version: 66.08
glider: 183
mission: 3
dive: 842
start: 1 27 111 15 59 33
data:
$ID,183
$MISSION,3
$DIVE,842
$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,-13332.397
$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,24
$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
$GPS1,270111,153656,6642.949,-5755.699,33,3.2,52,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.5
$GPS2,270111,155902,6642.743,-5755.502,11,1.6,11,-37.4
$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,89.8,61512,-17.5,-10.000
$D_GRID,631
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-152.75,0.000,2,0.000,0.000,300,2783,3402,0,0,0,0,0,0
$GC,178,-0.57,-146.0,5.1,-10.2,27,198,8.40,2.33,-2.50,0.000,4,0.246,0.063,2282,1363,3521,0,0,0,0,0,0
$GC,381,-0.57,-146.0,40.3,-11.6,62,387,0.00,2.40,0.00,0.000,6,0.000,0.060,2276,2782,3524,0,0,0,0,0,0
$GC,727,-0.57,-146.0,79.2,-10.2,123,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2782,3524,0,0,0,0,0,0
$GC,1070,-0.57,-146.0,116.1,-9.9,171,1074,0.00,2.30,0.00,0.000,4,0.000,0.050,2276,1370,3523,0,0,0,0,0,0
$GC,1104,-0.57,-146.0,119.7,-10.5,173,1111,0.00,2.42,0.00,0.000,6,0.000,0.063,2274,2789,3523,0,0,0,0,0,0
$GC,1432,-0.59,-146.0,151.8,-9.9,204,1436,0.00,2.30,0.00,0.000,4,0.000,0.050,2275,1374,3522,0,0,0,0,0,0
$GC,1467,-0.62,-146.0,155.3,-9.9,206,1473,0.00,2.40,0.00,0.000,6,0.000,0.063,2275,2778,3522,0,0,0,0,0,0
$GC,1793,-0.65,-146.0,187.0,-9.3,237,1797,0.00,1.98,0.00,0.000,4,0.000,0.073,2273,3928,3522,0,0,0,0,0,0
$GC,1864,-0.70,-146.0,193.7,-9.9,243,1867,0.00,1.88,0.00,0.000,6,0.000,0.049,2273,2781,3522,0,0,0,0,0,0
$GC,2197,-0.73,-146.0,221.4,-7.9,274,2201,0.00,2.28,0.00,0.000,4,0.000,0.050,2272,1372,3522,0,0,0,0,0,0
$GC,2231,-0.78,-146.0,224.3,-7.9,276,2238,0.15,2.42,0.00,0.000,6,0.086,0.062,2206,2791,3522,0,0,0,0,0,0
$GC,2558,-0.69,-146.0,264.3,-12.7,307,2560,0.17,0.00,0.00,0.000,6,0.175,0.000,2254,2790,3522,0,0,0,0,0,0
$GC,2875,-0.69,-146.0,295.4,-9.5,337,2879,0.00,2.30,0.00,0.000,4,0.000,0.049,2254,1371,3523,0,0,0,0,0,0
$GC,2906,-0.69,-146.0,298.1,-9.6,339,2910,0.00,2.40,0.00,0.000,6,0.000,0.061,2248,2779,3523,0,0,0,0,0,0
$GC,3232,-0.69,-146.0,329.6,-9.2,369,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2779,3524,0,0,0,0,0,0
$GC,3551,-0.69,-146.0,360.5,-9.4,399,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2779,3523,0,0,0,0,0,0
$GC,3871,-0.69,-146.0,389.4,-9.1,429,3875,0.00,2.30,0.00,0.000,4,0.000,0.049,2248,1366,3524,0,0,0,0,0,0
$GC,3897,-0.69,-146.0,391.8,-9.0,431,3901,0.00,2.40,0.00,0.000,6,0.000,0.060,2248,2780,3524,0,0,0,0,0,0
$GC,4214,-0.69,-146.0,419.7,-8.9,447,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3525,0,0,0,0,0,0
$GC,4520,-0.69,-146.0,446.6,-8.6,457,4524,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1371,3524,0,0,0,0,0,0
$GC,4566,-0.72,-146.0,450.8,-9.0,458,4570,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2782,3525,0,0,0,0,0,0
$GC,4891,-0.72,-146.0,480.0,-9.2,469,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2782,3525,0,0,0,0,0,0
$GC,5198,-0.72,-146.0,508.3,-9.3,479,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2782,3525,0,0,0,0,0,0
$GC,5503,-0.72,-146.0,535.7,-8.6,489,5507,0.00,2.00,0.00,0.000,4,0.000,0.070,2241,3938,3526,0,0,0,0,0,0
$GC,5541,-0.72,-146.0,539.4,-9.3,490,5545,0.00,1.95,0.00,0.000,6,0.000,0.046,2241,2768,3526,0,0,0,0,0,0
$GC,5879,-0.72,-146.0,570.5,-9.5,501,5883,0.00,2.28,0.00,0.000,4,0.000,0.048,2241,1367,3526,0,0,0,0,0,0
$GC,5918,-0.74,-146.0,574.6,-9.4,502,5922,0.00,2.38,0.00,0.000,6,0.000,0.060,2241,2779,3526,0,0,0,0,0,0
$STATE,6183,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6183,begin apogee
$GC,6190,-0.14,0.0,600.0,9.8,511,6322,0.57,0.00,124.50,0.973,4,0.131,0.000,2425,2596,2923,0,0,0,0,0,0
$STATE,6322,end apogee,CONTROL_FINISHED_OK
$STATE,6322,begin climb
$GC,6325,0.57,146.0,605.5,0.0,515,6467,0.68,2.40,131.82,0.949,4,0.067,0.048,2663,1183,2326,0,0,0,0,0,0
$GC,6570,0.57,156.0,589.5,9.5,522,6585,0.00,2.53,9.25,0.835,6,0.000,0.053,2663,2602,2287,0,0,0,0,0,0
$GC,6918,0.53,156.0,550.7,11.8,534,6922,0.00,2.33,0.00,0.000,4,0.000,0.051,2664,1177,2281,0,0,0,0,0,0
$GC,7117,0.53,156.0,529.0,11.1,540,7121,0.00,2.35,0.00,0.000,6,0.000,0.054,2664,2611,2281,0,0,0,0,0,0
$GC,7453,0.49,156.0,490.2,11.4,551,7457,0.00,2.20,0.00,0.000,4,0.000,0.066,2663,3925,2280,0,0,0,0,0,0
$GC,7510,0.41,156.0,482.6,13.3,552,7517,0.22,2.15,0.00,0.000,6,0.184,0.044,2607,2599,2278,0,0,0,0,0,0
$GC,7824,0.51,205.4,457.5,7.7,563,7875,0.00,2.40,43.10,0.877,4,0.000,0.050,2607,1181,2084,0,0,0,0,0,0
$GC,7901,0.67,264.9,451.7,7.3,565,7961,0.25,2.35,52.40,0.864,6,0.070,0.054,2708,2606,1841,0,0,0,0,0,0
$GC,8272,0.63,264.9,394.4,16.1,578,8276,0.00,2.28,0.00,0.000,4,0.000,0.052,2708,1195,1830,0,0,0,0,0,0
$GC,8306,0.63,264.9,389.0,14.9,580,8313,0.12,2.30,0.00,0.000,6,0.177,0.054,2676,2604,1830,0,0,0,0,0,0
$GC,8631,0.63,264.9,346.3,13.8,611,8635,0.00,2.30,0.00,0.000,4,0.000,0.052,2676,1190,1828,0,0,0,0,0,0
$GC,8665,0.68,264.9,341.7,13.0,613,8672,0.00,2.30,0.00,0.000,6,0.000,0.054,2676,2586,1828,0,0,0,0,0,0
$GC,8991,0.68,264.9,296.7,13.9,644,8995,0.00,2.25,0.00,0.000,4,0.000,0.051,2677,1190,1827,0,0,0,0,0,0
$GC,9020,0.72,264.9,292.8,12.9,646,9025,0.00,2.30,0.00,0.000,6,0.000,0.054,2677,2583,1827,0,0,0,0,0,0
$GC,9347,0.72,264.9,250.5,13.0,676,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2583,1826,0,0,0,0,0,0
$GC,9668,0.74,264.9,211.9,12.5,706,9673,0.10,2.28,0.00,0.000,4,0.115,0.051,2724,1191,1826,0,0,0,0,0,0
$GC,9709,0.74,264.9,205.6,15.0,709,9713,0.00,2.30,0.00,0.000,6,0.000,0.054,2725,2583,1826,0,0,0,0,0,0
$GC,10035,0.69,264.9,154.3,15.6,739,10039,0.00,2.28,0.00,0.000,4,0.000,0.052,2724,1191,1825,0,0,0,0,0,0
$GC,10064,0.66,264.9,150.0,15.5,741,10069,0.15,2.28,0.00,0.000,6,0.169,0.053,2686,2582,1825,0,0,0,0,0,0
$GC,10395,0.69,264.9,109.5,11.1,772,10399,0.00,2.28,0.00,0.000,4,0.000,0.051,2686,1187,1825,0,0,0,0,0,0
$GC,10466,0.76,264.9,102.1,10.5,778,10471,0.10,2.28,0.00,0.000,6,0.112,0.054,2729,2564,1825,0,0,0,0,0,0
$GC,10813,0.74,264.9,52.5,13.9,837,10820,0.00,2.33,0.00,0.000,4,0.000,0.066,2729,3928,1824,0,0,0,0,0,0
$GC,10953,0.69,264.9,31.4,14.9,861,10961,0.12,2.20,0.00,0.000,6,0.190,0.044,2702,2569,1824,0,0,0,0,0,0
$FREEZE,8.57,-1.634,-1.820,3,1,0
$STATE,11153,end climb,FINISH_DEPTH_REACHED
$STATE,11153,begin subsurface finish
$FINISH1,8.6,1.026628,43
$GC,11161,0.03,42.8,8.6,-10.5,896,11197,0.68,2.33,-28.60,0.000,4,0.142,0.061,2491,1178,2751,0,0,0,0,0,0
$FINISH2,6.6
$STATE,11198,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11198,begin surface
$RAFOS_CLK,591
$RAFOS,6,1296146947,16.833334,16.818611,107,42,41,40,39,39,753,567,1475,1276,1653,1372
$RAFOS,5,1296146463,16.700001,16.684166,137,47,46,42,41,41,644,375,197,952,774,279
$RAFOS,4,1296145985,16.566668,16.551390,77,48,47,45,44,42,722,1114,154,756,1144,1123
$RAFOS,3,1296145508,16.433332,16.418888,57,46,45,42,41,40,761,162,502,207,1704,238
$RAFOS,2,1296145029,16.299999,16.285833,52,47,45,44,42,38,1824,849,1785,503,313,929
$RAFOS,1,1296144545,16.166666,16.151388,63,42,42,42,41,38,883,104,1292,1795,1877,449
$RAFOS,0,1296144063,16.033333,16.017500,46,45,44,43,41,41,1674,908,880,1578,693,1370
$RAFOS_FIX,6644.674316,-5755.731445,270111,161612,4,96,1.65
$IRIDIUM_FIX,6614.97,-5747.57,270111,151516
$TT8_MAMPS,0.028462
$HUMID,49.92
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,600.0,11.9
$24V_AH,21.2,95.043
$10V_AH,9.6,64.525
$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,11.725,98.700,361.075,0.000,0.000,54.367,33.291,675.542,2.250,0.000,14.588,2219.655,6766.420,492.446,2335.830,718.198,0.000,1404.438,0.000,1593.716,2520.000,17.702,0.000
$DEVICE_MAMPS,246.330,154.530,973.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33413,902
$CAP_FILE_SIZE,131102,0
$CFSIZE,260165632,194629632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,270111,163512,6644.674,-5755.731,0,4096.0,0,-37.4