version: 66.08
glider: 183
mission: 3
dive: 797
start: 1 21 111 1 55 59
data:
$ID,183
$MISSION,3
$DIVE,797
$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,-12213.804
$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,34
$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,5
$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
$GPS1,210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.31
$_SM_ANGLEo,-1.4
$GPS2,210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2
$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,295.7,30657,-17.5,-10.000
$D_GRID,846
$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,-5.78,0.000,2,0.000,0.000,2499,3927,2855,0,0,0,0,0,0
$GC,28,-0.57,-146.0,12.4,-0.0,1,53,0.57,4.25,-14.10,0.000,4,0.099,0.055,2296,1364,3522,0,0,0,0,0,0
$GC,186,-0.59,-146.0,29.6,-11.1,28,192,0.00,2.38,0.00,0.000,6,0.000,0.063,2292,2780,3524,0,0,0,0,0,0
$GC,532,-0.59,-146.0,75.1,-12.2,89,539,0.00,2.33,0.00,0.000,4,0.000,0.053,2292,1369,3523,0,0,0,0,0,0
$GC,598,-0.62,-146.0,82.9,-11.0,100,605,0.00,2.38,0.00,0.000,6,0.000,0.063,2292,2771,3523,0,0,0,0,0,0
$GC,943,-0.65,-146.0,118.2,-10.4,146,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2771,3523,0,0,0,0,0,0
$GC,1273,-0.70,-146.0,149.3,-9.1,177,1277,0.12,2.03,0.00,0.000,4,0.104,0.075,2235,3934,3521,0,0,0,0,0,0
$GC,1303,-0.67,-146.0,153.0,-12.4,179,1309,0.00,1.92,0.00,0.000,6,0.000,0.049,2235,2753,3522,0,0,0,0,0,0
$GC,1629,-0.62,-146.0,197.2,-13.6,210,1634,0.15,2.28,0.00,0.000,4,0.171,0.052,2277,1364,3521,0,0,0,0,0,0
$GC,1709,-0.68,-146.0,206.5,-10.7,216,1716,0.00,2.35,0.00,0.000,6,0.000,0.063,2274,2758,3522,0,0,0,0,0,0
$GC,2036,-0.71,-146.0,238.8,-8.9,247,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2758,3521,0,0,0,0,0,0
$GC,2357,-0.76,-146.0,266.1,-8.5,277,2363,0.12,0.00,0.00,0.000,6,0.104,0.000,2220,2758,3521,0,0,0,0,0,0
$GC,2684,-0.70,-146.0,305.1,-12.0,308,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2758,3521,0,0,0,0,0,0
$GC,3003,-0.65,-146.0,341.2,-11.3,338,3008,0.15,2.30,0.00,0.000,4,0.170,0.052,2262,1363,3521,0,0,0,0,0,0
$GC,3033,-0.65,-146.0,344.2,-8.7,340,3037,0.00,2.38,0.00,0.000,6,0.000,0.063,2261,2760,3521,0,0,0,0,0,0
$GC,3359,-0.69,-146.0,370.3,-7.9,370,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2759,3521,0,0,0,0,0,0
$GC,3682,-0.73,-146.0,395.4,-8.0,400,3686,0.00,2.25,0.00,0.000,4,0.000,0.051,2261,1370,3521,0,0,0,0,0,0
$GC,3712,-0.78,-146.0,398.3,-8.3,402,3716,0.12,2.35,0.00,0.000,6,0.099,0.063,2207,2754,3521,0,0,0,0,0,0
$GC,4042,-0.72,-146.0,435.4,-11.5,414,4044,0.12,0.00,0.00,0.000,6,0.182,0.000,2239,2754,3521,0,0,0,0,0,0
$GC,4347,-0.72,-146.0,463.6,-9.3,424,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2754,3522,0,0,0,0,0,0
$GC,4653,-0.72,-146.0,490.7,-8.7,434,4657,0.00,2.25,0.00,0.000,4,0.000,0.050,2239,1367,3522,0,0,0,0,0,0
$GC,4688,-0.72,-146.0,493.9,-9.0,435,4692,0.00,2.33,0.00,0.000,6,0.000,0.061,2235,2750,3522,0,0,0,0,0,0
$GC,5019,-0.72,-146.0,522.3,-8.7,446,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2750,3522,0,0,0,0,0,0
$GC,5329,-0.72,-146.0,550.4,-9.2,456,5333,0.00,2.25,0.00,0.000,4,0.000,0.050,2235,1362,3522,0,0,0,0,0,0
$GC,5352,-0.72,-146.0,553.0,-9.2,456,5359,0.00,2.33,0.00,0.000,6,0.000,0.061,2235,2745,3523,0,0,0,0,0,0
$GC,5665,-0.72,-146.0,580.4,-8.5,467,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2745,3523,0,0,0,0,0,0
$STATE,5912,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5912,begin apogee
$GC,5918,-0.14,0.0,600.8,8.3,475,6050,0.57,0.00,124.57,0.980,4,0.130,0.000,2420,2599,2923,0,0,0,0,0,0
$STATE,6051,end apogee,CONTROL_FINISHED_OK
$STATE,6051,begin climb
$GC,6054,0.57,146.0,603.9,0.0,479,6193,0.70,2.45,131.48,0.955,4,0.063,0.050,2669,1178,2327,0,0,0,0,0,0
$GC,6340,0.54,146.0,578.4,11.6,488,6344,0.00,2.50,0.00,0.000,6,0.000,0.056,2669,2601,2320,0,0,0,0,0,0
$GC,6671,0.48,146.0,536.8,12.8,499,6675,0.15,2.30,0.00,0.000,4,0.183,0.053,2630,1189,2316,0,0,0,0,0,0
$GC,6861,0.54,159.3,518.6,9.4,504,6877,0.00,2.38,11.02,0.864,6,0.000,0.057,2630,2619,2273,0,0,0,0,0,0
$GC,7205,0.54,165.7,484.9,9.7,516,7219,0.00,2.28,7.00,0.793,4,0.000,0.069,2630,3925,2246,0,0,0,0,0,0
$GC,7265,0.52,165.7,478.1,10.9,517,7272,0.00,2.15,0.00,0.000,6,0.000,0.045,2630,2605,2245,0,0,0,0,0,0
$GC,7579,0.55,185.8,449.4,9.1,528,7600,0.00,0.00,19.17,0.868,6,0.000,0.000,2630,2605,2165,0,0,0,0,0,0
$GC,7884,0.59,189.0,419.8,9.9,538,7890,0.10,2.28,0.00,0.000,4,0.117,0.070,2677,3930,2160,0,0,0,0,0,0
$GC,7941,0.49,189.0,411.6,15.1,539,7946,0.17,2.12,0.00,0.000,6,0.184,0.046,2636,2622,2159,0,0,0,0,0,0
$GC,8266,0.52,189.0,377.0,10.6,561,8270,0.00,2.33,0.00,0.000,4,0.000,0.052,2636,1184,2159,0,0,0,0,0,0
$GC,8330,0.61,198.8,370.4,9.5,566,8347,0.10,2.35,11.85,0.808,6,0.109,0.057,2679,2617,2112,0,0,0,0,0,0
$GC,8666,0.57,198.8,327.6,13.0,597,8670,0.00,2.20,0.00,0.000,4,0.000,0.068,2679,3926,2109,0,0,0,0,0,0
$GC,8725,0.49,198.8,319.3,15.0,601,8732,0.17,2.15,0.00,0.000,6,0.185,0.045,2638,2604,2109,0,0,0,0,0,0
$GC,9051,0.54,213.0,286.2,9.3,632,9070,0.00,0.00,13.35,0.773,6,0.000,0.000,2638,2604,2055,0,0,0,0,0,0
$GC,9390,0.60,214.2,252.8,9.9,664,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2604,2052,0,0,0,0,0,0
$GC,9711,0.67,230.9,223.6,9.2,694,9730,0.15,0.00,17.05,0.748,6,0.090,0.000,2698,2604,1980,0,0,0,0,0,0
$GC,10048,0.65,230.9,180.0,12.6,726,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2604,1976,0,0,0,0,0,0
$GC,10374,0.65,230.9,142.6,10.9,757,10378,0.00,2.28,0.00,0.000,4,0.000,0.054,2699,1195,1976,0,0,0,0,0,0
$GC,10420,0.69,234.7,138.0,9.8,761,10432,0.00,2.35,4.15,0.566,6,0.000,0.057,2698,2626,1965,0,0,0,0,0,0
$GC,10751,0.69,237.1,104.8,9.9,792,10763,0.00,2.28,3.88,0.539,4,0.000,0.071,2699,3929,1955,0,0,0,0,0,0
$GC,10822,0.66,237.1,96.8,11.6,800,10829,0.00,2.12,0.00,0.000,6,0.000,0.046,2699,2623,1953,0,0,0,0,0,0
$GC,11171,0.71,255.9,64.1,9.1,861,11195,0.00,0.00,17.98,0.684,6,0.000,0.000,2700,2623,1878,0,0,0,0,0,0
$GC,11537,0.79,309.1,34.5,7.5,925,11589,0.00,0.00,45.83,0.659,6,0.000,0.000,2699,2623,1661,0,0,0,0,0,0
$FREEZE,8.82,-1.758,-1.763,2,15,0
$STATE,11832,end climb,FINISH_DEPTH_REACHED
$STATE,11832,begin subsurface finish
$FINISH1,8.8,1.025811,83
$GC,11840,0.05,82.9,8.8,-9.2,977,11876,0.62,0.00,-28.33,0.000,6,0.131,0.000,2497,2623,2587,0,0,0,0,0,0
$FINISH2,7.4
$STATE,11877,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11877,begin surface
$RAFOS_CLK,690
$RAFOS,6,1295585342,4.833333,4.817222,100,45,45,42,42,41,778,1384,1293,717,804,1053
$RAFOS,5,1295584864,4.700000,4.684444,82,46,45,43,39,39,898,739,1346,1510,402,1663
$RAFOS,4,1295584387,4.566667,4.551944,135,46,46,42,42,41,645,1395,1526,533,740,1836
$RAFOS,3,1295583913,4.433333,4.420278,73,49,44,41,39,38,705,752,1705,25,1181,1863
$RAFOS,2,1295583431,4.300000,4.286389,113,48,45,45,44,42,606,1466,273,1192,776,1069
$RAFOS,1,1295582966,4.166667,4.157222,160,47,43,42,41,41,436,296,258,411,495,1811
$RAFOS,0,1295582473,4.033333,4.020278,114,47,47,47,44,43,630,1207,989,1560,869,1549
$RAFOS_FIX,6647.284180,-5950.695801,210111,040416,7,111,0.30
$IRIDIUM_FIX,6641.98,-5833.70,170111,181821
$TT8_MAMPS,0.028462
$HUMID,50.31
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,600.8,11.9
$24V_AH,21.3,90.164
$10V_AH,9.7,61.683
$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,4.125,75.050,407.325,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2449.527,7155.331,444.972,1676.569,227.911,0.000,1346.456,0.000,1655.343,2520.000,20.721,0.000
$DEVICE_MAMPS,185.130,74.970,979.965,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33364,983
$CAP_FILE_SIZE,115966,0
$CFSIZE,260165632,197459968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,210111,042716,6647.284,-5950.696,0,7111.0,0,-38.2