version: 66.08
glider: 183
mission: 3
dive: 618
start: 12 29 110 11 25 53
data:
$ID,183
$MISSION,3
$DIVE,618
$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,33
$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
$GPS1,291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.45
$_SM_ANGLEo,-5.9
$GPS2,291210,082707,6644.792,-6008.496,0,7100.4,0,-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,114.9,148662,-17.5,-10.000
$D_GRID,597
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.18,0.000,2,0.000,0.000,2507,1190,2710,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.7,-0.0,1,59,0.57,4.72,-19.55,0.000,4,0.083,0.075,2284,3925,3523,0,0,0,0,0,0
$GC,258,-0.54,-146.0,42.5,-15.1,41,264,0.00,1.85,0.00,0.000,6,0.000,0.050,2284,2781,3524,0,0,0,0,0,0
$GC,603,-0.54,-146.0,88.8,-12.1,102,610,0.00,2.25,0.00,0.000,4,0.000,0.054,2284,1373,3524,0,0,0,0,0,0
$GC,703,-0.57,-146.0,100.3,-11.0,119,709,0.00,2.35,0.00,0.000,6,0.000,0.065,2279,2786,3524,0,0,0,0,0,0
$GC,1028,-0.57,-146.0,135.5,-10.6,150,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2786,3524,0,0,0,0,0,0
$GC,1348,-0.57,-146.0,167.6,-10.3,180,1352,0.00,2.30,0.00,0.000,4,0.000,0.054,2279,1363,3523,0,0,0,0,0,0
$GC,1394,-0.62,-146.0,172.4,-9.8,184,1398,0.00,2.35,0.00,0.000,6,0.000,0.066,2279,2773,3523,0,0,0,0,0,0
$GC,1720,-0.65,-146.0,204.6,-9.1,214,1724,0.00,1.98,0.00,0.000,4,0.000,0.076,2274,3935,3523,0,0,0,0,0,0
$GC,1760,-0.67,-146.0,208.6,-10.0,217,1767,0.00,1.92,0.00,0.000,6,0.000,0.050,2274,2758,3523,0,0,0,0,0,0
$GC,2086,-0.71,-146.0,239.5,-9.0,248,2090,0.00,2.22,0.00,0.000,4,0.000,0.054,2273,1367,3523,0,0,0,0,0,0
$GC,2138,-0.77,-146.0,244.3,-9.4,252,2143,0.12,2.30,0.00,0.000,6,0.106,0.066,2221,2745,3523,0,0,0,0,0,0
$GC,2464,-0.71,-146.0,283.8,-12.5,282,2467,0.00,2.03,0.00,0.000,4,0.000,0.076,2215,3936,3523,0,0,0,0,0,0
$GC,2537,-0.65,-146.0,293.5,-12.7,288,2544,0.17,1.92,0.00,0.000,6,0.166,0.050,2263,2748,3523,0,0,0,0,0,0
$GC,2863,-0.68,-146.0,322.9,-8.5,319,2867,0.00,2.20,0.00,0.000,4,0.000,0.053,2263,1369,3523,0,0,0,0,0,0
$GC,2904,-0.74,-146.0,326.5,-8.3,322,2909,0.00,2.30,0.00,0.000,6,0.000,0.065,2262,2751,3523,0,0,0,0,0,0
$GC,3231,-0.77,-146.0,354.0,-8.1,352,3235,0.10,2.25,0.00,0.000,4,0.122,0.053,2219,1365,3522,0,0,0,0,0,0
$GC,3272,-0.75,-146.0,357.9,-10.3,355,3276,0.00,2.30,0.00,0.000,6,0.000,0.064,2217,2745,3523,0,0,0,0,0,0
$GC,3598,-0.71,-146.0,391.6,-10.3,385,3602,0.00,2.22,0.00,0.000,4,0.000,0.052,2217,1360,3523,0,0,0,0,0,0
$GC,3628,-0.68,-146.0,394.9,-10.8,387,3632,0.15,2.28,0.00,0.000,6,0.177,0.064,2256,2727,3523,0,0,0,0,0,0
$GC,3947,-0.72,-146.0,419.7,-7.8,401,3950,0.00,2.05,0.00,0.000,4,0.000,0.074,2251,3928,3523,0,0,0,0,0,0
$GC,3970,-0.75,-146.0,422.0,-8.1,401,3974,0.00,1.95,0.00,0.000,6,0.000,0.050,2251,2721,3523,0,0,0,0,0,0
$GC,4289,-0.78,-146.0,447.9,-8.1,412,4293,0.00,2.17,0.00,0.000,4,0.000,0.052,2251,1369,3523,0,0,0,0,0,0
$GC,4320,-0.81,-146.0,450.6,-8.9,413,4325,0.12,2.25,0.00,0.000,6,0.103,0.063,2195,2725,3523,0,0,0,0,0,0
$GC,4657,-0.74,-146.0,489.6,-11.7,424,4661,0.15,2.10,0.00,0.000,4,0.181,0.073,2227,3938,3524,0,0,0,0,0,0
$GC,4719,-0.74,-146.0,496.4,-9.7,426,4723,0.00,2.00,0.00,0.000,6,0.000,0.049,2227,2728,3524,0,0,0,0,0,0
$GC,5062,-0.74,-146.0,529.4,-9.9,437,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2728,3524,0,0,0,0,0,0
$GC,5367,-0.74,-146.0,559.4,-9.7,447,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2728,3525,0,0,0,0,0,0
$GC,5673,-0.74,-146.0,589.0,-9.5,457,5677,0.00,2.17,0.00,0.000,4,0.000,0.050,2226,1368,3525,0,0,0,0,0,0
$GC,5694,-0.74,-146.0,591.2,-9.3,457,5701,0.00,2.30,0.00,0.000,6,0.000,0.062,2224,2742,3525,0,0,0,0,0,0
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5766,-0.14,0.0,597.7,9.7,460,5897,0.62,0.00,124.47,0.982,4,0.140,0.000,2422,2599,2922,0,0,0,0,0,0
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5901,0.57,146.0,601.0,0.0,464,6042,0.70,2.45,131.57,0.952,4,0.071,0.050,2663,1179,2326,0,0,0,0,0,0
$GC,6204,0.57,146.8,576.6,10.0,473,6209,0.00,2.47,0.00,0.000,6,0.000,0.057,2664,2601,2318,0,0,0,0,0,0
$GC,6524,0.52,146.8,540.1,11.4,484,6528,0.00,2.33,0.00,0.000,4,0.000,0.053,2665,1185,2315,0,0,0,0,0,0
$GC,6716,0.52,146.8,518.8,10.8,489,6723,0.00,2.38,0.00,0.000,6,0.000,0.057,2665,2620,2314,0,0,0,0,0,0
$GC,7030,0.48,146.8,484.8,10.6,500,7034,0.12,2.20,0.00,0.000,4,0.206,0.069,2635,3933,2313,0,0,0,0,0,0
$GC,7094,0.43,146.8,478.0,10.8,502,7098,0.00,2.10,0.00,0.000,6,0.000,0.046,2635,2619,2312,0,0,0,0,0,0
$GC,7435,0.45,169.7,447.9,8.9,513,7456,0.00,0.00,19.38,0.868,6,0.000,0.000,2635,2618,2231,0,0,0,0,0,0
$GC,7742,0.48,178.0,418.8,9.6,523,7756,0.00,2.28,8.55,0.790,4,0.000,0.070,2635,3922,2197,0,0,0,0,0,0
$GC,7775,0.48,178.0,415.3,10.3,524,7779,0.00,2.10,0.00,0.000,6,0.000,0.045,2635,2618,2196,0,0,0,0,0,0
$GC,8105,0.52,184.0,383.0,9.7,545,8118,0.00,2.30,6.18,0.735,4,0.000,0.052,2635,1190,2175,0,0,0,0,0,0
$GC,8142,0.59,197.7,379.2,9.4,548,8165,0.00,2.33,13.50,0.812,6,0.000,0.057,2635,2619,2119,0,0,0,0,0,0
$GC,8484,0.65,208.3,347.1,9.5,580,8500,0.15,2.22,10.80,0.789,4,0.097,0.067,2696,3935,2074,0,0,0,0,0,0
$GC,8513,0.60,208.3,343.5,12.8,582,8517,0.00,2.15,0.00,0.000,6,0.000,0.045,2696,2613,2072,0,0,0,0,0,0
$GC,8839,0.55,208.3,298.6,13.5,612,8841,0.15,0.00,0.00,0.000,6,0.191,0.000,2658,2613,2071,0,0,0,0,0,0
$GC,9158,0.59,222.3,266.0,9.4,642,9181,0.00,2.35,13.52,0.768,4,0.000,0.054,2658,1187,2016,0,0,0,0,0,0
$GC,9195,0.65,235.1,262.5,9.4,645,9217,0.00,2.35,12.93,0.744,6,0.000,0.056,2658,2619,1963,0,0,0,0,0,0
$GC,9537,0.70,235.1,228.7,10.1,677,9542,0.12,2.22,0.00,0.000,4,0.109,0.070,2708,3932,1959,0,0,0,0,0,0
$GC,9570,0.63,235.1,224.0,14.2,679,9577,0.12,2.12,0.00,0.000,6,0.203,0.045,2679,2621,1958,0,0,0,0,0,0
$GC,9896,0.66,235.1,188.1,10.7,710,9900,0.00,2.22,0.00,0.000,4,0.000,0.070,2679,3925,1958,0,0,0,0,0,0
$GC,9918,0.66,235.1,185.4,10.9,711,9925,0.00,2.03,0.00,0.000,6,0.000,0.046,2679,2656,1957,0,0,0,0,0,0
$GC,10245,0.69,242.1,152.9,9.7,742,10258,0.00,2.38,6.15,0.661,4,0.000,0.053,2679,1184,1937,0,0,0,0,0,0
$GC,10320,0.79,271.1,145.6,8.7,748,10353,0.15,2.40,27.33,0.718,6,0.102,0.057,2742,2639,1817,0,0,0,0,0,0
$GC,10673,0.75,271.1,97.8,12.2,782,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2639,1809,0,0,0,0,0,0
$GC,11018,0.73,273.7,55.5,9.9,843,11025,0.12,0.00,0.00,0.000,6,0.181,0.000,2709,2639,1808,0,0,0,0,0,0
$GC,11364,0.84,324.1,29.6,7.7,904,11418,0.10,2.42,45.03,0.658,4,0.120,0.057,2751,1192,1599,0,0,0,0,0,0
$GC,11533,0.91,331.7,12.5,9.6,933,11546,0.00,2.40,6.95,0.611,6,0.000,0.058,2751,2631,1569,0,0,0,0,0,0
$FREEZE,8.82,-1.724,-1.729,2,29,0
$STATE,11563,end climb,FINISH_DEPTH_REACHED
$STATE,11563,begin subsurface finish
$FINISH1,8.8,1.025336,106
$GC,11570,0.07,106.2,8.8,-11.9,938,11606,0.80,0.00,-28.92,0.000,6,0.146,0.000,2502,2632,2491,0,0,0,0,0,0
$FINISH2,6.8
$STATE,11606,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11607,begin surface
$RAFOS_CLK,684
$RAFOS,6,1293626949,12.833333,12.819167,62,50,42,40,40,39,774,154,1350,546,781,783
$RAFOS,5,1293626483,12.700000,12.689722,144,45,44,43,41,40,823,498,479,1373,1534,1597
$RAFOS,4,1293625994,12.566667,12.553889,119,47,44,43,41,41,643,1073,1168,786,298,1547
$RAFOS,3,1293625505,12.433333,12.418056,83,47,46,45,43,43,751,418,1734,1650,247,1487
$RAFOS,2,1293625021,12.300000,12.283611,93,47,44,43,42,41,649,1458,1775,1858,1555,1799
$RAFOS,1,1293624547,12.166667,12.151944,146,57,55,45,42,40,512,1518,513,1428,26,1941
$RAFOS,0,1293624065,12.033333,12.018056,129,49,47,46,43,42,643,154,1096,787,1374,1448
$RAFOS_FIX,6645.200195,-6003.750488,291210,121216,7,111,0.25
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,49.33
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.2
$24V_AH,21.4,72.918
$10V_AH,9.7,50.974
$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,4.575,109.175,426.350,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2371.905,6942.633,476.252,1677.534,214.260,0.000,1406.771,0.000,1662.858,2520.000,18.891,0.000
$DEVICE_MAMPS,205.785,76.500,982.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,33396,944
$CAP_FILE_SIZE,125476,0
$CFSIZE,260165632,207618048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,291210,122716,6645.200,-6003.750,0,7110.9,0,-38.0