version: 66.08
glider: 183
mission: 3
dive: 808
start: 1 22 111 14 45 57
data:
$ID,183
$MISSION,3
$DIVE,808
$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,-12952.191
$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,18
$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
$GPS1,220111,122734,6642.760,-6007.815,0,7127.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-19.3
$GPS2,220111,122734,6642.760,-6007.815,181,99.0,181,-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,113.6,149085,-17.5,-10.000
$D_GRID,587
$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,16,-0.57,-146.0,0.0,0.0,0,149,0.00,0.00,-129.57,0.000,2,0.000,0.000,298,2785,3079,0,0,0,0,0,0
$GC,155,-0.57,-146.0,5.7,-10.4,23,180,8.55,2.03,-8.80,0.000,4,0.247,0.091,2278,3932,3523,0,0,0,0,0,0
$GC,392,-0.52,-146.0,53.6,-15.2,64,398,0.00,1.88,0.00,0.000,6,0.000,0.052,2277,2785,3524,0,0,0,0,0,0
$GC,738,-0.49,-146.0,101.9,-13.3,124,743,0.12,2.33,0.00,0.000,4,0.181,0.054,2311,1365,3523,0,0,0,0,0,0
$GC,762,-0.52,-146.0,105.1,-12.1,125,769,0.00,2.40,0.00,0.000,6,0.000,0.066,2311,2788,3524,0,0,0,0,0,0
$GC,1093,-0.58,-146.0,136.2,-9.5,156,1097,0.00,2.33,0.00,0.000,4,0.000,0.053,2311,1370,3524,0,0,0,0,0,0
$GC,1138,-0.67,-146.0,141.2,-9.3,159,1145,0.15,2.38,0.00,0.000,6,0.089,0.065,2248,2775,3523,0,0,0,0,0,0
$GC,1464,-0.64,-146.0,184.9,-13.1,190,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2774,3523,0,0,0,0,0,0
$GC,1786,-0.61,-146.0,224.5,-11.5,220,1791,0.12,2.33,0.00,0.000,4,0.177,0.053,2281,1366,3523,0,0,0,0,0,0
$GC,1828,-0.68,-146.0,229.1,-9.6,223,1832,0.00,2.38,0.00,0.000,6,0.000,0.065,2278,2769,3523,0,0,0,0,0,0
$GC,2155,-0.72,-146.0,259.8,-9.2,253,2159,0.10,2.05,0.00,0.000,4,0.114,0.076,2226,3928,3523,0,0,0,0,0,0
$GC,2304,-0.68,-146.0,278.4,-12.3,266,2309,0.10,1.90,0.00,0.000,6,0.179,0.050,2250,2781,3523,0,0,0,0,0,0
$GC,2636,-0.68,-146.0,313.6,-10.1,297,2640,0.00,2.28,0.00,0.000,4,0.000,0.052,2251,1371,3523,0,0,0,0,0,0
$GC,2670,-0.68,-146.0,317.3,-10.5,300,2674,0.00,2.40,0.00,0.000,6,0.000,0.065,2248,2785,3523,0,0,0,0,0,0
$GC,3006,-0.68,-146.0,350.4,-9.5,331,3009,0.00,1.98,0.00,0.000,4,0.000,0.076,2248,3929,3523,0,0,0,0,0,0
$GC,3044,-0.68,-146.0,354.9,-10.5,334,3051,0.00,1.88,0.00,0.000,6,0.000,0.050,2248,2782,3523,0,0,0,0,0,0
$GC,3370,-0.68,-146.0,385.6,-9.2,365,3374,0.00,2.00,0.00,0.000,4,0.000,0.076,2248,3928,3523,0,0,0,0,0,0
$GC,3396,-0.68,-146.0,387.8,-9.5,367,3400,0.00,1.92,0.00,0.000,6,0.000,0.050,2247,2782,3523,0,0,0,0,0,0
$GC,3740,-0.68,-146.0,420.0,-9.3,386,3744,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1368,3523,0,0,0,0,0,0
$GC,3774,-0.70,-146.0,423.2,-9.0,387,3778,0.00,2.42,0.00,0.000,6,0.000,0.063,2248,2788,3524,0,0,0,0,0,0
$GC,4106,-0.70,-146.0,452.6,-9.1,398,4109,0.00,1.98,0.00,0.000,4,0.000,0.075,2248,3931,3524,0,0,0,0,0,0
$GC,4151,-0.73,-146.0,457.1,-9.3,399,4155,0.00,1.88,0.00,0.000,6,0.000,0.050,2247,2782,3524,0,0,0,0,0,0
$GC,4482,-0.73,-146.0,486.4,-8.8,410,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2782,3524,0,0,0,0,0,0
$GC,4787,-0.73,-146.0,514.5,-9.2,420,4791,0.00,2.05,0.00,0.000,4,0.000,0.076,2247,3947,3525,0,0,0,0,0,0
$GC,4822,-0.73,-146.0,517.6,-9.2,421,4825,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2785,3525,0,0,0,0,0,0
$GC,5165,-0.73,-146.0,548.8,-9.3,432,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2785,3525,0,0,0,0,0,0
$GC,5473,-0.73,-146.0,576.4,-8.9,442,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2785,3525,0,0,0,0,0,0
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5597,-0.14,0.0,587.3,8.9,446,5728,0.55,0.00,124.75,0.977,4,0.131,0.000,2425,2595,2923,0,0,0,0,0,0
$STATE,5729,end apogee,CONTROL_FINISHED_OK
$STATE,5729,begin climb
$GC,5732,0.57,146.0,592.5,0.0,450,5872,0.68,2.42,131.82,0.950,4,0.070,0.051,2659,1180,2327,0,0,0,0,0,0
$GC,6034,0.57,146.0,569.7,10.9,458,6041,0.00,2.47,0.00,0.000,6,0.000,0.057,2659,2604,2318,0,0,0,0,0,0
$GC,6351,0.54,146.0,535.3,11.3,469,6355,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1188,2315,0,0,0,0,0,0
$GC,6604,0.54,149.4,508.3,9.8,476,6608,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2603,2315,0,0,0,0,0,0
$GC,6926,0.51,149.4,474.2,11.0,487,6930,0.00,2.28,0.00,0.000,4,0.000,0.069,2661,3936,2314,0,0,0,0,0,0
$GC,6948,0.44,149.4,471.0,11.9,487,6955,0.17,2.20,0.00,0.000,6,0.192,0.045,2618,2589,2313,0,0,0,0,0,0
$GC,7263,0.52,185.6,444.1,8.3,498,7298,0.00,0.00,33.40,0.878,6,0.000,0.000,2618,2589,2166,0,0,0,0,0,0
$GC,7598,0.62,227.8,416.1,8.1,509,7638,0.17,0.00,36.65,0.857,6,0.081,0.000,2691,2589,1994,0,0,0,0,0,0
$GC,7957,0.62,227.8,372.6,11.7,533,7961,0.00,2.25,0.00,0.000,4,0.000,0.054,2693,1190,1987,0,0,0,0,0,0
$GC,7980,0.62,227.8,369.9,11.5,535,7984,0.00,2.33,0.00,0.000,6,0.000,0.056,2693,2599,1987,0,0,0,0,0,0
$GC,8306,0.62,227.8,330.5,11.9,565,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2599,1985,0,0,0,0,0,0
$GC,8628,0.62,227.8,292.7,11.2,595,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2599,1985,0,0,0,0,0,0
$GC,8958,0.62,227.8,253.3,12.1,626,8962,0.00,2.30,0.00,0.000,4,0.000,0.055,2693,1184,1984,0,0,0,0,0,0
$GC,8991,0.65,227.8,249.0,10.7,628,8998,0.00,2.33,0.00,0.000,6,0.000,0.056,2693,2599,1984,0,0,0,0,0,0
$GC,9317,0.65,227.8,210.5,12.6,659,9321,0.00,2.30,0.00,0.000,4,0.000,0.055,2693,1184,1984,0,0,0,0,0,0
$GC,9367,0.69,227.8,204.4,11.9,663,9374,0.00,2.30,0.00,0.000,6,0.000,0.057,2693,2582,1984,0,0,0,0,0,0
$GC,9693,0.69,227.8,168.6,10.2,694,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2582,1983,0,0,0,0,0,0
$GC,10013,0.69,232.2,136.4,9.8,724,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2582,1983,0,0,0,0,0,0
$GC,10343,0.75,254.7,106.2,9.0,755,10370,0.00,2.30,22.62,0.704,4,0.000,0.054,2693,1192,1884,0,0,0,0,0,0
$GC,10384,0.84,301.6,102.6,7.8,758,10435,0.15,2.30,41.20,0.682,6,0.092,0.057,2757,2581,1693,0,0,0,0,0,0
$GC,10776,0.84,301.6,54.1,11.8,824,10783,0.00,2.30,0.00,0.000,4,0.000,0.057,2761,1182,1683,0,0,0,0,0,0
$GC,10801,0.84,301.6,51.1,11.4,828,10808,0.00,2.30,0.00,0.000,6,0.000,0.057,2761,2568,1682,0,0,0,0,0,0
$GC,11150,0.84,301.6,9.4,12.4,889,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2568,1680,0,0,0,0,0,0
$FREEZE,7.55,-1.749,-1.759,2,26,0
$STATE,11162,end climb,FINISH_DEPTH_REACHED
$STATE,11162,begin subsurface finish
$FINISH1,7.5,1.025774,85
$GC,11170,0.06,84.7,7.5,-12.3,891,11208,0.85,2.40,-30.55,0.000,4,0.148,0.067,2500,1184,2580,0,0,0,0,0,0
$FINISH2,5.9
$STATE,11208,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11209,begin surface
$RAFOS_CLK,694
$RAFOS,6,1295714968,16.833334,16.824444,103,49,45,43,43,42,670,1583,985,1412,1772,312
$RAFOS,5,1295714477,16.700001,16.688055,170,47,42,41,41,41,860,144,1307,489,1248,1148
$RAFOS,4,1295713984,16.566668,16.551111,97,54,49,39,39,38,702,712,743,807,1586,1316
$RAFOS,3,1295713506,16.433332,16.418333,143,44,44,42,41,38,756,1849,1861,1926,1146,584
$RAFOS,2,1295713024,16.299999,16.284445,155,45,44,43,43,42,635,145,1016,1130,351,1239
$RAFOS,1,1295712564,16.166666,16.156666,168,79,42,42,42,40,418,419,201,1802,145,556
$RAFOS,0,1295712065,16.033333,16.018055,142,46,41,40,40,39,634,606,1782,8,148,1042
$RAFOS_FIX,6644.402832,-6005.021484,220111,161613,6,135,0.25
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.028462
$HUMID,50.27
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.9
$24V_AH,21.2,91.387
$10V_AH,9.6,62.356
$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,11.725,86.750,390.450,0.000,0.000,98.885,20.249,0.000,1.750,0.000,183.610,2204.424,6857.834,511.995,1896.830,713.977,0.000,1409.000,0.000,1579.709,2520.000,13.238,0.000
$DEVICE_MAMPS,247.095,168.300,976.905,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,33423,897
$CAP_FILE_SIZE,119785,0
$CFSIZE,260165632,196792320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.1
$GPS,220111,163013,6644.403,-6005.021,0,6135.0,0,-38.2