version: 66.08
glider: 183
mission: 3
dive: 615
start: 12 29 110 5 5 58
data:
$ID,183
$MISSION,3
$DIVE,615
$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,-10600.926
$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,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
$GPS1,291210,041859,6642.484,-6012.287,0,5108.8,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-44.7
$GPS2,291210,041859,6642.484,-6012.287,181,99.0,181,-38.0
$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,113.6,152339,-17.5,-10.000
$D_GRID,561
$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,-146.0,0.0,0.0,0,140,0.00,0.00,-119.72,0.000,2,0.000,0.000,299,2790,3079,0,0,0,0,0,0
$GC,145,-0.57,-146.0,6.0,-14.4,21,170,8.60,2.35,-8.45,0.000,4,0.257,0.068,2282,1370,3522,0,0,0,0,0,0
$GC,284,-0.54,-146.0,42.5,-15.5,45,291,0.00,2.35,0.00,0.000,6,0.000,0.067,2277,2777,3524,0,0,0,0,0,0
$GC,631,-0.50,-146.0,91.0,-12.5,106,638,0.12,2.30,0.00,0.000,4,0.189,0.054,2309,1365,3525,0,0,0,0,0,0
$GC,721,-0.57,-146.0,99.8,-9.2,121,727,0.00,2.35,0.00,0.000,6,0.000,0.066,2307,2773,3524,0,0,0,0,0,0
$GC,1048,-0.63,-146.0,130.3,-9.2,152,1053,0.10,2.30,0.00,0.000,4,0.119,0.054,2259,1371,3524,0,0,0,0,0,0
$GC,1078,-0.63,-146.0,133.6,-10.8,154,1082,0.00,2.30,0.00,0.000,6,0.000,0.066,2259,2753,3523,0,0,0,0,0,0
$GC,1403,-0.61,-146.0,173.1,-11.7,184,1407,0.00,2.25,0.00,0.000,4,0.000,0.054,2259,1368,3524,0,0,0,0,0,0
$GC,1445,-0.61,-146.0,177.9,-11.1,187,1449,0.00,2.30,0.00,0.000,6,0.000,0.066,2259,2746,3524,0,0,0,0,0,0
$GC,1770,-0.61,-146.0,213.8,-10.2,217,1774,0.00,2.22,0.00,0.000,4,0.000,0.053,2259,1361,3524,0,0,0,0,0,0
$GC,1798,-0.61,-146.0,217.0,-10.8,219,1802,0.00,2.30,0.00,0.000,6,0.000,0.065,2259,2735,3524,0,0,0,0,0,0
$GC,2129,-0.61,-146.0,251.0,-10.3,250,2133,0.00,2.22,0.00,0.000,4,0.000,0.054,2259,1367,3524,0,0,0,0,0,0
$GC,2174,-0.64,-146.0,255.7,-10.4,253,2181,0.00,2.28,0.00,0.000,6,0.000,0.066,2259,2716,3524,0,0,0,0,0,0
$GC,2500,-0.64,-146.0,286.8,-9.3,284,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2716,3524,0,0,0,0,0,0
$GC,2820,-0.64,-146.0,315.9,-8.6,314,2824,0.00,2.08,0.00,0.000,4,0.000,0.076,2253,3938,3524,0,0,0,0,0,0
$GC,2893,-0.67,-146.0,322.9,-9.3,320,2900,0.00,2.03,0.00,0.000,6,0.000,0.051,2252,2690,3524,0,0,0,0,0,0
$GC,3219,-0.67,-146.0,352.5,-9.1,351,3223,0.00,2.12,0.00,0.000,4,0.000,0.076,2248,3929,3523,0,0,0,0,0,0
$GC,3247,-0.67,-146.0,355.4,-9.2,353,3255,0.00,2.00,0.00,0.000,6,0.000,0.050,2248,2706,3524,0,0,0,0,0,0
$GC,3573,-0.67,-146.0,384.4,-8.7,384,3577,0.00,2.12,0.00,0.000,4,0.000,0.053,2248,1371,3524,0,0,0,0,0,0
$GC,3609,-0.69,-146.0,387.7,-9.0,387,3613,0.00,2.22,0.00,0.000,6,0.000,0.065,2248,2705,3524,0,0,0,0,0,0
$GC,3939,-0.69,-146.0,417.3,-9.1,406,3943,0.00,2.08,0.00,0.000,4,0.000,0.075,2247,3929,3524,0,0,0,0,0,0
$GC,3991,-0.72,-146.0,422.5,-9.3,407,3995,0.00,1.98,0.00,0.000,6,0.000,0.050,2247,2706,3524,0,0,0,0,0,0
$GC,4315,-0.72,-146.0,453.1,-9.5,418,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2705,3525,0,0,0,0,0,0
$GC,4622,-0.72,-146.0,482.8,-9.7,428,4625,0.00,2.12,0.00,0.000,4,0.000,0.051,2247,1368,3525,0,0,0,0,0,0
$GC,4650,-0.74,-146.0,485.7,-10.2,428,4657,0.00,2.22,0.00,0.000,6,0.000,0.064,2247,2709,3525,0,0,0,0,0,0
$GC,4964,-0.76,-146.0,514.9,-9.4,439,4968,0.00,2.08,0.00,0.000,4,0.000,0.075,2247,3928,3526,0,0,0,0,0,0
$GC,4999,-0.79,-146.0,518.2,-9.4,440,5003,0.00,1.98,0.00,0.000,6,0.000,0.049,2247,2703,3526,0,0,0,0,0,0
$GC,5342,-0.81,-146.0,548.4,-8.3,451,5345,0.00,2.10,0.00,0.000,4,0.000,0.075,2247,3929,3526,0,0,0,0,0,0
$STATE,5358,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5358,begin apogee
$GC,5366,-0.14,0.0,550.1,8.3,451,5497,0.55,0.00,124.03,0.952,4,0.138,0.000,2423,2589,2923,0,0,0,0,0,0
$STATE,5498,end apogee,CONTROL_FINISHED_OK
$STATE,5498,begin climb
$GC,5500,0.57,146.0,554.8,0.0,455,5642,0.70,2.47,129.77,0.925,4,0.090,0.071,2654,3926,2326,0,0,0,0,0,0
$GC,5816,0.48,146.0,522.8,12.3,465,5820,0.00,2.30,0.00,0.000,6,0.000,0.044,2660,2593,2318,0,0,0,0,0,0
$GC,6135,0.44,146.0,488.8,10.7,476,6140,0.15,2.28,0.00,0.000,4,0.185,0.054,2622,1182,2316,0,0,0,0,0,0
$GC,6326,0.54,195.8,474.0,7.7,481,6373,0.00,2.38,42.25,0.882,6,0.000,0.057,2622,2617,2124,0,0,0,0,0,0
$GC,6699,0.61,206.9,441.2,9.5,494,6714,0.15,2.22,10.40,0.819,4,0.092,0.068,2685,3929,2077,0,0,0,0,0,0
$GC,6731,0.55,206.9,436.8,14.3,495,6736,0.15,2.17,0.00,0.000,6,0.193,0.045,2652,2599,2075,0,0,0,0,0,0
$GC,7062,0.57,206.9,400.0,11.0,506,7066,0.00,2.28,0.00,0.000,4,0.000,0.054,2652,1180,2073,0,0,0,0,0,0
$GC,7108,0.64,206.9,395.1,10.1,508,7112,0.00,2.33,0.00,0.000,6,0.000,0.057,2652,2593,2073,0,0,0,0,0,0
$GC,7439,0.67,206.9,358.2,11.2,539,7443,0.12,2.25,0.00,0.000,4,0.104,0.069,2703,3927,2072,0,0,0,0,0,0
$GC,7479,0.55,206.9,352.1,16.7,542,7486,0.20,2.17,0.00,0.000,6,0.190,0.046,2653,2586,2071,0,0,0,0,0,0
$GC,7804,0.58,206.9,316.2,10.1,573,7808,0.00,2.28,0.00,0.000,4,0.000,0.070,2653,3926,2071,0,0,0,0,0,0
$GC,7831,0.58,206.9,312.9,11.8,575,7838,0.00,2.15,0.00,0.000,6,0.000,0.045,2653,2598,2071,0,0,0,0,0,0
$GC,8157,0.62,206.9,280.0,10.3,606,8162,0.00,2.25,0.00,0.000,4,0.000,0.054,2653,1184,2071,0,0,0,0,0,0
$GC,8175,0.66,206.9,278.2,10.2,607,8180,0.10,2.35,0.00,0.000,6,0.118,0.057,2695,2620,2071,0,0,0,0,0,0
$GC,8508,0.64,206.9,235.7,12.3,638,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2620,2072,0,0,0,0,0,0
$GC,8826,0.64,206.9,198.4,11.0,668,8830,0.00,2.20,0.00,0.000,4,0.000,0.070,2695,3924,2071,0,0,0,0,0,0
$GC,8848,0.59,206.9,195.4,12.8,669,8856,0.12,2.15,0.00,0.000,6,0.197,0.046,2666,2594,2071,0,0,0,0,0,0
$GC,9174,0.66,241.2,166.3,8.4,700,9211,0.00,2.38,29.67,0.726,4,0.000,0.071,2666,3930,1938,0,0,0,0,0,0
$GC,9256,0.70,241.2,158.6,10.0,707,9264,0.10,2.15,0.00,0.000,6,0.121,0.045,2704,2617,1935,0,0,0,0,0,0
$GC,9582,0.70,241.2,125.1,10.7,738,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2617,1933,0,0,0,0,0,0
$GC,9904,0.70,249.3,93.8,9.6,773,9918,0.00,2.38,7.43,0.662,4,0.000,0.055,2705,1189,1906,0,0,0,0,0,0
$GC,9948,0.78,277.4,89.7,8.7,780,9978,0.00,2.38,25.45,0.685,6,0.000,0.058,2705,2629,1792,0,0,0,0,0,0
$GC,10318,0.91,344.5,56.4,6.9,845,10384,0.17,2.40,57.53,0.664,4,0.090,0.054,2779,1189,1516,0,0,0,0,0,0
$GC,10431,0.95,344.5,44.2,11.8,864,10438,0.00,2.40,0.00,0.000,6,0.000,0.059,2779,2628,1510,0,0,0,0,0,0
$FREEZE,8.84,-1.693,-1.707,2,26,0
$STATE,10709,end climb,FINISH_DEPTH_REACHED
$STATE,10709,begin subsurface finish
$FINISH1,8.8,1.025011,122
$GC,10716,0.08,122.2,8.8,-10.7,913,10751,0.90,0.00,-27.05,0.000,6,0.150,0.000,2502,2628,2428,0,0,0,0,0,0
$FINISH2,8.1
$STATE,10752,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10752,begin surface
$RAFOS_CLK,666
$RAFOS,5,1293597664,4.700000,4.684444,62,49,45,44,41,41,946,635,1841,195,217,1307
$RAFOS_FIX,6642.594238,-6011.708984,291210,040406,6,101,1.90
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.031458
$HUMID,49.72
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,20.2
$ALTIM_BOTTOM_PING,550.1,10.5
$24V_AH,21.5,72.635
$10V_AH,9.7,50.836
$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,12.250,107.175,426.525,0.000,0.000,98.737,17.424,0.000,2.750,0.000,183.582,2242.847,6327.103,538.451,1934.393,511.090,0.000,1459.419,0.000,1605.707,360.000,24.410,0.000
$DEVICE_MAMPS,257.040,76.500,952.425,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151748
$DATA_FILE_SIZE,33353,919
$CAP_FILE_SIZE,121736,0
$CFSIZE,260165632,207765504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.5
$GPS,291210,042306,6642.594,-6011.709,0,6101.0,0,-38.0