version: 66.08
glider: 183
mission: 3
dive: 813
start: 1 23 111 7 5 38
data:
$ID,183
$MISSION,3
$DIVE,813
$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,-2
$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,-13322.154
$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,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,5
$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
$GPS1,230111,042734,6642.619,-5951.185,0,7120.1,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-21.8
$GPS2,230111,042734,6642.619,-5951.185,181,99.0,181,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,112.3,137566,-17.5,-10.000
$D_GRID,734
$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,16,-0.57,-146.0,0.0,0.0,0,164,0.00,0.00,-141.48,0.000,2,0.000,0.000,288,2791,3318,0,0,0,0,0,0
$GC,167,-0.57,-146.0,6.4,-19.0,25,187,8.57,2.35,-3.75,0.000,4,0.247,0.063,2284,1372,3522,0,0,0,0,0,0
$GC,302,-0.57,-146.0,37.4,-11.9,48,309,0.00,2.38,0.00,0.000,6,0.000,0.066,2277,2777,3525,0,0,0,0,0,0
$GC,649,-0.53,-146.0,88.5,-13.0,109,656,0.00,1.98,0.00,0.000,4,0.000,0.075,2269,3929,3524,0,0,0,0,0,0
$GC,676,-0.48,-146.0,92.3,-13.3,113,683,0.17,1.90,0.00,0.000,6,0.155,0.050,2318,2768,3524,0,0,0,0,0,0
$GC,1009,-0.55,-146.0,122.0,-9.3,150,1014,0.00,2.28,0.00,0.000,4,0.000,0.054,2318,1366,3523,0,0,0,0,0,0
$GC,1062,-0.65,-146.0,127.1,-9.0,154,1067,0.15,2.40,0.00,0.000,6,0.087,0.065,2253,2782,3523,0,0,0,0,0,0
$GC,1388,-0.61,-146.0,168.3,-11.4,184,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2782,3523,0,0,0,0,0,0
$GC,1709,-0.59,-146.0,201.6,-10.8,214,1716,0.12,0.00,0.00,0.000,6,0.172,0.000,2286,2782,3523,0,0,0,0,0,0
$GC,2036,-0.64,-146.0,229.0,-8.2,245,2040,0.00,2.33,0.00,0.000,4,0.000,0.054,2286,1363,3522,0,0,0,0,0,0
$GC,2067,-0.71,-146.0,231.4,-7.8,247,2072,0.12,2.40,0.00,0.000,6,0.096,0.065,2230,2781,3522,0,0,0,0,0,0
$GC,2395,-0.66,-146.0,268.1,-10.9,277,2402,0.12,0.00,0.00,0.000,6,0.170,0.000,2264,2781,3522,0,0,0,0,0,0
$GC,2722,-0.68,-146.0,297.0,-9.1,308,2726,0.00,2.33,0.00,0.000,4,0.000,0.054,2264,1372,3522,0,0,0,0,0,0
$GC,2774,-0.73,-146.0,301.9,-9.5,312,2781,0.00,2.40,0.00,0.000,6,0.000,0.065,2261,2782,3522,0,0,0,0,0,0
$GC,3100,-0.75,-146.0,332.3,-9.2,343,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2783,3522,0,0,0,0,0,0
$GC,3421,-0.77,-146.0,361.2,-9.2,373,3426,0.10,2.33,0.00,0.000,4,0.118,0.052,2215,1372,3522,0,0,0,0,0,0
$GC,3478,-0.73,-146.0,367.6,-11.2,377,3486,0.12,2.38,0.00,0.000,6,0.179,0.064,2237,2773,3522,0,0,0,0,0,0
$GC,3805,-0.73,-146.0,400.9,-10.2,408,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2773,3523,0,0,0,0,0,0
$GC,4111,-0.73,-146.0,431.3,-10.0,418,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2773,3523,0,0,0,0,0,0
$GC,4416,-0.73,-146.0,461.2,-9.9,428,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2773,3524,0,0,0,0,0,0
$GC,4723,-0.73,-146.0,490.7,-9.5,438,4727,0.00,2.30,0.00,0.000,4,0.000,0.051,2237,1363,3524,0,0,0,0,0,0
$GC,4785,-0.73,-146.0,496.8,-9.2,439,4792,0.00,2.40,0.00,0.000,6,0.000,0.062,2235,2777,3524,0,0,0,0,0,0
$GC,5099,-0.73,-146.0,526.3,-9.6,450,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2777,3524,0,0,0,0,0,0
$GC,5405,-0.73,-146.0,555.7,-9.7,460,5409,0.00,2.28,0.00,0.000,4,0.000,0.050,2235,1370,3524,0,0,0,0,0,0
$GC,5450,-0.73,-146.0,560.4,-9.7,461,5454,0.00,2.38,0.00,0.000,6,0.000,0.063,2235,2776,3524,0,0,0,0,0,0
$GC,5769,-0.73,-146.0,590.2,-9.3,472,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2776,3525,0,0,0,0,0,0
$GC,6077,-0.73,-146.0,618.7,-9.2,482,6081,0.00,2.28,0.00,0.000,4,0.000,0.050,2235,1371,3525,0,0,0,0,0,0
$GC,6107,-0.73,-146.0,621.8,-10.2,483,6112,0.00,2.38,0.00,0.000,6,0.000,0.062,2235,2769,3525,0,0,0,0,0,0
$GC,6449,-0.73,-146.0,654.1,-9.3,494,6453,0.00,2.03,0.00,0.000,4,0.000,0.073,2228,3933,3525,0,0,0,0,0,0
$GC,6472,-0.73,-146.0,656.5,-9.5,494,6476,0.00,1.92,0.00,0.000,6,0.000,0.047,2228,2755,3525,0,0,0,0,0,0
$GC,6791,-0.73,-146.0,687.0,-9.7,505,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2754,3526,0,0,0,0,0,0
$GC,7098,-0.73,-146.0,716.7,-9.4,515,7102,0.00,2.25,0.00,0.000,4,0.000,0.050,2228,1362,3526,0,0,0,0,0,0
$GC,7127,-0.73,-146.0,719.7,-9.6,515,7133,0.00,2.35,0.00,0.000,6,0.000,0.061,2228,2757,3526,0,0,0,0,0,0
$STATE,7284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7284,begin apogee
$GC,7291,-0.14,0.0,735.0,9.6,521,7426,0.62,0.00,127.05,1.063,4,0.134,0.000,2426,2601,2924,0,0,0,0,0,0
$STATE,7427,end apogee,CONTROL_FINISHED_OK
$STATE,7427,begin climb
$GC,7430,0.57,146.0,740.0,0.0,525,7577,0.68,2.45,136.40,1.037,4,0.064,0.050,2662,1181,2326,0,0,0,0,0,0
$GC,7734,0.57,146.0,715.7,10.5,534,7738,0.00,2.50,0.00,0.000,6,0.000,0.055,2662,2601,2319,0,0,0,0,0,0
$GC,8053,0.52,146.0,680.2,11.3,545,8057,0.00,2.33,0.00,0.000,4,0.000,0.054,2665,1186,2315,0,0,0,0,0,0
$GC,8261,0.52,146.0,657.8,10.3,551,8265,0.00,2.33,0.00,0.000,6,0.000,0.057,2664,2607,2315,0,0,0,0,0,0
$GC,8585,0.48,146.0,621.8,11.5,562,8590,0.12,2.25,0.00,0.000,4,0.196,0.069,2634,3927,2314,0,0,0,0,0,0
$GC,8621,0.43,146.0,617.8,11.9,563,8626,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2598,2313,0,0,0,0,0,0
$GC,8963,0.44,162.1,585.8,9.3,574,8978,0.00,0.00,12.93,0.929,6,0.000,0.000,2634,2597,2262,0,0,0,0,0,0
$GC,9269,0.45,168.8,556.7,9.7,584,9283,0.00,2.35,7.45,0.848,4,0.000,0.070,2635,3930,2233,0,0,0,0,0,0
$GC,9291,0.45,173.3,554.5,9.8,584,9304,0.00,2.12,5.70,0.765,6,0.000,0.045,2634,2613,2216,0,0,0,0,0,0
$GC,9610,0.48,187.2,524.4,9.4,595,9630,0.00,2.35,13.95,0.901,4,0.000,0.054,2635,1200,2159,0,0,0,0,0,0
$GC,9648,0.55,218.6,520.8,8.6,596,9684,0.00,2.33,29.00,0.912,6,0.000,0.056,2635,2618,2031,0,0,0,0,0,0
$GC,10018,0.62,228.3,485.7,9.6,608,10029,0.12,0.00,8.95,0.838,6,0.099,0.000,2689,2618,1991,0,0,0,0,0,0
$GC,10323,0.58,228.3,447.2,12.4,618,10327,0.00,2.33,0.00,0.000,4,0.000,0.054,2690,1188,1988,0,0,0,0,0,0
$GC,10344,0.58,228.3,444.1,12.4,618,10349,0.00,2.33,0.00,0.000,6,0.000,0.056,2690,2612,1988,0,0,0,0,0,0
$GC,10658,0.55,228.3,405.2,12.9,628,10663,0.12,2.25,0.00,0.000,4,0.189,0.069,2657,3930,1988,0,0,0,0,0,0
$GC,10687,0.53,228.3,401.3,13.3,628,10694,0.00,2.15,0.00,0.000,6,0.000,0.044,2659,2611,1986,0,0,0,0,0,0
$GC,11012,0.56,228.3,366.1,11.1,657,11016,0.00,2.28,0.00,0.000,4,0.000,0.054,2659,1192,1986,0,0,0,0,0,0
$GC,11069,0.64,228.3,359.9,10.6,661,11076,0.00,2.33,0.00,0.000,6,0.000,0.056,2659,2607,1986,0,0,0,0,0,0
$GC,11395,0.67,228.3,324.6,10.6,692,11399,0.00,2.25,0.00,0.000,4,0.000,0.068,2659,3928,1986,0,0,0,0,0,0
$GC,11428,0.67,228.3,320.5,12.3,694,11435,0.00,2.17,0.00,0.000,6,0.000,0.045,2661,2596,1985,0,0,0,0,0,0
$GC,11754,0.70,228.3,284.8,10.6,725,11759,0.10,2.30,0.00,0.000,4,0.118,0.054,2704,1184,1985,0,0,0,0,0,0
$GC,11788,0.70,228.3,280.6,11.7,727,11795,0.00,2.35,0.00,0.000,6,0.000,0.056,2704,2602,1985,0,0,0,0,0,0
$GC,12114,0.66,228.3,238.0,13.1,758,12118,0.00,2.25,0.00,0.000,4,0.000,0.068,2704,3933,1985,0,0,0,0,0,0
$GC,12149,0.59,228.3,232.9,14.8,760,12156,0.15,2.17,0.00,0.000,6,0.190,0.045,2668,2601,1983,0,0,0,0,0,0
$GC,12475,0.63,242.4,199.0,9.3,791,12498,0.00,2.38,12.85,0.737,4,0.000,0.054,2668,1183,1934,0,0,0,0,0,0
$GC,12533,0.75,287.7,194.1,7.9,796,12581,0.15,2.33,40.12,0.734,6,0.093,0.056,2730,2589,1750,0,0,0,0,0,0
$GC,12908,0.75,287.7,145.5,13.6,831,12912,0.00,2.28,0.00,0.000,4,0.000,0.069,2730,3926,1741,0,0,0,0,0,0
$GC,12931,0.71,287.7,141.9,14.2,832,12938,0.00,2.22,0.00,0.000,6,0.000,0.046,2732,2570,1740,0,0,0,0,0,0
$GC,13259,0.71,287.7,94.7,12.6,866,13266,0.00,2.35,0.00,0.000,4,0.000,0.070,2732,3933,1738,0,0,0,0,0,0
$GC,13279,0.69,287.7,91.9,12.7,869,13287,0.15,2.17,0.00,0.000,6,0.184,0.046,2696,2590,1738,0,0,0,0,0,0
$GC,13629,0.81,353.7,60.4,7.0,930,13694,0.12,2.35,55.75,0.666,4,0.106,0.056,2748,1202,1477,0,0,0,0,0,0
$GC,13782,0.89,376.5,46.3,9.0,956,13807,0.00,2.25,19.42,0.656,6,0.000,0.057,2749,2565,1387,0,0,0,0,0,0
$FREEZE,8.23,-1.755,-1.765,2,31,0
$STATE,14119,end climb,FINISH_DEPTH_REACHED
$STATE,14119,begin subsurface finish
$FINISH1,8.2,1.025850,81
$GC,14127,0.05,81.0,8.2,-12.1,1015,14175,0.80,2.33,-39.35,0.000,4,0.135,0.067,2493,1187,2595,0,0,0,0,0,0
$FINISH2,6.7
$STATE,14176,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14176,begin surface
$RAFOS_CLK,864
$RAFOS,6,1295772570,8.833333,8.825000,133,45,45,44,40,40,643,1568,1792,866,64,153
$RAFOS,5,1295772074,8.700000,8.687222,116,44,43,41,41,41,829,868,1499,655,1656,1855
$RAFOS,4,1295771587,8.566667,8.551945,109,49,43,43,43,42,641,359,718,1089,1825,1816
$RAFOS,3,1295771104,8.433333,8.417778,122,50,44,44,41,40,708,1840,1338,153,1879,984
$RAFOS,2,1295770629,8.300000,8.285833,104,43,43,41,41,39,579,1565,26,298,390,994
$RAFOS,1,1295770170,8.166667,8.158334,123,45,44,41,40,39,445,1686,242,270,864,1199
$RAFOS,0,1295769669,8.033334,8.019167,112,48,41,40,40,39,668,459,692,242,1911,602
$RAFOS_FIX,6642.541504,-5946.408691,230111,080825,7,117,0.24
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,50.15
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$24V_AH,20.8,91.935
$10V_AH,9.7,62.668
$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,12.650,121.225,469.575,0.000,0.000,98.485,16.886,0.000,2.500,0.000,183.464,2527.821,9136.406,628.549,2116.499,738.653,0.000,1661.805,0.000,1792.377,2520.000,18.741,0.000
$DEVICE_MAMPS,247.095,162.180,1063.350,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,36665,1023
$CAP_FILE_SIZE,146721,0
$CFSIZE,260165632,196460544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.8
$GPS,230111,082725,6642.542,-5946.409,0,7117.0,0,-38.2