version: 66.08
glider: 183
mission: 3
dive: 804
start: 1 22 111 2 52 35
data:
$ID,183
$MISSION,3
$DIVE,804
$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,33
$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
$GPS1,220111,002725,6643.148,-6008.410,0,7116.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.37
$_SM_ANGLEo,-2.5
$GPS2,220111,002725,6643.148,-6008.410,0,7116.0,0,-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,315.2,12965,-17.5,-10.000
$D_GRID,570
$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,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2502,3925,2767,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.5,-0.0,1,53,0.57,4.28,-16.73,0.000,4,0.094,0.057,2296,1374,3522,0,0,0,0,0,0
$GC,208,-0.57,-146.0,32.5,-12.8,32,215,0.00,2.35,0.00,0.000,6,0.000,0.063,2291,2777,3523,0,0,0,0,0,0
$GC,555,-0.57,-146.0,78.0,-12.0,93,562,0.00,2.00,0.00,0.000,4,0.000,0.075,2283,3928,3522,0,0,0,0,0,0
$GC,620,-0.57,-146.0,86.0,-11.8,104,627,0.00,1.88,0.00,0.000,6,0.000,0.050,2283,2791,3522,0,0,0,0,0,0
$GC,955,-0.57,-146.0,125.2,-11.0,145,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2791,3522,0,0,0,0,0,0
$GC,1274,-0.59,-146.0,159.5,-11.2,175,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2791,3521,0,0,0,0,0,0
$GC,1604,-0.63,-146.0,193.1,-9.8,206,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2791,3521,0,0,0,0,0,0
$GC,1934,-0.69,-146.0,225.5,-9.3,237,1937,0.00,1.98,0.00,0.000,4,0.000,0.076,2277,3927,3521,0,0,0,0,0,0
$GC,1974,-0.73,-146.0,229.6,-9.5,240,1982,0.10,1.88,0.00,0.000,6,0.115,0.050,2232,2795,3521,0,0,0,0,0,0
$GC,2302,-0.69,-146.0,264.6,-10.0,271,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2796,3521,0,0,0,0,0,0
$GC,2623,-0.67,-146.0,299.6,-10.7,301,2628,0.00,2.00,0.00,0.000,4,0.000,0.076,2224,3932,3520,0,0,0,0,0,0
$GC,2662,-0.62,-146.0,304.6,-11.4,304,2670,0.17,1.85,0.00,0.000,6,0.155,0.050,2273,2811,3520,0,0,0,0,0,0
$GC,2989,-0.68,-146.0,328.7,-6.8,335,2993,0.00,2.35,0.00,0.000,4,0.000,0.052,2273,1372,3520,0,0,0,0,0,0
$GC,3052,-0.76,-146.0,332.9,-7.2,340,3057,0.12,2.42,0.00,0.000,6,0.097,0.064,2221,2796,3520,0,0,0,0,0,0
$GC,3384,-0.72,-146.0,368.4,-10.9,371,3387,0.00,1.98,0.00,0.000,4,0.000,0.074,2214,3932,3520,0,0,0,0,0,0
$GC,3430,-0.67,-146.0,373.9,-11.8,375,3435,0.15,1.85,0.00,0.000,6,0.161,0.049,2253,2797,3520,0,0,0,0,0,0
$GC,3781,-0.70,-146.0,405.7,-8.9,404,3785,0.00,2.30,0.00,0.000,4,0.000,0.051,2254,1371,3521,0,0,0,0,0,0
$GC,3845,-0.76,-146.0,411.7,-8.9,406,3850,0.00,2.42,0.00,0.000,6,0.000,0.063,2249,2792,3521,0,0,0,0,0,0
$GC,4182,-0.79,-146.0,442.7,-9.0,417,4183,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2793,3521,0,0,0,0,0,0
$GC,4489,-0.82,-146.0,469.9,-8.8,427,4490,0.10,0.00,0.00,0.000,6,0.117,0.000,2200,2793,3522,0,0,0,0,0,0
$GC,4794,-0.75,-146.0,505.6,-11.9,437,4799,0.12,2.38,0.00,0.000,4,0.176,0.051,2232,1362,3522,0,0,0,0,0,0
$GC,4839,-0.77,-146.0,510.7,-10.4,438,4843,0.00,2.42,0.00,0.000,6,0.000,0.062,2230,2786,3522,0,0,0,0,0,0
$GC,5159,-0.77,-146.0,541.9,-9.7,449,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2786,3522,0,0,0,0,0,0
$STATE,5461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5468,-0.14,0.0,571.7,9.8,459,5597,0.60,0.00,123.65,0.964,4,0.131,0.000,2423,2603,2923,0,0,0,0,0,0
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5598,begin climb
$GC,5600,0.57,146.0,573.9,0.0,463,5737,0.65,0.00,130.77,0.937,6,0.070,0.000,2660,2603,2326,0,0,0,0,0,0
$GC,6065,0.54,146.0,528.9,11.2,478,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2317,0,0,0,0,0,0
$GC,6370,0.50,146.0,495.3,10.9,488,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2602,2316,0,0,0,0,0,0
$GC,6676,0.47,146.0,461.9,10.5,498,6681,0.12,2.30,0.00,0.000,4,0.193,0.069,2628,3936,2315,0,0,0,0,0,0
$GC,6711,0.47,146.0,458.4,10.3,499,6716,0.00,2.17,0.00,0.000,6,0.000,0.046,2628,2592,2314,0,0,0,0,0,0
$GC,7055,0.52,179.9,429.7,8.4,510,7086,0.00,0.00,28.55,0.862,6,0.000,0.000,2628,2591,2189,0,0,0,0,0,0
$GC,7392,0.58,185.0,397.6,9.8,521,7400,0.10,0.00,5.40,0.706,6,0.115,0.000,2678,2591,2168,0,0,0,0,0,0
$GC,7718,0.55,185.0,358.2,12.1,552,7722,0.00,2.28,0.00,0.000,4,0.000,0.054,2679,1190,2167,0,0,0,0,0,0
$GC,7786,0.55,185.0,350.4,10.5,557,7793,0.00,2.38,0.00,0.000,6,0.000,0.057,2679,2623,2167,0,0,0,0,0,0
$GC,8112,0.52,185.0,311.5,12.5,588,8114,0.12,0.00,0.00,0.000,6,0.187,0.000,2647,2623,2166,0,0,0,0,0,0
$GC,8430,0.56,185.0,278.6,10.4,618,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2623,2165,0,0,0,0,0,0
$GC,8754,0.63,221.2,249.4,8.3,648,8790,0.00,2.28,31.85,0.767,4,0.000,0.070,2647,3931,2021,0,0,0,0,0,0
$GC,8825,0.67,227.1,242.7,9.7,654,8837,0.12,2.17,6.43,0.666,6,0.100,0.046,2696,2595,1997,0,0,0,0,0,0
$GC,9156,0.67,227.1,207.1,11.0,685,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2595,1992,0,0,0,0,0,0
$GC,9479,0.67,227.1,171.7,11.3,715,9483,0.00,2.30,0.00,0.000,4,0.000,0.070,2696,3928,1992,0,0,0,0,0,0
$GC,9521,0.64,227.1,166.1,12.9,718,9524,0.00,2.15,0.00,0.000,6,0.000,0.046,2696,2614,1991,0,0,0,0,0,0
$GC,9852,0.64,239.6,132.6,9.4,749,9866,0.00,0.00,11.45,0.705,6,0.000,0.000,2697,2614,1946,0,0,0,0,0,0
$GC,10183,0.70,257.8,98.7,9.2,781,10208,0.00,2.33,17.12,0.696,4,0.000,0.056,2697,1189,1870,0,0,0,0,0,0
$GC,10255,0.83,313.9,93.1,7.4,793,10311,0.12,2.38,49.08,0.682,6,0.102,0.058,2751,2619,1642,0,0,0,0,0,0
$GC,10653,0.86,313.9,46.6,10.5,862,10660,0.00,2.35,0.00,0.000,4,0.000,0.057,2751,1196,1630,0,0,0,0,0,0
$GC,10696,0.92,317.8,42.2,9.8,869,10703,0.00,2.35,0.00,0.000,6,0.000,0.057,2751,2610,1630,0,0,0,0,0,0
$FREEZE,8.48,-1.717,-1.739,2,22,0
$STATE,11006,end climb,FINISH_DEPTH_REACHED
$STATE,11006,begin subsurface finish
$FINISH1,8.5,1.025478,99
$GC,11014,0.06,99.2,8.5,-10.7,924,11051,0.80,2.30,-27.88,0.000,4,0.143,0.086,2502,3934,2520,0,0,0,0,0,0
$FINISH2,7.1
$STATE,11052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11052,begin surface
$RAFOS_CLK,649
$RAFOS,6,1295671744,4.833333,4.817778,175,45,44,43,42,40,828,1628,1023,1708,731,1141
$RAFOS,5,1295671275,4.700000,4.687500,120,52,45,42,42,39,903,345,1050,550,1713,1707
$RAFOS,4,1295670785,4.566667,4.551389,145,44,42,41,41,40,728,1656,1509,1859,1315,542
$RAFOS,3,1295670304,4.433333,4.417778,49,44,44,41,41,40,26,470,1570,701,1316,1589
$RAFOS,2,1295669850,4.300000,4.291667,132,44,42,40,40,39,503,1609,865,779,148,1683
$RAFOS,1,1295669361,4.166667,4.155833,110,44,42,41,41,41,467,824,1511,400,466,1868
$RAFOS,0,1295668871,4.033333,4.019722,106,46,46,41,40,39,574,1420,26,704,1238,1797
$RAFOS_FIX,6643.905762,-6013.252441,220111,040444,6,131,0.26
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,50.66
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,21.3,90.951
$10V_AH,9.7,62.119
$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,4.000,66.350,404.300,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2291.892,6695.041,414.025,1501.095,226.988,0.000,1237.629,0.000,1496.783,2520.000,13.237,0.000
$DEVICE_MAMPS,192.780,85.680,963.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,649.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,33326,930
$CAP_FILE_SIZE,106808,0
$CFSIZE,260165632,197033984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2