version: 66.08
glider: 183
mission: 3
dive: 818
start: 1 24 111 1 1 19
data:
$ID,183
$MISSION,3
$DIVE,818
$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,-13322.154
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.65
$_SM_ANGLEo,-2.3
$GPS2,240111,002900,6641.039,-5929.655,0,5113.0,0,-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,109.0,123621,-17.5,-10.000
$D_GRID,873
$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,-5.62,0.000,2,0.000,0.000,2492,3921,2867,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.9,-0.0,1,47,0.57,0.00,-13.98,0.000,4,0.109,0.000,2296,3921,3521,0,0,0,0,0,0
$GC,82,-0.59,-146.0,17.3,-10.9,10,89,0.00,1.88,0.00,0.000,6,0.000,0.048,2296,2783,3523,0,0,0,0,0,0
$GC,429,-0.59,-146.0,57.1,-11.1,71,436,0.00,2.30,0.00,0.000,4,0.000,0.054,2295,1367,3524,0,0,0,0,0,0
$GC,485,-0.62,-146.0,63.6,-11.7,80,492,0.00,2.35,0.00,0.000,6,0.000,0.063,2292,2766,3524,0,0,0,0,0,0
$GC,829,-0.62,-146.0,105.6,-12.0,137,833,0.00,2.28,0.00,0.000,4,0.000,0.053,2292,1373,3523,0,0,0,0,0,0
$GC,897,-0.67,-146.0,113.2,-10.7,142,904,0.00,2.38,0.00,0.000,6,0.000,0.064,2292,2766,3523,0,0,0,0,0,0
$GC,1223,-0.72,-146.0,149.1,-9.9,173,1225,0.15,0.00,0.00,0.000,6,0.093,0.000,2226,2766,3522,0,0,0,0,0,0
$GC,1541,-0.65,-146.0,192.3,-12.8,203,1543,0.12,0.00,0.00,0.000,6,0.178,0.000,2259,2766,3521,0,0,0,0,0,0
$GC,1859,-0.65,-146.0,223.2,-9.4,233,1863,0.00,2.00,0.00,0.000,4,0.000,0.076,2252,3927,3521,0,0,0,0,0,0
$GC,1883,-0.65,-146.0,225.5,-9.5,235,1886,0.00,1.95,0.00,0.000,6,0.000,0.050,2252,2736,3521,0,0,0,0,0,0
$GC,2215,-0.65,-146.0,261.2,-11.0,266,2219,0.00,2.22,0.00,0.000,4,0.000,0.053,2252,1365,3521,0,0,0,0,0,0
$GC,2260,-0.68,-146.0,266.4,-10.6,269,2267,0.00,2.33,0.00,0.000,6,0.000,0.064,2250,2741,3521,0,0,0,0,0,0
$GC,2587,-0.68,-146.0,301.0,-10.5,300,2590,0.00,2.05,0.00,0.000,4,0.000,0.075,2247,3926,3520,0,0,0,0,0,0
$GC,2660,-0.68,-146.0,309.0,-10.2,306,2667,0.00,1.95,0.00,0.000,6,0.000,0.050,2247,2753,3521,0,0,0,0,0,0
$GC,2986,-0.68,-146.0,340.2,-9.6,337,2990,0.00,2.25,0.00,0.000,4,0.000,0.053,2247,1368,3521,0,0,0,0,0,0
$GC,3010,-0.68,-146.0,342.7,-9.9,338,3016,0.00,2.35,0.00,0.000,6,0.000,0.063,2247,2758,3521,0,0,0,0,0,0
$GC,3336,-0.68,-146.0,374.3,-9.1,369,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3521,0,0,0,0,0,0
$GC,3656,-0.68,-146.0,403.9,-9.5,397,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3521,0,0,0,0,0,0
$GC,3959,-0.68,-146.0,432.1,-9.2,407,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3521,0,0,0,0,0,0
$GC,4266,-0.68,-146.0,459.6,-9.0,417,4270,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3922,3521,0,0,0,0,0,0
$GC,4306,-0.71,-146.0,463.5,-9.1,418,4310,0.00,1.98,0.00,0.000,6,0.000,0.048,2247,2742,3521,0,0,0,0,0,0
$GC,4641,-0.71,-146.0,494.3,-9.4,429,4645,0.00,2.22,0.00,0.000,4,0.000,0.051,2247,1365,3522,0,0,0,0,0,0
$GC,4676,-0.74,-146.0,497.7,-8.7,430,4680,0.00,2.35,0.00,0.000,6,0.000,0.062,2247,2748,3522,0,0,0,0,0,0
$GC,5007,-0.77,-146.0,527.0,-8.7,441,5011,0.00,2.03,0.00,0.000,4,0.000,0.073,2247,3926,3522,0,0,0,0,0,0
$GC,5046,-0.80,-146.0,530.5,-8.4,442,5050,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2748,3522,0,0,0,0,0,0
$GC,5383,-0.82,-146.0,558.6,-8.4,453,5388,0.10,2.25,0.00,0.000,4,0.118,0.050,2197,1368,3522,0,0,0,0,0,0
$GC,5422,-0.77,-146.0,563.0,-11.1,454,5427,0.15,2.33,0.00,0.000,6,0.164,0.062,2225,2750,3523,0,0,0,0,0,0
$GC,5747,-0.77,-146.0,593.5,-9.6,465,5751,0.00,2.03,0.00,0.000,4,0.000,0.073,2220,3928,3523,0,0,0,0,0,0
$STATE,5811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5811,begin apogee
$GC,5819,-0.14,0.0,600.1,10.4,466,5953,0.65,0.00,124.22,0.981,4,0.133,0.000,2426,2590,2923,0,0,0,0,0,0
$STATE,5954,end apogee,CONTROL_FINISHED_OK
$STATE,5954,begin climb
$GC,5957,0.57,146.0,604.3,0.0,471,6099,0.68,2.40,131.70,0.955,4,0.060,0.050,2668,1187,2326,0,0,0,0,0,0
$GC,6252,0.57,146.0,580.0,11.6,480,6257,0.00,2.47,0.00,0.000,6,0.000,0.054,2668,2601,2319,0,0,0,0,0,0
$GC,6589,0.52,146.0,539.0,12.0,491,6594,0.00,2.30,0.00,0.000,4,0.000,0.054,2672,1185,2315,0,0,0,0,0,0
$GC,6827,0.52,146.0,512.2,11.1,498,6831,0.00,2.33,0.00,0.000,6,0.000,0.057,2671,2605,2315,0,0,0,0,0,0
$GC,7158,0.47,146.0,473.6,11.7,509,7162,0.15,2.30,0.00,0.000,4,0.184,0.054,2631,1184,2314,0,0,0,0,0,0
$GC,7174,0.47,146.0,471.4,11.6,509,7178,0.00,2.35,0.00,0.000,6,0.000,0.056,2631,2605,2314,0,0,0,0,0,0
$GC,7487,0.51,162.5,442.5,9.2,519,7503,0.00,0.00,13.45,0.855,6,0.000,0.000,2631,2605,2260,0,0,0,0,0,0
$GC,7795,0.55,175.5,413.8,9.4,529,7810,0.00,0.00,12.98,0.835,6,0.000,0.000,2632,2605,2207,0,0,0,0,0,0
$GC,8106,0.59,176.6,383.6,9.9,549,8111,0.10,2.33,0.00,0.000,4,0.112,0.054,2681,1180,2204,0,0,0,0,0,0
$GC,8138,0.59,176.6,380.2,11.8,551,8142,0.00,2.30,0.00,0.000,6,0.000,0.056,2681,2589,2203,0,0,0,0,0,0
$GC,8464,0.55,176.6,338.2,12.4,581,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2589,2203,0,0,0,0,0,0
$GC,8785,0.52,176.6,302.0,11.3,611,8790,0.15,2.28,0.00,0.000,4,0.182,0.067,2640,3925,2202,0,0,0,0,0,0
$GC,8819,0.52,176.6,297.6,11.1,613,8826,0.00,2.20,0.00,0.000,6,0.000,0.045,2642,2578,2201,0,0,0,0,0,0
$GC,9145,0.56,189.1,268.0,9.4,644,9167,0.00,2.28,12.45,0.765,4,0.000,0.051,2642,1185,2151,0,0,0,0,0,0
$GC,9185,0.64,224.0,264.4,8.4,647,9225,0.12,2.30,31.27,0.767,6,0.098,0.056,2697,2578,2010,0,0,0,0,0,0
$GC,9543,0.64,224.0,218.1,12.2,681,9547,0.00,2.25,0.00,0.000,4,0.000,0.054,2697,1191,2004,0,0,0,0,0,0
$GC,9584,0.67,224.0,213.3,11.4,684,9588,0.00,2.28,0.00,0.000,6,0.000,0.056,2697,2571,2004,0,0,0,0,0,0
$GC,9910,0.67,224.0,172.7,12.4,714,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2571,2002,0,0,0,0,0,0
$GC,10233,0.67,225.6,137.0,9.9,744,10237,0.00,2.33,0.00,0.000,4,0.000,0.068,2697,3933,2002,0,0,0,0,0,0
$GC,10263,0.63,225.6,133.4,12.1,746,10267,0.00,2.28,0.00,0.000,6,0.000,0.046,2699,2541,2001,0,0,0,0,0,0
$GC,10595,0.64,238.7,100.2,9.4,777,10614,0.00,2.28,12.88,0.692,4,0.000,0.055,2699,1186,1949,0,0,0,0,0,0
$GC,10698,0.71,251.3,91.5,9.4,793,10718,0.00,2.20,12.32,0.680,6,0.000,0.057,2699,2529,1898,0,0,0,0,0,0
$GC,11060,0.78,258.3,59.2,9.7,856,11074,0.00,2.38,6.62,0.636,4,0.000,0.066,2699,3933,1871,0,0,0,0,0,0
$GC,11168,0.80,297.6,49.4,8.2,874,11211,0.10,2.28,35.65,0.666,6,0.118,0.047,2742,2533,1709,0,0,0,0,0,0
$FREEZE,9.00,-1.759,-1.776,3,36,0
$STATE,11474,end climb,FINISH_DEPTH_REACHED
$STATE,11474,begin subsurface finish
$FINISH1,9.0,1.026005,73
$GC,11482,0.05,73.3,9.0,-11.4,927,11518,0.82,2.38,-27.92,0.000,4,0.159,0.068,2495,1182,2626,0,0,0,0,0,0
$FINISH2,7.7
$STATE,11519,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11519,begin surface
$RAFOS_CLK,671
$RAFOS,0,1295841663,4.033333,4.017500,48,45,44,42,37,36,341,1855,26,581,1386,373
$RAFOS_FIX,6641.038574,-5929.654785,240111,000000,5,113,0.32
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.031458
$HUMID,50.19
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.7
$ALTIM_BOTTOM_PING,600.1,12.0
$24V_AH,21.2,92.438
$10V_AH,9.7,62.965
$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,3.875,98.250,393.550,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2335.036,6927.675,429.972,1647.152,236.598,0.000,1330.322,0.000,1630.969,720.000,17.701,0.000
$DEVICE_MAMPS,184.365,112.455,981.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,33344,933
$CAP_FILE_SIZE,116221,0
$CFSIZE,260165632,196182016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.9
$GPS,240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2