version: 66.08
glider: 183
mission: 3
dive: 508
start: 12 14 110 15 15 58
data:
$ID,183
$MISSION,3
$DIVE,508
$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,-9800.4648
$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,35
$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,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
$GPS1,141210,122734,6648.623,-5842.873,0,7125.3,0,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.78
$_SM_ANGLEo,-1.9
$GPS2,141210,122734,6648.623,-5842.873,0,7125.3,0,-37.7
$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,109.9,87123,-17.5,-10.000
$D_GRID,861
$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
$STATE,13,begin dive
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$GC,1302,-0.65,-146.0,147.3,-12.3,191,1306,0.00,2.00,0.00,0.000,4,0.000,0.073,2233,3918,3522,0,0,0,0,0,0
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$GC,3147,-0.78,-146.0,321.7,-8.0,361,3152,0.12,2.03,0.00,0.000,4,0.107,0.072,2203,3932,3520,0,0,0,0,0,0
$GC,3171,-0.76,-146.0,324.1,-9.7,363,3174,0.00,1.92,0.00,0.000,6,0.000,0.047,2203,2739,3520,0,0,0,0,0,0
$GC,3502,-0.68,-146.0,364.7,-12.3,394,3504,0.17,0.00,0.00,0.000,6,0.174,0.000,2252,2738,3520,0,0,0,0,0,0
$GC,3821,-0.70,-146.0,392.8,-8.7,424,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2738,3521,0,0,0,0,0,0
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$GC,4530,-0.76,-146.0,456.1,-9.3,452,4534,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1366,3522,0,0,0,0,0,0
$GC,4552,-0.78,-146.0,458.4,-9.5,452,4556,0.00,2.28,0.00,0.000,6,0.000,0.060,2247,2749,3521,0,0,0,0,0,0
$GC,4866,-0.80,-146.0,487.7,-9.5,462,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3522,0,0,0,0,0,0
$GC,5171,-0.80,-146.0,516.0,-9.0,472,5175,0.00,1.98,0.00,0.000,4,0.000,0.071,2247,3926,3521,0,0,0,0,0,0
$GC,5207,-0.82,-146.0,519.3,-9.5,473,5212,0.10,1.92,0.00,0.000,6,0.118,0.046,2199,2731,3522,0,0,0,0,0,0
$GC,5550,-0.75,-146.0,559.3,-11.5,484,5554,0.12,2.05,0.00,0.000,4,0.178,0.070,2224,3929,3522,0,0,0,0,0,0
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$GC,6535,-0.70,-146.0,653.3,-9.2,516,6538,0.00,2.03,0.00,0.000,4,0.000,0.072,2222,3931,3522,0,0,0,0,0,0
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$GC,6913,-0.72,-146.0,681.8,-7.3,528,6917,0.00,2.22,0.00,0.000,4,0.000,0.050,2255,1360,3522,0,0,0,0,0,0
$GC,6948,-0.78,-146.0,684.7,-7.7,529,6952,0.00,2.33,0.00,0.000,6,0.000,0.059,2253,2760,3523,0,0,0,0,0,0
$GC,7284,-0.82,-146.0,709.5,-7.4,540,7286,0.12,0.00,0.00,0.000,6,0.106,0.000,2194,2760,3522,0,0,0,0,0,0
$GC,7591,-0.75,-146.0,743.1,-11.3,550,7593,0.12,0.00,0.00,0.000,6,0.177,0.000,2225,2761,3523,0,0,0,0,0,0
$GC,7896,-0.75,-146.0,771.6,-9.1,560,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2761,3522,0,0,0,0,0,0
$GC,8204,-0.75,-146.0,800.5,-9.2,570,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2761,3522,0,0,0,0,0,0
$GC,8508,-0.75,-146.0,828.0,-8.8,580,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2761,3523,0,0,0,0,0,0
$STATE,8782,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8782,begin apogee
$GC,8788,-0.14,0.0,853.3,9.1,589,8923,0.60,0.00,126.70,1.137,4,0.132,0.000,2423,2604,2922,0,0,0,0,0,0
$STATE,8924,end apogee,CONTROL_FINISHED_OK
$STATE,8924,begin climb
$GC,8926,0.57,146.0,855.9,0.0,593,9072,0.68,2.45,134.85,1.111,4,0.062,0.049,2661,1185,2327,0,0,0,0,0,0
$GC,9188,0.55,146.0,834.5,10.4,601,9192,0.00,2.47,0.00,0.000,6,0.000,0.054,2661,2599,2319,0,0,0,0,0,0
$GC,9512,0.48,146.0,795.0,12.2,612,9517,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1187,2316,0,0,0,0,0,0
$GC,9753,0.46,146.0,767.2,11.9,619,9758,0.15,2.33,0.00,0.000,6,0.194,0.055,2625,2611,2315,0,0,0,0,0,0
$GC,10077,0.46,146.0,734.4,10.1,630,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2611,2314,0,0,0,0,0,0
$GC,10383,0.46,147.4,704.0,9.9,640,10387,0.00,2.20,0.00,0.000,4,0.000,0.067,2625,3926,2313,0,0,0,0,0,0
$GC,10410,0.43,147.4,700.8,11.6,640,10417,0.00,2.15,0.00,0.000,6,0.000,0.044,2625,2588,2313,0,0,0,0,0,0
$GC,10723,0.44,154.5,670.6,9.7,651,10734,0.00,2.22,5.82,0.842,4,0.000,0.050,2625,1192,2295,0,0,0,0,0,0
$GC,10756,0.48,170.1,667.2,9.3,652,10777,0.00,2.30,16.02,0.979,6,0.000,0.055,2625,2600,2229,0,0,0,0,0,0
$GC,11087,0.51,170.8,634.7,10.0,662,11091,0.00,2.25,0.00,0.000,4,0.000,0.065,2625,3935,2226,0,0,0,0,0,0
$GC,11121,0.49,170.8,630.5,12.6,663,11125,0.00,2.15,0.00,0.000,6,0.000,0.044,2625,2600,2225,0,0,0,0,0,0
$GC,11457,0.51,170.8,595.5,10.6,674,11461,0.00,2.25,0.00,0.000,4,0.000,0.053,2625,1193,2225,0,0,0,0,0,0
$GC,11502,0.57,174.7,591.0,9.8,675,11513,0.10,2.28,5.32,0.790,6,0.117,0.055,2670,2600,2209,0,0,0,0,0,0
$GC,11821,0.51,174.7,549.7,13.2,685,11825,0.00,2.22,0.00,0.000,4,0.000,0.065,2670,3929,2208,0,0,0,0,0,0
$GC,11891,0.41,174.7,539.4,14.8,687,11895,0.25,2.10,0.00,0.000,6,0.187,0.044,2609,2607,2207,0,0,0,0,0,0
$GC,12227,0.50,214.7,510.1,8.2,698,12268,0.00,2.30,35.60,0.919,4,0.000,0.050,2608,1186,2047,0,0,0,0,0,0
$GC,12288,0.63,259.1,505.0,7.9,700,12334,0.20,2.33,39.88,0.902,6,0.081,0.054,2689,2605,1866,0,0,0,0,0,0
$GC,12659,0.58,259.1,450.5,15.1,712,12663,0.00,2.22,0.00,0.000,4,0.000,0.066,2689,3926,1856,0,0,0,0,0,0
$GC,12692,0.51,259.1,444.7,17.6,713,12697,0.17,2.15,0.00,0.000,6,0.187,0.044,2645,2603,1855,0,0,0,0,0,0
$GC,13022,0.56,259.1,408.5,10.8,724,13026,0.00,2.28,0.00,0.000,4,0.000,0.052,2645,1185,1853,0,0,0,0,0,0
$GC,13079,0.66,265.1,402.6,9.7,725,13092,0.12,2.28,3.60,0.575,6,0.099,0.054,2696,2595,1845,0,0,0,0,0,0
$GC,13408,0.61,265.1,352.2,15.2,754,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2595,1843,0,0,0,0,0,0
$GC,13729,0.57,265.1,302.1,16.1,784,13736,0.12,0.00,0.00,0.000,6,0.191,0.000,2665,2595,1843,0,0,0,0,0,0
$GC,14055,0.60,265.1,260.1,12.7,815,14059,0.00,2.25,0.00,0.000,4,0.000,0.053,2665,1180,1842,0,0,0,0,0,0
$GC,14107,0.67,265.1,253.8,12.1,819,14111,0.00,2.30,0.00,0.000,6,0.000,0.054,2665,2595,1842,0,0,0,0,0,0
$GC,14432,0.71,265.1,213.4,11.7,849,14434,0.12,0.00,0.00,0.000,6,0.105,0.000,2716,2595,1842,0,0,0,0,0,0
$GC,14751,0.67,265.1,164.2,15.7,879,14755,0.00,2.25,0.00,0.000,4,0.000,0.053,2718,1185,1842,0,0,0,0,0,0
$GC,14822,0.67,265.1,153.6,14.0,885,14829,0.00,2.22,0.00,0.000,6,0.000,0.054,2718,2559,1842,0,0,0,0,0,0
$GC,15148,0.64,265.1,107.8,13.5,916,15153,0.12,2.30,0.00,0.000,4,0.188,0.066,2685,3932,1842,0,0,0,0,0,0
$GC,15166,0.62,265.1,105.4,13.2,917,15170,0.00,2.22,0.00,0.000,6,0.000,0.044,2686,2542,1841,0,0,0,0,0,0
$GC,15508,0.66,265.1,67.4,10.9,973,15515,0.00,2.15,0.00,0.000,4,0.000,0.054,2685,1180,1841,0,0,0,0,0,0
$GC,15551,0.76,265.1,63.1,10.2,980,15558,0.10,2.25,0.00,0.000,6,0.119,0.054,2727,2562,1841,0,0,0,0,0,0
$GC,15899,0.76,265.1,23.2,11.7,1041,15905,0.00,2.28,0.00,0.000,4,0.000,0.067,2727,3927,1841,0,0,0,0,0,0
$GC,16014,0.76,265.1,9.0,12.5,1061,16021,0.00,2.17,0.00,0.000,6,0.000,0.047,2729,2586,1839,0,0,0,0,0,0
$FREEZE,7.65,-1.775,-1.763,2,2,0
$STATE,16026,end climb,FINISH_DEPTH_REACHED
$STATE,16027,begin subsurface finish
$FINISH1,7.6,1.025824,82
$GC,16034,0.05,82.2,7.6,-10.6,1063,16064,0.75,0.00,-25.77,0.000,6,0.164,0.000,2503,2586,2589,0,0,0,0,0,0
$FINISH2,5.4
$STATE,16065,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16065,begin surface
$RAFOS_CLK,920
$RAFOS,6,1292345345,16.833334,16.818056,130,49,44,44,42,41,689,992,298,980,1369,1539
$RAFOS,5,1292344866,16.700001,16.684999,120,48,46,42,41,41,676,240,1224,1835,1668,145
$RAFOS,4,1292344406,16.566668,16.557222,101,52,50,45,43,40,488,603,486,472,1596,1617
$RAFOS,3,1292343906,16.433332,16.418333,118,43,41,41,40,39,733,1734,691,1711,144,1591
$RAFOS,2,1292343427,16.299999,16.285278,99,50,48,42,40,39,760,1511,532,1902,1657,471
$RAFOS,1,1292342949,16.166666,16.152500,145,45,44,43,42,40,743,877,1165,1783,903,1789
$RAFOS,0,1292342467,16.033333,16.018612,89,47,46,43,42,42,877,927,242,1885,26,1130
$RAFOS_FIX,6649.180664,-5838.400391,141210,161625,7,115,0.24
$IRIDIUM_FIX,6620.33,-5912.45,131210,121218
$TT8_MAMPS,0.028462
$HUMID,49.13
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,850.4,15.0
$24V_AH,21.4,61.392
$10V_AH,9.9,44.305
$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,5.475,122.100,367.800,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,2762.891,10782.097,415.643,1940.199,242.012,0.000,1484.238,0.000,1924.321,2520.000,26.550,0.000
$DEVICE_MAMPS,194.310,84.915,1136.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,747.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,36712,1068
$CAP_FILE_SIZE,151957,0
$CFSIZE,260165632,214016000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,141210,162725,6649.181,-5838.400,0,7114.6,0,-37.7