version: 66.08
glider: 183
mission: 3
dive: 803
start: 1 21 111 23 36 23
data:
$ID,183
$MISSION,3
$DIVE,803
$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,-12582.993
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,210111,202658,6644.896,-6005.101,0,7132.6,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-49.3
$GPS2,210111,202658,6644.896,-6005.101,181,99.0,181,-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,302.0,15379,-17.5,-10.000
$D_GRID,608
$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,-146.0,0.0,0.0,0,142,0.00,0.00,-123.10,0.000,2,0.000,0.000,296,2782,3190,0,0,0,0,0,0
$GC,148,-0.57,-146.0,5.4,-10.5,22,173,8.55,2.40,-6.62,0.000,4,0.247,0.066,2282,1366,3523,0,0,0,0,0,0
$GC,209,-0.53,-146.0,25.9,-17.5,32,216,0.00,2.40,0.00,0.000,6,0.000,0.066,2275,2778,3524,0,0,0,0,0,0
$GC,557,-0.49,-146.0,77.1,-13.1,93,564,0.15,2.03,0.00,0.000,4,0.175,0.076,2313,3927,3524,0,0,0,0,0,0
$GC,658,-0.56,-146.0,87.8,-10.1,110,665,0.00,1.88,0.00,0.000,6,0.000,0.051,2313,2796,3523,0,0,0,0,0,0
$GC,999,-0.63,-146.0,118.0,-8.9,153,1001,0.12,0.00,0.00,0.000,6,0.100,0.000,2255,2796,3524,0,0,0,0,0,0
$GC,1317,-0.60,-146.0,157.5,-12.5,183,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2796,3523,0,0,0,0,0,0
$GC,1640,-0.60,-146.0,195.8,-10.9,213,1643,0.00,2.00,0.00,0.000,4,0.000,0.077,2247,3929,3523,0,0,0,0,0,0
$GC,1663,-0.60,-146.0,199.1,-11.6,215,1668,0.08,1.90,0.00,0.000,6,0.148,0.050,2272,2799,3523,0,0,0,0,0,0
$GC,1995,-0.64,-146.0,232.4,-10.1,246,1998,0.00,2.00,0.00,0.000,4,0.000,0.078,2272,3929,3523,0,0,0,0,0,0
$GC,2034,-0.69,-146.0,236.7,-10.2,249,2041,0.00,1.88,0.00,0.000,6,0.000,0.051,2271,2800,3523,0,0,0,0,0,0
$GC,2360,-0.72,-146.0,266.5,-8.8,280,2364,0.00,2.33,0.00,0.000,4,0.000,0.053,2271,1365,3523,0,0,0,0,0,0
$GC,2436,-0.78,-146.0,273.1,-8.8,286,2441,0.08,2.45,0.00,0.000,6,0.068,0.066,2217,2802,3523,0,0,0,0,0,0
$GC,2768,-0.72,-146.0,312.6,-12.4,317,2771,0.00,1.98,0.00,0.000,4,0.000,0.075,2210,3935,3523,0,0,0,0,0,0
$GC,2825,-0.65,-146.0,320.1,-13.3,322,2830,0.20,1.88,0.00,0.000,6,0.161,0.050,2265,2789,3523,0,0,0,0,0,0
$GC,3158,-0.70,-146.0,350.2,-9.0,353,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2790,3523,0,0,0,0,0,0
$GC,3475,-0.75,-146.0,378.0,-8.6,383,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2789,3523,0,0,0,0,0,0
$GC,3796,-0.80,-146.0,406.2,-8.9,409,3798,0.15,0.00,0.00,0.000,6,0.092,0.000,2198,2789,3523,0,0,0,0,0,0
$GC,4098,-0.73,-146.0,444.0,-12.4,419,4100,0.15,0.00,0.00,0.000,6,0.173,0.000,2238,2789,3523,0,0,0,0,0,0
$GC,4403,-0.73,-146.0,471.9,-9.1,429,4407,0.00,2.33,0.00,0.000,4,0.000,0.050,2238,1363,3524,0,0,0,0,0,0
$GC,4442,-0.75,-146.0,475.6,-9.0,430,4446,0.00,2.42,0.00,0.000,6,0.000,0.063,2235,2796,3524,0,0,0,0,0,0
$GC,4769,-0.75,-146.0,507.3,-9.3,441,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2797,3524,0,0,0,0,0,0
$GC,5073,-0.75,-146.0,537.7,-8.5,451,5077,0.00,2.33,0.00,0.000,4,0.000,0.050,2235,1363,3524,0,0,0,0,0,0
$GC,5119,-0.78,-146.0,542.1,-9.3,452,5123,0.00,2.42,0.00,0.000,6,0.000,0.062,2235,2794,3524,0,0,0,0,0,0
$GC,5449,-0.78,-146.0,572.8,-9.6,463,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2793,3525,0,0,0,0,0,0
$GC,5755,-0.78,-146.0,599.9,-8.7,473,5763,0.00,2.35,0.00,0.000,4,0.000,0.052,2235,1362,3525,0,0,0,0,0,0
$GC,5832,-1.07,-146.0,600.1,0.2,475,5837,0.30,2.40,0.00,0.000,6,0.078,0.060,2124,2780,3525,0,0,0,0,0,0
$STATE,5914,end dive,NO_VERTICAL_VELOCITY
$STATE,5914,begin apogee
$GC,5921,-0.14,0.0,600.1,0.0,478,6054,0.88,0.00,125.00,0.982,4,0.092,0.000,2429,2597,2923,0,0,0,0,0,0
$STATE,6055,end apogee,CONTROL_FINISHED_OK
$STATE,6055,begin climb
$GC,6058,0.57,146.0,600.0,0.0,482,6199,0.68,2.42,132.05,0.955,4,0.077,0.050,2658,1184,2326,0,0,0,0,0,0
$GC,6325,0.57,146.0,585.0,11.1,490,6329,0.00,2.53,0.00,0.000,6,0.000,0.056,2658,2602,2319,0,0,0,0,0,0
$GC,6644,0.55,146.0,549.9,10.6,501,6648,0.00,2.28,0.00,0.000,4,0.000,0.069,2658,3934,2315,0,0,0,0,0,0
$GC,6680,0.46,146.0,545.8,12.5,502,6685,0.15,2.20,0.00,0.000,6,0.198,0.046,2625,2596,2314,0,0,0,0,0,0
$GC,7024,0.52,179.5,517.0,8.5,513,7057,0.00,2.38,27.95,0.907,4,0.000,0.052,2625,1187,2190,0,0,0,0,0,0
$GC,7081,0.61,209.4,512.3,8.6,514,7116,0.15,2.33,27.55,0.891,6,0.088,0.057,2690,2594,2069,0,0,0,0,0,0
$GC,7430,0.58,209.4,465.8,14.1,526,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2594,2060,0,0,0,0,0,0
$GC,7738,0.54,209.4,424.0,13.7,536,7740,0.15,0.00,0.00,0.000,6,0.177,0.000,2650,2594,2059,0,0,0,0,0,0
$GC,8045,0.58,209.4,391.1,10.3,550,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2595,2058,0,0,0,0,0,0
$GC,8367,0.63,209.4,356.7,10.7,580,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2594,2058,0,0,0,0,0,0
$GC,8696,0.68,209.4,322.7,10.1,611,8701,0.12,2.30,0.00,0.000,4,0.100,0.054,2704,1182,2057,0,0,0,0,0,0
$GC,8718,0.68,209.4,319.6,11.7,612,8725,0.00,2.33,0.00,0.000,6,0.000,0.056,2704,2596,2058,0,0,0,0,0,0
$GC,9044,0.63,209.4,277.2,12.7,643,9048,0.00,2.28,0.00,0.000,4,0.000,0.068,2704,3930,2057,0,0,0,0,0,0
$GC,9117,0.55,209.4,265.7,15.7,649,9125,0.20,2.17,0.00,0.000,6,0.177,0.046,2652,2600,2056,0,0,0,0,0,0
$GC,9443,0.61,223.8,234.7,9.3,680,9460,0.00,2.30,12.15,0.751,4,0.000,0.053,2652,1192,2009,0,0,0,0,0,0
$GC,9531,0.74,259.7,227.3,8.3,687,9569,0.17,2.30,32.30,0.751,6,0.084,0.057,2724,2591,1864,0,0,0,0,0,0
$GC,9890,0.74,259.7,179.8,13.2,720,9894,0.00,2.28,0.00,0.000,4,0.000,0.069,2725,3926,1856,0,0,0,0,0,0
$GC,9943,0.68,259.7,172.5,14.4,724,9947,0.00,2.17,0.00,0.000,6,0.000,0.047,2725,2592,1854,0,0,0,0,0,0
$GC,10275,0.68,259.7,132.1,12.1,755,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2591,1854,0,0,0,0,0,0
$GC,10593,0.68,259.7,96.5,11.2,787,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2591,1853,0,0,0,0,0,0
$GC,10939,0.69,275.1,63.0,9.3,848,10958,0.00,2.30,12.60,0.681,4,0.000,0.070,2725,3927,1802,0,0,0,0,0,0
$GC,10994,0.67,275.1,57.6,10.6,857,11001,0.12,2.17,0.00,0.000,6,0.194,0.047,2695,2598,1800,0,0,0,0,0,0
$GC,11344,0.81,327.7,32.7,7.6,918,11398,0.12,2.33,46.10,0.656,4,0.104,0.054,2748,1192,1586,0,0,0,0,0,0
$GC,11468,0.90,327.7,20.5,10.5,939,11475,0.00,2.38,0.00,0.000,6,0.000,0.058,2748,2611,1581,0,0,0,0,0,0
$FREEZE,8.46,-1.732,-1.740,2,21,0
$STATE,11585,end climb,FINISH_DEPTH_REACHED
$STATE,11585,begin subsurface finish
$FINISH1,8.5,1.025491,99
$GC,11592,0.06,98.6,8.5,-9.9,959,11629,0.77,2.35,-30.02,0.000,4,0.137,0.087,2502,3925,2523,0,0,0,0,0,0
$FINISH2,7.0
$STATE,11630,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11630,begin surface
$RAFOS_CLK,728
$RAFOS,6,1295657352,0.833333,0.820000,144,50,48,43,42,40,777,1642,721,1638,1522,1674
$RAFOS,5,1295656863,0.700000,0.684167,92,43,43,40,39,38,962,26,570,707,624,788
$RAFOS,4,1295656391,0.566667,0.553056,125,44,42,40,40,40,685,193,1489,261,1833,144
$RAFOS,3,1295655903,0.433333,0.417500,86,49,48,48,46,45,773,1242,1150,329,926,432
$RAFOS,2,1295655422,0.300000,0.283889,147,46,45,43,42,39,637,785,997,253,331,1096
$RAFOS,1,1295654943,0.166667,0.150833,120,44,43,43,43,42,558,1150,1083,1448,424,1074
$RAFOS,0,1295654467,0.033333,0.018611,98,44,43,43,38,38,607,990,856,856,1198,1496
$RAFOS_FIX,6643.148438,-6008.409668,220111,000025,7,116,0.28
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,50.15
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,999.0
$24V_AH,21.2,90.851
$10V_AH,9.7,62.064
$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,13.300,83.425,415.700,0.000,0.000,98.497,20.018,0.000,2.000,0.000,183.605,2360.756,7073.878,520.442,1938.677,712.478,0.000,1442.430,0.000,1622.123,2520.000,15.191,0.000
$DEVICE_MAMPS,247.095,87.210,982.260,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.132,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,33370,965
$CAP_FILE_SIZE,126064,0
$CFSIZE,260165632,197079040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,220111,002725,6643.148,-6008.410,0,7116.0,0,-38.2