version: 66.08
glider: 183
mission: 3
dive: 798
start: 1 21 111 5 16 19
data:
$ID,183
$MISSION,3
$DIVE,798
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,210111,042716,6647.284,-5950.696,0,7111.0,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.40
$_SM_ANGLEo,-1.9
$GPS2,210111,042716,6647.284,-5950.696,0,7111.0,0,-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,294.9,26534,-17.5,-10.000
$D_GRID,772
$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,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2497,2623,2822,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.8,-0.0,1,46,0.55,0.00,-16.17,0.000,6,0.084,0.000,2293,2623,3520,0,0,0,0,0,0
$GC,387,-0.70,-146.0,45.6,-10.0,64,394,0.12,2.28,0.00,0.000,4,0.103,0.074,2235,3925,3522,0,0,0,0,0,0
$GC,402,-0.79,-146.0,47.2,-10.4,66,409,0.00,1.88,0.00,0.000,6,0.000,0.049,2235,2781,3522,0,0,0,0,0,0
$GC,753,-0.69,-146.0,106.8,-15.6,124,757,0.00,1.98,0.00,0.000,4,0.000,0.075,2228,3924,3522,0,0,0,0,0,0
$GC,980,-0.63,-146.0,143.3,-15.1,144,985,0.08,1.90,0.00,0.000,6,0.151,0.049,2266,2786,3522,0,0,0,0,0,0
$GC,1312,-0.63,-146.0,178.5,-9.7,175,1316,0.00,2.30,0.00,0.000,4,0.000,0.053,2266,1370,3521,0,0,0,0,0,0
$GC,1393,-0.67,-146.0,186.1,-8.9,182,1397,0.00,2.38,0.00,0.000,6,0.000,0.064,2261,2768,3521,0,0,0,0,0,0
$GC,1726,-0.67,-146.0,219.6,-9.7,213,1730,0.00,2.30,0.00,0.000,4,0.000,0.052,2262,1369,3521,0,0,0,0,0,0
$GC,1765,-0.69,-146.0,223.7,-9.5,216,1772,0.00,2.40,0.00,0.000,6,0.000,0.064,2262,2776,3521,0,0,0,0,0,0
$GC,2091,-0.69,-146.0,256.8,-10.9,247,2095,0.00,2.30,0.00,0.000,4,0.000,0.053,2262,1372,3521,0,0,0,0,0,0
$GC,2119,-0.72,-146.0,260.2,-11.0,249,2126,0.00,2.35,0.00,0.000,6,0.000,0.063,2262,2763,3521,0,0,0,0,0,0
$GC,2446,-0.74,-146.0,293.2,-9.9,280,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2763,3521,0,0,0,0,0,0
$GC,2767,-0.77,-146.0,323.6,-9.7,310,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2763,3521,0,0,0,0,0,0
$GC,3096,-0.80,-146.0,355.6,-9.5,341,3103,0.12,0.00,0.00,0.000,6,0.105,0.000,2204,2763,3521,0,0,0,0,0,0
$GC,3422,-0.73,-146.0,395.4,-11.5,372,3427,0.12,2.30,0.00,0.000,4,0.181,0.052,2236,1367,3521,0,0,0,0,0,0
$GC,3446,-0.69,-146.0,398.0,-10.8,373,3453,0.00,2.35,0.00,0.000,6,0.000,0.063,2235,2760,3521,0,0,0,0,0,0
$GC,3781,-0.69,-146.0,429.8,-9.3,386,3785,0.00,2.03,0.00,0.000,4,0.000,0.073,2235,3928,3521,0,0,0,0,0,0
$GC,3831,-0.69,-146.0,434.9,-9.4,387,3835,0.00,1.90,0.00,0.000,6,0.000,0.049,2235,2763,3521,0,0,0,0,0,0
$GC,4157,-0.69,-146.0,464.2,-9.0,398,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2763,3521,0,0,0,0,0,0
$GC,4462,-0.69,-146.0,493.2,-9.4,408,4466,0.00,2.25,0.00,0.000,4,0.000,0.051,2235,1369,3521,0,0,0,0,0,0
$GC,4484,-0.69,-146.0,495.5,-9.7,408,4489,0.00,2.38,0.00,0.000,6,0.000,0.063,2235,2763,3522,0,0,0,0,0,0
$GC,4799,-0.69,-146.0,525.2,-9.5,418,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2763,3522,0,0,0,0,0,0
$GC,5104,-0.69,-146.0,552.9,-9.0,428,5108,0.00,2.25,0.00,0.000,4,0.000,0.050,2235,1372,3522,0,0,0,0,0,0
$GC,5149,-0.69,-146.0,557.3,-8.9,429,5153,0.00,2.33,0.00,0.000,6,0.000,0.062,2235,2753,3522,0,0,0,0,0,0
$GC,5469,-0.69,-146.0,587.2,-9.6,440,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2752,3523,0,0,0,0,0,0
$STATE,5621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5621,begin apogee
$GC,5627,-0.14,0.0,601.8,9.5,445,5760,0.57,0.00,123.95,0.981,4,0.132,0.000,2420,2597,2924,0,0,0,0,0,0
$STATE,5761,end apogee,CONTROL_FINISHED_OK
$STATE,5761,begin climb
$GC,5763,0.57,146.0,606.3,0.0,449,5903,0.70,2.42,130.75,0.955,4,0.065,0.050,2668,1181,2329,0,0,0,0,0,0
$GC,6032,-1.85,146.0,586.0,21259.3,457,6042,2.75,2.53,0.00,0.000,6,0.148,0.056,1891,2606,2321,0,0,0,0,0,0
$GC,6358,-1.85,146.0,539.1,21259.3,468,6362,0.00,2.30,0.00,0.000,4,0.000,0.053,1890,1187,2313,0,0,0,0,0,0
$GC,6615,-1.85,146.0,493.8,21259.3,475,6622,0.00,2.33,0.00,0.000,6,0.000,0.052,1877,2615,2310,0,0,0,0,0,0
$GC,6930,-1.85,146.0,439.0,21259.3,486,6934,0.00,2.20,0.00,0.000,4,0.000,0.067,1864,3917,2311,0,0,0,0,0,0
$GC,7190,-1.85,146.0,386.8,21259.3,497,7195,0.00,2.08,0.00,0.000,6,0.000,0.045,1862,2630,2309,0,0,0,0,0,0
$GC,7522,-1.85,146.0,326.7,21259.3,528,7526,0.00,2.22,0.00,0.000,4,0.000,0.069,1852,3925,2310,0,0,0,0,0,0
$GC,7684,-1.85,146.0,296.6,21259.3,542,7688,0.12,2.05,0.00,0.000,6,0.220,0.047,1878,2675,2310,0,0,0,0,0,0
$GC,8015,-1.85,146.0,237.7,21259.3,573,8019,0.00,2.12,0.00,0.000,4,0.000,0.071,1871,3917,2311,0,0,0,0,0,0
$GC,8040,-1.85,146.0,233.4,21259.3,575,8044,0.00,2.00,0.00,0.000,6,0.000,0.047,1871,2695,2310,0,0,0,0,0,0
$GC,8372,-1.85,146.0,174.6,21259.3,606,8376,0.00,2.08,0.00,0.000,4,0.000,0.063,1860,3926,2309,0,0,0,0,0,0
$GC,8603,-1.85,146.0,131.2,21259.3,626,8610,0.00,2.00,0.00,0.000,6,0.000,0.044,1860,2691,2310,0,0,0,0,0,0
$GC,8937,-0.41,146.0,82.4,13.7,667,8944,1.80,2.50,0.00,0.000,4,0.200,0.050,2333,1194,2310,0,0,0,0,0,0
$GC,8997,0.46,266.1,78.5,4.5,677,9108,0.93,2.50,98.95,0.668,6,0.132,0.060,2613,2691,1837,0,0,0,0,0,0
$GC,9449,0.86,361.3,51.2,5.6,755,9537,0.35,2.50,78.43,0.650,4,0.077,0.054,2756,1195,1447,0,0,0,0,0,0
$GC,9603,0.93,361.3,36.0,11.4,781,9610,0.00,2.42,0.00,0.000,6,0.000,0.057,2756,2653,1440,0,0,0,0,0,0
$FREEZE,8.69,-1.759,-1.761,2,16,0
$STATE,9814,end climb,FINISH_DEPTH_REACHED
$STATE,9814,begin subsurface finish
$FINISH1,8.7,1.025786,84
$GC,9822,0.05,84.1,8.7,-13.5,818,9864,0.82,0.00,-36.70,0.000,6,0.139,0.000,2497,2607,2582,0,0,0,0,0,0
$FINISH2,6.7
$STATE,9865,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9865,begin surface
$RAFOS_CLK,577
$RAFOS_FIX,6647.284180,-5950.695801,210111,040416,7,111,0.30
$IRIDIUM_FIX,6641.98,-5833.70,170111,181821
$TT8_MAMPS,0.029211
$HUMID,49.25
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,601.8,12.0
$24V_AH,21.3,90.267
$10V_AH,9.7,61.734
$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,9.050,76.400,432.075,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2022.159,5708.575,440.885,1543.272,203.525,0.000,1288.876,0.000,1525.851,0.000,17.699,0.000
$DEVICE_MAMPS,219.555,113.220,981.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,30074,825
$CAP_FILE_SIZE,100876,0
$CFSIZE,260165632,197419008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.8
$GPS,210111,042716,6647.284,-5950.696,0,7111.0,0,-38.2