version: 66.08
glider: 183
mission: 3
dive: 810
start: 1 22 111 20 43 22
data:
$ID,183
$MISSION,3
$DIVE,810
$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,26
$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
$GPS1,220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.26
$_SM_ANGLEo,-6.2
$GPS2,220111,201924,6642.362,-6003.548,0,5095.6,0,-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,113.1,146295,-17.5,-10.000
$D_GRID,619
$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,-5.55,0.000,2,0.000,0.000,2487,1181,2771,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.9,-0.0,1,53,0.52,0.32,-19.20,0.000,4,0.070,0.166,2282,1373,3521,0,0,0,0,0,0
$GC,133,-0.57,-146.0,21.5,-14.5,19,140,0.00,2.35,0.00,0.000,6,0.000,0.062,2276,2776,3524,0,0,0,0,0,0
$GC,479,-0.53,-146.0,74.5,-14.5,80,486,0.00,1.98,0.00,0.000,4,0.000,0.075,2273,3927,3523,0,0,0,0,0,0
$GC,518,-0.49,-146.0,79.9,-13.9,86,526,0.15,1.90,0.00,0.000,6,0.155,0.049,2314,2776,3523,0,0,0,0,0,0
$GC,863,-0.55,-146.0,113.3,-8.6,134,867,0.00,2.28,0.00,0.000,4,0.000,0.051,2314,1368,3523,0,0,0,0,0,0
$GC,893,-0.62,-146.0,116.2,-8.8,136,898,0.12,2.38,0.00,0.000,6,0.097,0.063,2256,2777,3523,0,0,0,0,0,0
$GC,1220,-0.60,-146.0,157.7,-12.5,166,1223,0.00,1.98,0.00,0.000,4,0.000,0.075,2248,3927,3522,0,0,0,0,0,0
$GC,1266,-0.57,-146.0,163.7,-13.5,170,1270,0.15,1.88,0.00,0.000,6,0.161,0.050,2288,2778,3522,0,0,0,0,0,0
$GC,1598,-0.62,-146.0,195.2,-8.7,201,1602,0.00,2.28,0.00,0.000,4,0.000,0.051,2289,1370,3521,0,0,0,0,0,0
$GC,1628,-0.69,-146.0,198.1,-9.1,203,1633,0.10,2.38,0.00,0.000,6,0.108,0.064,2243,2773,3521,0,0,0,0,0,0
$GC,1954,-0.66,-146.0,235.6,-11.5,233,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2773,3521,0,0,0,0,0,0
$GC,2274,-0.66,-146.0,271.5,-11.2,263,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2773,3521,0,0,0,0,0,0
$GC,2593,-0.66,-146.0,305.8,-10.6,293,2597,0.00,2.00,0.00,0.000,4,0.000,0.074,2237,3932,3520,0,0,0,0,0,0
$GC,2639,-0.66,-146.0,311.3,-11.8,297,2643,0.00,1.98,0.00,0.000,6,0.000,0.049,2236,2730,3520,0,0,0,0,0,0
$GC,2970,-0.64,-146.0,347.1,-10.6,328,2975,0.10,2.25,0.00,0.000,4,0.188,0.051,2262,1364,3520,0,0,0,0,0,0
$GC,2994,-0.64,-146.0,349.3,-9.2,330,3002,0.00,2.35,0.00,0.000,6,0.000,0.063,2261,2752,3520,0,0,0,0,0,0
$GC,3328,-0.68,-146.0,376.4,-7.5,361,3332,0.00,2.05,0.00,0.000,4,0.000,0.076,2261,3926,3520,0,0,0,0,0,0
$GC,3379,-0.72,-146.0,380.6,-7.9,365,3386,0.00,1.92,0.00,0.000,6,0.000,0.050,2261,2754,3520,0,0,0,0,0,0
$GC,3703,-0.76,-146.0,405.3,-7.6,392,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2753,3520,0,0,0,0,0,0
$GC,4009,-0.80,-146.0,430.2,-8.2,402,4014,0.12,2.08,0.00,0.000,4,0.102,0.074,2193,3932,3521,0,0,0,0,0,0
$GC,4044,-0.70,-146.0,434.2,-12.6,403,4049,0.20,1.92,0.00,0.000,6,0.158,0.048,2247,2751,3521,0,0,0,0,0,0
$GC,4383,-0.70,-146.0,465.9,-9.1,414,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2751,3521,0,0,0,0,0,0
$GC,4686,-0.70,-146.0,493.0,-8.8,424,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2751,3521,0,0,0,0,0,0
$GC,4993,-0.70,-146.0,519.0,-8.3,434,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2751,3522,0,0,0,0,0,0
$GC,5298,-0.70,-146.0,544.8,-8.6,444,5302,0.00,2.08,0.00,0.000,4,0.000,0.074,2247,3935,3522,0,0,0,0,0,0
$GC,5325,-0.70,-146.0,547.5,-9.0,444,5332,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2757,3522,0,0,0,0,0,0
$GC,5640,-0.73,-146.0,575.4,-9.0,455,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3522,0,0,0,0,0,0
$GC,5946,-0.75,-146.0,603.1,-8.9,465,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3523,0,0,0,0,0,0
$STATE,6126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6126,begin apogee
$GC,6133,-0.14,0.0,619.9,8.9,471,6264,0.55,0.00,124.60,0.993,4,0.127,0.000,2425,2596,2923,0,0,0,0,0,0
$STATE,6265,end apogee,CONTROL_FINISHED_OK
$STATE,6265,begin climb
$GC,6268,0.57,146.0,623.8,0.0,475,6410,0.70,2.45,132.23,0.965,4,0.077,0.070,2663,3926,2327,0,0,0,0,0,0
$GC,6607,0.47,146.0,590.2,14.2,485,6611,0.15,2.28,0.00,0.000,6,0.196,0.044,2631,2594,2318,0,0,0,0,0,0
$GC,6921,0.48,161.2,560.5,9.3,495,6940,0.00,2.35,12.80,0.884,4,0.000,0.054,2631,1189,2265,0,0,0,0,0,0
$GC,7150,0.56,175.2,540.0,9.4,501,7170,0.00,2.35,13.95,0.890,6,0.000,0.057,2630,2606,2207,0,0,0,0,0,0
$GC,7498,0.61,179.3,506.5,9.8,513,7505,0.12,0.00,4.65,0.695,6,0.101,0.000,2685,2606,2191,0,0,0,0,0,0
$GC,7802,0.56,179.3,467.6,12.7,523,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2606,2189,0,0,0,0,0,0
$GC,8110,0.51,179.3,428.6,12.8,533,8114,0.15,2.28,0.00,0.000,4,0.175,0.069,2643,3933,2189,0,0,0,0,0,0
$GC,8137,0.48,179.3,424.8,12.5,533,8144,0.00,2.17,0.00,0.000,6,0.000,0.045,2645,2598,2188,0,0,0,0,0,0
$GC,8454,0.51,186.2,393.7,9.7,548,8467,0.00,2.35,7.45,0.778,4,0.000,0.054,2645,1192,2163,0,0,0,0,0,0
$GC,8492,0.56,190.5,390.0,9.8,551,8504,0.00,2.33,5.43,0.698,6,0.000,0.057,2645,2609,2146,0,0,0,0,0,0
$GC,8824,0.60,193.4,357.0,9.9,582,8832,0.00,0.00,3.92,0.599,6,0.000,0.000,2646,2609,2134,0,0,0,0,0,0
$GC,9151,0.63,193.4,324.5,10.0,613,9153,0.10,0.00,0.00,0.000,6,0.114,0.000,2689,2609,2133,0,0,0,0,0,0
$GC,9470,0.60,193.4,286.7,11.3,643,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2609,2133,0,0,0,0,0,0
$GC,9790,0.57,193.4,250.2,11.0,673,9797,0.12,0.00,0.00,0.000,6,0.180,0.000,2657,2609,2133,0,0,0,0,0,0
$GC,10117,0.61,212.4,220.8,9.1,704,10140,0.00,2.40,18.10,0.756,4,0.000,0.054,2657,1189,2056,0,0,0,0,0,0
$GC,10169,0.70,219.1,215.8,9.7,708,10187,0.12,2.35,7.20,0.682,6,0.103,0.057,2709,2601,2029,0,0,0,0,0,0
$GC,10505,0.67,219.1,173.8,12.7,740,10509,0.00,2.25,0.00,0.000,4,0.000,0.070,2709,3932,2025,0,0,0,0,0,0
$GC,10546,0.59,219.1,168.1,14.2,743,10551,0.17,2.20,0.00,0.000,6,0.184,0.046,2665,2590,2024,0,0,0,0,0,0
$GC,10873,0.67,250.6,138.3,8.5,773,10907,0.00,2.38,27.75,0.718,4,0.000,0.054,2665,1181,1900,0,0,0,0,0,0
$GC,10948,0.81,293.0,132.4,8.0,779,10991,0.20,2.35,37.47,0.701,6,0.081,0.057,2747,2595,1727,0,0,0,0,0,0
$GC,11319,0.81,293.0,86.3,12.5,823,11325,0.00,2.33,0.00,0.000,4,0.000,0.057,2750,1185,1717,0,0,0,0,0,0
$GC,11338,0.81,293.0,83.6,12.4,826,11345,0.00,2.30,0.00,0.000,6,0.000,0.056,2749,2574,1716,0,0,0,0,0,0
$GC,11685,0.81,293.0,40.9,12.2,887,11692,0.00,2.28,0.00,0.000,4,0.000,0.057,2751,1181,1714,0,0,0,0,0,0
$GC,11705,0.81,293.0,38.4,12.4,890,11711,0.00,2.30,0.00,0.000,6,0.000,0.055,2751,2573,1714,0,0,0,0,0,0
$FREEZE,8.43,-1.747,-1.761,2,28,0
$STATE,11943,end climb,FINISH_DEPTH_REACHED
$STATE,11943,begin subsurface finish
$FINISH1,8.4,1.025790,84
$GC,11950,0.05,83.9,8.4,-12.9,932,11986,0.82,0.00,-28.95,0.000,6,0.151,0.000,2500,2573,2583,0,0,0,0,0,0
$FINISH2,5.9
$STATE,11987,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11987,begin surface
$RAFOS_CLK,694
$RAFOS,6,1295729344,20.833334,20.817778,86,46,44,44,43,39,815,1034,247,1541,1031,26
$RAFOS,5,1295728863,20.700001,20.684166,87,45,45,42,39,39,932,461,1617,1500,662,1240
$RAFOS_FIX,6643.083496,-6001.984375,220111,202034,7,93,3.59
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.031458
$HUMID,50.35
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.1
$24V_AH,21.1,91.559
$10V_AH,9.7,62.466
$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,4.700,82.175,395.550,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2313.773,7466.058,426.659,1617.465,236.415,0.000,1319.157,0.000,1605.450,720.000,17.872,0.000
$DEVICE_MAMPS,195.840,166.005,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33377,938
$CAP_FILE_SIZE,117374,0
$CFSIZE,260165632,196677632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.1
$GPS,220111,201924,6642.362,-6003.548,0,5095.6,0,-38.2