version: 66.08
glider: 183
mission: 3
dive: 801
start: 1 21 111 16 3 34
data:
$ID,183
$MISSION,3
$DIVE,801
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,210111,122731,6646.078,-5957.144,0,5140.4,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.12
$_SM_ANGLEo,-1.7
$GPS2,210111,122731,6646.078,-5957.144,0,5140.4,0,-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,297.9,21458,-17.5,-10.000
$D_GRID,684
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2500,1188,2802,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.8,-0.0,1,58,0.57,4.72,-17.20,0.000,4,0.101,0.070,2288,3932,3520,0,0,0,0,0,0
$GC,246,-0.57,-146.0,37.7,-13.5,39,253,0.00,1.90,0.00,0.000,6,0.000,0.049,2288,2774,3521,0,0,0,0,0,0
$GC,592,-0.57,-146.0,81.9,-12.8,100,599,0.00,2.30,0.00,0.000,4,0.000,0.052,2288,1361,3521,0,0,0,0,0,0
$GC,664,-0.60,-146.0,91.0,-12.6,112,671,0.00,2.35,0.00,0.000,6,0.000,0.063,2288,2759,3520,0,0,0,0,0,0
$GC,999,-0.62,-146.0,130.9,-11.3,149,1003,0.00,2.03,0.00,0.000,4,0.000,0.074,2288,3928,3520,0,0,0,0,0,0
$GC,1027,-0.64,-146.0,134.1,-10.4,151,1034,0.00,1.92,0.00,0.000,6,0.000,0.050,2288,2748,3520,0,0,0,0,0,0
$GC,1354,-0.68,-146.0,164.4,-8.9,182,1357,0.00,2.05,0.00,0.000,4,0.000,0.076,2286,3928,3520,0,0,0,0,0,0
$GC,1415,-0.74,-146.0,170.0,-8.6,187,1422,0.15,1.92,0.00,0.000,6,0.093,0.050,2223,2763,3520,0,0,0,0,0,0
$GC,1741,-0.67,-146.0,214.2,-13.7,218,1746,0.12,2.28,0.00,0.000,4,0.179,0.052,2256,1371,3520,0,0,0,0,0,0
$GC,1772,-0.67,-146.0,217.9,-11.7,220,1777,0.00,2.35,0.00,0.000,6,0.000,0.064,2250,2772,3520,0,0,0,0,0,0
$GC,2103,-0.67,-146.0,254.0,-10.4,251,2106,0.00,2.00,0.00,0.000,4,0.000,0.075,2247,3931,3520,0,0,0,0,0,0
$GC,2127,-0.67,-146.0,256.4,-9.9,253,2130,0.00,1.92,0.00,0.000,6,0.000,0.049,2248,2766,3519,0,0,0,0,0,0
$GC,2460,-0.67,-146.0,290.3,-10.4,284,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3519,0,0,0,0,0,0
$GC,2776,-0.67,-146.0,322.8,-9.4,314,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3519,0,0,0,0,0,0
$GC,3098,-0.67,-146.0,352.5,-9.6,344,3102,0.00,2.25,0.00,0.000,4,0.000,0.052,2247,1367,3518,0,0,0,0,0,0
$GC,3133,-0.67,-146.0,356.1,-9.4,347,3137,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2773,3518,0,0,0,0,0,0
$GC,3458,-0.67,-146.0,387.1,-9.2,377,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3518,0,0,0,0,0,0
$GC,3791,-0.67,-146.0,416.9,-8.9,397,3795,0.00,2.28,0.00,0.000,4,0.000,0.051,2247,1370,3519,0,0,0,0,0,0
$GC,3825,-0.69,-146.0,420.1,-8.9,398,3830,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2765,3518,0,0,0,0,0,0
$GC,4157,-0.69,-146.0,450.1,-9.2,409,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3519,0,0,0,0,0,0
$GC,4462,-0.69,-146.0,477.8,-8.8,419,4466,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3928,3519,0,0,0,0,0,0
$GC,4491,-0.71,-146.0,480.6,-9.1,419,4498,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2758,3519,0,0,0,0,0,0
$GC,4805,-0.74,-146.0,507.4,-8.6,430,4809,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1369,3518,0,0,0,0,0,0
$GC,4827,-0.76,-146.0,509.6,-8.6,430,4831,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2764,3519,0,0,0,0,0,0
$GC,5142,-0.79,-146.0,535.6,-8.3,440,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2764,3519,0,0,0,0,0,0
$GC,5447,-0.81,-146.0,561.4,-8.1,450,5449,0.10,0.00,0.00,0.000,6,0.119,0.000,2198,2764,3519,0,0,0,0,0,0
$GC,5754,-0.75,-146.0,595.9,-11.6,460,5759,0.12,2.30,0.00,0.000,4,0.179,0.050,2230,1362,3520,0,0,0,0,0,0
$GC,5804,-0.75,-146.0,601.1,-9.7,461,5808,0.00,2.35,0.00,0.000,6,0.000,0.061,2229,2759,3520,0,0,0,0,0,0
$GC,6118,-0.75,-146.0,628.9,-9.0,471,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2759,3520,0,0,0,0,0,0
$GC,6425,-0.75,-146.0,655.4,-8.1,481,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2759,3521,0,0,0,0,0,0
$GC,6730,-0.75,-146.0,682.2,-8.7,491,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2759,3521,0,0,0,0,0,0
$STATE,6758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6758,begin apogee
$GC,6765,-0.14,0.0,685.2,8.8,492,6897,0.60,0.00,125.32,1.030,4,0.130,0.000,2423,2603,2923,0,0,0,0,0,0
$STATE,6898,end apogee,CONTROL_FINISHED_OK
$STATE,6898,begin climb
$GC,6901,0.57,146.0,687.3,0.0,496,7042,0.68,2.45,133.52,1.001,4,0.060,0.050,2667,1186,2329,0,0,0,0,0,0
$GC,7194,0.55,146.0,660.6,11.4,505,7199,0.00,2.50,0.00,0.000,6,0.000,0.055,2667,2605,2322,0,0,0,0,0,0
$GC,7520,0.49,146.0,623.0,10.9,516,7525,0.12,2.33,0.00,0.000,4,0.198,0.054,2636,1179,2318,0,0,0,0,0,0
$GC,7733,0.54,164.8,603.1,9.1,522,7755,0.00,2.38,16.12,0.933,6,0.000,0.057,2636,2609,2250,0,0,0,0,0,0
$GC,8088,0.54,164.8,567.4,10.3,534,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2609,2248,0,0,0,0,0,0
$GC,8391,0.54,164.8,535.4,10.5,544,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2609,2246,0,0,0,0,0,0
$GC,8698,0.54,164.8,504.1,10.0,554,8702,0.00,2.22,0.00,0.000,4,0.000,0.069,2636,3926,2246,0,0,0,0,0,0
$GC,8738,0.50,164.8,499.5,12.4,555,8742,0.00,2.15,0.00,0.000,6,0.000,0.046,2636,2605,2245,0,0,0,0,0,0
$GC,9062,0.50,166.2,467.3,9.9,566,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2605,2245,0,0,0,0,0,0
$GC,9368,0.50,166.2,435.4,10.5,576,9372,0.00,2.25,0.00,0.000,4,0.000,0.069,2636,3925,2245,0,0,0,0,0,0
$GC,9402,0.47,166.2,431.3,12.4,577,9406,0.00,2.12,0.00,0.000,6,0.000,0.045,2636,2619,2244,0,0,0,0,0,0
$GC,9732,0.47,166.2,397.0,10.4,588,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2618,2244,0,0,0,0,0,0
$GC,10054,0.47,168.8,364.8,9.9,618,10066,0.00,2.33,4.35,0.646,4,0.000,0.053,2637,1193,2234,0,0,0,0,0,0
$GC,10102,0.55,186.3,359.9,9.2,622,10127,0.00,2.35,17.30,0.820,6,0.000,0.056,2637,2626,2162,0,0,0,0,0,0
$GC,10444,0.59,199.5,326.0,9.4,654,10463,0.00,0.00,12.27,0.790,6,0.000,0.000,2637,2626,2109,0,0,0,0,0,0
$GC,10784,0.66,222.6,294.3,8.9,686,10811,0.15,2.22,21.15,0.788,4,0.093,0.068,2701,3933,2014,0,0,0,0,0,0
$GC,10860,0.56,222.6,284.3,16.0,692,10864,0.17,2.15,0.00,0.000,6,0.186,0.046,2660,2614,2012,0,0,0,0,0,0
$GC,11191,0.59,222.6,248.7,10.5,723,11195,0.00,2.30,0.00,0.000,4,0.000,0.053,2660,1189,2010,0,0,0,0,0,0
$GC,11218,0.65,222.6,245.6,10.3,725,11225,0.00,2.35,0.00,0.000,6,0.000,0.057,2660,2622,2010,0,0,0,0,0,0
$GC,11544,0.69,222.6,212.9,10.4,756,11549,0.12,2.22,0.00,0.000,4,0.103,0.070,2715,3925,2009,0,0,0,0,0,0
$GC,11658,0.59,222.6,195.2,15.4,765,11666,0.20,2.12,0.00,0.000,6,0.184,0.046,2666,2622,2007,0,0,0,0,0,0
$GC,11985,0.66,252.9,161.0,8.6,796,12019,0.00,2.33,26.40,0.724,4,0.000,0.053,2666,1195,1891,0,0,0,0,0,0
$GC,12058,0.79,293.4,155.0,8.1,802,12101,0.17,2.38,35.47,0.708,6,0.086,0.057,2738,2636,1729,0,0,0,0,0,0
$GC,12427,0.79,293.4,106.0,14.5,837,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2636,1720,0,0,0,0,0,0
$GC,12763,0.79,293.4,64.6,11.3,892,12770,0.00,2.35,0.00,0.000,4,0.000,0.055,2738,1191,1717,0,0,0,0,0,0
$GC,12904,0.85,293.4,49.5,11.2,916,12911,0.00,2.33,0.00,0.000,6,0.000,0.058,2738,2602,1717,0,0,0,0,0,0
$GC,13253,0.86,305.5,11.0,9.4,977,13271,0.00,2.30,10.27,0.652,4,0.000,0.072,2738,3921,1676,0,0,0,0,0,0
$FREEZE,7.89,-1.747,-1.754,2,19,0
$STATE,13277,end climb,FINISH_DEPTH_REACHED
$STATE,13278,begin subsurface finish
$FINISH1,7.9,1.025696,89
$GC,13287,0.06,88.5,7.9,-10.6,981,13325,0.77,2.30,-30.30,0.000,4,0.148,0.087,2498,3925,2564,0,0,0,0,0,0
$FINISH2,5.9
$STATE,13325,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13326,begin surface
$RAFOS_CLK,772
$RAFOS,6,1295628545,16.833334,16.818056,120,47,46,43,42,41,786,540,978,1502,1675,1817
$RAFOS,5,1295628068,16.700001,16.685556,80,42,41,41,40,40,907,1614,1806,154,515,730
$RAFOS,4,1295627590,16.566668,16.552778,117,45,43,43,42,40,667,1715,1006,1666,1928,1691
$RAFOS,3,1295627114,16.433332,16.420555,69,46,46,42,42,40,723,382,1702,597,1535,442
$RAFOS,2,1295626630,16.299999,16.286112,130,48,44,44,42,41,624,1373,848,279,1109,1939
$RAFOS,1,1295626144,16.166666,16.151112,121,66,42,41,40,40,533,534,1361,849,633,1368
$RAFOS,0,1295625663,16.033333,16.017500,84,46,42,41,39,39,663,727,25,1931,392,633
$RAFOS_FIX,6647.103027,-6001.941895,210111,161607,7,103,0.28
$IRIDIUM_FIX,6641.98,-5833.70,170111,181821
$TT8_MAMPS,0.029211
$HUMID,50.31
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,21.0,90.601
$10V_AH,9.7,61.926
$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,4.075,103.100,402.200,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2457.199,8526.706,440.172,1721.988,260.512,0.000,1390.393,0.000,1707.802,2160.000,19.801,0.000
$DEVICE_MAMPS,198.135,87.210,1030.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.544,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,36665,987
$CAP_FILE_SIZE,128190,0
$CFSIZE,260165632,197201920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.4
$GPS,210111,162707,6647.103,-6001.942,0,7103.0,0,-38.2