version: 66.08
glider: 183
mission: 3
dive: 832
start: 1 26 111 6 49 34
data:
$ID,183
$MISSION,3
$DIVE,832
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.73
$_SM_ANGLEo,-4.1
$GPS2,260111,003741,6642.806,-5834.523,0,3070.7,0,-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,101.7,85535,-17.5,-10.000
$D_GRID,747
$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,-5.62,0.000,2,0.000,0.000,2477,3935,2908,0,0,0,0,0,0
$GC,28,-0.57,-146.0,7.7,-0.0,1,54,0.52,4.32,-16.80,0.000,4,0.093,0.054,2291,1362,3520,0,0,0,0,0,0
$GC,209,-0.60,-146.0,28.1,-11.6,32,215,0.00,2.42,0.00,0.000,6,0.000,0.063,2288,2785,3524,0,0,0,0,0,0
$GC,556,-0.60,-146.0,67.5,-9.5,93,563,0.00,1.95,0.00,0.000,4,0.000,0.072,2283,3929,3523,0,0,0,0,0,0
$GC,627,-0.60,-146.0,75.9,-11.9,105,634,0.00,1.85,0.00,0.000,6,0.000,0.048,2283,2805,3522,0,0,0,0,0,0
$GC,974,-0.62,-146.0,111.7,-9.5,156,978,0.00,2.33,0.00,0.000,4,0.000,0.050,2282,1366,3522,0,0,0,0,0,0
$GC,996,-0.65,-146.0,114.0,-9.4,157,1003,0.00,2.40,0.00,0.000,6,0.000,0.063,2278,2787,3521,0,0,0,0,0,0
$GC,1324,-0.67,-146.0,141.1,-8.1,188,1328,0.00,2.00,0.00,0.000,4,0.000,0.073,2273,3936,3521,0,0,0,0,0,0
$GC,1375,-0.70,-146.0,145.9,-9.0,192,1382,0.00,1.90,0.00,0.000,6,0.000,0.048,2272,2784,3521,0,0,0,0,0,0
$GC,1701,-0.73,-146.0,173.5,-8.2,223,1706,0.00,2.28,0.00,0.000,4,0.000,0.050,2273,1373,3521,0,0,0,0,0,0
$GC,1732,-0.75,-146.0,176.1,-7.7,225,1737,0.12,2.42,0.00,0.000,6,0.097,0.063,2219,2802,3520,0,0,0,0,0,0
$GC,2059,-0.68,-146.0,215.0,-11.7,255,2064,0.12,1.98,0.00,0.000,4,0.181,0.073,2245,3932,3521,0,0,0,0,0,0
$GC,2098,-0.66,-146.0,219.7,-10.6,258,2105,0.00,1.88,0.00,0.000,6,0.000,0.049,2244,2800,3520,0,0,0,0,0,0
$GC,2424,-0.66,-146.0,253.4,-10.6,289,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2800,3520,0,0,0,0,0,0
$GC,2744,-0.66,-146.0,289.2,-11.0,319,2748,0.00,2.35,0.00,0.000,4,0.000,0.050,2244,1362,3520,0,0,0,0,0,0
$GC,2802,-0.66,-146.0,295.7,-10.8,323,2809,0.00,2.45,0.00,0.000,6,0.000,0.063,2243,2807,3520,0,0,0,0,0,0
$GC,3129,-0.66,-146.0,328.2,-9.5,354,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2808,3520,0,0,0,0,0,0
$GC,3450,-0.66,-146.0,356.7,-9.0,384,3454,0.00,2.35,0.00,0.000,4,0.000,0.050,2243,1363,3520,0,0,0,0,0,0
$GC,3495,-0.68,-146.0,361.1,-8.6,387,3502,0.00,2.45,0.00,0.000,6,0.000,0.062,2238,2800,3520,0,0,0,0,0,0
$GC,3820,-0.68,-146.0,392.6,-10.3,418,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2800,3520,0,0,0,0,0,0
$GC,4151,-0.68,-146.0,424.7,-9.5,434,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2800,3520,0,0,0,0,0,0
$GC,4457,-0.68,-146.0,453.9,-9.5,444,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2800,3521,0,0,0,0,0,0
$GC,4764,-0.68,-146.0,483.2,-9.7,454,4769,0.00,2.30,0.00,0.000,4,0.000,0.050,2238,1371,3521,0,0,0,0,0,0
$GC,4809,-0.68,-146.0,488.0,-9.9,455,4813,0.00,2.42,0.00,0.000,6,0.000,0.062,2235,2793,3521,0,0,0,0,0,0
$GC,5134,-0.68,-146.0,521.0,-10.4,466,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2793,3521,0,0,0,0,0,0
$GC,5442,-0.68,-146.0,551.4,-9.9,476,5446,0.00,2.33,0.00,0.000,4,0.000,0.049,2235,1362,3522,0,0,0,0,0,0
$GC,5515,-0.70,-146.0,558.9,-9.8,478,5519,0.00,2.40,0.00,0.000,6,0.000,0.061,2235,2787,3522,0,0,0,0,0,0
$GC,5840,-0.70,-146.0,589.3,-9.4,489,5844,0.00,1.98,0.00,0.000,4,0.000,0.073,2235,3936,3522,0,0,0,0,0,0
$GC,5875,-0.70,-146.0,592.8,-10.0,490,5879,0.00,1.88,0.00,0.000,6,0.000,0.047,2235,2781,3522,0,0,0,0,0,0
$STATE,5973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5973,begin apogee
$GC,5981,-0.14,0.0,601.8,9.3,493,6112,0.60,0.00,123.90,0.975,4,0.133,0.000,2426,2604,2923,0,0,0,0,0,0
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6112,begin climb
$GC,6115,0.57,146.0,606.6,0.0,497,6255,0.62,2.42,131.93,0.952,4,0.067,0.050,2664,1187,2327,0,0,0,0,0,0
$GC,6407,0.57,146.0,584.2,10.6,505,6412,0.00,2.45,0.00,0.000,6,0.000,0.055,2665,2601,2318,0,0,0,0,0,0
$GC,6727,0.52,146.0,548.5,11.3,516,6731,0.00,2.33,0.00,0.000,4,0.000,0.052,2666,1178,2315,0,0,0,0,0,0
$GC,6959,0.52,146.0,524.0,10.6,523,6963,0.00,2.35,0.00,0.000,6,0.000,0.056,2666,2597,2315,0,0,0,0,0,0
$GC,7294,0.48,146.0,484.6,11.9,534,7299,0.12,2.25,0.00,0.000,4,0.198,0.067,2635,3933,2313,0,0,0,0,0,0
$GC,7324,0.44,146.0,481.1,12.1,535,7328,0.00,2.17,0.00,0.000,6,0.000,0.044,2634,2583,2312,0,0,0,0,0,0
$GC,7660,0.45,161.4,448.7,9.3,546,7679,0.00,2.33,12.07,0.848,4,0.000,0.052,2635,1192,2265,0,0,0,0,0,0
$GC,7697,0.51,185.0,445.3,8.9,547,7725,0.00,2.30,22.52,0.858,6,0.000,0.055,2635,2594,2168,0,0,0,0,0,0
$GC,8032,0.56,208.1,414.8,8.9,558,8057,0.00,2.28,20.42,0.845,4,0.000,0.066,2634,3932,2075,0,0,0,0,0,0
$GC,8075,0.58,210.3,410.5,9.9,558,8079,0.00,2.20,0.00,0.000,6,0.000,0.044,2635,2589,2072,0,0,0,0,0,0
$GC,8404,0.65,226.4,380.2,9.3,581,8428,0.12,2.28,16.35,0.822,4,0.103,0.051,2693,1188,2002,0,0,0,0,0,0
$GC,8464,0.65,226.4,372.7,12.6,586,8468,0.00,2.30,0.00,0.000,6,0.000,0.055,2693,2592,2000,0,0,0,0,0,0
$GC,8790,0.62,226.4,330.3,12.7,616,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2592,1996,0,0,0,0,0,0
$GC,9113,0.59,226.4,289.6,13.0,646,9117,0.00,2.30,0.00,0.000,4,0.000,0.054,2693,1186,1995,0,0,0,0,0,0
$GC,9141,0.59,226.4,285.4,12.4,648,9146,0.00,2.30,0.00,0.000,6,0.000,0.055,2693,2583,1996,0,0,0,0,0,0
$GC,9473,0.56,226.4,247.5,11.7,679,9478,0.15,2.30,0.00,0.000,4,0.182,0.067,2652,3929,1994,0,0,0,0,0,0
$GC,9574,0.56,226.4,235.9,11.4,687,9581,0.00,2.12,0.00,0.000,6,0.000,0.044,2652,2611,1993,0,0,0,0,0,0
$GC,9902,0.62,249.7,206.6,8.9,718,9928,0.00,2.33,20.92,0.741,4,0.000,0.054,2653,1185,1903,0,0,0,0,0,0
$GC,9974,0.73,269.3,199.9,9.1,724,10003,0.17,2.35,18.27,0.722,6,0.086,0.055,2727,2618,1824,0,0,0,0,0,0
$GC,10321,0.69,269.3,147.1,15.0,757,10326,0.12,2.25,0.00,0.000,4,0.184,0.067,2695,3932,1818,0,0,0,0,0,0
$GC,10350,0.66,269.3,142.5,15.3,759,10354,0.00,2.12,0.00,0.000,6,0.000,0.044,2695,2622,1817,0,0,0,0,0,0
$GC,10682,0.69,269.3,100.0,12.5,790,10686,0.00,2.33,0.00,0.000,4,0.000,0.054,2695,1182,1816,0,0,0,0,0,0
$GC,10767,0.75,269.3,90.7,10.5,804,10774,0.00,2.33,0.00,0.000,6,0.000,0.055,2695,2599,1816,0,0,0,0,0,0
$GC,11115,0.78,269.3,52.2,12.2,865,11121,0.00,2.25,0.00,0.000,4,0.000,0.066,2695,3926,1816,0,0,0,0,0,0
$GC,11130,0.81,269.3,50.2,12.9,867,11137,0.12,2.22,0.00,0.000,6,0.103,0.044,2746,2565,1815,0,0,0,0,0,0
$FREEZE,8.07,-1.642,-1.812,3,10,0
$STATE,11467,end climb,FINISH_DEPTH_REACHED
$STATE,11467,begin subsurface finish
$FINISH1,8.1,1.026523,48
$GC,11475,0.03,47.9,8.1,-17.5,926,11523,0.85,2.33,-39.08,0.000,4,0.151,0.064,2490,1191,2729,0,0,0,0,0,0
$FINISH2,2.8
$STATE,11524,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11524,begin surface
$RAFOS_CLK,658
$RAFOS,6,1296031743,8.833333,8.817500,49,43,43,42,41,40,1016,1034,1273,1472,553,1232
$RAFOS,5,1296031267,8.700000,8.685278,49,48,47,41,40,38,26,675,1380,1053,751,1319
$RAFOS,4,1296030786,8.566667,8.551666,43,42,42,42,41,41,693,315,613,1359,1830,26
$RAFOS,3,1296030318,8.433333,8.421667,48,48,43,39,38,37,650,660,1533,271,1467,471
$RAFOS,2,1296029826,8.300000,8.285000,44,42,41,41,40,39,1351,1140,835,1545,254,1360
$RAFOS,1,1296029342,8.166667,8.150556,52,45,44,43,41,40,1133,1707,1354,898,26,663
$RAFOS,0,1296028875,8.033334,8.020833,52,50,45,41,40,40,1840,1240,1700,1401,144,884
$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,50.15
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,601.8,11.9
$24V_AH,21.2,93.947
$10V_AH,9.7,63.872
$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,3.675,108.150,366.400,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2354.392,6890.868,414.458,1682.946,238.964,0.000,1334.100,0.000,1658.230,2520.000,20.719,0.000
$DEVICE_MAMPS,198.135,129.285,975.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151768
$DATA_FILE_SIZE,33388,934
$CAP_FILE_SIZE,121846,0
$CFSIZE,260165632,195174400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6