version: 66.08
glider: 183
mission: 3
dive: 805
start: 1 22 111 5 59 8
data:
$ID,183
$MISSION,3
$DIVE,805
$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,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
$GPS1,220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.91
$_SM_ANGLEo,-3.6
$GPS2,220111,042744,6643.906,-6013.252,0,6131.3,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,114.8,152382,-17.5,-10.000
$D_GRID,559
$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,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2502,3935,2761,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.4,-0.0,1,52,0.57,0.00,-16.77,0.000,4,0.091,0.000,2294,3935,3518,0,0,0,0,0,0
$GC,60,-0.66,-146.0,14.2,-7.9,6,67,0.00,1.88,0.00,0.000,6,0.000,0.048,2295,2774,3519,0,0,0,0,0,0
$GC,407,-0.66,-146.0,60.8,-11.8,67,414,0.00,2.28,0.00,0.000,4,0.000,0.052,2294,1363,3520,0,0,0,0,0,0
$GC,513,-0.69,-146.0,73.1,-10.4,85,521,0.12,2.35,0.00,0.000,6,0.101,0.063,2239,2762,3520,0,0,0,0,0,0
$GC,852,-0.62,-146.0,123.8,-14.4,131,856,0.12,2.03,0.00,0.000,4,0.178,0.074,2265,3928,3520,0,0,0,0,0,0
$GC,890,-0.60,-146.0,129.2,-12.0,134,897,0.00,1.90,0.00,0.000,6,0.000,0.050,2265,2763,3520,0,0,0,0,0,0
$GC,1218,-0.60,-146.0,164.3,-10.7,165,1222,0.00,2.25,0.00,0.000,4,0.000,0.053,2265,1370,3519,0,0,0,0,0,0
$GC,1248,-0.60,-146.0,167.6,-10.6,167,1252,0.00,2.38,0.00,0.000,6,0.000,0.064,2261,2776,3519,0,0,0,0,0,0
$GC,1574,-0.60,-146.0,201.2,-9.7,197,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2776,3519,0,0,0,0,0,0
$GC,1895,-0.60,-146.0,231.3,-8.8,227,1899,0.00,2.00,0.00,0.000,4,0.000,0.076,2253,3930,3519,0,0,0,0,0,0
$GC,1934,-0.60,-146.0,235.6,-10.0,230,1940,0.00,1.92,0.00,0.000,6,0.000,0.050,2253,2767,3519,0,0,0,0,0,0
$GC,2260,-0.60,-146.0,264.9,-8.7,261,2264,0.00,2.28,0.00,0.000,4,0.000,0.052,2253,1364,3519,0,0,0,0,0,0
$GC,2321,-0.63,-146.0,270.7,-9.0,266,2328,0.00,2.38,0.00,0.000,6,0.000,0.064,2249,2768,3518,0,0,0,0,0,0
$GC,2648,-0.63,-146.0,300.2,-9.6,297,2652,0.00,2.00,0.00,0.000,4,0.000,0.076,2248,3927,3518,0,0,0,0,0,0
$GC,2721,-0.63,-146.0,308.2,-10.9,303,2727,0.00,1.90,0.00,0.000,6,0.000,0.050,2248,2777,3519,0,0,0,0,0,0
$GC,3047,-0.63,-146.0,339.0,-9.4,334,3051,0.00,2.00,0.00,0.000,4,0.000,0.076,2247,3927,3518,0,0,0,0,0,0
$GC,3117,-0.63,-146.0,345.9,-10.4,340,3121,0.00,1.85,0.00,0.000,6,0.000,0.050,2247,2791,3518,0,0,0,0,0,0
$GC,3449,-0.63,-146.0,378.0,-9.6,371,3453,0.00,2.30,0.00,0.000,4,0.000,0.051,2247,1367,3518,0,0,0,0,0,0
$GC,3501,-0.66,-146.0,382.9,-8.9,375,3505,0.00,2.38,0.00,0.000,6,0.000,0.063,2248,2778,3518,0,0,0,0,0,0
$GC,3845,-0.66,-146.0,415.3,-9.5,397,3849,0.00,1.98,0.00,0.000,4,0.000,0.074,2247,3928,3518,0,0,0,0,0,0
$GC,3884,-0.69,-146.0,419.5,-10.2,398,3888,0.00,1.88,0.00,0.000,6,0.000,0.049,2247,2779,3518,0,0,0,0,0,0
$GC,4223,-0.71,-146.0,451.7,-9.7,409,4226,0.00,2.00,0.00,0.000,4,0.000,0.076,2247,3928,3518,0,0,0,0,0,0
$GC,4258,-0.73,-146.0,455.5,-10.3,410,4262,0.00,1.88,0.00,0.000,6,0.000,0.048,2247,2790,3518,0,0,0,0,0,0
$GC,4600,-0.76,-146.0,487.9,-9.2,421,4604,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1365,3519,0,0,0,0,0,0
$GC,4664,-0.80,-146.0,493.9,-9.5,423,4669,0.00,2.40,0.00,0.000,6,0.000,0.063,2247,2786,3518,0,0,0,0,0,0
$GC,5001,-0.83,-146.0,523.7,-8.6,434,5005,0.12,2.00,0.00,0.000,4,0.105,0.073,2180,3938,3519,0,0,0,0,0,0
$GC,5023,-0.78,-146.0,526.1,-10.1,434,5027,0.17,1.92,0.00,0.000,6,0.165,0.047,2225,2770,3519,0,0,0,0,0,0
$GC,5342,-0.78,-146.0,558.6,-10.4,445,5346,0.00,2.28,0.00,0.000,4,0.000,0.050,2225,1365,3519,0,0,0,0,0,0
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5358,-0.14,0.0,559.9,10.5,445,5490,0.65,0.00,122.78,0.957,4,0.135,0.000,2426,2601,2923,0,0,0,0,0,0
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5491,begin climb
$GC,5493,0.57,146.0,564.5,0.0,449,5638,0.68,2.42,130.57,0.933,4,0.065,0.050,2666,1191,2326,0,0,0,0,0,0
$GC,5779,0.57,146.0,543.0,11.5,458,5783,0.00,2.45,0.00,0.000,6,0.000,0.055,2666,2601,2320,0,0,0,0,0,0
$GC,6110,0.52,146.0,504.9,11.3,469,6114,0.00,2.30,0.00,0.000,4,0.000,0.054,2666,1186,2316,0,0,0,0,0,0
$GC,6318,0.52,146.0,481.9,10.5,475,6322,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2617,2316,0,0,0,0,0,0
$GC,6643,0.48,146.0,444.9,11.5,486,6645,0.12,0.00,0.00,0.000,6,0.193,0.000,2634,2617,2315,0,0,0,0,0,0
$GC,6948,0.51,156.1,415.1,9.5,496,6963,0.00,2.28,7.95,0.791,4,0.000,0.069,2634,3929,2286,0,0,0,0,0,0
$GC,6998,0.49,156.1,409.6,11.4,497,7001,0.00,2.15,0.00,0.000,6,0.000,0.045,2634,2599,2284,0,0,0,0,0,0
$GC,7327,0.52,169.5,378.3,9.4,521,7350,0.00,2.35,13.18,0.821,4,0.000,0.053,2635,1190,2230,0,0,0,0,0,0
$GC,7397,0.60,178.1,371.0,9.6,527,7413,0.10,2.30,8.45,0.769,6,0.111,0.056,2679,2593,2200,0,0,0,0,0,0
$GC,7739,0.57,178.1,329.6,12.0,559,7743,0.00,2.25,0.00,0.000,4,0.000,0.067,2680,3931,2197,0,0,0,0,0,0
$GC,7781,0.48,178.1,324.2,13.6,562,7785,0.20,2.17,0.00,0.000,6,0.181,0.046,2632,2600,2195,0,0,0,0,0,0
$GC,8107,0.57,226.5,296.2,7.8,592,8155,0.00,2.33,43.25,0.794,4,0.000,0.052,2632,1186,1998,0,0,0,0,0,0
$GC,8174,0.70,281.4,291.5,7.5,597,8231,0.20,2.35,48.05,0.776,6,0.078,0.056,2714,2612,1775,0,0,0,0,0,0
$GC,8549,0.70,281.4,239.7,14.2,632,8553,0.00,2.30,0.00,0.000,4,0.000,0.054,2715,1192,1763,0,0,0,0,0,0
$GC,8570,0.70,281.4,236.4,14.0,633,8577,0.00,2.30,0.00,0.000,6,0.000,0.055,2715,2587,1762,0,0,0,0,0,0
$GC,8899,0.70,281.4,192.1,13.5,664,8903,0.00,2.28,0.00,0.000,4,0.000,0.054,2715,1189,1761,0,0,0,0,0,0
$GC,8928,0.73,281.4,188.0,13.0,666,8932,0.00,2.30,0.00,0.000,6,0.000,0.056,2715,2583,1761,0,0,0,0,0,0
$GC,9261,0.73,281.4,146.7,11.7,697,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2583,1760,0,0,0,0,0,0
$GC,9582,0.76,281.4,109.7,11.5,727,9586,0.00,2.28,0.00,0.000,4,0.000,0.056,2715,1186,1759,0,0,0,0,0,0
$GC,9615,0.82,281.4,105.5,10.2,729,9622,0.00,2.33,0.00,0.000,6,0.000,0.057,2715,2585,1759,0,0,0,0,0,0
$GC,9957,0.87,282.1,70.9,10.0,785,9965,0.10,2.33,0.00,0.000,4,0.113,0.070,2762,3936,1757,0,0,0,0,0,0
$GC,9979,0.87,282.1,68.6,10.4,788,9986,0.00,2.22,0.00,0.000,6,0.000,0.048,2766,2585,1756,0,0,0,0,0,0
$GC,10327,0.84,282.1,27.2,11.8,849,10333,0.00,2.28,0.00,0.000,4,0.000,0.057,2767,1184,1756,0,0,0,0,0,0
$GC,10408,0.84,282.1,17.9,10.4,863,10415,0.00,2.35,0.00,0.000,6,0.000,0.057,2767,2594,1756,0,0,0,0,0,0
$FREEZE,8.59,-1.737,-1.748,2,23,0
$STATE,10493,end climb,FINISH_DEPTH_REACHED
$STATE,10494,begin subsurface finish
$FINISH1,8.6,1.025599,93
$GC,10502,0.06,93.3,8.6,-10.6,878,10532,0.88,0.00,-25.10,0.000,6,0.153,0.000,2504,2595,2544,0,0,0,0,0,0
$FINISH2,6.7
$STATE,10533,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10533,begin surface
$RAFOS_CLK,617
$RAFOS,5,1295685665,8.700000,8.684722,98,39,39,39,39,38,943,1012,1497,1883,477,178
$RAFOS,4,1295685184,8.566667,8.551111,148,41,40,40,39,38,725,602,1069,299,298,1823
$RAFOS,3,1295684703,8.433333,8.417500,118,49,45,42,42,41,763,1811,363,1404,1052,1234
$RAFOS,2,1295684228,8.300000,8.285556,102,46,44,41,41,40,603,1184,256,1464,1692,1390
$RAFOS,1,1295683744,8.166667,8.151111,93,45,44,41,40,40,560,695,1267,1289,559,1386
$RAFOS,0,1295683265,8.033334,8.018056,113,50,43,43,43,42,611,1188,296,758,1140,386
$RAFOS_FIX,6641.782715,-6012.526367,220111,080828,6,112,0.28
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.029211
$HUMID,50.00
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,21.4,91.046
$10V_AH,9.7,62.175
$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,4.050,107.450,374.225,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2241.930,6116.468,418.220,1598.496,230.099,0.000,1305.813,0.000,1581.860,2520.000,13.436,0.000
$DEVICE_MAMPS,192.780,75.735,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.036,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,30054,883
$CAP_FILE_SIZE,115468,0
$CFSIZE,260165632,196972544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$GPS,220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2