version: 66.08
glider: 183
mission: 3
dive: 512
start: 12 15 110 9 29 48
data:
$ID,183
$MISSION,3
$DIVE,512
$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,-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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,151210,082722,6651.849,-5814.745,0,6108.0,0,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.52
$_SM_ANGLEo,-0.5
$GPS2,151210,082722,6651.849,-5814.745,0,6108.0,0,-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,109.5,65959,-17.5,-10.000
$D_GRID,820
$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,27,-0.57,-146.0,8.0,-0.0,1,58,0.57,4.72,-18.75,0.000,4,0.103,0.073,2287,3921,3522,0,0,0,0,0,0
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$GC,602,-0.55,-146.0,76.4,-11.0,102,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2780,3522,0,0,0,0,0,0
$GC,941,-0.57,-146.0,109.9,-8.9,153,945,0.00,2.28,0.00,0.000,4,0.000,0.054,2287,1365,3522,0,0,0,0,0,0
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$GC,1301,-0.66,-146.0,141.5,-8.6,186,1305,0.00,2.22,0.00,0.000,4,0.000,0.052,2287,1373,3522,0,0,0,0,0,0
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$GC,2761,-0.70,-146.0,289.9,-9.8,321,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2781,3521,0,0,0,0,0,0
$GC,3084,-0.70,-146.0,320.4,-9.3,351,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2782,3521,0,0,0,0,0,0
$GC,3410,-0.70,-146.0,349.1,-8.6,382,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2781,3521,0,0,0,0,0,0
$GC,3730,-0.70,-146.0,375.8,-8.6,412,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2781,3522,0,0,0,0,0,0
$GC,4056,-0.70,-146.0,403.2,-8.7,441,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2781,3522,0,0,0,0,0,0
$GC,4361,-0.70,-146.0,429.6,-8.6,451,4365,0.00,2.28,0.00,0.000,4,0.000,0.050,2248,1365,3522,0,0,0,0,0,0
$GC,4391,-0.72,-146.0,432.4,-8.9,452,4395,0.00,2.33,0.00,0.000,6,0.000,0.063,2248,2770,3522,0,0,0,0,0,0
$GC,4726,-0.74,-146.0,462.3,-9.0,463,4730,0.00,1.95,0.00,0.000,4,0.000,0.073,2248,3927,3522,0,0,0,0,0,0
$GC,4754,-0.74,-146.0,464.9,-8.8,463,4761,0.00,1.88,0.00,0.000,6,0.000,0.048,2248,2756,3522,0,0,0,0,0,0
$GC,5067,-0.74,-146.0,491.6,-8.7,474,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2756,3522,0,0,0,0,0,0
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$GC,6014,-0.83,-146.0,572.3,-8.8,504,6021,0.12,1.88,0.00,0.000,6,0.103,0.047,2190,2768,3523,0,0,0,0,0,0
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$GC,6696,-0.67,-146.0,646.4,-9.2,526,6703,0.15,1.88,0.00,0.000,6,0.161,0.047,2260,2765,3523,0,0,0,0,0,0
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$GC,7621,-0.73,-146.0,716.8,-10.1,557,7626,0.12,2.00,0.00,0.000,4,0.178,0.073,2230,3929,3523,0,0,0,0,0,0
$GC,7656,-0.73,-146.0,720.0,-9.7,558,7660,0.00,1.85,0.00,0.000,6,0.000,0.047,2230,2771,3523,0,0,0,0,0,0
$GC,7998,-0.73,-146.0,748.5,-8.3,569,8002,0.00,2.22,0.00,0.000,4,0.000,0.050,2230,1364,3523,0,0,0,0,0,0
$GC,8030,-0.73,-146.0,751.4,-8.7,570,8034,0.00,2.38,0.00,0.000,6,0.000,0.062,2230,2783,3523,0,0,0,0,0,0
$GC,8360,-0.73,-146.0,779.9,-9.0,581,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2783,3523,0,0,0,0,0,0
$GC,8665,-0.73,-146.0,806.6,-8.6,591,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2783,3523,0,0,0,0,0,0
$STATE,8847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8847,begin apogee
$GC,8852,-0.14,0.0,822.5,8.7,597,8988,0.60,0.00,126.43,1.117,4,0.135,0.000,2423,2599,2922,0,0,0,0,0,0
$STATE,8988,end apogee,CONTROL_FINISHED_OK
$STATE,8988,begin climb
$GC,8990,0.57,146.0,826.0,0.0,601,9138,0.70,2.45,134.75,1.088,4,0.066,0.050,2667,1182,2326,0,0,0,0,0,0
$GC,9261,0.54,146.0,802.4,12.1,609,9265,0.00,2.50,0.00,0.000,6,0.000,0.057,2667,2599,2319,0,0,0,0,0,0
$GC,9578,0.46,146.0,763.0,12.6,619,9583,0.15,2.33,0.00,0.000,4,0.198,0.055,2634,1186,2315,0,0,0,0,0,0
$GC,9780,0.48,146.0,742.4,10.1,625,9784,0.00,2.35,0.00,0.000,6,0.000,0.057,2634,2616,2315,0,0,0,0,0,0
$GC,10110,0.48,147.5,709.1,9.9,636,10114,0.00,2.22,0.00,0.000,4,0.000,0.070,2634,3932,2314,0,0,0,0,0,0
$GC,10132,0.44,147.5,706.4,11.3,636,10138,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2597,2313,0,0,0,0,0,0
$GC,10447,0.45,155.6,675.9,9.6,647,10456,0.00,0.00,7.32,0.893,6,0.000,0.000,2635,2597,2288,0,0,0,0,0,0
$GC,10750,0.45,159.6,645.8,9.8,657,10761,0.00,2.25,5.30,0.800,4,0.000,0.068,2635,3930,2271,0,0,0,0,0,0
$GC,10800,0.40,159.6,640.0,11.8,658,10804,0.12,2.15,0.00,0.000,6,0.201,0.046,2606,2600,2270,0,0,0,0,0,0
$GC,11115,0.47,187.3,613.0,8.7,668,11148,0.00,2.28,25.70,0.974,4,0.000,0.053,2606,1190,2159,0,0,0,0,0,0
$GC,11170,0.59,225.1,608.0,8.3,669,11214,0.17,2.33,34.33,0.964,6,0.084,0.057,2678,2602,2004,0,0,0,0,0,0
$GC,11519,0.55,225.1,560.0,14.1,681,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2602,1997,0,0,0,0,0,0
$GC,11825,0.52,225.1,517.2,13.9,691,11827,0.12,0.00,0.00,0.000,6,0.190,0.000,2647,2602,1995,0,0,0,0,0,0
$GC,12132,0.54,225.1,480.1,12.0,701,12136,0.00,2.28,0.00,0.000,4,0.000,0.055,2647,1188,1994,0,0,0,0,0,0
$GC,12160,0.59,225.1,476.7,11.2,701,12167,0.00,2.30,0.00,0.000,6,0.000,0.057,2647,2608,1994,0,0,0,0,0,0
$GC,12473,0.62,225.1,442.0,11.0,712,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2608,1993,0,0,0,0,0,0
$GC,12780,0.65,225.1,409.0,10.8,722,12784,0.10,2.28,0.00,0.000,4,0.118,0.054,2690,1186,1993,0,0,0,0,0,0
$GC,12823,0.65,225.1,403.1,12.8,723,12828,0.00,2.33,0.00,0.000,6,0.000,0.057,2689,2591,1993,0,0,0,0,0,0
$GC,13154,0.59,225.1,357.1,14.1,751,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2591,1992,0,0,0,0,0,0
$GC,13474,0.54,225.1,311.5,14.3,781,13476,0.15,0.00,0.00,0.000,6,0.187,0.000,2650,2591,1992,0,0,0,0,0,0
$GC,13791,0.57,225.1,274.7,10.9,811,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2591,1992,0,0,0,0,0,0
$GC,14111,0.61,225.1,239.4,11.5,841,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2591,1992,0,0,0,0,0,0
$GC,14429,0.65,225.1,204.1,11.0,871,14431,0.10,0.00,0.00,0.000,6,0.116,0.000,2692,2591,1991,0,0,0,0,0,0
$GC,14746,0.62,225.1,160.3,13.3,901,14750,0.00,2.25,0.00,0.000,4,0.000,0.068,2692,3929,1991,0,0,0,0,0,0
$GC,14767,0.57,225.1,157.0,14.2,902,14775,0.12,2.15,0.00,0.000,6,0.197,0.046,2663,2579,1990,0,0,0,0,0,0
$GC,15093,0.61,233.0,123.3,9.6,933,15103,0.00,0.00,5.82,0.620,6,0.000,0.000,2663,2579,1973,0,0,0,0,0,0
$GC,15427,0.68,256.4,91.7,8.9,972,15451,0.00,0.00,21.85,0.679,6,0.000,0.000,2663,2579,1877,0,0,0,0,0,0
$GC,15792,0.78,290.1,58.3,8.4,1036,15829,0.17,2.25,29.23,0.659,4,0.092,0.054,2735,1189,1740,0,0,0,0,0,0
$GC,15847,0.78,290.1,51.3,12.5,1045,15854,0.00,2.30,0.00,0.000,6,0.000,0.057,2735,2586,1737,0,0,0,0,0,0
$GC,16194,0.80,317.0,11.9,8.8,1106,16224,0.00,2.28,22.90,0.640,4,0.000,0.068,2735,3932,1630,0,0,0,0,0,0
$FREEZE,8.04,-1.744,-1.759,2,6,0
$STATE,16230,end climb,FINISH_DEPTH_REACHED
$STATE,16230,begin subsurface finish
$FINISH1,8.0,1.025769,85
$GC,16239,0.06,84.9,8.0,-10.5,1112,16281,0.75,2.35,-31.50,0.000,4,0.148,0.086,2502,3925,2578,0,0,0,0,0,0
$FINISH2,6.2
$STATE,16282,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16282,begin surface
$RAFOS_CLK,934
$RAFOS,6,1292417364,12.833333,12.823334,85,48,46,45,42,41,597,1681,1829,154,1925,1148
$RAFOS,5,1292416874,12.700000,12.687222,116,42,41,39,39,38,550,1080,26,748,1225,1708
$RAFOS,4,1292416406,12.566667,12.557222,63,47,44,41,40,37,562,153,1762,1787,1775,1837
$RAFOS,3,1292415922,12.433333,12.422778,65,47,47,46,46,45,709,490,1674,1653,692,1335
$RAFOS,2,1292415433,12.300000,12.286944,80,48,46,43,42,40,803,1489,1590,1271,378,568
$RAFOS,1,1292414960,12.166667,12.155556,64,44,43,43,42,40,758,823,162,239,533,1784
$RAFOS,0,1292414461,12.033333,12.016945,69,46,42,40,39,39,972,1171,1122,673,287,338
$RAFOS_FIX,6652.658203,-5811.127441,151210,121234,7,77,0.21
$IRIDIUM_FIX,6620.33,-5912.45,131210,121218
$TT8_MAMPS,0.029211
$HUMID,48.66
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.1
$24V_AH,21.5,61.852
$10V_AH,9.8,44.590
$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,4.800,101.675,413.625,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2803.809,10945.984,473.327,1915.746,222.435,0.000,1520.384,0.000,1898.317,2520.000,22.080,0.000
$DEVICE_MAMPS,201.195,86.445,1116.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39983,1119
$CAP_FILE_SIZE,145961,0
$CFSIZE,260165632,213737472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.4
$GPS,151210,122734,6652.658,-5811.127,0,7077.4,0,-37.7