version: 66.08
glider: 183
mission: 3
dive: 829
start: 1 25 111 22 6 31
data:
$ID,183
$MISSION,3
$DIVE,829
$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,-3
$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,-13324.667
$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,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
$GPS1,250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.30
$_SM_ANGLEo,1.3
$GPS2,250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6
$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,104.1,84254,-17.5,-10.000
$D_GRID,761
$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,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2488,3928,2935,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.7,-0.0,1,52,0.55,4.28,-15.35,0.000,4,0.106,0.055,2297,1360,3523,0,0,0,0,0,0
$GC,125,-0.64,-146.0,13.8,-7.7,17,132,0.00,2.38,0.00,0.000,6,0.000,0.060,2292,2788,3524,0,0,0,0,0,0
$GC,471,-0.67,-146.0,55.0,-10.8,78,478,0.00,2.30,0.00,0.000,4,0.000,0.050,2292,1367,3524,0,0,0,0,0,0
$GC,533,-0.73,-146.0,61.4,-10.2,88,540,0.15,2.33,0.00,0.000,6,0.091,0.063,2229,2757,3524,0,0,0,0,0,0
$GC,883,-0.66,-146.0,108.5,-13.1,144,887,0.12,2.03,0.00,0.000,4,0.174,0.072,2256,3927,3523,0,0,0,0,0,0
$GC,939,-0.66,-146.0,115.9,-11.8,148,946,0.00,1.90,0.00,0.000,6,0.000,0.049,2255,2775,3522,0,0,0,0,0,0
$GC,1267,-0.66,-146.0,150.6,-10.3,179,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2775,3522,0,0,0,0,0,0
$GC,1585,-0.66,-146.0,185.1,-11.2,209,1589,0.00,2.30,0.00,0.000,4,0.000,0.051,2256,1367,3522,0,0,0,0,0,0
$GC,1606,-0.66,-146.0,188.0,-11.4,210,1613,0.00,2.40,0.00,0.000,6,0.000,0.063,2248,2788,3522,0,0,0,0,0,0
$GC,1932,-0.66,-146.0,221.6,-10.0,241,1936,0.00,1.98,0.00,0.000,4,0.000,0.074,2247,3934,3522,0,0,0,0,0,0
$GC,1957,-0.66,-146.0,223.8,-9.3,243,1960,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2767,3522,0,0,0,0,0,0
$GC,2288,-0.66,-146.0,256.2,-10.0,274,2292,0.00,2.03,0.00,0.000,4,0.000,0.075,2247,3932,3522,0,0,0,0,0,0
$GC,2312,-0.66,-146.0,258.7,-10.3,276,2316,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2781,3522,0,0,0,0,0,0
$GC,2643,-0.66,-146.0,290.6,-9.1,307,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2781,3522,0,0,0,0,0,0
$GC,2964,-0.66,-146.0,316.7,-8.1,337,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2781,3522,0,0,0,0,0,0
$GC,3293,-0.66,-146.0,345.2,-8.8,368,3297,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1369,3522,0,0,0,0,0,0
$GC,3334,-0.69,-146.0,349.1,-8.8,371,3338,0.00,2.42,0.00,0.000,6,0.000,0.063,2247,2792,3521,0,0,0,0,0,0
$GC,3660,-0.69,-146.0,379.0,-9.8,401,3664,0.00,2.33,0.00,0.000,4,0.000,0.049,2247,1370,3522,0,0,0,0,0,0
$GC,3689,-0.69,-146.0,381.7,-9.7,403,3693,0.00,2.40,0.00,0.000,6,0.000,0.062,2247,2791,3522,0,0,0,0,0,0
$GC,4024,-0.69,-146.0,412.2,-9.2,426,4027,0.00,1.95,0.00,0.000,4,0.000,0.073,2247,3928,3522,0,0,0,0,0,0
$GC,4097,-0.72,-146.0,419.6,-10.1,428,4100,0.00,1.88,0.00,0.000,6,0.000,0.047,2247,2787,3522,0,0,0,0,0,0
$GC,4436,-0.72,-146.0,450.7,-9.3,439,4440,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1363,3522,0,0,0,0,0,0
$GC,4470,-0.75,-146.0,454.4,-9.7,440,4475,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2787,3523,0,0,0,0,0,0
$GC,4801,-0.75,-146.0,484.2,-9.1,451,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2787,3522,0,0,0,0,0,0
$GC,5108,-0.75,-146.0,511.0,-8.6,461,5112,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1371,3522,0,0,0,0,0,0
$GC,5130,-0.75,-146.0,513.1,-8.8,461,5134,0.00,2.40,0.00,0.000,6,0.000,0.062,2246,2780,3522,0,0,0,0,0,0
$GC,5444,-0.77,-146.0,539.8,-8.6,471,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3522,0,0,0,0,0,0
$GC,5751,-0.79,-146.0,567.3,-9.1,481,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3523,0,0,0,0,0,0
$GC,6056,-0.82,-146.0,595.6,-9.2,491,6061,0.10,2.30,0.00,0.000,4,0.119,0.050,2198,1373,3523,0,0,0,0,0,0
$GC,6089,-0.77,-146.0,599.7,-12.0,492,6099,0.12,2.38,0.00,0.000,6,0.174,0.062,2223,2780,3523,0,0,0,0,0,0
$STATE,6102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6102,begin apogee
$GC,6110,-0.14,0.0,601.4,11.6,492,6241,0.62,0.00,123.95,0.974,4,0.133,0.000,2423,2596,2923,0,0,0,0,0,0
$STATE,6241,end apogee,CONTROL_FINISHED_OK
$STATE,6241,begin climb
$GC,6245,0.57,146.0,606.4,0.0,496,6384,0.68,2.42,131.65,0.946,4,0.067,0.049,2660,1184,2327,0,0,0,0,0,0
$GC,6573,0.57,154.3,582.0,9.6,507,6587,0.00,2.42,7.53,0.807,6,0.000,0.055,2661,2602,2293,0,0,0,0,0,0
$GC,6913,0.53,154.3,545.4,11.0,518,6917,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1181,2289,0,0,0,0,0,0
$GC,7127,0.53,154.3,522.9,10.6,524,7131,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2605,2289,0,0,0,0,0,0
$GC,7446,0.50,154.3,486.6,11.7,535,7450,0.00,2.25,0.00,0.000,4,0.000,0.068,2662,3926,2288,0,0,0,0,0,0
$GC,7486,0.41,154.3,480.8,14.3,536,7491,0.20,2.15,0.00,0.000,6,0.189,0.045,2611,2598,2286,0,0,0,0,0,0
$GC,7812,0.49,187.8,453.2,8.5,547,7847,0.00,2.38,29.35,0.871,4,0.000,0.053,2611,1184,2156,0,0,0,0,0,0
$GC,7873,0.63,228.3,447.8,8.1,548,7915,0.20,2.38,36.55,0.858,6,0.077,0.055,2691,2611,1991,0,0,0,0,0,0
$GC,8227,0.59,228.3,396.8,14.6,561,8231,0.00,2.22,0.00,0.000,4,0.000,0.067,2692,3926,1983,0,0,0,0,0,0
$GC,8249,0.53,228.3,392.8,16.5,562,8256,0.17,2.15,0.00,0.000,6,0.182,0.045,2647,2605,1982,0,0,0,0,0,0
$GC,8576,0.57,228.3,354.8,11.4,593,8580,0.00,2.28,0.00,0.000,4,0.000,0.053,2647,1191,1981,0,0,0,0,0,0
$GC,8628,0.66,228.3,349.3,10.6,597,8633,0.12,2.30,0.00,0.000,6,0.099,0.056,2701,2593,1980,0,0,0,0,0,0
$GC,8955,0.61,228.3,303.5,14.2,627,8959,0.00,2.25,0.00,0.000,4,0.000,0.067,2701,3932,1980,0,0,0,0,0,0
$GC,8988,0.52,228.3,298.1,15.5,629,8995,0.22,2.17,0.00,0.000,6,0.174,0.045,2644,2590,1980,0,0,0,0,0,0
$GC,9315,0.58,228.3,266.7,10.0,660,9319,0.00,2.25,0.00,0.000,4,0.000,0.053,2644,1190,1980,0,0,0,0,0,0
$GC,9348,0.68,234.4,263.2,9.7,662,9359,0.15,2.33,4.68,0.627,6,0.090,0.055,2706,2605,1967,0,0,0,0,0,0
$GC,9686,0.63,234.4,218.1,12.9,694,9690,0.00,2.30,0.00,0.000,4,0.000,0.054,2707,1187,1966,0,0,0,0,0,0
$GC,9716,0.61,234.4,214.2,13.5,696,9721,0.12,2.33,0.00,0.000,6,0.177,0.055,2675,2593,1965,0,0,0,0,0,0
$GC,10043,0.61,234.4,179.9,10.7,726,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2593,1965,0,0,0,0,0,0
$GC,10360,0.64,234.4,143.3,11.3,756,10364,0.00,2.30,0.00,0.000,4,0.000,0.054,2676,1179,1965,0,0,0,0,0,0
$GC,10397,0.69,234.4,139.4,11.1,759,10401,0.00,2.33,0.00,0.000,6,0.000,0.055,2675,2586,1965,0,0,0,0,0,0
$GC,10729,0.73,240.5,105.1,9.7,790,10742,0.10,2.30,6.30,0.636,4,0.117,0.051,2721,1188,1945,0,0,0,0,0,0
$GC,10760,0.73,240.5,101.3,12.6,792,10767,0.00,2.33,0.00,0.000,6,0.000,0.056,2721,2590,1945,0,0,0,0,0,0
$GC,11105,0.70,240.5,58.5,10.7,852,11111,0.00,2.30,0.00,0.000,4,0.000,0.054,2722,1190,1944,0,0,0,0,0,0
$GC,11198,0.72,240.5,47.9,11.4,868,11205,0.00,2.22,0.00,0.000,6,0.000,0.056,2722,2544,1943,0,0,0,0,0,0
$FREEZE,8.54,-1.647,-1.809,3,7,0
$STATE,11545,end climb,FINISH_DEPTH_REACHED
$STATE,11545,begin subsurface finish
$FINISH1,8.5,1.026480,50
$GC,11553,0.03,50.0,8.5,-10.3,929,11585,0.75,2.35,-24.80,0.000,4,0.151,0.083,2494,3922,2722,0,0,0,0,0,0
$FINISH2,6.2
$STATE,11586,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11586,begin surface
$RAFOS_CLK,672
$RAFOS,6,1296002943,0.833333,0.817500,64,44,43,43,43,43,750,1018,1720,1916,26,1321
$RAFOS,5,1296002470,0.700000,0.686111,55,45,42,41,41,40,666,1230,1020,1437,26,1566
$RAFOS,4,1296001982,0.566667,0.550556,76,46,46,45,42,41,650,364,1528,215,1070,975
$RAFOS,3,1296001508,0.433333,0.418889,72,45,42,42,42,41,685,388,403,491,492,1476
$RAFOS,2,1296001022,0.300000,0.283889,45,44,42,40,39,38,1302,775,376,1256,1086,1163
$RAFOS,1,1296000541,0.166667,0.150278,44,43,40,40,40,40,743,798,413,1405,1916,1783
$RAFOS,0,1296000070,0.033333,0.019444,50,44,43,43,41,41,888,996,170,1474,8,367
$RAFOS_FIX,6642.805664,-5834.522949,260111,000041,3,71,0.27
$IRIDIUM_FIX,6614.97,-5826.75,250111,171751
$TT8_MAMPS,0.028462
$HUMID,50.86
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,600.3,11.9
$24V_AH,21.3,93.712
$10V_AH,9.6,63.712
$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,4.400,112.800,340.000,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2356.939,6983.641,380.295,1673.420,250.926,0.000,1297.098,0.000,1654.002,2520.000,17.692,0.000
$DEVICE_MAMPS,188.955,115.515,973.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,33416,934
$CAP_FILE_SIZE,122121,0
$CFSIZE,260165632,195342336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6