,4344,-0.64,-146.0,454.3,-9.3,439,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3524,0,0,0,0,0,0
$GC,4651,-0.64,-146.0,484.8,-10.2,449,4655,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1368,3524,0,0,0,0,0,0
$GC,4689,-0.68,-146.0,489.1,-10.4,450,4694,0.00,2.30,0.00,0.000,6,0.000,0.062,2247,2755,3524,0,0,0,0,0,0
$GC,5014,-0.68,-146.0,521.6,-10.0,461,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2755,3525,0,0,0,0,0,0
$GC,5322,-0.68,-146.0,551.0,-9.6,471,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3525,0,0,0,0,0,0
$GC,5626,-0.68,-146.0,576.8,-8.1,481,5630,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1359,3525,0,0,0,0,0,0
$GC,5659,-0.71,-146.0,579.4,-8.0,482,5663,0.00,2.30,0.00,0.000,6,0.000,0.061,2247,2751,3525,0,0,0,0,0,0
$GC,5989,-0.71,-146.0,602.9,-7.0,493,5993,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3933,3525,0,0,0,0,0,0
$GC,6016,-0.73,-146.0,605.2,-7.7,493,6023,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2749,3525,0,0,0,0,0,0
$GC,6330,-0.75,-146.0,630.5,-8.4,504,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3525,0,0,0,0,0,0
$GC,6637,-0.78,-146.0,655.9,-8.2,514,6641,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1370,3526,0,0,0,0,0,0
$GC,6666,-0.81,-146.0,658.3,-8.0,515,6670,0.00,2.30,0.00,0.000,6,0.000,0.061,2247,2750,3526,0,0,0,0,0,0
$GC,7008,-0.84,-146.0,686.2,-8.3,526,7010,0.12,0.00,0.00,0.000,6,0.107,0.000,2190,2751,3526,0,0,0,0,0,0
$GC,7314,-0.76,-146.0,722.2,-11.8,536,7316,0.15,0.00,0.00,0.000,6,0.171,0.000,2229,2751,3526,0,0,0,0,0,0
$GC,7621,-0.76,-146.0,750.0,-8.9,546,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2751,3526,0,0,0,0,0,0
$GC,7928,-0.76,-146.0,777.5,-9.0,556,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2751,3526,0,0,0,0,0,0
$GC,8231,-0.76,-146.0,804.0,-9.0,566,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2751,3526,0,0,0,0,0,0
$STATE,8292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8292,begin apogee
$GC,8298,-0.14,0.0,809.5,9.1,568,8432,0.60,0.00,127.80,1.103,4,0.133,0.000,2426,2597,2923,0,0,0,0,0,0
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8433,begin climb
$GC,8436,0.57,146.0,813.3,0.0,572,8575,0.62,0.00,134.70,1.074,6,0.068,0.000,2657,2597,2327,0,0,0,0,0,0
$GC,8885,0.52,146.0,769.0,11.6,586,8889,0.00,2.33,0.00,0.000,4,0.000,0.067,2657,3926,2316,0,0,0,0,0,0
$GC,8958,0.42,146.0,758.5,13.9,588,8963,0.20,2.20,0.00,0.000,6,0.194,0.046,2613,2600,2315,0,0,0,0,0,0
$GC,9284,0.47,170.6,728.1,8.9,599,9312,0.00,0.00,21.02,1.009,6,0.000,0.000,2612,2598,2227,0,0,0,0,0,0
$GC,9619,0.54,187.6,697.9,9.2,610,9638,0.10,0.00,16.25,0.985,6,0.115,0.000,2657,2598,2158,0,0,0,0,0,0
$GC,9924,0.54,187.6,661.3,12.0,620,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2598,2153,0,0,0,0,0,0
$GC,10230,0.54,187.6,624.0,12.1,630,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2598,2152,0,0,0,0,0,0
$GC,10537,0.54,187.6,586.2,12.3,640,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2598,2151,0,0,0,0,0,0
$GC,10843,0.54,187.6,548.3,12.5,650,10847,0.00,2.25,0.00,0.000,4,0.000,0.069,2657,3930,2151,0,0,0,0,0,0
$GC,10870,0.49,187.6,544.4,13.8,650,10877,0.00,2.15,0.00,0.000,6,0.000,0.046,2662,2597,2149,0,0,0,0,0,0
$GC,11184,0.49,187.6,504.5,12.7,661,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2596,2150,0,0,0,0,0,0
$GC,11489,0.49,187.6,466.2,12.4,671,11493,0.00,2.25,0.00,0.000,4,0.000,0.054,2662,1190,2150,0,0,0,0,0,0
$GC,11533,0.52,187.6,460.7,11.4,672,11537,0.00,2.33,0.00,0.000,6,0.000,0.057,2663,2616,2150,0,0,0,0,0,0
$GC,11863,0.52,187.6,418.5,13.2,683,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2616,2150,0,0,0,0,0,0
$GC,12174,0.52,187.6,377.8,12.4,703,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2616,2150,0,0,0,0,0,0
$GC,12495,0.52,187.6,338.3,12.3,733,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2616,2149,0,0,0,0,0,0
$GC,12812,0.52,187.6,300.0,12.0,763,12816,0.00,2.20,0.00,0.000,4,0.000,0.068,2662,3931,2149,0,0,0,0,0,0
$GC,12836,0.48,187.6,296.8,13.1,765,12841,0.12,2.15,0.00,0.000,6,0.200,0.045,2632,2597,2148,0,0,0,0,0,0
$GC,13162,0.54,202.1,265.7,9.3,795,13181,0.00,0.00,13.02,0.759,6,0.000,0.000,2632,2596,2098,0,0,0,0,0,0
$GC,13500,0.62,220.9,232.3,9.1,827,13524,0.12,2.33,17.20,0.747,4,0.100,0.054,2690,1191,2021,0,0,0,0,0,0
$GC,13559,0.62,220.9,225.2,12.0,832,13563,0.00,2.33,0.00,0.000,6,0.000,0.057,2690,2616,2020,0,0,0,0,0,0
$GC,13885,0.59,220.9,182.7,13.0,862,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2616,2018,0,0,0,0,0,0
$GC,14206,0.59,220.9,143.2,12.6,892,14210,0.00,2.20,0.00,0.000,4,0.000,0.068,2690,3925,2017,0,0,0,0,0,0
$GC,14235,0.55,220.9,139.2,14.3,894,14240,0.15,2.12,0.00,0.000,6,0.183,0.046,2655,2598,2015,0,0,0,0,0,0
$GC,14566,0.61,233.3,106.7,9.4,925,14583,0.00,2.25,11.43,0.675,4,0.000,0.052,2654,1191,1973,0,0,0,0,0,0
$GC,14649,0.74,254.8,99.2,9.0,932,14674,0.17,2.28,19.80,0.675,6,0.089,0.057,2724,2590,1884,0,0,0,0,0,0
$GC,15013,0.72,254.8,49.8,12.5,996,15020,0.00,2.28,0.00,0.000,4,0.000,0.054,2724,1187,1878,0,0,0,0,0,0
$GC,15038,0.72,254.8,46.8,12.2,1000,15045,0.00,2.25,0.00,0.000,6,0.000,0.056,2725,2570,1878,0,0,0,0,0,0
$GC,15384,0.72,260.4,12.8,9.7,1061,15397,0.00,2.25,5.43,0.579,4,0.000,0.054,2724,1188,1860,0,0,0,0,0,0
$FREEZE,8.71,-1.579,-1.768,0,1,0
$FREEZE,8.07,-1.580,-1.768,0,1,0
$FREEZE,7.43,-1.581,-1.767,0,1,0
$GC,15422,0.80,283.1,9.4,9.0,1067,15451,0.00,2.28,20.77,0.640,6,0.000,0.057,2725,2572,1768,0,0,0,0,0,0
$FREEZE,5.59,-1.580,-1.766,0,1,0
$FREEZE,5.17,-1.581,-1.765,0,1,0
$FREEZE,4.75,-1.581,-1.765,0,1,0
$FREEZE,4.08,-1.581,-1.764,0,1,0
$FREEZE,3.49,-1.579,-1.764,0,1,0
$FREEZE,2.82,-1.580,-1.764,0,1,0
$STATE,15482,end climb,SURFACE_DEPTH_REACHED
$STATE,15484,begin surface coast
$FREEZE,2.12,-1.580,-1.763,0,1,0
$FREEZE,1.45,-1.580,-1.762,0,1,0
$FREEZE,1.02,-1.582,-1.762,0,1,0
$FREEZE,1.09,-1.560,-1.761,0,1,0
$FREEZE,1.04,-1.588,-1.763,0,1,0
$FINISH,1.0,1.025899
$STATE,15512,end surface coast,CONTROL_FINISHED_OK
$STATE,15512,begin surface
$SM_CCo,15528,226.18,0.590,1,0,440,609.08
$SM_GC,1.83,0.00,0.00,226.18,0.000,0.000,0.590,288,2787,440,-6.81,0.20,609.08
$RAFOS_CLK,851
$RAFOS,6,1292964543,20.833334,20.817499,69,53,42,42,42,39,678,769,1140,26,346,240
$RAFOS,5,1292964082,20.700001,20.689444,76,49,45,44,43,42,503,1406,895,1174,787,1797
$RAFOS,4,1292963582,20.566668,20.550556,48,43,42,42,41,40,870,514,566,1090,500,1154
$RAFOS,3,1292963126,20.433332,20.423889,50,45,44,42,39,38,814,237,707,1218,1236,302
$RAFOS,2,1292962636,20.299999,20.287777,41,40,40,40,39,39,1155,989,1548,946,26,1712
$RAFOS,1,1292962146,20.166666,20.151667,44,44,41,41,40,40,1318,1084,1034,434,406,1841
$RAFOS,0,1292961683,20.033333,20.023056,54,45,43,42,40,40,356,1191,1744,877,856,1808
$RAFOS_FIX,6708.827148,-5753.720703,211210,202056,2,72,0.88
$IRIDIUM_FIX,6641.98,-5746.17,211210,151557
$TT8_MAMPS,0.029211
$HUMID,46.14
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,801.1,25.6
$24V_AH,21.4,66.683
$10V_AH,9.8,47.505
$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,18.425,88.500,387.425,226.175,0.000,25.582,23.266,128.100,3.250,0.000,33.805,2658.907,10449.227,742.186,1969.919,297.560,0.000,1721.305,0.000,1752.008,2520.000,24.813,0.000
$DEVICE_MAMPS,246.330,84.915,1103.130,589.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.645,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,40006,1082
$CAP_FILE_SIZE,142253,0
$CFSIZE,260165632,211005440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.2
$GPS,211210,223754,6710.102,-5748.224,34,2.0,52,-38.0