version: 66.08
glider: 183
mission: 3
dive: 408
start: 11 26 110 4 55 42
data:
$ID,183
$MISSION,3
$DIVE,408
$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,-8272.5078
$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,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,1.8
$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
$GPS1,261110,042328,6647.995,-5955.655,0,6086.5,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,88.44
$_SM_ANGLEo,2.9
$GPS2,261110,042328,6647.995,-5955.655,0,6086.5,0,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,116.5,138335,-17.5,-10.000
$D_GRID,754
$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,-146.0,0.0,0.0,0,25,0.00,0.50,-6.12,0.000,3,0.000,0.125,2492,1515,3525,0,0,0,0,0,0
$GC,28,-0.57,-146.0,89.2,-0.0,1,35,0.57,4.05,0.00,0.000,4,0.135,0.063,2301,3926,3526,0,0,0,0,0,0
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$GC,1142,-0.61,-146.0,214.3,-9.9,114,1149,0.00,2.35,0.00,0.000,6,0.000,0.063,2266,2798,3525,0,0,0,0,0,0
$GC,1468,-0.61,-146.0,245.2,-9.6,145,1472,0.00,2.28,0.00,0.000,4,0.000,0.052,2266,1367,3525,0,0,0,0,0,0
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$GC,1856,-0.66,-146.0,280.0,-9.0,180,1860,0.00,2.33,0.00,0.000,6,0.000,0.063,2265,2781,3524,0,0,0,0,0,0
$GC,2182,-0.69,-146.0,308.8,-9.1,210,2186,0.00,1.92,0.00,0.000,4,0.000,0.073,2262,3935,3524,0,0,0,0,0,0
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$GC,2649,-0.80,-146.0,353.0,-10.1,253,2654,0.12,2.35,0.00,0.000,6,0.104,0.062,2208,2794,3523,0,0,0,0,0,0
$GC,2975,-0.72,-146.0,394.8,-12.9,283,2977,0.12,0.00,0.00,0.000,6,0.194,0.000,2238,2794,3523,0,0,0,0,0,0
$GC,3292,-0.72,-146.0,427.1,-10.0,313,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2794,3524,0,0,0,0,0,0
$GC,3613,-0.72,-146.0,458.9,-10.1,343,3617,0.00,2.28,0.00,0.000,4,0.000,0.050,2239,1371,3524,0,0,0,0,0,0
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$GC,4336,-0.69,-146.0,530.8,-10.0,391,4340,0.00,2.20,0.00,0.000,4,0.000,0.049,2231,1371,3525,0,0,0,0,0,0
$GC,4380,-0.69,-146.0,535.6,-10.0,392,4384,0.00,2.33,0.00,0.000,6,0.000,0.062,2231,2785,3525,0,0,0,0,0,0
$GC,4699,-0.67,-146.0,566.3,-9.6,403,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2785,3525,0,0,0,0,0,0
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$GC,5056,-0.73,-146.0,599.7,-7.5,414,5061,0.00,2.30,0.00,0.000,6,0.000,0.061,2264,2771,3525,0,0,0,0,0,0
$GC,5380,-0.78,-146.0,622.3,-7.1,425,5385,0.12,1.98,0.00,0.000,4,0.108,0.072,2205,3935,3525,0,0,0,0,0,0
$GC,5402,-0.78,-146.0,624.3,-8.8,425,5406,0.00,1.85,0.00,0.000,6,0.000,0.047,2205,2763,3525,0,0,0,0,0,0
$GC,5720,-0.72,-146.0,659.8,-11.5,436,5722,0.15,0.00,0.00,0.000,6,0.190,0.000,2244,2763,3525,0,0,0,0,0,0
$GC,6027,-0.72,-146.0,686.2,-8.2,446,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2763,3526,0,0,0,0,0,0
$GC,6332,-0.72,-146.0,712.1,-8.8,456,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2763,3526,0,0,0,0,0,0
$GC,6638,-0.72,-146.0,739.7,-9.0,466,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2763,3526,0,0,0,0,0,0
$STATE,6820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6820,begin apogee
$GC,6826,-0.14,0.0,755.3,8.7,472,6956,0.55,0.00,124.62,1.084,4,0.138,0.000,2425,2597,2923,0,0,0,0,0,0
$STATE,6957,end apogee,CONTROL_FINISHED_OK
$STATE,6957,begin climb
$GC,6959,0.57,146.0,759.8,0.0,476,7099,0.68,2.42,131.62,1.060,4,0.068,0.049,2660,1188,2328,0,0,0,0,0,0
$GC,7207,0.57,146.0,742.0,10.5,484,7211,0.00,2.50,0.00,0.000,6,0.000,0.054,2660,2604,2320,0,0,0,0,0,0
$GC,7549,0.51,146.0,701.9,11.5,495,7553,0.00,2.35,0.00,0.000,4,0.000,0.053,2662,1182,2316,0,0,0,0,0,0
$GC,7806,0.48,146.0,672.3,11.4,502,7814,0.12,2.35,0.00,0.000,6,0.204,0.055,2634,2602,2315,0,0,0,0,0,0
$GC,8119,0.49,150.4,641.2,9.8,513,8123,0.00,2.22,0.00,0.000,4,0.000,0.067,2634,3928,2314,0,0,0,0,0,0
$GC,8153,0.43,150.4,637.4,11.2,514,8157,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2595,2313,0,0,0,0,0,0
$GC,8494,0.43,150.4,601.3,10.4,525,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2594,2313,0,0,0,0,0,0
$GC,8800,0.43,150.4,570.0,10.1,535,8804,0.00,2.22,0.00,0.000,4,0.000,0.067,2635,3928,2313,0,0,0,0,0,0
$GC,8821,0.39,150.4,567.3,11.6,535,8828,0.15,2.10,0.00,0.000,6,0.203,0.044,2600,2612,2312,0,0,0,0,0,0
$GC,9135,0.46,192.3,542.3,8.1,546,9180,0.00,2.35,38.33,0.941,4,0.000,0.053,2600,1198,2139,0,0,0,0,0,0
$GC,9199,0.59,237.5,536.9,7.9,548,9245,0.20,2.35,40.38,0.922,6,0.084,0.054,2678,2613,1954,0,0,0,0,0,0
$GC,9557,0.56,237.5,486.4,14.6,565,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2613,1943,0,0,0,0,0,0
$GC,9877,0.53,237.5,441.0,14.4,595,9879,0.12,0.00,0.00,0.000,6,0.192,0.000,2647,2613,1941,0,0,0,0,0,0
$GC,10194,0.56,237.5,403.5,11.6,625,10198,0.00,2.28,0.00,0.000,4,0.000,0.053,2647,1191,1940,0,0,0,0,0,0
$GC,10232,0.64,237.5,399.1,10.4,628,10240,0.10,2.33,0.00,0.000,6,0.116,0.055,2687,2616,1939,0,0,0,0,0,0
$GC,10557,0.60,237.5,352.3,14.5,659,10561,0.00,2.17,0.00,0.000,4,0.000,0.067,2687,3928,1939,0,0,0,0,0,0
$GC,10581,0.55,237.5,348.7,15.7,661,10586,0.15,2.12,0.00,0.000,6,0.198,0.044,2653,2597,1938,0,0,0,0,0,0
$GC,10906,0.58,237.5,312.2,11.3,691,10910,0.00,2.22,0.00,0.000,4,0.000,0.053,2653,1181,1938,0,0,0,0,0,0
$GC,10939,0.65,238.7,308.7,9.9,693,10946,0.00,2.30,0.00,0.000,6,0.000,0.054,2652,2598,1938,0,0,0,0,0,0
$GC,11265,0.69,238.7,273.9,10.8,724,11269,0.12,2.22,0.00,0.000,4,0.108,0.067,2702,3934,1937,0,0,0,0,0,0
$GC,11287,0.66,238.7,270.8,14.5,726,11291,0.00,2.12,0.00,0.000,6,0.000,0.044,2706,2603,1936,0,0,0,0,0,0
$GC,11616,0.60,238.7,224.0,13.6,756,11621,0.12,2.22,0.00,0.000,4,0.201,0.052,2674,1188,1936,0,0,0,0,0,0
$GC,11637,0.60,238.7,220.7,12.7,757,11644,0.00,2.33,0.00,0.000,6,0.000,0.054,2674,2605,1936,0,0,0,0,0,0
$GC,11963,0.62,238.7,184.4,11.1,788,11967,0.00,2.20,0.00,0.000,4,0.000,0.067,2674,3934,1936,0,0,0,0,0,0
$GC,11979,0.62,238.7,182.2,11.9,789,11984,0.00,2.12,0.00,0.000,6,0.000,0.044,2674,2589,1936,0,0,0,0,0,0
$GC,12310,0.65,238.7,146.2,10.4,820,12314,0.00,2.20,0.00,0.000,4,0.000,0.054,2674,1187,1936,0,0,0,0,0,0
$GC,12332,0.70,238.7,143.7,10.6,821,12339,0.00,2.28,0.00,0.000,6,0.000,0.054,2674,2593,1936,0,0,0,0,0,0
$GC,12658,0.75,255.8,112.3,9.2,852,12681,0.12,2.28,14.30,0.701,4,0.112,0.067,2723,3926,1878,0,0,0,0,0,0
$GC,12705,0.67,255.8,106.3,14.2,856,12710,0.12,2.15,0.00,0.000,6,0.213,0.046,2697,2594,1876,0,0,0,0,0,0
$GC,13049,0.68,273.7,70.3,9.2,911,13068,0.00,0.00,16.12,0.686,6,0.000,0.000,2697,2593,1806,0,0,0,0,0,0
$GC,13408,0.80,333.5,36.6,7.2,974,13468,0.12,2.35,50.38,0.662,4,0.108,0.070,2747,3922,1562,0,0,0,0,0,0
$GC,13491,0.80,333.5,27.9,11.5,988,13497,0.00,2.17,0.00,0.000,6,0.000,0.045,2748,2601,1559,0,0,0,0,0,0
$FREEZE,8.96,-1.579,-1.696,2,2,0
$FREEZE,8.34,-1.622,-1.692,2,2,0
$STATE,13687,end climb,FINISH_DEPTH_REACHED
$STATE,13687,begin subsurface finish
$FINISH1,8.3,1.024806,132
$GC,13693,0.09,132.3,8.3,-9.9,1023,13729,0.77,2.35,-25.33,0.000,4,0.148,0.067,2506,1185,2387,0,0,0,0,0,0
$FINISH2,7.6
$STATE,13730,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13730,begin surface
$RAFOS_CLK,795
$RAFOS,4,1290760384,8.566667,8.551111,113,46,45,45,42,42,648,308,887,1431,634,350
$RAFOS,3,1290759902,8.433333,8.417222,69,46,44,42,39,39,764,26,1746,1738,497,726
$RAFOS,2,1290759427,8.300000,8.285277,66,50,43,40,39,38,632,1573,167,882,324,1414
$RAFOS,1,1290758953,8.166667,8.153611,87,44,41,41,41,40,524,180,1030,1051,933,526
$RAFOS,0,1290758466,8.033334,8.018333,70,41,39,39,39,39,685,1505,1334,1426,1546,1661
$RAFOS,6,1290746944,4.833333,4.817778,82,50,47,44,41,41,760,144,1098,611,539,1815
$RAFOS_FIX,6648.625000,-5954.766602,261110,040434,7,86,5.43
$IRIDIUM_FIX,6614.97,-5944.22,241110,060644
$TT8_MAMPS,0.031458
$HUMID,49.29
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,21.8,49.091
$10V_AH,9.9,36.894
$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,4.925,119.350,415.750,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2625.558,8745.894,444.708,1811.319,193.616,0.000,1445.886,0.000,1791.443,2160.000,23.209,0.000
$DEVICE_MAMPS,213.435,124.695,1084.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.714,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151728
$DATA_FILE_SIZE,36682,1029
$CAP_FILE_SIZE,139274,0
$CFSIZE,260165632,221069312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,261110,042328,6647.995,-5955.655,0,6086.5,0,-38.1