version: 66.08
glider: 183
mission: 3
dive: 811
start: 1 23 111 0 5 25
data:
$ID,183
$MISSION,3
$DIVE,811
$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,31
$R_STBD_OVSHOOT,23
$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,8.64
$_SM_ANGLEo,-2.7
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2499,2573,2813,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.5,-0.0,1,53,0.55,2.40,-16.23,0.000,4,0.081,0.087,2288,3925,3523,0,0,0,0,0,0
$GC,94,-0.57,-146.0,18.2,-13.8,12,101,0.00,1.88,0.00,0.000,6,0.000,0.048,2288,2778,3523,0,0,0,0,0,0
$GC,440,-0.57,-146.0,63.7,-12.8,73,446,0.00,2.30,0.00,0.000,4,0.000,0.051,2288,1367,3523,0,0,0,0,0,0
$GC,495,-0.60,-146.0,70.3,-11.6,82,502,0.00,2.38,0.00,0.000,6,0.000,0.063,2288,2777,3523,0,0,0,0,0,0
$GC,842,-0.63,-146.0,111.2,-11.2,135,846,0.00,1.98,0.00,0.000,4,0.000,0.075,2286,3928,3522,0,0,0,0,0,0
$GC,870,-0.65,-146.0,114.7,-10.8,137,876,0.00,1.88,0.00,0.000,6,0.000,0.050,2286,2789,3522,0,0,0,0,0,0
$GC,1197,-0.68,-146.0,148.8,-9.6,168,1202,0.00,2.30,0.00,0.000,4,0.000,0.052,2286,1369,3522,0,0,0,0,0,0
$GC,1283,-0.74,-146.0,157.4,-10.1,175,1288,0.15,2.40,0.00,0.000,6,0.093,0.064,2224,2789,3522,0,0,0,0,0,0
$GC,1611,-0.68,-146.0,199.8,-12.5,205,1612,0.12,0.00,0.00,0.000,6,0.180,0.000,2257,2789,3521,0,0,0,0,0,0
$GC,1928,-0.68,-146.0,229.9,-9.4,235,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2789,3521,0,0,0,0,0,0
$GC,2247,-0.68,-146.0,260.4,-9.0,265,2250,0.00,1.98,0.00,0.000,4,0.000,0.074,2250,3935,3521,0,0,0,0,0,0
$GC,2271,-0.68,-146.0,262.9,-10.0,267,2274,0.00,1.88,0.00,0.000,6,0.000,0.050,2250,2787,3521,0,0,0,0,0,0
$GC,2603,-0.68,-146.0,294.8,-9.5,298,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2787,3521,0,0,0,0,0,0
$GC,2921,-0.68,-146.0,326.5,-9.8,328,2925,0.00,2.00,0.00,0.000,4,0.000,0.076,2248,3934,3521,0,0,0,0,0,0
$GC,2957,-0.68,-146.0,330.2,-10.9,331,2961,0.00,1.85,0.00,0.000,6,0.000,0.050,2247,2803,3521,0,0,0,0,0,0
$GC,3288,-0.68,-146.0,361.1,-9.0,362,3293,0.00,2.35,0.00,0.000,4,0.000,0.050,2247,1365,3521,0,0,0,0,0,0
$GC,3319,-0.68,-146.0,363.7,-8.5,364,3324,0.00,2.42,0.00,0.000,6,0.000,0.063,2248,2800,3521,0,0,0,0,0,0
$GC,3645,-0.68,-146.0,393.0,-9.3,394,3649,0.00,1.95,0.00,0.000,4,0.000,0.074,2247,3932,3521,0,0,0,0,0,0
$GC,3681,-0.68,-146.0,396.4,-10.1,397,3684,0.00,1.85,0.00,0.000,6,0.000,0.048,2247,2797,3521,0,0,0,0,0,0
$GC,4002,-0.70,-146.0,426.2,-9.6,410,4006,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1371,3521,0,0,0,0,0,0
$GC,4031,-0.73,-146.0,429.0,-10.1,411,4035,0.00,2.42,0.00,0.000,6,0.000,0.063,2247,2796,3521,0,0,0,0,0,0
$GC,4374,-0.75,-146.0,460.2,-9.2,422,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2797,3522,0,0,0,0,0,0
$GC,4679,-0.77,-146.0,487.9,-9.1,432,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2797,3522,0,0,0,0,0,0
$GC,4986,-0.80,-146.0,515.5,-8.9,442,4990,0.00,1.95,0.00,0.000,4,0.000,0.073,2247,3930,3522,0,0,0,0,0,0
$GC,5048,-0.84,-146.0,521.7,-9.2,443,5055,0.12,1.88,0.00,0.000,6,0.101,0.048,2188,2778,3522,0,0,0,0,0,0
$GC,5361,-0.75,-146.0,561.5,-12.9,454,5366,0.15,2.33,0.00,0.000,4,0.174,0.050,2227,1372,3522,0,0,0,0,0,0
$GC,5392,-0.73,-146.0,564.9,-10.6,455,5396,0.00,2.42,0.00,0.000,6,0.000,0.062,2222,2798,3522,0,0,0,0,0,0
$STATE,5735,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5735,begin apogee
$GC,5743,-0.14,0.0,600.2,10.6,466,5875,0.62,0.00,124.12,0.983,4,0.135,0.000,2420,2599,2922,0,0,0,0,0,0
$STATE,5876,end apogee,CONTROL_FINISHED_OK
$STATE,5876,begin climb
$GC,5879,0.57,146.0,606.0,0.0,470,6015,0.65,0.00,131.68,0.957,6,0.077,0.000,2655,2599,2327,0,0,0,0,0,0
$GC,6335,0.54,146.0,565.9,10.8,485,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2599,2317,0,0,0,0,0,0
$GC,6641,0.50,146.0,534.0,10.3,495,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2599,2315,0,0,0,0,0,0
$GC,6948,0.47,146.0,502.8,10.2,505,6952,0.00,2.28,0.00,0.000,4,0.000,0.070,2656,3935,2315,0,0,0,0,0,0
$GC,6992,0.38,146.0,497.4,11.6,506,6997,0.22,2.20,0.00,0.000,6,0.181,0.045,2602,2590,2313,0,0,0,0,0,0
$GC,7312,0.49,207.8,474.2,7.1,517,7375,0.00,2.42,52.42,0.893,4,0.000,0.070,2602,3931,2073,0,0,0,0,0,0
$GC,7395,0.59,231.8,467.7,8.9,519,7423,0.17,2.20,22.02,0.861,6,0.086,0.045,2676,2591,1977,0,0,0,0,0,0
$GC,7748,0.59,231.8,420.5,13.6,531,7752,0.00,2.25,0.00,0.000,4,0.000,0.054,2677,1194,1969,0,0,0,0,0,0
$GC,7792,0.62,231.8,414.6,12.6,532,7796,0.00,2.30,0.00,0.000,6,0.000,0.057,2677,2596,1968,0,0,0,0,0,0
$GC,8120,0.62,231.8,372.3,12.9,555,8124,0.00,2.28,0.00,0.000,4,0.000,0.067,2677,3936,1967,0,0,0,0,0,0
$GC,8143,0.60,231.8,368.7,14.2,556,8150,0.00,2.20,0.00,0.000,6,0.000,0.045,2679,2590,1965,0,0,0,0,0,0
$GC,8468,0.60,231.8,326.6,12.7,587,8473,0.00,2.28,0.00,0.000,4,0.000,0.055,2679,1186,1965,0,0,0,0,0,0
$GC,8505,0.63,231.8,322.5,11.5,590,8509,0.00,2.35,0.00,0.000,6,0.000,0.056,2679,2608,1965,0,0,0,0,0,0
$GC,8836,0.63,231.8,283.1,11.6,621,8840,0.00,2.30,0.00,0.000,4,0.000,0.054,2680,1191,1965,0,0,0,0,0,0
$GC,8861,0.66,231.8,280.6,10.9,623,8865,0.00,2.33,0.00,0.000,6,0.000,0.057,2679,2592,1965,0,0,0,0,0,0
$GC,9186,0.66,231.8,243.9,10.9,653,9190,0.00,2.28,0.00,0.000,4,0.000,0.068,2679,3926,1965,0,0,0,0,0,0
$GC,9219,0.63,231.8,239.6,12.8,655,9226,0.00,2.20,0.00,0.000,6,0.000,0.045,2680,2585,1963,0,0,0,0,0,0
$GC,9545,0.63,231.8,204.7,10.6,686,9549,0.00,2.25,0.00,0.000,4,0.000,0.055,2680,1190,1963,0,0,0,0,0,0
$GC,9569,0.66,231.8,202.3,10.3,687,9575,0.00,2.30,0.00,0.000,6,0.000,0.056,2680,2591,1963,0,0,0,0,0,0
$GC,9895,0.69,231.8,167.3,10.8,718,9899,0.00,2.28,0.00,0.000,4,0.000,0.054,2680,1191,1964,0,0,0,0,0,0
$GC,9939,0.76,233.6,162.4,9.9,721,9947,0.12,2.28,0.00,0.000,6,0.104,0.056,2731,2574,1963,0,0,0,0,0,0
$GC,10265,0.72,233.6,119.3,12.7,752,10270,0.00,2.33,0.00,0.000,4,0.000,0.069,2731,3930,1963,0,0,0,0,0,0
$GC,10295,0.64,233.6,115.0,14.6,754,10300,0.20,2.22,0.00,0.000,6,0.181,0.046,2683,2561,1962,0,0,0,0,0,0
$GC,10631,0.74,286.3,86.4,7.6,799,10685,0.00,2.30,45.67,0.681,4,0.000,0.055,2683,1182,1753,0,0,0,0,0,0
$GC,10724,0.90,325.0,79.3,8.2,814,10766,0.22,2.25,33.80,0.665,6,0.077,0.056,2773,2550,1597,0,0,0,0,0,0
$GC,11106,0.90,325.0,28.1,13.7,881,11113,0.00,2.33,0.00,0.000,4,0.000,0.070,2773,3926,1586,0,0,0,0,0,0
$GC,11166,0.85,325.0,19.3,15.6,891,11173,0.00,2.28,0.00,0.000,6,0.000,0.048,2775,2544,1586,0,0,0,0,0,0
$FREEZE,8.88,-1.762,-1.762,2,29,0
$STATE,11235,end climb,FINISH_DEPTH_REACHED
$STATE,11235,begin subsurface finish
$FINISH1,8.9,1.025806,83
$GC,11244,0.05,83.1,8.9,-13.8,903,11287,0.93,2.38,-32.20,0.000,4,0.155,0.067,2497,1195,2587,0,0,0,0,0,0
$FINISH2,6.5
$STATE,11288,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11288,begin surface
$RAFOS_CLK,664
$RAFOS,6,1295743746,0.833333,0.818333,116,47,43,43,40,40,791,1180,457,1256,754,853
$RAFOS,5,1295743263,0.700000,0.684167,87,45,44,43,43,41,915,1735,1135,1559,1223,705
$RAFOS,4,1295742785,0.566667,0.551389,130,42,41,41,40,39,679,441,1770,1573,1225,595
$RAFOS,3,1295742307,0.433333,0.418611,78,45,43,42,41,39,705,1644,476,145,1510,414
$RAFOS,2,1295741823,0.300000,0.284167,134,44,42,38,38,38,606,1882,892,382,1522,1083
$RAFOS,1,1295741342,0.166667,0.150556,138,41,41,40,39,37,577,1033,1483,1045,1840,230
$RAFOS,0,1295740866,0.033333,0.018333,87,43,42,41,41,39,655,1670,26,270,1114,1295
$RAFOS_FIX,6641.532227,-5956.771973,230111,000025,7,110,0.35
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.029211
$HUMID,49.84
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,600.2,11.9
$24V_AH,21.2,91.663
$10V_AH,9.6,62.522
$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,4.250,104.525,409.725,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2283.041,6856.540,441.208,1543.075,243.478,0.000,1311.997,0.000,1530.683,2160.000,17.898,0.000
$DEVICE_MAMPS,181.305,112.455,983.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33311,910
$CAP_FILE_SIZE,118075,0
$CFSIZE,260165632,196616192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$GPS,230111,002725,6641.532,-5956.772,0,7110.0,0,-38.2