version: 66.08
glider: 183
mission: 3
dive: 806
start: 1 22 111 8 56 57
data:
$ID,183
$MISSION,3
$DIVE,806
$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,30
$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
$GPS1,220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.02
$_SM_ANGLEo,-4.1
$GPS2,220111,082328,6641.783,-6012.526,0,6112.0,0,-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,113.3,152836,-17.5,-10.000
$D_GRID,556
$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,-6.22,0.000,2,0.000,0.000,2504,2594,2779,0,0,0,0,0,0
$GC,29,-0.57,-146.0,8.7,-0.0,1,54,0.57,2.40,-19.10,0.000,4,0.074,0.086,2275,3926,3521,0,0,0,0,0,0
$GC,67,-0.57,-146.0,11.8,-8.9,7,74,0.00,1.88,0.00,0.000,6,0.000,0.048,2275,2777,3522,0,0,0,0,0,0
$GC,415,-0.53,-146.0,64.3,-15.2,68,421,0.00,2.28,0.00,0.000,4,0.000,0.051,2275,1368,3522,0,0,0,0,0,0
$GC,476,-0.53,-146.0,72.9,-13.5,78,482,0.00,2.38,0.00,0.000,6,0.000,0.063,2275,2778,3522,0,0,0,0,0,0
$GC,819,-0.53,-146.0,117.7,-12.1,127,823,0.00,2.00,0.00,0.000,4,0.000,0.075,2275,3930,3521,0,0,0,0,0,0
$GC,888,-0.53,-146.0,125.5,-11.3,133,892,0.00,1.88,0.00,0.000,6,0.000,0.050,2275,2781,3521,0,0,0,0,0,0
$GC,1219,-0.53,-146.0,160.9,-10.4,164,1223,0.00,2.30,0.00,0.000,4,0.000,0.052,2275,1374,3521,0,0,0,0,0,0
$GC,1250,-0.55,-146.0,163.9,-10.5,166,1254,0.00,2.38,0.00,0.000,6,0.000,0.064,2275,2778,3521,0,0,0,0,0,0
$GC,1577,-0.58,-146.0,196.1,-9.3,196,1580,0.00,2.00,0.00,0.000,4,0.000,0.076,2275,3935,3521,0,0,0,0,0,0
$GC,1602,-0.62,-146.0,198.4,-9.2,198,1606,0.00,1.90,0.00,0.000,6,0.000,0.050,2275,2770,3520,0,0,0,0,0,0
$GC,1934,-0.66,-146.0,229.9,-8.9,229,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2770,3520,0,0,0,0,0,0
$GC,2255,-0.70,-146.0,258.2,-8.6,259,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2770,3520,0,0,0,0,0,0
$GC,2583,-0.75,-146.0,286.0,-7.5,290,2590,0.12,0.00,0.00,0.000,6,0.103,0.000,2220,2770,3520,0,0,0,0,0,0
$GC,2910,-0.70,-146.0,322.1,-12.1,321,2914,0.00,2.03,0.00,0.000,4,0.000,0.075,2213,3932,3520,0,0,0,0,0,0
$GC,2945,-0.64,-146.0,326.5,-12.8,324,2949,0.12,1.95,0.00,0.000,6,0.131,0.049,2267,2769,3520,0,0,0,0,0,0
$GC,3276,-0.69,-146.0,356.6,-9.0,355,3280,0.00,2.28,0.00,0.000,4,0.000,0.052,2267,1367,3519,0,0,0,0,0,0
$GC,3334,-0.75,-146.0,362.0,-9.3,360,3338,0.00,2.40,0.00,0.000,6,0.000,0.063,2262,2773,3519,0,0,0,0,0,0
$GC,3660,-0.80,-146.0,392.8,-9.0,390,3662,0.12,0.00,0.00,0.000,6,0.103,0.000,2204,2773,3520,0,0,0,0,0,0
$GC,3969,-0.74,-146.0,430.7,-12.6,404,3974,0.12,2.05,0.00,0.000,4,0.177,0.073,2229,3935,3519,0,0,0,0,0,0
$GC,4019,-0.74,-146.0,436.8,-10.5,405,4023,0.00,1.90,0.00,0.000,6,0.000,0.048,2230,2771,3520,0,0,0,0,0,0
$GC,4344,-0.74,-146.0,470.7,-10.6,416,4348,0.00,2.28,0.00,0.000,4,0.000,0.050,2230,1361,3520,0,0,0,0,0,0
$GC,4378,-0.74,-146.0,474.5,-10.9,417,4382,0.00,2.38,0.00,0.000,6,0.000,0.062,2230,2768,3520,0,0,0,0,0,0
$GC,4707,-0.74,-146.0,507.4,-10.0,428,4711,0.00,2.00,0.00,0.000,4,0.000,0.073,2222,3930,3520,0,0,0,0,0,0
$GC,4743,-0.71,-146.0,511.1,-10.9,429,4746,0.00,1.90,0.00,0.000,6,0.000,0.047,2222,2763,3521,0,0,0,0,0,0
$GC,5085,-0.71,-146.0,545.1,-9.8,440,5089,0.00,2.28,0.00,0.000,4,0.000,0.050,2222,1367,3521,0,0,0,0,0,0
$GC,5114,-0.71,-146.0,548.2,-10.1,441,5118,0.00,2.38,0.00,0.000,6,0.000,0.062,2222,2776,3521,0,0,0,0,0,0
$STATE,5201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5201,begin apogee
$GC,5208,-0.14,0.0,557.1,10.0,444,5341,0.62,0.00,123.00,0.960,4,0.136,0.000,2419,2594,2923,0,0,0,0,0,0
$STATE,5341,end apogee,CONTROL_FINISHED_OK
$STATE,5341,begin climb
$GC,5344,0.57,146.0,560.5,0.0,448,5484,0.70,2.42,130.82,0.934,4,0.067,0.050,2665,1177,2326,0,0,0,0,0,0
$GC,5687,-1.65,146.0,533.2,19765.9,458,5699,2.47,2.45,0.00,0.000,6,0.146,0.055,1949,2609,2316,0,0,0,0,0,0
$GC,6007,-1.65,146.0,488.0,19765.9,469,6011,0.00,2.30,0.00,0.000,4,0.000,0.053,1948,1187,2311,0,0,0,0,0,0
$GC,6198,-1.65,146.0,455.8,19765.9,474,6205,0.00,2.35,0.00,0.000,6,0.000,0.060,1944,2594,2311,0,0,0,0,0,0
$GC,6512,-1.65,146.0,405.2,19765.9,485,6516,0.00,2.28,0.00,0.000,4,0.000,0.070,1938,3929,2309,0,0,0,0,0,0
$GC,6522,-1.65,146.0,402.6,19765.9,485,6527,0.00,2.22,0.00,0.000,6,0.000,0.044,1938,2560,2308,0,0,0,0,0,0
$GC,6849,-1.65,146.0,350.2,19765.9,515,6853,0.00,2.20,0.00,0.000,4,0.000,0.050,1937,1192,2309,0,0,0,0,0,0
$GC,7109,-1.65,146.0,306.4,19765.9,537,7115,0.00,2.22,0.00,0.000,6,0.000,0.059,1929,2526,2308,0,0,0,0,0,0
$GC,7435,-1.65,146.0,253.5,19765.9,568,7439,0.00,2.15,0.00,0.000,4,0.000,0.050,1927,1189,2309,0,0,0,0,0,0
$GC,7460,-1.65,146.0,249.7,19765.9,570,7464,0.00,2.17,0.00,0.000,6,0.000,0.059,1919,2493,2309,0,0,0,0,0,0
$GC,7786,-1.65,146.0,197.0,19765.9,600,7790,0.00,2.10,0.00,0.000,4,0.000,0.047,1919,1182,2306,0,0,0,0,0,0
$GC,7811,-1.65,146.0,193.3,19765.9,602,7816,0.12,2.15,0.00,0.000,6,0.194,0.057,1938,2475,2309,0,0,0,0,0,0
$GC,8139,-1.65,146.0,145.5,19765.9,632,8143,0.00,2.05,0.00,0.000,4,0.000,0.046,1938,1184,2306,0,0,0,0,0,0
$GC,8151,-1.65,146.0,143.7,19765.9,633,8155,0.00,2.15,0.00,0.000,6,0.000,0.057,1931,2478,2309,0,0,0,0,0,0
$GC,8480,-0.53,146.0,95.5,15.0,666,8488,1.50,2.12,0.00,0.000,4,0.230,0.048,2290,1187,2309,0,0,0,0,0,0
$GC,8558,0.39,212.9,89.0,6.9,679,8619,1.00,2.12,54.58,0.689,6,0.125,0.060,2597,2459,2055,0,0,0,0,0,0
$GC,8961,0.77,334.7,70.2,4.4,749,9074,0.30,2.58,101.43,0.666,4,0.073,0.068,2726,3928,1556,0,0,0,0,0,0
$GC,9082,0.83,359.8,61.2,8.8,769,9113,0.00,2.53,21.60,0.640,6,0.000,0.047,2728,2424,1455,0,0,0,0,0,0
$GC,9456,0.95,383.2,25.9,8.9,834,9482,0.15,2.08,19.05,0.644,4,0.090,0.057,2791,1194,1358,0,0,0,0,0,0
$FREEZE,8.43,-1.739,-1.751,2,24,0
$STATE,9594,end climb,FINISH_DEPTH_REACHED
$STATE,9594,begin subsurface finish
$FINISH1,8.4,1.025648,91
$GC,9604,0.06,90.9,8.4,-12.1,858,9652,0.95,2.35,-38.22,0.000,4,0.148,0.067,2498,1180,2556,0,0,0,0,0,0
$FINISH2,7.0
$STATE,9653,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9653,begin surface
$RAFOS_CLK,563
$RAFOS,6,1295686145,8.833333,8.818055,100,51,45,43,41,39,824,1814,1383,320,699,1897
$RAFOS_FIX,6642.518555,-6011.608887,220111,080825,7,110,6.41
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,48.50
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,21.3,91.151
$10V_AH,9.6,62.227
$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,8.900,94.850,450.475,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2113.593,5386.367,471.210,1541.472,215.344,0.000,1334.759,0.000,1525.529,0.000,13.233,0.000
$DEVICE_MAMPS,229.500,85.680,960.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,30063,866
$CAP_FILE_SIZE,108160,0
$CFSIZE,260165632,196919296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.9
$GPS,220111,082328,6641.783,-6012.526,0,6112.0,0,-38.2