version: 66.08
glider: 183
mission: 3
dive: 570
start: 12 24 110 0 15 4
data:
$ID,183
$MISSION,3
$DIVE,570
$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,-9850.9922
$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,23
$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
$GPS1,231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.61
$_SM_ANGLEo,0.3
$GPS2,231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1
$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,279.3,87602,-17.5,-10.000
$D_GRID,1261
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.57,0.000,2,0.000,0.000,2500,3925,2879,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.7,-0.0,1,54,0.60,4.25,-15.10,0.000,4,0.109,0.057,2293,1362,3522,0,0,0,0,0,0
$GC,135,-0.57,-146.0,20.9,-12.0,19,142,0.00,2.35,0.00,0.000,6,0.000,0.062,2291,2781,3524,0,0,0,0,0,0
$GC,481,-0.57,-146.0,59.8,-9.4,80,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2781,3523,0,0,0,0,0,0
$GC,825,-0.61,-146.0,94.1,-9.8,141,832,0.00,2.28,0.00,0.000,4,0.000,0.052,2291,1373,3522,0,0,0,0,0,0
$GC,896,-0.69,-146.0,100.5,-8.5,153,901,0.10,2.33,0.00,0.000,6,0.113,0.063,2247,2777,3521,0,0,0,0,0,0
$GC,1223,-0.66,-146.0,139.1,-11.6,183,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2778,3521,0,0,0,0,0,0
$GC,1540,-0.66,-146.0,176.2,-11.5,213,1543,0.00,1.95,0.00,0.000,4,0.000,0.074,2240,3929,3521,0,0,0,0,0,0
$GC,1585,-0.66,-146.0,181.6,-11.8,217,1589,0.00,1.88,0.00,0.000,6,0.000,0.049,2240,2773,3521,0,0,0,0,0,0
$GC,1916,-0.64,-146.0,219.5,-11.7,248,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2774,3521,0,0,0,0,0,0
$GC,2235,-0.64,-146.0,252.7,-10.7,278,2239,0.00,2.22,0.00,0.000,4,0.000,0.051,2240,1373,3520,0,0,0,0,0,0
$GC,2267,-0.64,-146.0,256.3,-10.8,280,2275,0.12,2.33,0.00,0.000,6,0.176,0.063,2268,2772,3520,0,0,0,0,0,0
$GC,2595,-0.69,-146.0,281.9,-7.4,311,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2772,3521,0,0,0,0,0,0
$GC,2915,-0.75,-146.0,305.3,-7.6,341,2919,0.00,2.25,0.00,0.000,4,0.000,0.050,2268,1364,3521,0,0,0,0,0,0
$GC,2946,-0.80,-146.0,307.9,-7.6,343,2950,0.15,2.30,0.00,0.000,6,0.091,0.063,2200,2754,3520,0,0,0,0,0,0
$GC,3276,-0.72,-146.0,347.3,-11.7,374,3281,0.15,2.00,0.00,0.000,4,0.177,0.071,2233,3927,3520,0,0,0,0,0,0
$GC,3305,-0.69,-146.0,350.4,-10.0,376,3312,0.00,1.90,0.00,0.000,6,0.000,0.047,2233,2755,3521,0,0,0,0,0,0
$GC,3631,-0.69,-146.0,381.0,-10.0,407,3635,0.00,2.22,0.00,0.000,4,0.000,0.050,2233,1366,3521,0,0,0,0,0,0
$GC,3653,-0.69,-146.0,383.3,-9.8,408,3660,0.00,2.30,0.00,0.000,6,0.000,0.062,2230,2754,3521,0,0,0,0,0,0
$GC,3984,-0.69,-146.0,415.6,-9.7,430,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,4289,-0.69,-146.0,445.4,-9.5,440,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,4596,-0.69,-146.0,473.5,-9.0,450,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,4902,-0.69,-146.0,501.3,-9.1,460,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,5207,-0.69,-146.0,529.2,-8.9,470,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,5514,-0.69,-146.0,557.3,-9.2,480,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,5820,-0.69,-146.0,586.0,-9.3,490,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,6126,-0.69,-146.0,614.8,-9.6,500,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,6433,-0.69,-146.0,644.1,-9.5,510,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,6738,-0.69,-146.0,672.8,-9.2,520,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,7047,-0.69,-146.0,700.9,-9.0,530,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$GC,7352,-0.69,-146.0,728.7,-9.0,540,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2754,3522,0,0,0,0,0,0
$STATE,7596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7596,begin apogee
$GC,7602,-0.14,0.0,750.7,8.9,548,7737,0.60,0.00,126.12,1.073,4,0.133,0.000,2423,2598,2921,0,0,0,0,0,0
$STATE,7738,end apogee,CONTROL_FINISHED_OK
$STATE,7738,begin climb
$GC,7741,0.57,146.0,754.7,0.0,552,7887,0.68,2.45,133.85,1.048,4,0.063,0.050,2661,1186,2326,0,0,0,0,0,0
$GC,8015,0.57,146.0,732.0,11.9,560,8022,0.00,2.47,0.00,0.000,6,0.000,0.056,2661,2599,2318,0,0,0,0,0,0
$GC,8329,0.52,146.0,694.3,12.2,571,8333,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1187,2315,0,0,0,0,0,0
$GC,8553,0.52,146.0,667.8,12.3,577,8560,0.00,2.35,0.00,0.000,6,0.000,0.058,2662,2602,2314,0,0,0,0,0,0
$GC,8866,0.47,146.0,629.7,12.4,588,8871,0.12,2.22,0.00,0.000,4,0.204,0.068,2631,3932,2313,0,0,0,0,0,0
$GC,8911,0.42,146.0,624.2,12.1,589,8915,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2603,2312,0,0,0,0,0,0
$GC,9234,0.42,146.0,589.7,10.4,600,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2602,2312,0,0,0,0,0,0
$GC,9541,0.42,146.0,557.3,10.7,610,9545,0.00,2.25,0.00,0.000,4,0.000,0.070,2634,3936,2312,0,0,0,0,0,0
$GC,9580,0.37,146.0,552.6,12.3,611,9585,0.15,2.12,0.00,0.000,6,0.191,0.045,2598,2607,2311,0,0,0,0,0,0
$GC,9904,0.47,193.4,526.3,7.8,622,9946,0.00,0.00,39.85,0.929,6,0.000,0.000,2598,2606,2134,0,0,0,0,0,0
$GC,10241,0.60,248.0,500.2,7.5,633,10297,0.20,2.38,48.08,0.908,4,0.082,0.054,2683,1199,1910,0,0,0,0,0,0
$GC,10320,0.60,248.0,490.8,12.4,635,10325,0.00,2.38,0.00,0.000,6,0.000,0.056,2683,2625,1906,0,0,0,0,0,0
$GC,10640,0.57,248.0,448.5,13.5,646,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2625,1900,0,0,0,0,0,0
$GC,10945,0.55,248.0,406.9,13.9,656,10947,0.12,0.00,0.00,0.000,6,0.190,0.000,2651,2625,1899,0,0,0,0,0,0
$GC,11263,0.59,248.0,371.1,11.4,682,11267,0.00,2.33,0.00,0.000,4,0.000,0.054,2651,1188,1898,0,0,0,0,0,0
$GC,11313,0.67,248.0,365.7,10.3,686,11320,0.12,2.33,0.00,0.000,6,0.103,0.056,2703,2608,1898,0,0,0,0,0,0
$GC,11639,0.62,248.0,316.7,14.8,717,11642,0.00,2.20,0.00,0.000,4,0.000,0.067,2702,3926,1898,0,0,0,0,0,0
$GC,11674,0.54,248.0,310.7,17.1,720,11679,0.20,2.12,0.00,0.000,6,0.182,0.046,2652,2610,1896,0,0,0,0,0,0
$GC,12002,0.59,248.0,274.1,10.8,750,12006,0.00,2.25,0.00,0.000,4,0.000,0.054,2652,1192,1896,0,0,0,0,0,0
$GC,12054,0.68,248.0,268.6,10.1,754,12059,0.12,2.30,0.00,0.000,6,0.103,0.057,2705,2607,1896,0,0,0,0,0,0
$GC,12380,0.63,248.0,221.8,14.7,784,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2607,1896,0,0,0,0,0,0
$GC,12700,0.60,248.0,175.8,13.8,814,12701,0.12,0.00,0.00,0.000,6,0.190,0.000,2672,2608,1896,0,0,0,0,0,0
$GC,13017,0.63,248.0,139.5,11.2,844,13021,0.00,2.28,0.00,0.000,4,0.000,0.054,2672,1186,1896,0,0,0,0,0,0
$GC,13057,0.70,248.0,135.2,10.4,847,13061,0.00,2.30,0.00,0.000,6,0.000,0.057,2672,2599,1895,0,0,0,0,0,0
$GC,13383,0.74,248.0,98.7,11.6,878,13390,0.12,0.00,0.00,0.000,6,0.109,0.000,2724,2600,1895,0,0,0,0,0,0
$GC,13728,0.71,248.0,53.1,12.4,939,13735,0.00,2.28,0.00,0.000,4,0.000,0.055,2725,1183,1896,0,0,0,0,0,0
$GC,13792,0.71,248.0,45.6,10.6,950,13799,0.00,2.30,0.00,0.000,6,0.000,0.057,2725,2597,1896,0,0,0,0,0,0
$GC,14140,0.71,254.0,9.3,9.7,1011,14146,0.00,2.22,0.00,0.000,4,0.000,0.070,2725,3926,1895,0,0,0,0,0,0
$FREEZE,7.68,-1.747,-1.770,2,9,0
$STATE,14152,end climb,FINISH_DEPTH_REACHED
$STATE,14152,begin subsurface finish
$FINISH1,7.7,1.025931,77
$GC,14162,0.05,77.0,7.7,-9.2,1013,14193,0.73,2.40,-24.42,0.000,4,0.151,0.085,2500,3933,2611,0,0,0,0,0,0
$FINISH2,5.4
$STATE,14194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14194,begin surface
$RAFOS_CLK,815
$RAFOS,0,1293163266,4.033333,4.018333,49,43,42,41,40,39,880,932,154,1891,1433,358
$RAFOS,6,1293151745,0.833333,0.818056,122,50,48,43,42,42,563,1786,554,470,1002,26
$RAFOS,5,1293151265,0.700000,0.684722,93,46,45,45,40,39,703,682,850,1342,1656,661
$RAFOS,4,1293150785,0.566667,0.551389,118,43,41,41,40,39,631,1153,1821,1480,1783,1561
$RAFOS,3,1293150302,0.433333,0.417222,62,50,45,42,41,41,854,999,1466,1690,112,584
$RAFOS,2,1293149824,0.300000,0.284444,74,45,45,40,40,40,829,1091,226,1059,1651,294
$RAFOS,1,1293149344,0.166667,0.151111,74,47,45,42,41,40,777,1452,1150,620,212,1883
$RAFOS_FIX,6706.331055,-5846.226074,241210,000017,6,90,0.26
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.031458
$HUMID,49.25
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,750.7,14.4
$24V_AH,21.4,68.138
$10V_AH,9.8,48.421
$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,4.425,85.400,347.900,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,2568.370,9375.063,398.026,1720.837,202.836,0.000,1318.183,0.000,1696.846,2520.000,31.492,0.000
$DEVICE_MAMPS,204.255,84.915,1073.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,36650,1018
$CAP_FILE_SIZE,123437,0
$CFSIZE,260165632,210137088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,241210,003117,6706.331,-5846.226,0,6090.5,0,-38.1