version: 66.08
glider: 183
mission: 3
dive: 433
start: 12 1 110 9 1 59
data:
$ID,183
$MISSION,3
$DIVE,433
$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,-8294.2529
$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,39
$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,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
$GPS1,011210,004213,6657.192,-5721.526,10,1.4,10,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.13
$_SM_ANGLEo,-0.3
$GPS2,011210,004213,6657.192,-5721.526,10,1.4,10,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,103.6,26493,-17.5,-10.000
$D_GRID,782
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.75,0.000,2,0.000,0.000,2493,1180,2857,0,0,0,0,0,0
$GC,27,-0.57,-146.0,5.6,-0.0,1,58,0.55,4.60,-18.80,0.000,4,0.100,0.066,2289,3917,3521,0,0,0,0,0,0
$GC,140,-0.57,-146.0,18.4,-15.5,20,146,0.00,1.77,0.00,0.000,6,0.000,0.042,2288,2770,3522,0,0,0,0,0,0
$GC,485,-0.59,-146.0,56.7,-9.7,81,492,0.00,2.17,0.00,0.000,4,0.000,0.044,2288,1367,3522,0,0,0,0,0,0
$GC,545,-0.66,-146.0,61.9,-7.7,91,552,0.00,2.28,0.00,0.000,6,0.000,0.056,2288,2779,3521,0,0,0,0,0,0
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$GC,1303,-0.65,-146.0,132.6,-8.3,196,1307,0.00,1.90,0.00,0.000,4,0.000,0.067,2264,3932,3521,0,0,0,0,0,0
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$GC,2011,-0.74,-146.0,193.5,-8.2,261,2018,0.00,2.30,0.00,0.000,6,0.000,0.055,2261,2793,3520,0,0,0,0,0,0
$GC,2337,-0.77,-146.0,221.9,-8.9,292,2341,0.10,1.88,0.00,0.000,4,0.117,0.066,2206,3929,3521,0,0,0,0,0,0
$GC,2416,-0.69,-146.0,231.6,-13.2,299,2421,0.17,1.80,0.00,0.000,6,0.164,0.041,2254,2781,3521,0,0,0,0,0,0
$GC,2747,-0.69,-146.0,261.8,-8.9,330,2751,0.00,2.17,0.00,0.000,4,0.000,0.043,2254,1368,3522,0,0,0,0,0,0
$GC,2799,-0.73,-146.0,266.3,-8.6,334,2803,0.00,2.30,0.00,0.000,6,0.000,0.055,2252,2796,3522,0,0,0,0,0,0
$GC,3125,-0.73,-146.0,294.1,-8.8,364,3129,0.00,1.85,0.00,0.000,4,0.000,0.065,2247,3929,3523,0,0,0,0,0,0
$GC,3205,-0.73,-146.0,301.7,-9.6,371,3208,0.00,1.75,0.00,0.000,6,0.000,0.041,2247,2817,3523,0,0,0,0,0,0
$GC,3536,-0.73,-146.0,330.1,-8.9,402,3540,0.00,1.85,0.00,0.000,4,0.000,0.066,2247,3938,3523,0,0,0,0,0,0
$GC,3561,-0.73,-146.0,332.3,-9.0,404,3565,0.00,1.75,0.00,0.000,6,0.000,0.042,2247,2809,3523,0,0,0,0,0,0
$GC,3892,-0.73,-146.0,361.2,-8.7,435,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2809,3523,0,0,0,0,0,0
$GC,4212,-0.73,-146.0,388.1,-8.1,465,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2809,3524,0,0,0,0,0,0
$GC,4530,-0.73,-146.0,413.1,-8.0,495,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2809,3523,0,0,0,0,0,0
$GC,4848,-0.73,-146.0,438.3,-7.9,525,4852,0.00,2.22,0.00,0.000,4,0.000,0.044,2247,1375,3524,0,0,0,0,0,0
$GC,4888,-0.76,-146.0,441.9,-8.6,528,4892,0.00,2.35,0.00,0.000,6,0.000,0.057,2247,2823,3523,0,0,0,0,0,0
$GC,5213,-0.76,-146.0,467.7,-8.2,558,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2823,3523,0,0,0,0,0,0
$GC,5534,-0.76,-146.0,493.3,-7.9,588,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2823,3523,0,0,0,0,0,0
$GC,5861,-0.76,-146.0,520.1,-8.3,604,5865,0.00,2.28,0.00,0.000,4,0.000,0.045,2247,1370,3522,0,0,0,0,0,0
$GC,5895,-0.78,-146.0,523.1,-8.6,605,5899,0.00,2.40,0.00,0.000,6,0.000,0.058,2247,2829,3522,0,0,0,0,0,0
$GC,6226,-0.78,-146.0,551.4,-8.7,616,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2829,3522,0,0,0,0,0,0
$GC,6530,-0.78,-146.0,577.5,-8.4,626,6534,0.00,2.28,0.00,0.000,4,0.000,0.046,2247,1375,3521,0,0,0,0,0,0
$GC,6570,-0.81,-146.0,580.9,-8.7,627,6574,0.00,2.35,0.00,0.000,6,0.000,0.059,2247,2816,3521,0,0,0,0,0,0
$GC,6893,-0.81,-146.0,606.7,-7.9,638,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2816,3521,0,0,0,0,0,0
$GC,7199,-0.81,-146.0,630.4,-7.5,648,7204,0.00,2.28,0.00,0.000,4,0.000,0.047,2247,1368,3520,0,0,0,0,0,0
$GC,7229,-0.83,-146.0,632.8,-7.9,649,7234,0.12,2.38,0.00,0.000,6,0.098,0.059,2188,2817,3520,0,0,0,0,0,0
$GC,7570,-0.73,-146.0,670.6,-11.4,660,7572,0.17,0.00,0.00,0.000,6,0.174,0.000,2235,2817,3520,0,0,0,0,0,0
$GC,7876,-0.73,-146.0,696.1,-8.3,670,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2817,3519,0,0,0,0,0,0
$GC,8183,-0.73,-146.0,721.7,-8.2,680,8187,0.00,2.28,0.00,0.000,4,0.000,0.047,2235,1370,3519,0,0,0,0,0,0
$GC,8227,-0.76,-146.0,725.6,-8.8,681,8231,0.00,2.35,0.00,0.000,6,0.000,0.060,2235,2804,3519,0,0,0,0,0,0
$GC,8546,-0.76,-146.0,752.6,-8.7,692,8549,0.00,1.88,0.00,0.000,4,0.000,0.069,2228,3937,3518,0,0,0,0,0,0
$STATE,8554,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8554,begin apogee
$GC,8561,-0.14,0.0,753.8,8.6,692,8691,0.60,0.00,122.05,1.069,4,0.137,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,8692,end apogee,CONTROL_FINISHED_OK
$STATE,8692,begin climb
$GC,8694,0.57,146.0,757.3,0.0,696,8836,0.68,2.40,129.55,1.046,4,0.066,0.047,2663,1186,2326,0,0,0,0,0,0
$GC,8968,0.54,146.0,733.3,11.6,704,8974,0.00,2.45,0.00,0.000,6,0.000,0.053,2664,2600,2317,0,0,0,0,0,0
$GC,9281,0.46,146.0,693.6,12.9,715,9285,0.15,2.30,0.00,0.000,4,0.197,0.051,2629,1187,2314,0,0,0,0,0,0
$GC,9492,0.50,158.5,672.2,9.4,721,9510,0.00,2.35,9.98,0.921,6,0.000,0.055,2628,2620,2276,0,0,0,0,0,0
$GC,9815,0.50,158.5,638.3,10.6,732,9819,0.00,2.17,0.00,0.000,4,0.000,0.066,2628,3928,2273,0,0,0,0,0,0
$GC,9850,0.45,158.5,634.3,12.4,733,9854,0.00,2.10,0.00,0.000,6,0.000,0.044,2635,2614,2272,0,0,0,0,0,0
$GC,10191,0.45,158.5,596.3,10.9,744,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2614,2272,0,0,0,0,0,0
$GC,10497,0.45,158.5,563.4,10.8,754,10501,0.00,2.17,0.00,0.000,4,0.000,0.067,2635,3924,2271,0,0,0,0,0,0
$GC,10519,0.41,158.5,560.7,11.2,754,10526,0.00,2.08,0.00,0.000,6,0.000,0.044,2637,2609,2269,0,0,0,0,0,0
$GC,10831,0.41,158.5,526.4,10.9,765,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2609,2270,0,0,0,0,0,0
$GC,11141,0.41,158.5,492.0,11.2,779,11145,0.00,2.20,0.00,0.000,4,0.000,0.067,2637,3933,2270,0,0,0,0,0,0
$GC,11171,0.36,158.5,488.1,13.3,781,11176,0.17,2.08,0.00,0.000,6,0.192,0.044,2596,2625,2269,0,0,0,0,0,0
$GC,11497,0.45,193.4,459.4,8.4,811,11529,0.00,0.00,30.12,0.888,6,0.000,0.000,2595,2625,2133,0,0,0,0,0,0
$GC,11847,0.57,237.8,430.4,8.0,844,11888,0.17,0.00,38.53,0.867,6,0.087,0.000,2669,2624,1952,0,0,0,0,0,0
$GC,12203,0.54,237.8,381.9,14.0,878,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2624,1943,0,0,0,0,0,0
$GC,12524,0.52,237.8,339.6,12.9,908,12525,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2625,1942,0,0,0,0,0,0
$GC,12840,0.49,237.8,298.0,13.1,938,12842,0.12,0.00,0.00,0.000,6,0.185,0.000,2637,2624,1941,0,0,0,0,0,0
$GC,13158,0.53,237.8,263.1,11.0,968,13163,0.00,2.25,0.00,0.000,4,0.000,0.050,2637,1188,1940,0,0,0,0,0,0
$GC,13192,0.62,241.4,259.4,9.8,970,13199,0.12,2.33,0.00,0.000,6,0.099,0.053,2688,2624,1940,0,0,0,0,0,0
$GC,13519,0.56,241.4,210.9,15.1,1001,13521,0.12,0.00,0.00,0.000,6,0.195,0.000,2656,2625,1939,0,0,0,0,0,0
$GC,13835,0.56,241.4,170.2,12.6,1031,13839,0.00,2.15,0.00,0.000,4,0.000,0.063,2656,3928,1939,0,0,0,0,0,0
$GC,13863,0.56,241.4,166.4,13.4,1033,13867,0.00,2.08,0.00,0.000,6,0.000,0.041,2656,2602,1938,0,0,0,0,0,0
$GC,14189,0.56,241.4,125.7,11.1,1063,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2600,1938,0,0,0,0,0,0
$GC,14511,0.60,241.4,88.5,11.3,1101,14518,0.00,2.17,0.00,0.000,4,0.000,0.063,2656,3925,1938,0,0,0,0,0,0
$GC,14553,0.60,241.4,83.3,12.5,1108,14560,0.00,2.08,0.00,0.000,6,0.000,0.040,2656,2607,1938,0,0,0,0,0,0
$GC,14900,0.66,244.9,46.3,9.8,1169,14913,0.00,2.20,5.30,0.529,4,0.000,0.063,2656,3934,1924,0,0,0,0,0,0
$GC,14942,0.69,244.9,41.5,11.7,1176,14950,0.12,2.05,0.00,0.000,6,0.106,0.040,2707,2614,1923,0,0,0,0,0,0
$FREEZE,8.61,1.054,-1.797,0,3,0
$FREEZE,7.79,1.053,-1.796,0,3,0
$STATE,15224,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,15224,begin subsurface finish
$FINISH1,7.8,1.026189,64
$GC,15231,0.04,64.3,7.8,-13.0,1226,15262,0.68,2.20,-22.80,0.000,4,0.150,0.076,2497,3931,2662,0,0,0,0,0,0
$FINISH2,5.8
$STATE,15262,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15263,begin surface
$RAFOS_CLK,812
$RAFOS,6,1291207750,12.833333,12.819445,60,50,43,41,41,41,777,787,925,449,1743,610
$RAFOS,5,1291207265,12.700000,12.684722,96,50,49,47,44,42,625,1653,170,423,1608,1309
$RAFOS,4,1291206787,12.566667,12.551945,69,46,46,45,44,42,839,1263,1657,1449,1322,1773
$RAFOS,3,1291206309,12.433333,12.419167,46,43,42,41,40,39,1937,1039,263,1550,1125,356
$RAFOS,2,1291205824,12.300000,12.284445,48,43,43,41,40,39,1595,613,1269,1372,148,1660
$RAFOS,1,1291205348,12.166667,12.152223,50,46,43,41,40,39,995,1158,200,1082,865,1462
$RAFOS,0,1291204887,12.033333,12.024167,50,48,43,40,39,39,1812,1014,802,606,1486,1650
$RAFOS_FIX,1935.830811,1934.583862,211104,212132,16796,20,-0.00
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,46.88
$INTERNAL_PRESSURE,8.74881
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.8
$ALTIM_BOTTOM_PING,750.0,18.6
$24V_AH,22.0,52.796
$10V_AH,10.0,38.987
$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,4.350,107.050,335.525,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,3107.115,9612.646,402.333,2057.712,201.656,0.000,1484.255,0.000,2036.988,2520.000,23.026,0.000
$DEVICE_MAMPS,197.370,76.500,1069.470,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.416,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151604
$DATA_FILE_SIZE,43339,1231
$CAP_FILE_SIZE,145549,0
$CFSIZE,260165632,219103232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.5
$GPS,011210,004213,6657.192,-5721.526,10,1.4,10,-37.6