version: 66.08
glider: 183
mission: 3
dive: 837
start: 1 26 111 22 11 31
data:
$ID,183
$MISSION,3
$DIVE,837
$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,-13327.273
$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,18
$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
$GPS1,260111,215436,6642.484,-5810.909,31,1.5,31,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.7
$GPS2,260111,221058,6642.437,-5810.554,14,2.9,33,-37.5
$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,94.9,70742,-17.5,-10.000
$D_GRID,653
$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,16,-0.57,-146.0,0.0,0.0,0,174,0.00,0.00,-151.50,0.000,2,0.000,0.000,276,2781,3427,0,0,0,0,0,0
$GC,177,-0.57,-146.0,5.6,-11.6,27,197,8.57,2.35,-1.88,0.000,4,0.249,0.063,2285,1369,3522,0,0,0,0,0,0
$GC,385,-0.57,-146.0,44.9,-11.7,63,392,0.00,2.40,0.00,0.000,6,0.000,0.065,2284,2782,3524,0,0,0,0,0,0
$GC,733,-0.57,-146.0,79.4,-9.8,124,739,0.00,2.00,0.00,0.000,4,0.000,0.074,2275,3932,3523,0,0,0,0,0,0
$GC,827,-0.57,-146.0,88.7,-9.5,140,833,0.00,1.88,0.00,0.000,6,0.000,0.050,2275,2786,3523,0,0,0,0,0,0
$GC,1165,-0.57,-146.0,122.6,-9.6,181,1169,0.00,2.03,0.00,0.000,4,0.000,0.076,2271,3935,3523,0,0,0,0,0,0
$GC,1212,-0.59,-146.0,127.8,-10.8,185,1216,0.00,1.88,0.00,0.000,6,0.000,0.050,2271,2805,3523,0,0,0,0,0,0
$GC,1543,-0.59,-146.0,165.2,-10.5,216,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2805,3523,0,0,0,0,0,0
$GC,1865,-0.61,-146.0,194.9,-8.9,246,1869,0.00,2.33,0.00,0.000,4,0.000,0.051,2271,1373,3522,0,0,0,0,0,0
$GC,1987,-0.66,-146.0,205.5,-8.3,256,1992,0.00,2.40,0.00,0.000,6,0.000,0.064,2262,2784,3523,0,0,0,0,0,0
$GC,2313,-0.66,-146.0,238.3,-10.4,286,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2784,3522,0,0,0,0,0,0
$GC,2637,-0.68,-146.0,271.9,-10.7,316,2641,0.00,2.30,0.00,0.000,4,0.000,0.051,2263,1372,3522,0,0,0,0,0,0
$GC,2677,-0.72,-146.0,276.9,-10.9,319,2682,0.00,2.42,0.00,0.000,6,0.000,0.064,2261,2785,3522,0,0,0,0,0,0
$GC,3003,-0.72,-146.0,312.5,-10.6,349,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2785,3523,0,0,0,0,0,0
$GC,3327,-0.74,-146.0,343.1,-8.5,379,3331,0.00,1.98,0.00,0.000,4,0.000,0.073,2261,3929,3523,0,0,0,0,0,0
$GC,3344,-0.76,-146.0,345.1,-8.5,380,3351,0.00,1.90,0.00,0.000,6,0.000,0.048,2261,2776,3523,0,0,0,0,0,0
$GC,3671,-0.79,-146.0,372.5,-8.2,411,3675,0.12,2.30,0.00,0.000,4,0.102,0.050,2200,1370,3523,0,0,0,0,0,0
$GC,3705,-0.73,-146.0,376.1,-11.7,413,3712,0.17,2.40,0.00,0.000,6,0.163,0.063,2236,2777,3523,0,0,0,0,0,0
$GC,4049,-0.73,-146.0,409.1,-9.5,440,4052,0.00,1.98,0.00,0.000,4,0.000,0.073,2230,3927,3523,0,0,0,0,0,0
$GC,4087,-0.70,-146.0,412.9,-11.0,441,4090,0.00,1.88,0.00,0.000,6,0.000,0.047,2229,2777,3524,0,0,0,0,0,0
$GC,4428,-0.67,-146.0,449.6,-10.9,452,4433,0.00,2.28,0.00,0.000,4,0.000,0.050,2229,1373,3524,0,0,0,0,0,0
$GC,4463,-0.67,-146.0,453.6,-11.4,453,4467,0.00,2.40,0.00,0.000,6,0.000,0.063,2229,2784,3524,0,0,0,0,0,0
$GC,4806,-0.65,-146.0,490.0,-10.4,464,4810,0.12,2.00,0.00,0.000,4,0.177,0.073,2256,3928,3524,0,0,0,0,0,0
$GC,4829,-0.65,-146.0,492.5,-9.9,464,4832,0.00,1.90,0.00,0.000,6,0.000,0.047,2256,2780,3524,0,0,0,0,0,0
$GC,5149,-0.68,-146.0,519.8,-8.7,475,5153,0.00,2.30,0.00,0.000,4,0.000,0.050,2255,1365,3524,0,0,0,0,0,0
$GC,5189,-0.72,-146.0,523.7,-8.8,476,5193,0.00,2.42,0.00,0.000,6,0.000,0.062,2249,2784,3525,0,0,0,0,0,0
$GC,5525,-0.75,-146.0,554.5,-9.2,487,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2784,3525,0,0,0,0,0,0
$GC,5832,-0.75,-146.0,582.6,-9.2,497,5836,0.00,2.30,0.00,0.000,4,0.000,0.050,2249,1369,3525,0,0,0,0,0,0
$GC,5855,-0.77,-146.0,584.9,-9.0,497,5859,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2787,3525,0,0,0,0,0,0
$STATE,6045,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6046,begin apogee
$GC,6054,-0.14,0.0,601.5,8.9,503,6185,0.55,0.00,124.53,0.976,4,0.132,0.000,2424,2604,2923,0,0,0,0,0,0
$STATE,6185,end apogee,CONTROL_FINISHED_OK
$STATE,6185,begin climb
$GC,6188,0.57,146.0,605.3,0.0,507,6330,0.70,2.45,132.35,0.948,4,0.071,0.050,2666,1177,2326,0,0,0,0,0,0
$GC,6533,0.57,146.0,575.5,10.9,517,6540,0.00,2.45,0.00,0.000,6,0.000,0.055,2666,2603,2317,0,0,0,0,0,0
$GC,6847,0.52,146.0,538.1,12.0,528,6851,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1181,2315,0,0,0,0,0,0
$GC,7066,0.52,146.0,512.9,11.2,534,7070,0.00,2.38,0.00,0.000,6,0.000,0.055,2666,2615,2315,0,0,0,0,0,0
$GC,7380,0.47,146.0,475.8,11.9,544,7385,0.15,2.22,0.00,0.000,4,0.191,0.067,2626,3930,2313,0,0,0,0,0,0
$GC,7430,0.47,146.0,469.5,12.1,545,7434,0.00,2.12,0.00,0.000,6,0.000,0.044,2627,2611,2312,0,0,0,0,0,0
$GC,7750,0.50,152.7,438.7,9.7,556,7760,0.00,2.30,4.60,0.682,4,0.000,0.052,2626,1193,2300,0,0,0,0,0,0
$GC,7778,0.54,156.1,435.6,9.8,556,7788,0.00,2.35,4.40,0.653,6,0.000,0.054,2626,2620,2288,0,0,0,0,0,0
$GC,8128,0.58,162.8,402.3,9.7,568,8139,0.10,0.00,8.05,0.787,6,0.114,0.000,2675,2621,2259,0,0,0,0,0,0
$GC,8442,0.53,162.8,362.8,12.4,596,8447,0.12,2.22,0.00,0.000,4,0.184,0.067,2644,3929,2257,0,0,0,0,0,0
$GC,8477,0.49,162.8,358.5,12.4,598,8483,0.00,2.15,0.00,0.000,6,0.000,0.044,2645,2608,2256,0,0,0,0,0,0
$GC,8802,0.49,162.8,324.2,10.5,629,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2608,2256,0,0,0,0,0,0
$GC,9122,0.49,162.8,289.8,10.6,659,9126,0.00,2.25,0.00,0.000,4,0.000,0.068,2645,3925,2256,0,0,0,0,0,0
$GC,9174,0.45,162.8,283.4,12.8,663,9177,0.00,2.12,0.00,0.000,6,0.000,0.044,2648,2623,2256,0,0,0,0,0,0
$GC,9499,0.45,162.8,248.5,10.6,693,9503,0.00,2.30,0.00,0.000,4,0.000,0.052,2648,1194,2255,0,0,0,0,0,0
$GC,9533,0.49,162.8,245.0,10.3,695,9540,0.00,2.38,0.00,0.000,6,0.000,0.054,2648,2626,2256,0,0,0,0,0,0
$GC,9859,0.49,164.2,212.3,9.9,726,9863,0.00,2.20,0.00,0.000,4,0.000,0.067,2648,3925,2256,0,0,0,0,0,0
$GC,9900,0.45,164.2,207.8,12.0,729,9903,0.00,2.10,0.00,0.000,6,0.000,0.044,2648,2626,2256,0,0,0,0,0,0
$GC,10231,0.46,168.9,175.2,9.8,760,10244,0.00,2.40,6.65,0.666,4,0.000,0.051,2649,1187,2234,0,0,0,0,0,0
$GC,10350,0.54,199.9,164.9,8.6,770,10385,0.00,2.35,27.62,0.712,6,0.000,0.055,2649,2606,2108,0,0,0,0,0,0
$GC,10704,0.62,254.7,135.4,7.5,803,10753,0.00,0.00,47.40,0.692,6,0.000,0.000,2648,2606,1884,0,0,0,0,0,0
$GC,11072,0.71,264.2,102.7,9.6,838,11086,0.15,2.38,8.05,0.643,4,0.093,0.053,2714,1191,1844,0,0,0,0,0,0
$GC,11105,0.74,264.2,98.7,12.2,841,11112,0.00,2.30,0.00,0.000,6,0.000,0.055,2715,2587,1843,0,0,0,0,0,0
$GC,11452,0.74,264.2,53.5,11.7,902,11459,0.00,2.28,0.00,0.000,4,0.000,0.053,2715,1194,1841,0,0,0,0,0,0
$GC,11519,0.78,264.2,46.4,10.7,913,11525,0.00,2.20,0.00,0.000,6,0.000,0.055,2714,2539,1840,0,0,0,0,0,0
$FREEZE,8.75,-1.586,-1.815,3,1,0
$FREEZE,8.06,-1.615,-1.814,3,1,0
$STATE,11859,end climb,FINISH_DEPTH_REACHED
$STATE,11860,begin subsurface finish
$FINISH1,8.1,1.026556,46
$GC,11868,0.03,46.3,8.1,-10.2,973,11906,0.73,2.40,-30.15,0.000,4,0.138,0.063,2488,1186,2737,0,0,0,0,0,0
$FINISH2,5.4
$STATE,11907,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11907,begin surface
$RAFOS_CLK,633
$RAFOS,6,1296089345,0.833333,0.818056,61,53,45,41,40,40,756,765,400,516,648,1427
$RAFOS,5,1296088870,0.700000,0.686111,58,47,45,45,44,43,618,472,700,869,629,1119
$RAFOS,4,1296088382,0.566667,0.550556,66,50,44,44,43,42,711,334,1242,1320,26,817
$RAFOS,3,1296087921,0.433333,0.422500,43,42,42,42,41,40,1455,931,1914,1097,1832,675
$RAFOS,2,1296087423,0.300000,0.284167,51,41,40,39,39,38,755,26,1868,1030,1146,1513
$RAFOS,1,1296086943,0.166667,0.150833,48,46,44,43,41,41,588,984,508,403,276,1317
$RAFOS,0,1296086490,0.033333,0.025000,48,47,46,45,41,39,968,1416,1078,585,1900,1089
$RAFOS_FIX,6645.491699,-5804.612305,270111,000040,2,64,0.78
$IRIDIUM_FIX,6614.97,-5807.17,260111,181819
$TT8_MAMPS,0.029211
$HUMID,49.48
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.2
$ALTIM_BOTTOM_PING,601.5,11.9
$24V_AH,21.2,94.423
$10V_AH,9.6,64.176
$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,11.500,105.400,363.650,0.000,0.000,25.757,16.785,533.140,2.250,0.000,37.428,2410.796,7057.524,510.268,2278.301,638.507,0.000,1477.332,0.000,1726.131,2520.000,17.696,0.000
$DEVICE_MAMPS,248.625,116.280,976.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151568
$DATA_FILE_SIZE,36705,979
$CAP_FILE_SIZE,134963,0
$CFSIZE,260165632,194899968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$GPS,270111,004240,6645.492,-5804.612,0,2063.5,0,-37.5