version: 66.08
glider: 183
mission: 3
dive: 809
start: 1 22 111 17 55 6
data:
$ID,183
$MISSION,3
$DIVE,809
$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,33
$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
$GPS1,220111,163013,6644.403,-6005.021,0,6135.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.44
$_SM_ANGLEo,-3.8
$GPS2,220111,163013,6644.403,-6005.021,0,6135.0,0,-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,114.6,146388,-17.5,-10.000
$D_GRID,620
$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,-5.50,0.000,2,0.000,0.000,2499,1184,2802,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.8,-0.0,1,53,0.57,4.78,-17.17,0.000,4,0.086,0.073,2282,3936,3519,0,0,0,0,0,0
$GC,275,-0.57,-146.0,41.6,-12.9,44,281,0.00,1.88,0.00,0.000,6,0.000,0.050,2282,2781,3519,0,0,0,0,0,0
$GC,621,-0.57,-146.0,85.3,-11.9,105,628,0.00,2.30,0.00,0.000,4,0.000,0.051,2282,1366,3519,0,0,0,0,0,0
$GC,659,-0.57,-146.0,89.8,-11.3,111,666,0.00,2.38,0.00,0.000,6,0.000,0.063,2278,2778,3519,0,0,0,0,0,0
$GC,997,-0.57,-146.0,128.1,-11.7,150,1001,0.00,1.98,0.00,0.000,4,0.000,0.076,2272,3927,3519,0,0,0,0,0,0
$GC,1024,-0.57,-146.0,131.7,-11.9,152,1031,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2778,3519,0,0,0,0,0,0
$GC,1351,-0.57,-146.0,167.5,-10.6,183,1355,0.00,2.28,0.00,0.000,4,0.000,0.052,2272,1369,3519,0,0,0,0,0,0
$GC,1374,-0.57,-146.0,170.1,-10.7,184,1380,0.00,2.42,0.00,0.000,6,0.000,0.065,2272,2787,3519,0,0,0,0,0,0
$GC,1700,-0.60,-146.0,202.2,-9.6,215,1704,0.00,1.98,0.00,0.000,4,0.000,0.076,2272,3932,3519,0,0,0,0,0,0
$GC,1741,-0.63,-146.0,206.4,-9.6,218,1747,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2784,3519,0,0,0,0,0,0
$GC,2067,-0.66,-146.0,237.6,-9.3,249,2071,0.00,2.30,0.00,0.000,4,0.000,0.052,2272,1363,3518,0,0,0,0,0,0
$GC,2120,-0.72,-146.0,242.8,-10.2,253,2124,0.00,2.42,0.00,0.000,6,0.000,0.064,2272,2797,3518,0,0,0,0,0,0
$GC,2446,-0.77,-146.0,273.1,-9.0,283,2448,0.12,0.00,0.00,0.000,6,0.109,0.000,2218,2797,3518,0,0,0,0,0,0
$GC,2764,-0.72,-146.0,309.9,-11.2,313,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2797,3517,0,0,0,0,0,0
$GC,3087,-0.67,-146.0,346.8,-12.0,343,3092,0.15,2.38,0.00,0.000,4,0.171,0.052,2259,1372,3517,0,0,0,0,0,0
$GC,3119,-0.69,-146.0,350.4,-10.1,345,3124,0.00,2.42,0.00,0.000,6,0.000,0.065,2257,2801,3517,0,0,0,0,0,0
$GC,3447,-0.72,-146.0,380.6,-9.1,375,3450,0.00,1.95,0.00,0.000,4,0.000,0.075,2248,3931,3517,0,0,0,0,0,0
$GC,3509,-0.75,-146.0,386.7,-9.6,380,3515,0.00,1.90,0.00,0.000,6,0.000,0.050,2248,2783,3517,0,0,0,0,0,0
$GC,3838,-0.75,-146.0,417.2,-9.2,400,3842,0.00,2.30,0.00,0.000,4,0.000,0.050,2248,1369,3518,0,0,0,0,0,0
$GC,3869,-0.77,-146.0,420.1,-9.7,401,3873,0.00,2.42,0.00,0.000,6,0.000,0.063,2247,2800,3517,0,0,0,0,0,0
$GC,4207,-0.77,-146.0,451.6,-9.5,412,4211,0.00,1.95,0.00,0.000,4,0.000,0.074,2247,3933,3517,0,0,0,0,0,0
$GC,4277,-0.80,-146.0,458.8,-9.6,414,4281,0.00,1.85,0.00,0.000,6,0.000,0.049,2247,2798,3517,0,0,0,0,0,0
$GC,4620,-0.82,-146.0,491.3,-9.5,425,4624,0.10,2.33,0.00,0.000,4,0.119,0.050,2197,1369,3518,0,0,0,0,0,0
$GC,4664,-0.77,-146.0,496.6,-12.0,426,4669,0.12,2.40,0.00,0.000,6,0.181,0.063,2220,2793,3518,0,0,0,0,0,0
$GC,4984,-0.75,-146.0,532.0,-10.9,437,4988,0.00,2.30,0.00,0.000,4,0.000,0.050,2220,1370,3518,0,0,0,0,0,0
$GC,5014,-0.75,-146.0,535.4,-11.1,438,5018,0.00,2.38,0.00,0.000,6,0.000,0.062,2220,2783,3518,0,0,0,0,0,0
$GC,5351,-0.73,-146.0,571.3,-10.8,449,5355,0.00,2.00,0.00,0.000,4,0.000,0.073,2215,3935,3518,0,0,0,0,0,0
$GC,5458,-0.70,-146.0,583.7,-11.2,452,5462,0.12,1.85,0.00,0.000,6,0.165,0.048,2247,2796,3518,0,0,0,0,0,0
$GC,5797,-0.74,-146.0,611.7,-8.2,463,5801,0.00,2.30,0.00,0.000,4,0.000,0.049,2248,1367,3518,0,0,0,0,0,0
$GC,5830,-0.79,-146.0,615.0,-8.3,464,5835,0.00,2.40,0.00,0.000,6,0.000,0.062,2247,2793,3519,0,0,0,0,0,0
$STATE,5913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5913,begin apogee
$GC,5920,-0.14,0.0,622.1,8.3,467,6051,0.55,0.00,123.50,1.000,4,0.130,0.000,2425,2595,2923,0,0,0,0,0,0
$STATE,6052,end apogee,CONTROL_FINISHED_OK
$STATE,6052,begin climb
$GC,6054,0.57,146.0,625.9,0.0,471,6197,0.68,2.42,132.48,0.970,4,0.063,0.050,2665,1186,2326,0,0,0,0,0,0
$GC,6371,-1.92,146.0,600.5,22628.5,480,6379,2.78,2.45,0.00,0.000,6,0.142,0.056,1863,2602,2318,0,0,0,0,0,0
$GC,6686,-1.92,146.0,551.4,22628.5,491,6690,0.00,2.28,0.00,0.000,4,0.000,0.044,1862,1171,2308,0,0,0,0,0,0
$GC,6945,-1.92,146.0,504.0,22628.5,498,6949,0.00,2.40,0.00,0.000,6,0.000,0.051,1850,2645,2307,0,0,0,0,0,0
$GC,7259,-1.92,146.0,447.8,22628.5,508,7263,0.00,2.15,0.00,0.000,4,0.000,0.068,1839,3918,2308,0,0,0,0,0,0
$GC,7518,-1.92,146.0,396.5,22628.5,515,7522,0.00,2.03,0.00,0.000,6,0.000,0.044,1838,2668,2305,0,0,0,0,0,0
$GC,7849,-1.92,146.0,335.5,22628.5,546,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2666,2307,0,0,0,0,0,0
$GC,8167,-1.92,146.0,278.0,22628.5,576,8171,0.00,2.40,0.00,0.000,4,0.000,0.051,1836,1183,2307,0,0,0,0,0,0
$GC,8429,-1.92,146.0,230.0,22628.5,599,8434,0.15,2.40,0.00,0.000,6,0.261,0.054,1852,2643,2306,0,0,0,0,0,0
$GC,8755,-1.92,146.0,171.3,22628.5,629,8759,0.00,2.35,0.00,0.000,4,0.000,0.047,1852,1181,2306,0,0,0,0,0,0
$GC,8778,-1.92,146.0,167.0,22628.5,630,8785,0.00,2.38,0.00,0.000,6,0.000,0.054,1842,2617,2307,0,0,0,0,0,0
$GC,9104,-1.92,146.0,112.5,22628.5,661,9109,0.00,2.33,0.00,0.000,4,0.000,0.050,1842,1186,2307,0,0,0,0,0,0
$GC,9184,-1.92,146.0,99.9,22628.5,667,9191,0.00,2.40,0.00,0.000,6,0.000,0.058,1831,2623,2307,0,0,0,0,0,0
$GC,9532,-1.92,146.0,54.3,22628.5,728,9538,0.00,2.20,0.00,0.000,4,0.000,0.063,1820,3930,2306,0,0,0,0,0,0
$GC,9574,-1.92,146.0,48.8,22628.5,735,9582,0.17,2.22,0.00,0.000,6,0.250,0.044,1856,2563,2305,0,0,0,0,0,0
$FREEZE,8.86,-1.615,-1.750,2,27,0
$GC,9922,-1.92,146.0,8.9,22628.5,796,9929,0.00,2.22,0.00,0.000,4,0.000,0.050,1856,1185,2306,0,0,0,0,0,0
$FREEZE,6.93,-1.705,-1.754,2,27,0
$STATE,9935,end climb,FINISH_DEPTH_REACHED
$STATE,9935,begin subsurface finish
$FINISH1,6.9,1.025702,88
$GC,9946,0.06,88.2,6.9,-22628.5,798,9967,2.50,2.35,-10.40,0.000,4,0.211,0.063,2487,1181,2564,0,0,0,0,0,0
$FINISH2,4.0
$STATE,9968,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9968,begin surface
$RAFOS_CLK,582
$RAFOS,4,1295728387,20.566668,20.551945,93,52,47,41,41,39,681,499,1493,26,153,228
$RAFOS,3,1295727901,20.433332,20.416945,80,43,42,40,40,38,754,835,676,432,403,1840
$RAFOS,2,1295727424,20.299999,20.284445,66,51,44,42,41,39,609,1384,1142,1427,1862,733
$RAFOS,1,1295726943,20.166666,20.150833,144,48,43,42,41,39,554,1094,557,1142,478,172
$RAFOS,0,1295726465,20.033333,20.018055,95,42,42,42,41,41,639,1807,1037,1103,675,1645
$RAFOS_FIX,6642.361816,-6003.547852,220111,202024,5,96,0.29
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.031458
$HUMID,49.40
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$24V_AH,21.1,91.459
$10V_AH,9.6,62.409
$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,8.025,103.275,255.975,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2070.441,5873.824,306.539,1559.486,225.160,0.000,1141.507,0.000,1544.601,2160.000,15.003,0.000
$DEVICE_MAMPS,260.865,76.500,999.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30042,801
$CAP_FILE_SIZE,107570,0
$CFSIZE,260165632,196747264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2