version: 66.08
glider: 183
mission: 3
dive: 913
start: 2 5 111 6 10 53
data:
$ID,183
$MISSION,3
$DIVE,913
$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,1
$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,-15626.439
$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,25
$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
$GPS1,050211,060337,6652.731,-5820.178,35,1.1,35,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-59.1
$GPS2,050211,061020,6652.698,-5820.057,13,1.3,13,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,297.8,93533,-17.5,-10.000
$D_GRID,872
$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,-153.07,0.000,2,0.000,0.000,292,2789,3508,0,0,0,0,0,0
$GC,178,-0.57,-146.0,5.7,-14.8,27,192,8.38,1.98,0.00,0.000,4,0.244,0.058,2278,3934,3511,0,0,0,0,0,0
$GC,331,-0.57,-146.0,37.4,-11.5,53,338,0.00,1.88,0.00,0.000,6,0.000,0.050,2278,2781,3512,0,0,0,0,0,0
$GC,679,-0.57,-146.0,74.8,-9.3,114,685,0.00,2.28,0.00,0.000,4,0.000,0.050,2278,1374,3513,0,0,0,0,0,0
$GC,746,-0.59,-146.0,80.8,-8.7,125,753,0.00,2.35,0.00,0.000,6,0.000,0.063,2275,2760,3513,0,0,0,0,0,0
$GC,1091,-0.59,-146.0,114.6,-9.6,173,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2761,3513,0,0,0,0,0,0
$GC,1411,-0.61,-146.0,144.4,-8.6,203,1415,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3930,3512,0,0,0,0,0,0
$GC,1440,-0.64,-146.0,147.3,-8.6,205,1446,0.00,1.98,0.00,0.000,6,0.000,0.049,2275,2739,3512,0,0,0,0,0,0
$GC,1766,-0.67,-146.0,175.0,-8.3,236,1770,0.00,2.22,0.00,0.000,4,0.000,0.050,2275,1365,3512,0,0,0,0,0,0
$GC,1808,-0.72,-146.0,178.7,-8.8,239,1812,0.00,2.35,0.00,0.000,6,0.000,0.061,2275,2741,3512,0,0,0,0,0,0
$GC,2135,-0.76,-146.0,206.2,-8.5,269,2139,0.12,2.10,0.00,0.000,4,0.101,0.072,2213,3928,3511,0,0,0,0,0,0
$GC,2181,-0.68,-146.0,211.5,-12.9,273,2186,0.15,1.98,0.00,0.000,6,0.164,0.047,2251,2732,3511,0,0,0,0,0,0
$GC,2513,-0.68,-146.0,243.6,-9.4,304,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2732,3512,0,0,0,0,0,0
$GC,2836,-0.68,-146.0,274.1,-9.3,334,2840,0.00,2.12,0.00,0.000,4,0.000,0.072,2247,3936,3512,0,0,0,0,0,0
$GC,2898,-0.68,-146.0,281.0,-10.0,339,2905,0.00,1.98,0.00,0.000,6,0.000,0.047,2247,2745,3512,0,0,0,0,0,0
$GC,3224,-0.68,-146.0,313.8,-9.9,370,3228,0.00,2.10,0.00,0.000,4,0.000,0.071,2247,3936,3512,0,0,0,0,0,0
$GC,3248,-0.68,-146.0,316.3,-10.4,372,3252,0.00,1.95,0.00,0.000,6,0.000,0.047,2246,2741,3512,0,0,0,0,0,0
$GC,3582,-0.68,-146.0,350.5,-10.1,403,3586,0.00,2.20,0.00,0.000,4,0.000,0.047,2247,1373,3512,0,0,0,0,0,0
$GC,3615,-0.68,-146.0,354.3,-10.0,405,3622,0.00,2.33,0.00,0.000,6,0.000,0.060,2247,2748,3512,0,0,0,0,0,0
$GC,3942,-0.68,-146.0,385.0,-9.1,436,3946,0.00,2.08,0.00,0.000,4,0.000,0.071,2247,3934,3513,0,0,0,0,0,0
$GC,3989,-0.68,-146.0,389.8,-9.9,440,3993,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2756,3513,0,0,0,0,0,0
$GC,4322,-0.68,-146.0,420.9,-9.4,458,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2755,3513,0,0,0,0,0,0
$GC,4629,-0.68,-146.0,448.7,-9.0,468,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3513,0,0,0,0,0,0
$GC,4935,-0.68,-146.0,476.2,-9.0,478,4939,0.00,2.25,0.00,0.000,4,0.000,0.048,2247,1370,3514,0,0,0,0,0,0
$GC,4970,-0.70,-146.0,479.3,-9.1,479,4975,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2758,3514,0,0,0,0,0,0
$GC,5308,-0.70,-146.0,509.6,-9.1,490,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3514,0,0,0,0,0,0
$GC,5613,-0.70,-146.0,537.9,-9.3,500,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3514,0,0,0,0,0,0
$STATE,5767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5767,begin apogee
$GC,5775,-0.14,0.0,551.9,9.1,505,5904,0.55,0.00,121.22,0.942,4,0.132,0.000,2422,2601,2923,0,0,0,0,0,0
$STATE,5904,end apogee,CONTROL_FINISHED_OK
$STATE,5904,begin climb
$GC,5907,0.57,146.0,556.8,0.0,509,6047,0.70,2.42,130.32,0.916,4,0.070,0.050,2665,1180,2327,0,0,0,0,0,0
$GC,6205,0.57,146.0,533.6,10.8,518,6209,0.00,2.47,0.00,0.000,6,0.000,0.054,2665,2609,2319,0,0,0,0,0,0
$GC,6542,0.52,146.0,495.7,11.3,529,6546,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1181,2316,0,0,0,0,0,0
$GC,6779,0.52,146.0,470.0,10.9,536,6783,0.00,2.35,0.00,0.000,6,0.000,0.055,2666,2613,2316,0,0,0,0,0,0
$GC,7113,0.47,146.0,433.3,11.1,547,7118,0.15,2.22,0.00,0.000,4,0.192,0.066,2627,3925,2314,0,0,0,0,0,0
$GC,7180,0.44,146.0,425.4,10.4,549,7184,0.00,2.15,0.00,0.000,6,0.000,0.044,2628,2604,2313,0,0,0,0,0,0
$GC,7503,0.46,176.5,397.4,8.6,561,7531,0.00,0.00,25.33,0.834,6,0.000,0.000,2628,2603,2202,0,0,0,0,0,0
$GC,7852,0.52,200.3,366.7,8.9,594,7878,0.00,2.28,21.08,0.813,4,0.000,0.067,2628,3926,2106,0,0,0,0,0,0
$GC,7913,0.52,200.3,360.5,11.3,599,7917,0.00,2.15,0.00,0.000,6,0.000,0.044,2628,2608,2103,0,0,0,0,0,0
$GC,8240,0.58,215.4,329.9,9.3,629,8263,0.10,2.33,14.05,0.783,4,0.116,0.051,2679,1199,2044,0,0,0,0,0,0
$GC,8298,0.58,215.4,322.9,12.4,634,8302,0.00,2.30,0.00,0.000,6,0.000,0.054,2680,2613,2043,0,0,0,0,0,0
$GC,8625,0.56,215.4,280.5,13.4,664,8629,0.00,2.20,0.00,0.000,4,0.000,0.066,2679,3925,2039,0,0,0,0,0,0
$GC,8688,0.50,215.4,271.3,14.6,669,8693,0.17,2.12,0.00,0.000,6,0.184,0.044,2635,2617,2038,0,0,0,0,0,0
$GC,9023,0.57,235.2,239.5,9.1,700,9046,0.00,2.38,17.60,0.747,4,0.000,0.051,2635,1193,1963,0,0,0,0,0,0
$GC,9073,0.71,274.0,235.0,8.2,704,9117,0.20,2.33,34.88,0.737,6,0.077,0.054,2719,2619,1804,0,0,0,0,0,0
$GC,9436,0.66,274.0,180.9,15.1,738,9441,0.12,2.20,0.00,0.000,4,0.190,0.065,2687,3925,1796,0,0,0,0,0,0
$GC,9477,0.66,274.0,174.9,14.4,741,9481,0.00,2.12,0.00,0.000,6,0.000,0.044,2690,2618,1794,0,0,0,0,0,0
$GC,9809,0.66,274.0,134.4,11.5,772,9813,0.00,2.30,0.00,0.000,4,0.000,0.051,2690,1187,1794,0,0,0,0,0,0
$GC,9875,0.73,274.0,127.2,11.2,777,9879,0.00,2.35,0.00,0.000,6,0.000,0.054,2690,2619,1793,0,0,0,0,0,0
$GC,10206,0.76,274.0,89.0,11.2,816,10213,0.00,2.33,0.00,0.000,4,0.000,0.052,2691,1195,1793,0,0,0,0,0,0
$GC,10272,0.84,274.0,81.7,11.3,827,10280,0.15,2.30,0.00,0.000,6,0.090,0.054,2753,2592,1792,0,0,0,0,0,0
$GC,10623,0.78,274.0,26.9,14.6,888,10630,0.00,2.30,0.00,0.000,4,0.000,0.067,2753,3936,1791,0,0,0,0,0,0
$FREEZE,8.11,-1.812,-1.818,3,1,0
$STATE,10733,end climb,FINISH_DEPTH_REACHED
$STATE,10733,begin subsurface finish
$FINISH1,8.1,1.026616,43
$GC,10743,0.03,43.4,8.1,-16.8,907,10786,0.93,2.40,-35.03,0.000,4,0.164,0.064,2493,1178,2749,0,0,0,0,0,0
$FINISH2,4.7
$STATE,10786,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10786,begin surface
$RAFOS_CLK,568
$RAFOS,6,1296895751,8.833333,8.819722,93,46,41,39,39,39,644,1628,26,325,378,909
$RAFOS,5,1296895269,8.700000,8.685833,72,47,43,41,40,39,622,200,1021,190,1207,1567
$RAFOS,4,1296894789,8.566667,8.552500,84,45,44,42,40,38,608,467,885,1052,1484,1622
$RAFOS,3,1296894309,8.433333,8.419167,120,55,45,42,40,40,751,752,1094,1896,1484,1784
$RAFOS,2,1296893824,8.300000,8.284445,45,43,43,42,41,41,1432,798,1598,1161,200,318
$RAFOS,1,1296893359,8.166667,8.155278,52,44,43,43,43,41,1854,1165,1106,381,1236,1370
$RAFOS,0,1296892866,8.033334,8.018333,49,48,46,45,43,41,425,548,1352,154,1851,808
$RAFOS_FIX,6653.437012,-5823.503418,050211,080828,4,92,0.32
$IRIDIUM_FIX,6631.12,-5818.88,050211,020256
$TT8_MAMPS,0.029211
$HUMID,49.48
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.40
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.5,17.9
$ALTIM_BOTTOM_PING,551.9,11.4
$24V_AH,21.5,102.062
$10V_AH,9.7,68.985
$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,11.725,95.200,364.475,0.000,0.000,28.298,16.967,183.739,3.000,0.000,15.808,2257.597,6247.666,502.206,1822.802,372.353,0.000,1399.818,0.000,1595.007,2520.000,18.754,0.000
$DEVICE_MAMPS,244.035,72.675,942.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,33402,914
$CAP_FILE_SIZE,120708,0
$CFSIZE,260165632,190681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,050211,083928,6653.437,-5823.503,0,4092.2,0,-37.7