version: 66.08
glider: 183
mission: 3
dive: 643
start: 12 31 110 14 19 58
data:
$ID,183
$MISSION,3
$DIVE,643
$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,-11339.555
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.58
$_SM_ANGLEo,-0.9
$GPS2,311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8
$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,104.5,114158,-17.5,-10.000
$D_GRID,868
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2494,3933,2887,0,0,0,0,0,0
$GC,27,-0.57,-146.0,11.3,-0.0,1,52,0.57,4.25,-13.93,0.000,4,0.102,0.057,2292,1365,3523,0,0,0,0,0,0
$GC,98,-0.57,-146.0,17.9,-10.3,13,105,0.00,2.35,0.00,0.000,6,0.000,0.062,2289,2783,3523,0,0,0,0,0,0
$GC,444,-0.57,-146.0,60.9,-11.8,74,451,0.00,2.28,0.00,0.000,4,0.000,0.053,2289,1368,3524,0,0,0,0,0,0
$GC,476,-0.57,-146.0,64.7,-12.1,79,483,0.00,2.35,0.00,0.000,6,0.000,0.063,2286,2781,3523,0,0,0,0,0,0
$GC,827,-0.59,-146.0,102.4,-9.9,139,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2781,3523,0,0,0,0,0,0
$GC,1146,-0.64,-146.0,134.6,-9.6,169,1150,0.00,2.28,0.00,0.000,4,0.000,0.054,2286,1368,3523,0,0,0,0,0,0
$GC,1179,-0.69,-146.0,138.4,-10.2,171,1185,0.00,2.33,0.00,0.000,6,0.000,0.063,2286,2756,3523,0,0,0,0,0,0
$GC,1505,-0.75,-146.0,168.7,-9.1,202,1510,0.15,2.28,0.00,0.000,4,0.101,0.054,2224,1363,3522,0,0,0,0,0,0
$GC,1545,-0.71,-146.0,173.6,-12.8,205,1549,0.00,2.28,0.00,0.000,6,0.000,0.063,2222,2734,3522,0,0,0,0,0,0
$GC,1871,-0.64,-146.0,214.8,-12.0,235,1876,0.15,2.05,0.00,0.000,4,0.181,0.075,2256,3931,3523,0,0,0,0,0,0
$GC,1915,-0.67,-146.0,219.8,-9.9,238,1922,0.00,1.95,0.00,0.000,6,0.000,0.050,2256,2737,3523,0,0,0,0,0,0
$GC,2242,-0.67,-146.0,250.6,-9.0,269,2246,0.00,2.20,0.00,0.000,4,0.000,0.053,2256,1372,3523,0,0,0,0,0,0
$GC,2275,-0.69,-146.0,253.8,-8.9,271,2282,0.00,2.30,0.00,0.000,6,0.000,0.064,2253,2743,3522,0,0,0,0,0,0
$GC,2601,-0.69,-146.0,283.0,-9.1,302,2605,0.00,2.20,0.00,0.000,4,0.000,0.052,2253,1371,3522,0,0,0,0,0,0
$GC,2635,-0.72,-146.0,286.2,-9.1,304,2641,0.00,2.30,0.00,0.000,6,0.000,0.064,2252,2737,3522,0,0,0,0,0,0
$GC,2960,-0.72,-146.0,314.5,-9.1,335,2964,0.00,2.22,0.00,0.000,4,0.000,0.052,2252,1366,3522,0,0,0,0,0,0
$GC,2990,-0.75,-146.0,317.5,-9.8,337,2994,0.00,2.28,0.00,0.000,6,0.000,0.063,2252,2734,3522,0,0,0,0,0,0
$GC,3316,-0.77,-146.0,349.8,-10.2,367,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2734,3522,0,0,0,0,0,0
$GC,3637,-0.80,-146.0,381.1,-9.6,397,3641,0.00,2.20,0.00,0.000,4,0.000,0.052,2252,1368,3522,0,0,0,0,0,0
$GC,3677,-0.83,-146.0,385.2,-9.4,400,3684,0.12,2.25,0.00,0.000,6,0.105,0.063,2198,2721,3522,0,0,0,0,0,0
$GC,3997,-0.75,-146.0,422.9,-11.6,419,4001,0.12,2.10,0.00,0.000,4,0.186,0.073,2222,3936,3522,0,0,0,0,0,0
$GC,4081,-0.75,-146.0,431.9,-9.4,421,4084,0.00,1.92,0.00,0.000,6,0.000,0.049,2222,2737,3523,0,0,0,0,0,0
$GC,4400,-0.72,-146.0,463.4,-10.2,432,4404,0.00,2.17,0.00,0.000,4,0.000,0.052,2222,1372,3523,0,0,0,0,0,0
$GC,4452,-0.72,-146.0,469.0,-10.5,433,4456,0.00,2.28,0.00,0.000,6,0.000,0.063,2222,2727,3523,0,0,0,0,0,0
$STATE,4740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4740,begin apogee
$GC,4746,-0.14,0.0,500.5,11.1,443,4875,0.60,0.00,122.45,0.925,4,0.139,0.000,2413,2604,2923,0,0,0,0,0,0
$STATE,4876,end apogee,CONTROL_FINISHED_OK
$STATE,4876,begin climb
$GC,4879,0.57,146.0,505.7,0.0,447,5019,0.73,2.42,129.35,0.895,4,0.080,0.051,2659,1179,2325,0,0,0,0,0,0
$GC,5183,0.58,167.3,483.9,9.0,456,5208,0.00,2.47,18.92,0.847,6,0.000,0.057,2659,2602,2240,0,0,0,0,0,0
$GC,5547,0.56,167.3,443.9,11.6,468,5551,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1189,2234,0,0,0,0,0,0
$GC,5747,0.56,167.3,420.6,11.2,474,5751,0.00,2.33,0.00,0.000,6,0.000,0.057,2661,2610,2235,0,0,0,0,0,0
$GC,6074,0.54,167.3,381.8,12.1,493,6078,0.00,2.20,0.00,0.000,4,0.000,0.069,2661,3925,2233,0,0,0,0,0,0
$GC,6125,0.46,167.3,374.2,14.4,497,6130,0.15,2.12,0.00,0.000,6,0.205,0.046,2625,2615,2232,0,0,0,0,0,0
$GC,6451,0.51,173.0,340.9,9.7,527,6464,0.00,2.30,5.62,0.702,4,0.000,0.053,2625,1184,2216,0,0,0,0,0,0
$GC,6499,0.62,186.8,336.4,9.4,531,6523,0.15,2.33,13.23,0.790,6,0.093,0.057,2687,2612,2162,0,0,0,0,0,0
$GC,6842,0.57,186.8,293.0,11.8,563,6846,0.00,2.20,0.00,0.000,4,0.000,0.069,2687,3927,2159,0,0,0,0,0,0
$GC,6864,0.49,186.8,289.7,12.8,564,6872,0.20,2.12,0.00,0.000,6,0.189,0.045,2637,2603,2158,0,0,0,0,0,0
$GC,7190,0.56,233.0,264.1,7.9,595,7237,0.00,2.35,40.70,0.773,4,0.000,0.054,2637,1195,1972,0,0,0,0,0,0
$GC,7270,0.71,287.8,258.3,7.5,602,7326,0.20,2.33,48.20,0.755,6,0.083,0.056,2717,2608,1748,0,0,0,0,0,0
$GC,7644,0.68,287.8,204.3,14.4,637,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2608,1736,0,0,0,0,0,0
$GC,7961,0.68,287.8,160.0,13.8,667,7965,0.00,2.28,0.00,0.000,4,0.000,0.054,2718,1194,1735,0,0,0,0,0,0
$GC,8001,0.72,287.8,154.8,12.2,670,8005,0.00,2.30,0.00,0.000,6,0.000,0.057,2718,2605,1734,0,0,0,0,0,0
$GC,8326,0.72,287.8,114.0,11.9,700,8330,0.00,2.22,0.00,0.000,4,0.000,0.070,2718,3925,1734,0,0,0,0,0,0
$GC,8349,0.70,287.8,111.1,12.8,702,8353,0.00,2.12,0.00,0.000,6,0.000,0.046,2718,2599,1732,0,0,0,0,0,0
$GC,8688,0.70,287.8,68.9,10.9,754,8695,0.00,2.25,0.00,0.000,4,0.000,0.054,2718,1187,1732,0,0,0,0,0,0
$GC,8743,0.78,320.1,64.0,8.5,763,8778,0.00,2.35,26.08,0.672,6,0.000,0.058,2718,2611,1617,0,0,0,0,0,0
$GC,9117,0.84,336.4,26.8,9.2,829,9141,0.00,2.40,14.75,0.653,4,0.000,0.055,2718,1186,1550,0,0,0,0,0,0
$GC,9154,0.91,336.4,22.9,10.5,835,9162,0.12,2.28,0.00,0.000,6,0.104,0.056,2772,2574,1549,0,0,0,0,0,0
$FREEZE,8.59,-1.757,-1.784,2,9,0
$STATE,9260,end climb,FINISH_DEPTH_REACHED
$STATE,9260,begin subsurface finish
$FINISH1,8.6,1.026123,68
$GC,9267,0.04,67.5,8.6,-15.4,853,9308,0.93,0.00,-36.40,0.000,6,0.160,0.000,2495,2575,2648,0,0,0,0,0,0
$FINISH2,6.0
$STATE,9309,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9309,begin surface
$RAFOS_CLK,549
$RAFOS,5,1293813665,16.700001,16.684723,73,48,43,39,39,39,792,1370,1805,619,776,785
$RAFOS,4,1293813185,16.566668,16.551390,117,44,44,43,42,39,600,929,794,1211,1580,199
$RAFOS,3,1293812711,16.433332,16.419722,103,42,41,40,39,38,621,336,44,652,253,1435
$RAFOS,2,1293812226,16.299999,16.285000,95,51,43,41,41,40,659,700,180,418,1322,1138
$RAFOS,1,1293811749,16.166666,16.152500,84,46,44,43,42,41,662,1542,803,144,693,1435
$RAFOS,0,1293811264,16.033333,16.017778,53,50,46,44,44,41,1212,557,1018,223,990,25
$RAFOS_FIX,6639.492676,-5909.194336,311210,161618,5,94,0.23
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,49.37
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.1
$ALTIM_BOTTOM_PING,500.5,9.7
$24V_AH,21.6,75.183
$10V_AH,9.7,52.100
$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,4.200,96.700,419.300,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2128.030,5083.208,451.973,1525.322,193.176,0.000,1299.986,0.000,1512.900,2520.000,14.146,0.000
$DEVICE_MAMPS,205.020,74.970,924.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.346,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,30042,860
$CAP_FILE_SIZE,107671,0
$CFSIZE,260165632,206516224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.4
$GPS,311210,162718,6639.493,-5909.194,0,5094.4,0,-37.8