version: 66.08
glider: 183
mission: 3
dive: 387
start: 11 24 110 6 15 58
data:
$ID,183
$MISSION,3
$DIVE,387
$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,-2
$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,-8271.1582
$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,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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,241110,060936,6647.958,-5948.530,27,1.2,27,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-69.5
$GPS2,241110,061526,6647.951,-5948.338,13,1.2,13,-38.1
$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,293.2,28508,-17.5,-10.000
$D_GRID,803
$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
$STATE,13,begin dive
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$GC,2343,-0.64,-146.0,234.0,-9.2,293,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2803,3523,0,0,0,0,0,0
$GC,2663,-0.66,-146.0,263.2,-9.0,323,2667,0.00,2.30,0.00,0.000,4,0.000,0.053,2274,1361,3522,0,0,0,0,0,0
$GC,2705,-0.71,-146.0,267.0,-9.3,326,2709,0.00,2.40,0.00,0.000,6,0.000,0.063,2275,2800,3522,0,0,0,0,0,0
$GC,3030,-0.73,-146.0,295.3,-8.6,356,3032,0.10,0.00,0.00,0.000,6,0.121,0.000,2231,2800,3522,0,0,0,0,0,0
$GC,3349,-0.68,-146.0,331.0,-11.5,386,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2800,3522,0,0,0,0,0,0
$GC,3670,-0.62,-146.0,367.5,-11.3,416,3677,0.15,0.00,0.00,0.000,6,0.166,0.000,2272,2800,3522,0,0,0,0,0,0
$GC,3996,-0.67,-146.0,395.4,-8.2,447,4000,0.00,1.92,0.00,0.000,4,0.000,0.075,2270,3933,3523,0,0,0,0,0,0
$GC,4054,-0.72,-146.0,400.3,-8.7,452,4057,0.00,1.83,0.00,0.000,6,0.000,0.050,2270,2791,3523,0,0,0,0,0,0
$GC,4385,-0.76,-146.0,427.7,-8.1,483,4387,0.12,0.00,0.00,0.000,6,0.107,0.000,2215,2791,3523,0,0,0,0,0,0
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$GC,4805,-0.71,-146.0,474.8,-9.5,522,4809,0.00,1.80,0.00,0.000,6,0.000,0.049,2252,2801,3523,0,0,0,0,0,0
$GC,5144,-0.71,-146.0,506.3,-9.6,550,5148,0.00,2.25,0.00,0.000,4,0.000,0.050,2252,1371,3524,0,0,0,0,0,0
$GC,5210,-0.74,-146.0,512.7,-9.7,552,5215,0.00,2.35,0.00,0.000,6,0.000,0.063,2252,2792,3524,0,0,0,0,0,0
$GC,5546,-0.74,-146.0,542.6,-8.7,563,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2791,3524,0,0,0,0,0,0
$GC,5852,-0.74,-146.0,568.1,-8.3,573,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2792,3524,0,0,0,0,0,0
$GC,6158,-0.74,-146.0,593.2,-8.3,583,6162,0.00,2.25,0.00,0.000,4,0.000,0.050,2252,1371,3524,0,0,0,0,0,0
$GC,6193,-0.77,-146.0,596.0,-8.3,584,6197,0.00,2.35,0.00,0.000,6,0.000,0.063,2252,2798,3524,0,0,0,0,0,0
$GC,6528,-0.77,-146.0,622.8,-8.0,595,6532,0.00,2.28,0.00,0.000,4,0.000,0.050,2252,1363,3524,0,0,0,0,0,0
$GC,6557,-0.79,-146.0,625.3,-8.7,596,6561,0.00,2.35,0.00,0.000,6,0.000,0.062,2252,2790,3524,0,0,0,0,0,0
$GC,6894,-0.79,-146.0,652.1,-8.1,607,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2790,3525,0,0,0,0,0,0
$GC,7198,-0.79,-146.0,676.5,-7.8,617,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2790,3525,0,0,0,0,0,0
$GC,7505,-0.79,-146.0,701.8,-8.3,627,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2790,3525,0,0,0,0,0,0
$GC,7810,-0.79,-146.0,726.6,-8.0,637,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2790,3525,0,0,0,0,0,0
$GC,8119,-0.81,-146.0,750.6,-7.7,647,8121,0.10,0.00,0.00,0.000,6,0.122,0.000,2206,2791,3525,0,0,0,0,0,0
$GC,8423,-0.74,-146.0,783.0,-10.8,657,8427,0.12,1.92,0.00,0.000,4,0.185,0.073,2231,3930,3525,0,0,0,0,0,0
$GC,8451,-0.71,-146.0,785.9,-9.9,657,8457,0.00,1.85,0.00,0.000,6,0.000,0.047,2231,2776,3525,0,0,0,0,0,0
$STATE,8639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8639,begin apogee
$GC,8645,-0.14,0.0,803.5,9.2,664,8776,0.60,0.00,124.35,1.111,4,0.139,0.000,2424,2597,2926,0,0,0,0,0,0
$STATE,8776,end apogee,CONTROL_FINISHED_OK
$STATE,8776,begin climb
$GC,8778,0.57,146.0,806.4,0.0,668,8919,0.70,2.45,132.65,1.086,4,0.075,0.050,2661,1182,2327,0,0,0,0,0,0
$GC,9095,0.57,146.0,776.9,32782.1,678,9099,0.00,2.45,0.00,0.000,6,0.000,0.057,2661,2602,2318,0,0,0,0,0,0
$GC,9429,0.57,146.0,733.5,32782.1,689,9434,0.00,2.33,0.00,0.000,4,0.000,0.054,2663,1183,2314,0,0,0,0,0,0
$GC,9647,0.57,146.0,707.0,32782.1,695,9651,0.00,2.35,0.00,0.000,6,0.000,0.057,2663,2604,2314,0,0,0,0,0,0
$GC,9966,0.57,146.0,665.6,32782.1,706,9970,0.00,2.22,0.00,0.000,4,0.000,0.068,2663,3926,2313,0,0,0,0,0,0
$GC,10033,0.57,146.0,655.3,32782.1,708,10037,0.00,2.15,0.00,0.000,6,0.000,0.044,2665,2596,2311,0,0,0,0,0,0
$GC,10368,0.57,146.0,609.9,32782.1,719,10372,0.00,2.25,0.00,0.000,4,0.000,0.068,2665,3933,2311,0,0,0,0,0,0
$GC,10406,0.57,146.0,603.9,32782.1,720,10410,0.00,2.12,0.00,0.000,6,0.000,0.044,2666,2610,2311,0,0,0,0,0,0
$GC,10737,0.57,146.0,561.3,32782.1,731,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2609,2311,0,0,0,0,0,0
$GC,11042,0.57,146.0,523.0,32782.1,741,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2609,2311,0,0,0,0,0,0
$GC,11353,0.57,146.0,485.7,32782.1,757,11357,0.00,2.20,0.00,0.000,4,0.000,0.068,2666,3926,2311,0,0,0,0,0,0
$GC,11396,0.57,146.0,479.4,32782.1,760,11403,0.00,2.10,0.00,0.000,6,0.000,0.045,2666,2615,2310,0,0,0,0,0,0
$GC,11722,0.57,146.0,442.6,32782.1,791,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2615,2311,0,0,0,0,0,0
$GC,12043,0.57,146.0,408.7,32782.1,821,12049,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2615,2311,0,0,0,0,0,0
$GC,12370,0.57,146.0,373.4,32782.1,852,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2615,2311,0,0,0,0,0,0
$GC,12688,0.57,146.0,338.6,32782.1,882,12692,0.00,2.22,0.00,0.000,4,0.000,0.069,2666,3928,2311,0,0,0,0,0,0
$GC,12743,0.57,146.0,331.7,32782.1,886,12750,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2613,2310,0,0,0,0,0,0
$GC,13068,0.57,146.0,296.2,32782.1,917,13072,0.00,2.20,0.00,0.000,4,0.000,0.069,2666,3927,2310,0,0,0,0,0,0
$GC,13102,0.57,146.0,292.1,32782.1,919,13109,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2613,2310,0,0,0,0,0,0
$GC,13427,0.57,146.0,257.9,32782.1,950,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2613,2310,0,0,0,0,0,0
$GC,13748,0.57,146.0,223.1,32782.1,980,13752,0.00,2.22,0.00,0.000,4,0.000,0.069,2666,3926,2311,0,0,0,0,0,0
$GC,13780,0.57,146.0,218.6,32782.1,982,13787,0.00,2.08,0.00,0.000,6,0.000,0.045,2666,2628,2310,0,0,0,0,0,0
$GC,14106,0.57,146.0,183.5,32782.1,1013,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2628,2311,0,0,0,0,0,0
$GC,14426,0.57,146.0,152.2,32782.1,1043,14427,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2628,2310,0,0,0,0,0,0
$GC,14745,0.57,146.0,125.1,32782.1,1073,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2628,2310,0,0,0,0,0,0
$GC,15063,0.57,146.0,101.9,32782.1,1103,15067,0.00,2.22,0.00,0.000,4,0.000,0.070,2667,3933,2310,0,0,0,0,0,0
$GC,15137,0.57,146.0,96.2,32782.1,1113,15143,0.00,2.10,0.00,0.000,6,0.000,0.046,2667,2625,2310,0,0,0,0,0,0
$STATE,15272,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,15274,begin subsurface finish
$FINISH1,86.9,1.026611,44
$GC,15279,0.03,43.6,86.9,-32782.1,1137,15293,0.57,2.35,-3.55,0.000,4,0.168,0.067,2493,1192,2754,0,0,0,0,0,0
$FINISH2,86.0
$STATE,15294,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15294,begin surface
$RAFOS_CLK,842
$RAFOS,6,1290588571,8.833333,8.825277,124,43,43,42,42,41,615,798,1476,493,1650,977
$RAFOS,5,1290588064,8.700000,8.684444,51,48,43,43,42,41,825,1652,779,1526,26,161
$RAFOS,65,-564117106,736535637748573595431388315648000.000000,0.000000,212,141,65,140,102,146,14574,16558,6304,301,522,704
$RAFOS,3,1290587105,8.433333,8.418056,70,49,47,45,45,43,740,749,1568,1205,1281,536
$RAFOS,2,1290586645,8.300000,8.290277,100,49,46,42,41,39,520,145,813,248,1221,338
$RAFOS,1,1290586155,8.166667,8.154166,87,47,43,41,41,40,500,1102,145,1484,1684,163
$RAFOS,0,1290585669,8.033334,8.019167,85,42,42,41,41,40,663,320,1775,735,1855,1101
$RAFOS_FIX,6647.020020,-5946.835938,241110,080836,5,93,0.27
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.028462
$HUMID,49.40
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,21.0,20.7
$ALTIM_BOTTOM_PING,87.6,21.2
$24V_AH,21.9,47.168
$10V_AH,10.0,35.975
$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,11.525,90.100,257.000,0.000,0.000,24.946,44.240,137.683,3.000,0.000,16.450,3060.974,9971.812,394.513,2174.882,252.617,0.000,1437.728,0.000,1942.343,2520.000,23.220,0.000
$DEVICE_MAMPS,257.805,75.735,1110.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,40080,1139
$CAP_FILE_SIZE,144040,0
$CFSIZE,260165632,222015488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,241110,082236,6647.020,-5946.836,0,5093.2,0,-38.1