version: 66.08
glider: 183
mission: 3
dive: 843
start: 1 27 111 19 8 26
data:
$ID,183
$MISSION,3
$DIVE,843
$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,-13332.397
$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,31
$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,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
$GPS1,270111,163512,6644.674,-5755.731,0,4096.0,0,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.41
$_SM_ANGLEo,2.5
$GPS2,270111,163512,6644.674,-5755.731,0,4096.0,0,-37.4
$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,92.6,59534,-17.5,-10.000
$D_GRID,665
$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,-5.50,0.000,2,0.000,0.000,2490,1178,2984,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.8,-0.0,1,53,0.57,4.75,-12.12,0.000,4,0.116,0.067,2290,3924,3516,0,0,0,0,0,0
$GC,148,-0.60,-146.0,21.6,-11.5,21,155,0.00,1.88,0.00,0.000,6,0.000,0.045,2290,2777,3517,0,0,0,0,0,0
$GC,496,-0.63,-146.0,56.4,-9.7,82,503,0.00,2.28,0.00,0.000,4,0.000,0.048,2290,1363,3517,0,0,0,0,0,0
$GC,541,-0.67,-146.0,60.4,-8.5,89,547,0.00,2.38,0.00,0.000,6,0.000,0.059,2288,2773,3517,0,0,0,0,0,0
$GC,889,-0.71,-146.0,90.3,-8.4,150,896,0.12,2.03,0.00,0.000,4,0.102,0.072,2225,3928,3517,0,0,0,0,0,0
$GC,994,-0.64,-146.0,104.2,-14.2,166,998,0.15,1.90,0.00,0.000,6,0.161,0.046,2265,2769,3516,0,0,0,0,0,0
$GC,1325,-0.64,-146.0,136.2,-9.5,197,1329,0.00,2.25,0.00,0.000,4,0.000,0.049,2265,1373,3516,0,0,0,0,0,0
$GC,1394,-0.68,-146.0,142.9,-9.3,202,1400,0.00,2.33,0.00,0.000,6,0.000,0.060,2261,2755,3516,0,0,0,0,0,0
$GC,1720,-0.68,-146.0,176.2,-9.9,233,1724,0.00,2.28,0.00,0.000,4,0.000,0.050,2261,1365,3515,0,0,0,0,0,0
$GC,1789,-0.71,-146.0,182.7,-9.0,239,1793,0.00,2.30,0.00,0.000,6,0.000,0.060,2261,2733,3515,0,0,0,0,0,0
$GC,2116,-0.74,-146.0,212.8,-9.5,269,2119,0.00,2.05,0.00,0.000,4,0.000,0.070,2255,3930,3515,0,0,0,0,0,0
$GC,2151,-0.74,-146.0,216.4,-10.2,272,2154,0.00,1.95,0.00,0.000,6,0.000,0.047,2255,2742,3515,0,0,0,0,0,0
$GC,2482,-0.74,-146.0,248.1,-9.0,303,2486,0.00,2.20,0.00,0.000,4,0.000,0.049,2254,1373,3515,0,0,0,0,0,0
$GC,2539,-0.77,-146.0,253.4,-9.3,307,2546,0.00,2.30,0.00,0.000,6,0.000,0.060,2249,2742,3515,0,0,0,0,0,0
$GC,2865,-0.77,-146.0,282.2,-8.4,338,2869,0.00,2.05,0.00,0.000,4,0.000,0.071,2247,3935,3515,0,0,0,0,0,0
$GC,2939,-0.79,-146.0,288.9,-8.5,344,2946,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2752,3515,0,0,0,0,0,0
$GC,3265,-0.79,-146.0,316.0,-8.3,375,3269,0.00,2.22,0.00,0.000,4,0.000,0.048,2247,1368,3515,0,0,0,0,0,0
$GC,3298,-0.79,-146.0,319.1,-9.4,377,3305,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2757,3515,0,0,0,0,0,0
$GC,3624,-0.79,-146.0,345.2,-7.9,408,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3515,0,0,0,0,0,0
$GC,3945,-0.79,-146.0,371.3,-8.3,438,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3515,0,0,0,0,0,0
$GC,4271,-0.79,-146.0,399.8,-9.4,469,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3515,0,0,0,0,0,0
$GC,4588,-0.79,-146.0,429.8,-9.6,480,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3515,0,0,0,0,0,0
$GC,4895,-0.79,-146.0,458.7,-9.2,490,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3515,0,0,0,0,0,0
$GC,5200,-0.79,-146.0,483.9,-7.9,500,5204,0.00,2.25,0.00,0.000,4,0.000,0.048,2247,1362,3515,0,0,0,0,0,0
$GC,5222,-0.79,-146.0,485.8,-8.1,500,5228,0.00,2.35,0.00,0.000,6,0.000,0.059,2247,2752,3515,0,0,0,0,0,0
$GC,5536,-0.79,-146.0,511.1,-8.4,511,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2752,3515,0,0,0,0,0,0
$GC,5842,-0.82,-146.0,536.7,-8.3,521,5847,0.10,2.03,0.00,0.000,4,0.116,0.069,2190,3928,3515,0,0,0,0,0,0
$GC,5887,-0.72,-146.0,541.6,-12.1,522,5892,0.17,1.92,0.00,0.000,6,0.160,0.044,2237,2751,3515,0,0,0,0,0,0
$GC,6208,-0.72,-146.0,570.2,-8.7,533,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2750,3516,0,0,0,0,0,0
$GC,6513,-0.72,-146.0,599.0,-9.1,543,6517,0.00,2.22,0.00,0.000,4,0.000,0.048,2236,1369,3515,0,0,0,0,0,0
$GC,6529,-0.72,-146.0,600.8,-9.2,543,6533,0.00,2.38,0.00,0.000,6,0.000,0.060,2235,2769,3516,0,0,0,0,0,0
$GC,6848,-0.72,-146.0,629.7,-9.4,554,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2769,3516,0,0,0,0,0,0
$GC,7156,-0.72,-146.0,657.1,-9.2,564,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2769,3516,0,0,0,0,0,0
$STATE,7243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7243,begin apogee
$GC,7250,-0.14,0.0,665.6,9.2,567,7380,0.57,0.00,123.22,1.011,4,0.127,0.000,2422,2598,2923,0,0,0,0,0,0
$STATE,7381,end apogee,CONTROL_FINISHED_OK
$STATE,7381,begin climb
$GC,7385,0.57,146.0,669.3,0.0,571,7526,0.68,2.42,132.90,0.981,4,0.065,0.048,2659,1178,2329,0,0,0,0,0,0
$GC,7735,0.57,146.0,640.1,25561.5,581,7742,0.00,2.45,0.00,0.000,6,0.000,0.054,2660,2608,2320,0,0,0,0,0,0
$GC,8048,0.57,146.0,603.9,25561.5,592,8052,0.00,2.30,0.00,0.000,4,0.000,0.050,2662,1185,2317,0,0,0,0,0,0
$GC,8263,0.57,146.0,579.9,25561.5,598,8267,0.00,2.35,0.00,0.000,6,0.000,0.055,2662,2607,2317,0,0,0,0,0,0
$GC,8588,0.57,146.0,541.0,25561.5,609,8592,0.00,2.22,0.00,0.000,4,0.000,0.066,2662,3933,2316,0,0,0,0,0,0
$GC,8622,0.57,146.0,536.3,25561.5,610,8626,0.00,2.15,0.00,0.000,6,0.000,0.043,2662,2595,2314,0,0,0,0,0,0
$GC,8953,0.57,146.0,497.4,25561.5,621,8957,0.00,2.25,0.00,0.000,4,0.000,0.067,2662,3926,2314,0,0,0,0,0,0
$GC,8984,0.57,146.0,493.5,25561.5,622,8988,0.00,2.12,0.00,0.000,6,0.000,0.043,2664,2617,2314,0,0,0,0,0,0
$GC,9322,0.57,146.0,455.0,25561.5,633,9326,0.00,2.30,0.00,0.000,4,0.000,0.050,2665,1192,2314,0,0,0,0,0,0
$GC,9360,0.57,146.0,450.7,25561.5,634,9365,0.00,2.35,0.00,0.000,6,0.000,0.054,2666,2624,2315,0,0,0,0,0,0
$GC,9698,0.57,146.0,413.9,25561.5,645,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2624,2314,0,0,0,0,0,0
$GC,10009,0.57,146.0,378.6,25561.5,665,10013,0.00,2.20,0.00,0.000,4,0.000,0.066,2665,3925,2314,0,0,0,0,0,0
$GC,10044,0.57,146.0,374.1,25561.5,668,10048,0.00,2.12,0.00,0.000,6,0.000,0.044,2666,2610,2313,0,0,0,0,0,0
$GC,10375,0.57,146.0,336.5,25561.5,699,10379,0.00,2.28,0.00,0.000,4,0.000,0.050,2666,1194,2313,0,0,0,0,0,0
$GC,10403,0.57,146.0,333.3,25561.5,701,10410,0.00,2.35,0.00,0.000,6,0.000,0.054,2666,2615,2314,0,0,0,0,0,0
$GC,10729,0.57,146.0,295.7,25561.5,732,10734,0.00,2.25,0.00,0.000,4,0.000,0.066,2666,3933,2314,0,0,0,0,0,0
$GC,10793,0.57,146.0,287.4,25561.5,737,10797,0.00,2.10,0.00,0.000,6,0.000,0.043,2666,2623,2314,0,0,0,0,0,0
$GC,11121,0.57,146.0,250.2,25561.5,767,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2622,2314,0,0,0,0,0,0
$GC,11449,0.57,146.0,215.1,25561.5,798,11453,0.00,2.33,0.00,0.000,4,0.000,0.050,2666,1183,2314,0,0,0,0,0,0
$GC,11491,0.57,146.0,211.3,25561.5,801,11498,0.00,2.40,0.00,0.000,6,0.000,0.053,2666,2634,2314,0,0,0,0,0,0
$GC,11817,0.57,146.0,181.6,25561.5,832,11821,0.00,2.33,0.00,0.000,4,0.000,0.050,2666,1194,2314,0,0,0,0,0,0
$GC,11904,0.57,146.0,174.3,25561.5,839,11908,0.00,2.33,0.00,0.000,6,0.000,0.054,2666,2612,2314,0,0,0,0,0,0
$GC,12231,0.57,146.0,143.8,25561.5,869,12235,0.00,2.22,0.00,0.000,4,0.000,0.066,2666,3924,2314,0,0,0,0,0,0
$GC,12304,0.57,146.0,134.9,25561.5,875,12310,0.00,2.12,0.00,0.000,6,0.000,0.042,2666,2616,2313,0,0,0,0,0,0
$GC,12631,0.57,146.0,102.5,25561.5,906,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2616,2313,0,0,0,0,0,0
$GC,12965,0.59,182.0,71.1,8.3,963,13001,0.00,2.25,29.33,0.651,4,0.000,0.065,2666,3925,2179,0,0,0,0,0,0
$GC,13020,0.59,182.0,65.8,10.2,972,13027,0.00,2.12,0.00,0.000,6,0.000,0.043,2666,2612,2177,0,0,0,0,0,0
$GC,13370,0.66,244.7,38.4,7.1,1033,13429,0.00,2.35,52.88,0.625,4,0.000,0.067,2666,3926,1924,0,0,0,0,0,0
$GC,13516,0.69,244.7,24.2,12.1,1058,13523,0.00,2.08,0.00,0.000,6,0.000,0.044,2666,2653,1918,0,0,0,0,0,0
$FREEZE,9.00,-0.945,-1.829,3,2,0
$FREEZE,8.66,-0.948,-1.829,3,2,0
$FREEZE,8.18,-0.935,-1.828,3,2,0
$FREEZE,7.81,-0.938,-1.828,3,2,0
$FREEZE,7.37,-0.936,-1.828,3,2,0
$FREEZE,7.04,-0.926,-1.828,3,2,0
$FREEZE,6.52,-0.935,-1.827,3,2,0
$FREEZE,5.91,-0.918,-1.827,3,2,0
$FREEZE,5.41,-0.906,-1.826,3,2,0
$FREEZE,4.63,-0.905,-1.826,3,2,0
$FREEZE,4.14,-0.939,-1.826,3,2,0
$FREEZE,3.49,-0.941,-1.825,3,2,0
$FREEZE,3.35,-0.953,-1.825,3,2,0
$FREEZE,3.22,-0.950,-1.825,3,2,0
$FREEZE,2.65,-0.942,-1.824,3,2,0
$STATE,13728,end climb,SURFACE_DEPTH_REACHED
$STATE,13728,begin surface coast
$FREEZE,2.05,-0.937,-1.824,3,2,0
$FREEZE,1.44,-0.930,-1.823,3,2,0
$FREEZE,0.81,-0.943,-1.823,3,2,0
$FREEZE,1.05,-0.941,-1.822,3,2,0
$FREEZE,1.01,-0.925,-1.822,3,2,0
$FREEZE,0.94,-1.004,-1.821,3,2,0
$FREEZE,0.95,-0.924,-1.819,3,2,0
$FREEZE,0.69,-0.936,-1.818,3,2,0
$FINISH,0.7,1.026667
$STATE,13774,end surface coast,CONTROL_FINISHED_OK
$STATE,13774,begin surface
$SM_CCo,13791,216.68,0.085,0,0,440,609.08
$SM_GC,1.52,0.00,0.00,216.68,0.000,0.000,0.085,284,2785,440,-6.85,0.14,609.08
$RAFOS_CLK,798
$RAFOS,6,1296161356,20.833334,20.821112,71,49,48,44,44,41,699,1577,708,705,1789,1211
$RAFOS,5,1296160869,20.700001,20.685833,108,43,41,41,40,39,599,996,7,206,855,1397
$RAFOS,4,1296160411,20.566668,20.558611,52,46,45,43,43,43,583,139,1653,657,1508,1565
$RAFOS,3,1296159921,20.433332,20.422501,112,48,44,43,42,41,704,916,1547,26,352,1560
$RAFOS,2,1296159425,20.299999,20.284721,54,54,50,48,45,38,241,870,90,297,750,1856
$RAFOS,1,1296158948,20.166666,20.152222,63,46,45,43,41,38,869,285,1244,1195,894,1844
$RAFOS,0,1296158462,20.033333,20.017221,44,43,43,41,41,39,1022,908,1745,668,1267,162
$RAFOS_FIX,6645.528809,-5755.285156,270111,202036,4,88,0.11
$IRIDIUM_FIX,6614.97,-5747.57,270111,151516
$TT8_MAMPS,0.029211
$HUMID,47.51
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,21.1,95.136
$10V_AH,9.6,64.594
$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,8.650,113.825,338.325,216.675,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2761.649,8508.566,600.403,1906.566,303.902,0.000,1623.552,0.000,1895.605,2520.000,16.777,0.000
$DEVICE_MAMPS,160.650,82.620,1011.330,84.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,40021,1105
$CAP_FILE_SIZE,139019,0
$CFSIZE,260165632,194555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.4
$GPS,270111,230336,6644.181,-5749.725,39,1.0,39,-37.4