version: 66.08
glider: 183
mission: 3
dive: 800
start: 1 21 111 12 10 27
data:
$ID,183
$MISSION,3
$DIVE,800
$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,-12213.804
$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,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
$GPS1,210111,083117,6646.089,-5953.732,0,6124.8,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.48
$_SM_ANGLEo,-2.7
$GPS2,210111,083117,6646.089,-5953.732,0,6124.8,0,-38.2
$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,298.9,23921,-17.5,-10.000
$D_GRID,720
$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,-5.80,0.000,2,0.000,0.000,2497,1187,2808,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.2,-0.0,1,54,0.57,4.72,-16.80,0.000,4,0.096,0.073,2288,3924,3522,0,0,0,0,0,0
$GC,174,-0.57,-146.0,26.9,-12.3,26,181,0.00,1.85,0.00,0.000,6,0.000,0.048,2288,2781,3522,0,0,0,0,0,0
$GC,520,-0.57,-146.0,75.6,-12.1,87,526,0.00,2.30,0.00,0.000,4,0.000,0.052,2288,1370,3521,0,0,0,0,0,0
$GC,569,-0.60,-146.0,81.1,-10.8,95,576,0.00,2.38,0.00,0.000,6,0.000,0.063,2288,2772,3521,0,0,0,0,0,0
$GC,906,-0.60,-146.0,118.4,-10.3,140,910,0.00,2.00,0.00,0.000,4,0.000,0.075,2282,3925,3521,0,0,0,0,0,0
$GC,942,-0.62,-146.0,122.2,-10.5,143,945,0.00,1.92,0.00,0.000,6,0.000,0.049,2282,2759,3520,0,0,0,0,0,0
$GC,1274,-0.65,-146.0,157.3,-10.9,174,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2759,3520,0,0,0,0,0,0
$GC,1594,-0.69,-146.0,187.3,-7.9,204,1597,0.00,2.05,0.00,0.000,4,0.000,0.076,2276,3926,3520,0,0,0,0,0,0
$GC,1622,-0.73,-146.0,190.1,-8.7,206,1629,0.10,1.92,0.00,0.000,6,0.115,0.050,2231,2748,3520,0,0,0,0,0,0
$GC,1948,-0.67,-146.0,229.4,-11.7,237,1951,0.00,2.08,0.00,0.000,4,0.000,0.074,2223,3932,3520,0,0,0,0,0,0
$GC,1987,-0.61,-146.0,234.6,-12.6,240,1994,0.17,1.92,0.00,0.000,6,0.159,0.049,2271,2766,3520,0,0,0,0,0,0
$GC,2313,-0.65,-146.0,263.5,-8.8,271,2319,0.00,2.25,0.00,0.000,4,0.000,0.052,2271,1370,3520,0,0,0,0,0,0
$GC,2354,-0.71,-146.0,267.1,-8.4,274,2361,0.00,2.38,0.00,0.000,6,0.000,0.064,2271,2765,3520,0,0,0,0,0,0
$GC,2680,-0.75,-146.0,293.9,-8.5,305,2682,0.12,0.00,0.00,0.000,6,0.106,0.000,2218,2765,3519,0,0,0,0,0,0
$GC,2998,-0.70,-146.0,329.1,-11.1,335,3003,0.12,2.30,0.00,0.000,4,0.177,0.052,2251,1369,3519,0,0,0,0,0,0
$GC,3043,-0.72,-146.0,333.4,-8.3,338,3050,0.00,2.35,0.00,0.000,6,0.000,0.064,2248,2762,3519,0,0,0,0,0,0
$GC,3369,-0.72,-146.0,363.9,-9.2,369,3373,0.00,2.03,0.00,0.000,4,0.000,0.074,2247,3928,3519,0,0,0,0,0,0
$GC,3397,-0.72,-146.0,366.8,-9.3,371,3404,0.00,1.92,0.00,0.000,6,0.000,0.050,2248,2761,3520,0,0,0,0,0,0
$GC,3723,-0.72,-146.0,393.9,-7.9,402,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2762,3519,0,0,0,0,0,0
$GC,4042,-0.72,-146.0,421.7,-8.7,417,4046,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1364,3520,0,0,0,0,0,0
$GC,4082,-0.75,-146.0,425.3,-9.0,418,4086,0.00,2.40,0.00,0.000,6,0.000,0.063,2247,2774,3519,0,0,0,0,0,0
$GC,4406,-0.75,-146.0,454.8,-9.1,429,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3519,0,0,0,0,0,0
$GC,4712,-0.75,-146.0,481.7,-8.6,439,4716,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1370,3520,0,0,0,0,0,0
$GC,4753,-0.79,-146.0,485.5,-8.8,440,4757,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2766,3520,0,0,0,0,0,0
$GC,5078,-0.81,-146.0,513.3,-8.7,451,5082,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1364,3520,0,0,0,0,0,0
$GC,5100,-0.83,-146.0,515.5,-8.8,451,5105,0.12,2.35,0.00,0.000,6,0.096,0.062,2191,2764,3520,0,0,0,0,0,0
$GC,5418,-0.75,-146.0,553.8,-12.4,461,5422,0.15,2.05,0.00,0.000,4,0.176,0.072,2223,3929,3520,0,0,0,0,0,0
$GC,5456,-0.75,-146.0,558.8,-10.9,462,5459,0.00,1.90,0.00,0.000,6,0.000,0.047,2223,2760,3520,0,0,0,0,0,0
$GC,5793,-0.73,-146.0,592.7,-10.0,473,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2760,3521,0,0,0,0,0,0
$GC,6098,-0.73,-146.0,623.8,-10.2,483,6102,0.00,2.28,0.00,0.000,4,0.000,0.050,2223,1363,3521,0,0,0,0,0,0
$GC,6142,-0.73,-146.0,628.3,-10.2,484,6146,0.00,2.33,0.00,0.000,6,0.000,0.060,2222,2754,3521,0,0,0,0,0,0
$GC,6461,-0.73,-146.0,659.1,-8.9,495,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2754,3521,0,0,0,0,0,0
$GC,6767,-0.71,-146.0,688.4,-9.7,505,6771,0.00,2.28,0.00,0.000,4,0.000,0.050,2222,1363,3521,0,0,0,0,0,0
$GC,6805,-0.71,-146.0,692.4,-9.9,506,6810,0.00,2.35,0.00,0.000,6,0.000,0.061,2222,2751,3521,0,0,0,0,0,0
$STATE,7097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7097,begin apogee
$GC,7105,-0.14,0.0,720.1,9.4,516,7240,0.65,0.00,126.18,1.053,4,0.141,0.000,2425,2597,2922,0,0,0,0,0,0
$STATE,7240,end apogee,CONTROL_FINISHED_OK
$STATE,7240,begin climb
$GC,7244,0.57,146.0,723.4,0.0,520,7391,0.68,2.42,135.05,1.024,4,0.059,0.050,2668,1186,2326,0,0,0,0,0,0
$GC,7527,0.54,146.0,698.4,12.4,529,7532,0.00,2.50,0.00,0.000,6,0.000,0.056,2668,2598,2320,0,0,0,0,0,0
$GC,7863,0.48,146.0,658.2,12.1,540,7868,0.15,2.30,0.00,0.000,4,0.185,0.053,2629,1182,2316,0,0,0,0,0,0
$GC,8053,0.55,187.1,640.5,8.1,545,8095,0.00,2.38,35.10,0.975,6,0.000,0.057,2629,2615,2162,0,0,0,0,0,0
$GC,8433,0.58,187.1,602.7,10.1,558,8435,0.10,0.00,0.00,0.000,6,0.116,0.000,2679,2615,2154,0,0,0,0,0,0
$GC,8738,0.53,187.1,561.9,13.6,568,8740,0.12,0.00,0.00,0.000,6,0.181,0.000,2647,2615,2153,0,0,0,0,0,0
$GC,9044,0.53,187.1,528.2,10.8,578,9048,0.00,2.20,0.00,0.000,4,0.000,0.069,2647,3925,2152,0,0,0,0,0,0
$GC,9083,0.49,187.1,523.2,13.1,579,9088,0.00,2.17,0.00,0.000,6,0.000,0.046,2648,2592,2151,0,0,0,0,0,0
$GC,9419,0.49,187.1,485.9,11.0,590,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2591,2151,0,0,0,0,0,0
$GC,9725,0.49,187.1,453.0,10.6,600,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2591,2151,0,0,0,0,0,0
$GC,10032,0.49,187.1,419.0,11.4,610,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2591,2151,0,0,0,0,0,0
$GC,10342,0.49,187.1,384.0,11.4,628,10347,0.00,2.30,0.00,0.000,4,0.000,0.069,2648,3923,2151,0,0,0,0,0,0
$GC,10372,0.49,187.1,380.5,12.8,630,10376,0.00,2.15,0.00,0.000,6,0.000,0.046,2649,2603,2150,0,0,0,0,0,0
$GC,10698,0.50,200.3,347.4,9.4,660,10714,0.00,2.28,11.10,0.798,4,0.000,0.051,2650,1195,2107,0,0,0,0,0,0
$GC,10742,0.57,213.5,343.1,9.4,663,10761,0.00,2.33,13.68,0.793,6,0.000,0.057,2649,2599,2051,0,0,0,0,0,0
$GC,11079,0.60,213.5,309.0,10.4,695,11083,0.00,2.25,0.00,0.000,4,0.000,0.068,2649,3926,2048,0,0,0,0,0,0
$GC,11112,0.60,213.5,305.0,11.9,697,11118,0.00,2.17,0.00,0.000,6,0.000,0.045,2652,2592,2046,0,0,0,0,0,0
$GC,11438,0.64,213.5,269.0,11.4,728,11442,0.00,2.25,0.00,0.000,4,0.000,0.053,2652,1188,2047,0,0,0,0,0,0
$GC,11489,0.71,213.5,263.5,10.4,732,11494,0.15,2.30,0.00,0.000,6,0.093,0.057,2717,2592,2047,0,0,0,0,0,0
$GC,11816,0.65,213.5,216.8,14.5,762,11820,0.12,2.28,0.00,0.000,4,0.187,0.068,2685,3927,2046,0,0,0,0,0,0
$GC,11902,0.59,213.5,204.8,13.5,769,11906,0.00,2.17,0.00,0.000,6,0.000,0.045,2689,2595,2045,0,0,0,0,0,0
$GC,12229,0.59,213.5,168.3,10.0,799,12230,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2594,2045,0,0,0,0,0,0
$GC,12551,0.60,228.5,136.4,9.3,829,12574,0.00,2.35,13.52,0.713,4,0.000,0.070,2689,3926,1990,0,0,0,0,0,0
$GC,12643,0.57,228.5,125.9,12.0,837,12648,0.12,2.15,0.00,0.000,6,0.185,0.046,2659,2613,1988,0,0,0,0,0,0
$GC,12970,0.71,304.4,102.0,6.5,867,13039,0.12,0.00,65.68,0.687,6,0.101,0.000,2709,2611,1681,0,0,0,0,0,0
$GC,13379,0.77,308.1,61.8,9.8,937,13386,0.00,2.30,0.00,0.000,4,0.000,0.054,2709,1187,1670,0,0,0,0,0,0
$GC,13423,0.90,319.5,57.7,9.5,944,13443,0.15,2.38,12.45,0.663,6,0.090,0.058,2773,2628,1619,0,0,0,0,0,0
$GC,13783,0.88,319.5,9.4,12.1,1007,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2628,1615,0,0,0,0,0,0
$FREEZE,7.68,-1.748,-1.759,2,18,0
$STATE,13794,end climb,FINISH_DEPTH_REACHED
$STATE,13795,begin subsurface finish
$FINISH1,7.7,1.025768,85
$GC,13802,0.06,85.0,7.7,-12.3,1009,13845,0.90,2.42,-32.50,0.000,4,0.153,0.067,2500,1188,2579,0,0,0,0,0,0
$FINISH2,5.9
$STATE,13846,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13846,begin surface
$RAFOS_CLK,803
$RAFOS,6,1295614144,12.833333,12.817778,128,44,43,41,41,41,777,1453,154,677,1125,1433
$RAFOS,5,1295613666,12.700000,12.685000,51,47,44,44,43,41,906,1258,905,1442,1895,524
$RAFOS,4,1295613182,12.566667,12.550555,161,45,42,41,41,40,699,501,1482,1721,1465,146
$RAFOS,3,1295612709,12.433333,12.419167,122,46,45,43,42,42,742,983,265,457,1171,1742
$RAFOS,2,1295612226,12.300000,12.285000,152,47,44,44,42,42,625,457,670,884,200,1285
$RAFOS_FIX,6646.077637,-5957.143555,210111,121231,5,140,0.18
$IRIDIUM_FIX,6641.98,-5833.70,170111,181821
$TT8_MAMPS,0.02996
$HUMID,50.19
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.7
$24V_AH,20.9,90.495
$10V_AH,9.7,61.864
$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,4.650,111.800,412.750,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2536.899,8862.395,457.010,1790.406,272.767,0.000,1444.063,0.000,1774.602,2160.000,21.371,0.000
$DEVICE_MAMPS,186.660,76.500,1052.640,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,709.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,36678,1016
$CAP_FILE_SIZE,135425,0
$CFSIZE,260165632,197255168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.5
$GPS,210111,122731,6646.078,-5957.144,0,5140.4,0,-38.2