version: 66.08
glider: 183
mission: 3
dive: 548
start: 12 20 110 13 57 16
data:
$ID,183
$MISSION,3
$DIVE,548
$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,-9834.5645
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,201210,134937,6706.096,-5700.115,31,1.2,31,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-61.1
$GPS2,201210,135643,6706.154,-5700.316,9,1.3,14,-37.7
$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,292.4,155964,-17.5,-10.000
$D_GRID,554
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-130.30,0.000,2,0.000,0.000,283,2781,3332,0,0,0,0,0,0
$GC,153,-0.57,-146.0,5.4,-11.3,23,173,8.23,1.90,-3.88,0.000,4,0.239,0.079,2277,3925,3520,0,0,0,0,0,0
$GC,348,-0.57,-146.0,38.2,-11.2,57,355,0.00,1.83,0.00,0.000,6,0.000,0.045,2277,2785,3521,0,0,0,0,0,0
$GC,693,-0.57,-146.0,74.6,-10.0,118,700,0.00,2.22,0.00,0.000,4,0.000,0.047,2277,1371,3521,0,0,0,0,0,0
$GC,839,-0.62,-146.0,88.4,-9.3,143,846,0.00,2.30,0.00,0.000,6,0.000,0.059,2275,2766,3520,0,0,0,0,0,0
$GC,1179,-0.66,-146.0,119.2,-9.0,185,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2766,3520,0,0,0,0,0,0
$GC,1499,-0.70,-146.0,145.9,-8.4,215,1503,0.00,2.20,0.00,0.000,4,0.000,0.046,2275,1362,3520,0,0,0,0,0,0
$GC,1522,-0.75,-146.0,148.1,-8.4,216,1529,0.12,2.28,0.00,0.000,6,0.095,0.057,2215,2765,3520,0,0,0,0,0,0
$GC,1848,-0.68,-146.0,185.9,-11.9,247,1850,0.15,0.00,0.00,0.000,6,0.167,0.000,2257,2765,3521,0,0,0,0,0,0
$GC,2167,-0.71,-146.0,213.8,-8.4,277,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2765,3521,0,0,0,0,0,0
$GC,2489,-0.73,-146.0,238.8,-7.9,307,2493,0.00,2.17,0.00,0.000,4,0.000,0.045,2257,1371,3522,0,0,0,0,0,0
$GC,2533,-0.78,-146.0,242.9,-8.1,310,2540,0.00,2.28,0.00,0.000,6,0.000,0.057,2257,2761,3522,0,0,0,0,0,0
$GC,2860,-0.81,-146.0,270.7,-8.3,341,2862,0.12,0.00,0.00,0.000,6,0.101,0.000,2194,2762,3523,0,0,0,0,0,0
$GC,3177,-0.72,-146.0,307.0,-11.2,371,3182,0.17,2.22,0.00,0.000,4,0.160,0.044,2243,1367,3523,0,0,0,0,0,0
$GC,3211,-0.72,-146.0,310.3,-8.5,373,3217,0.00,2.25,0.00,0.000,6,0.000,0.057,2240,2757,3523,0,0,0,0,0,0
$GC,3536,-0.72,-146.0,339.2,-9.2,404,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2757,3524,0,0,0,0,0,0
$GC,3857,-0.72,-146.0,369.0,-9.2,434,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2757,3525,0,0,0,0,0,0
$GC,4184,-0.72,-146.0,399.6,-8.6,465,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2757,3525,0,0,0,0,0,0
$GC,4499,-0.72,-146.0,425.1,-7.7,476,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2757,3526,0,0,0,0,0,0
$GC,4807,-0.72,-146.0,450.0,-8.9,486,4811,0.00,2.20,0.00,0.000,4,0.000,0.045,2240,1363,3526,0,0,0,0,0,0
$GC,4836,-0.72,-146.0,453.1,-9.4,487,4840,0.00,2.28,0.00,0.000,6,0.000,0.056,2235,2755,3526,0,0,0,0,0,0
$GC,5178,-0.72,-146.0,483.8,-8.8,498,5182,0.00,1.92,0.00,0.000,4,0.000,0.067,2227,3927,3526,0,0,0,0,0,0
$GC,5200,-0.72,-146.0,486.1,-9.6,498,5204,0.00,1.85,0.00,0.000,6,0.000,0.043,2228,2759,3526,0,0,0,0,0,0
$GC,5521,-0.72,-146.0,513.6,-7.5,509,5525,0.00,2.17,0.00,0.000,4,0.000,0.045,2227,1374,3525,0,0,0,0,0,0
$GC,5577,-0.72,-146.0,519.4,-8.2,510,5584,0.00,2.28,0.00,0.000,6,0.000,0.058,2222,2754,3526,0,0,0,0,0,0
$GC,5894,-0.72,-146.0,551.3,-10.0,521,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2754,3525,0,0,0,0,0,0
$STATE,5949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5949,begin apogee
$GC,5955,-0.14,0.0,556.1,8.8,523,6082,0.62,0.00,120.97,0.916,4,0.130,0.000,2426,2595,2923,0,0,0,0,0,0
$STATE,6083,end apogee,CONTROL_FINISHED_OK
$STATE,6083,begin climb
$GC,6085,0.57,146.0,558.2,0.0,527,6221,0.65,2.35,124.28,0.899,4,0.060,0.046,2667,1184,2326,0,0,0,0,0,0
$GC,6429,0.57,146.0,524.7,12.6,537,6433,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2603,2319,0,0,0,0,0,0
$GC,6755,0.52,146.0,482.0,12.8,548,6759,0.00,2.25,0.00,0.000,4,0.000,0.048,2671,1189,2316,0,0,0,0,0,0
$GC,6967,0.52,146.0,456.7,11.3,554,6971,0.00,2.28,0.00,0.000,6,0.000,0.051,2670,2612,2316,0,0,0,0,0,0
$GC,7292,0.46,146.0,416.9,12.5,565,7296,0.17,2.15,0.00,0.000,4,0.180,0.063,2622,3924,2315,0,0,0,0,0,0
$GC,7341,0.46,146.0,410.6,11.7,566,7345,0.00,2.08,0.00,0.000,6,0.000,0.041,2624,2606,2314,0,0,0,0,0,0
$GC,7667,0.48,146.0,377.9,10.1,590,7671,0.00,2.22,0.00,0.000,4,0.000,0.048,2624,1190,2314,0,0,0,0,0,0
$GC,7696,0.53,146.0,374.5,10.2,592,7700,0.00,2.28,0.00,0.000,6,0.000,0.052,2624,2614,2315,0,0,0,0,0,0
$GC,8027,0.56,146.0,340.8,10.2,623,8031,0.00,2.15,0.00,0.000,4,0.000,0.063,2624,3929,2315,0,0,0,0,0,0
$GC,8079,0.53,146.0,334.4,13.1,627,8083,0.00,2.08,0.00,0.000,6,0.000,0.041,2624,2606,2314,0,0,0,0,0,0
$GC,8410,0.55,146.0,297.6,10.9,658,8414,0.00,2.22,0.00,0.000,4,0.000,0.048,2624,1189,2313,0,0,0,0,0,0
$GC,8461,0.62,146.0,292.1,10.2,662,8466,0.15,2.28,0.00,0.000,6,0.090,0.051,2691,2614,2314,0,0,0,0,0,0
$GC,8787,0.54,146.0,245.9,13.9,692,8792,0.15,2.15,0.00,0.000,4,0.185,0.062,2651,3925,2313,0,0,0,0,0,0
$GC,8815,0.46,146.0,241.9,14.7,694,8820,0.12,2.08,0.00,0.000,6,0.196,0.041,2624,2612,2313,0,0,0,0,0,0
$GC,9141,0.51,163.1,213.0,9.2,724,9164,0.00,2.28,13.45,0.682,4,0.000,0.047,2624,1198,2257,0,0,0,0,0,0
$GC,9193,0.62,201.6,208.4,8.2,728,9233,0.15,2.30,33.30,0.693,6,0.086,0.050,2689,2621,2101,0,0,0,0,0,0
$GC,9550,0.59,201.6,160.9,13.3,762,9554,0.00,2.17,0.00,0.000,4,0.000,0.063,2689,3931,2094,0,0,0,0,0,0
$GC,9579,0.52,201.6,156.8,15.2,764,9584,0.17,2.10,0.00,0.000,6,0.179,0.041,2646,2609,2092,0,0,0,0,0,0
$GC,9906,0.56,201.6,122.4,10.9,794,9910,0.00,2.22,0.00,0.000,4,0.000,0.048,2647,1187,2092,0,0,0,0,0,0
$GC,9942,0.65,201.6,118.6,10.6,796,9949,0.12,2.28,0.00,0.000,6,0.097,0.051,2701,2612,2092,0,0,0,0,0,0
$GC,10278,0.61,201.6,72.2,13.4,845,10285,0.00,2.17,0.00,0.000,4,0.000,0.063,2701,3932,2091,0,0,0,0,0,0
$GC,10314,0.52,201.6,66.6,15.5,851,10321,0.22,2.05,0.00,0.000,6,0.174,0.041,2643,2634,2090,0,0,0,0,0,0
$GC,10662,0.61,225.6,34.7,8.9,912,10687,0.00,2.35,19.65,0.599,4,0.000,0.047,2643,1186,2002,0,0,0,0,0,0
$GC,10779,0.77,273.2,24.7,7.8,932,10826,0.22,2.30,39.60,0.591,6,0.076,0.050,2737,2610,1808,0,0,0,0,0,0
$FREEZE,8.92,0.641,-1.804,0,1,0
$FREEZE,8.26,0.645,-1.804,0,1,0
$FREEZE,7.59,0.600,-1.804,0,1,0
$FREEZE,7.00,0.583,-1.803,0,1,0
$STATE,10914,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10914,begin subsurface finish
$FINISH1,7.0,1.026312,58
$GC,10921,0.04,58.2,7.0,-12.6,955,10957,0.77,2.35,-29.23,0.000,4,0.144,0.061,2495,1190,2688,0,0,0,0,0,0
$FINISH2,4.9
$STATE,10958,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10958,begin surface
$RAFOS_CLK,455
$RAFOS,6,1292863743,16.833334,16.817499,67,51,49,48,44,39,787,797,1812,383,476,1908
$RAFOS,5,1292863264,16.700001,16.684444,83,45,42,42,41,39,635,421,1395,1477,1364,1656
$RAFOS,4,1292862792,16.566668,16.553333,50,44,44,40,40,40,809,946,1773,576,1437,25
$RAFOS,3,1292862309,16.433332,16.419167,67,49,43,39,38,38,963,612,603,986,231,1382
$RAFOS,2,1292861822,16.299999,16.283890,48,47,46,45,42,39,961,1492,1776,165,577,1578
$RAFOS,1,1292861344,16.166666,16.151112,46,43,43,43,42,41,940,981,403,650,705,145
$RAFOS,0,1292860885,16.033333,16.023611,41,41,40,40,39,38,1168,1732,230,848,1425,1498
$RAFOS_FIX,6709.581055,-5710.215332,201210,161632,3,72,0.97
$IRIDIUM_FIX,6641.98,-5703.22,201210,101007
$TT8_MAMPS,0.028462
$HUMID,48.18
$INTERNAL_PRESSURE,8.76834
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,22.4,65.725
$10V_AH,9.9,46.961
$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,12.350,90.050,351.250,0.000,0.000,59.714,26.100,130.437,2.250,0.000,17.326,2343.951,6427.033,481.603,1888.970,260.951,0.000,1396.219,0.000,1646.588,2520.000,18.678,0.000
$DEVICE_MAMPS,238.680,78.795,916.470,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,36656,961
$CAP_FILE_SIZE,124364,0
$CFSIZE,260165632,211537920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.8
$GPS,201210,164032,6709.581,-5710.215,0,3072.3,0,-37.7