version: 66.08
glider: 183
mission: 3
dive: 533
start: 12 18 110 22 59 28
data:
$ID,183
$MISSION,3
$DIVE,533
$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,-9818.1504
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,181210,225324,6705.690,-5646.816,25,2.0,44,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-62.0
$GPS2,181210,225857,6705.753,-5646.858,9,2.1,28,-37.6
$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,226.8,5166,-17.5,-10.000
$D_GRID,427
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,156,0.00,0.00,-132.85,0.000,6,0.000,0.000,282,2791,3520,0,0,0,0,0,0
$GC,158,-0.57,-146.0,6.2,-14.8,24,172,8.25,2.30,0.00,0.000,4,0.239,0.041,2283,1368,3521,0,0,0,0,0,0
$GC,246,-0.61,-146.0,29.3,-11.0,39,253,0.00,2.30,0.00,0.000,6,0.000,0.057,2280,2775,3523,0,0,0,0,0,0
$GC,592,-0.61,-146.0,66.6,-10.3,100,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2775,3523,0,0,0,0,0,0
$GC,942,-0.64,-146.0,102.5,-10.1,160,946,0.00,2.20,0.00,0.000,4,0.000,0.045,2280,1367,3521,0,0,0,0,0,0
$GC,1009,-0.70,-146.0,109.6,-10.0,165,1016,0.00,2.30,0.00,0.000,6,0.000,0.057,2277,2776,3521,0,0,0,0,0,0
$GC,1335,-0.75,-146.0,138.7,-8.6,196,1337,0.12,0.00,0.00,0.000,6,0.099,0.000,2218,2776,3521,0,0,0,0,0,0
$GC,1654,-0.69,-146.0,177.5,-12.0,226,1658,0.12,1.92,0.00,0.000,4,0.170,0.067,2246,3928,3521,0,0,0,0,0,0
$GC,1699,-0.69,-146.0,182.9,-10.9,230,1703,0.00,1.83,0.00,0.000,6,0.000,0.042,2245,2773,3521,0,0,0,0,0,0
$GC,2031,-0.69,-146.0,214.4,-8.4,261,2035,0.00,2.17,0.00,0.000,4,0.000,0.044,2245,1368,3521,0,0,0,0,0,0
$GC,2108,-0.69,-146.0,221.2,-8.3,267,2115,0.00,2.28,0.00,0.000,6,0.000,0.056,2243,2764,3521,0,0,0,0,0,0
$GC,2434,-0.69,-146.0,246.2,-7.8,298,2438,0.00,2.20,0.00,0.000,4,0.000,0.044,2243,1363,3522,0,0,0,0,0,0
$GC,2463,-0.69,-146.0,248.5,-7.5,300,2468,0.00,2.28,0.00,0.000,6,0.000,0.056,2243,2764,3522,0,0,0,0,0,0
$GC,2795,-0.69,-146.0,275.9,-8.2,331,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2764,3522,0,0,0,0,0,0
$GC,3115,-0.69,-146.0,302.9,-8.6,361,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2764,3522,0,0,0,0,0,0
$GC,3435,-0.69,-146.0,330.0,-7.9,391,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2764,3522,0,0,0,0,0,0
$GC,3761,-0.69,-146.0,357.1,-8.2,422,3764,0.00,2.17,0.00,0.000,4,0.000,0.044,2243,1364,3523,0,0,0,0,0,0
$GC,3785,-0.71,-146.0,359.2,-8.4,424,3789,0.00,2.25,0.00,0.000,6,0.000,0.055,2243,2760,3523,0,0,0,0,0,0
$GC,4111,-0.71,-146.0,386.8,-8.5,454,4115,0.00,1.92,0.00,0.000,4,0.000,0.065,2237,3938,3523,0,0,0,0,0,0
$GC,4174,-0.71,-146.0,392.2,-8.7,459,4182,0.00,1.85,0.00,0.000,6,0.000,0.042,2237,2764,3523,0,0,0,0,0,0
$GC,4511,-0.71,-146.0,423.6,-9.4,476,4515,0.00,2.15,0.00,0.000,4,0.000,0.044,2236,1371,3523,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4557,-0.14,0.0,427.0,8.8,477,4681,0.57,0.00,117.20,0.830,4,0.125,0.000,2426,2610,2924,0,0,0,0,0,0
$STATE,4682,end apogee,CONTROL_FINISHED_OK
$STATE,4682,begin climb
$GC,4684,0.57,146.0,429.9,0.0,481,4814,0.65,2.33,120.00,0.811,4,0.056,0.044,2673,1192,2326,0,0,0,0,0,0
$GC,4921,0.55,146.0,407.0,11.0,488,4925,0.00,2.35,0.00,0.000,6,0.000,0.050,2673,2601,2320,0,0,0,0,0,0
$GC,5249,0.48,146.0,364.2,13.0,515,5254,0.15,2.22,0.00,0.000,4,0.185,0.047,2639,1192,2316,0,0,0,0,0,0
$GC,5507,0.51,149.1,338.1,9.9,537,5514,0.00,2.25,0.00,0.000,6,0.000,0.050,2639,2591,2315,0,0,0,0,0,0
$GC,5832,0.51,149.1,303.8,10.5,568,5836,0.00,2.17,0.00,0.000,4,0.000,0.062,2639,3928,2315,0,0,0,0,0,0
$GC,5871,0.46,149.1,299.1,12.2,571,5878,0.00,2.10,0.00,0.000,6,0.000,0.040,2642,2594,2313,0,0,0,0,0,0
$GC,6196,0.46,149.1,263.7,10.8,602,6200,0.00,2.22,0.00,0.000,4,0.000,0.063,2642,3932,2313,0,0,0,0,0,0
$GC,6218,0.43,149.1,261.0,12.2,603,6225,0.12,2.10,0.00,0.000,6,0.197,0.039,2616,2594,2312,0,0,0,0,0,0
$GC,6545,0.50,186.7,232.0,8.3,634,6585,0.00,0.00,32.67,0.702,6,0.000,0.000,2617,2595,2160,0,0,0,0,0,0
$GC,6902,0.59,212.1,199.7,8.8,668,6929,0.15,2.20,21.48,0.681,4,0.086,0.045,2690,1198,2057,0,0,0,0,0,0
$GC,6966,0.59,212.1,192.3,12.0,673,6970,0.00,2.30,0.00,0.000,6,0.000,0.050,2690,2619,2055,0,0,0,0,0,0
$GC,7292,0.55,212.1,145.5,14.9,703,7294,0.15,0.00,0.00,0.000,6,0.177,0.000,2649,2619,2052,0,0,0,0,0,0
$GC,7610,0.59,212.1,109.2,11.0,733,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2619,2051,0,0,0,0,0,0
$GC,7943,0.65,214.3,73.9,9.9,784,7949,0.10,0.00,0.00,0.000,6,0.111,0.000,2696,2619,2051,0,0,0,0,0,0
$GC,8288,0.65,214.3,32.5,11.4,845,8294,0.00,2.25,0.00,0.000,4,0.000,0.047,2696,1193,2050,0,0,0,0,0,0
$GC,8358,0.68,214.3,25.0,10.4,857,8365,0.00,2.28,0.00,0.000,6,0.000,0.051,2697,2612,2051,0,0,0,0,0,0
$FREEZE,8.72,3.284,-1.828,0,1,0
$FREEZE,8.13,3.285,-1.828,0,1,0
$FREEZE,7.60,3.285,-1.827,0,1,0
$STATE,8516,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8516,begin subsurface finish
$FINISH1,7.6,1.026453,51
$GC,8523,0.03,51.3,7.6,-10.1,885,8548,0.65,0.00,-19.92,0.000,6,0.145,0.000,2492,2613,2716,0,0,0,0,0,0
$FINISH2,6.1
$STATE,8549,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8549,begin surface
$RAFOS_CLK,336
$RAFOS,6,1292719750,0.833333,0.819444,60,42,41,40,39,36,802,26,322,1431,81,1670
$RAFOS,5,1292719266,0.700000,0.685000,151,44,42,42,40,39,667,1027,481,1412,1818,658
$RAFOS,4,1292718785,0.566667,0.551389,53,44,43,43,41,41,896,1221,306,496,1697,1387
$RAFOS,3,1292718308,0.433333,0.418889,86,48,46,42,41,40,1003,1111,927,799,1185,1218
$RAFOS,2,1292717822,0.300000,0.283889,52,51,47,43,43,42,1107,1019,903,750,1608,769
$RAFOS,1,1292717347,0.166667,0.151944,54,47,45,45,42,42,1054,1462,1440,1726,330,1905
$RAFOS,0,1292716863,0.033333,0.017500,52,44,43,40,40,39,948,819,1319,370,1791,435
$RAFOS_FIX,6709.066406,-5652.367188,191210,000032,3,99,1.20
$IRIDIUM_FIX,6636.54,-5702.96,181210,202016
$TT8_MAMPS,0.028462
$HUMID,48.66
$INTERNAL_PRESSURE,8.79764
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.2
$24V_AH,22.9,64.464
$10V_AH,9.9,46.095
$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,11.050,60.950,291.350,0.000,0.000,28.352,19.823,126.264,1.250,0.000,31.927,2129.471,4456.578,411.678,1671.844,225.646,0.000,1216.098,0.000,1467.491,2520.000,10.813,0.000
$DEVICE_MAMPS,239.445,66.555,830.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,30078,889
$CAP_FILE_SIZE,98906,0
$CFSIZE,260165632,212393984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.6
$GPS,191210,004032,6709.066,-5652.367,0,3099.0,0,-37.6