version: 66.08
glider: 183
mission: 3
dive: 564
start: 12 23 110 6 3 55
data:
$ID,183
$MISSION,3
$DIVE,564
$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,-9850.9922
$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,33
$R_STBD_OVSHOOT,22
$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,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
$GPS1,231210,001456,6708.136,-5820.015,0,2069.0,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.15
$_SM_ANGLEo,-4.1
$GPS2,231210,001456,6708.136,-5820.015,0,2069.0,0,-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,282.2,102434,-17.5,-10.000
$D_GRID,1188
$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,-6.28,0.000,2,0.000,0.000,2499,1186,2928,0,0,0,0,0,0
$GC,28,-0.57,-146.0,14.6,-0.0,1,47,0.57,4.68,-11.48,0.000,4,0.090,0.070,2287,3932,3523,0,0,0,0,0,0
$GC,229,-0.60,-146.0,40.4,-12.2,36,236,0.00,1.85,0.00,0.000,6,0.000,0.048,2287,2779,3524,0,0,0,0,0,0
$GC,575,-0.60,-146.0,76.1,-9.6,97,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2779,3524,0,0,0,0,0,0
$GC,916,-0.63,-146.0,108.6,-9.3,150,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2779,3523,0,0,0,0,0,0
$GC,1238,-0.68,-146.0,137.8,-8.7,180,1242,0.00,2.25,0.00,0.000,4,0.000,0.052,2286,1368,3522,0,0,0,0,0,0
$GC,1279,-0.75,-146.0,141.7,-8.7,183,1284,0.15,2.38,0.00,0.000,6,0.098,0.063,2224,2797,3522,0,0,0,0,0,0
$GC,1605,-0.69,-146.0,181.9,-12.7,213,1608,0.00,1.92,0.00,0.000,4,0.000,0.074,2219,3928,3521,0,0,0,0,0,0
$GC,1673,-0.62,-146.0,190.9,-12.8,219,1678,0.20,1.85,0.00,0.000,6,0.158,0.049,2276,2789,3521,0,0,0,0,0,0
$GC,2005,-0.67,-146.0,220.3,-8.7,250,2009,0.00,2.28,0.00,0.000,4,0.000,0.052,2276,1365,3521,0,0,0,0,0,0
$GC,2045,-0.75,-146.0,223.9,-8.7,253,2050,0.12,2.38,0.00,0.000,6,0.103,0.063,2219,2792,3521,0,0,0,0,0,0
$GC,2371,-0.69,-146.0,262.7,-12.3,283,2376,0.12,2.33,0.00,0.000,4,0.181,0.052,2252,1373,3521,0,0,0,0,0,0
$GC,2392,-0.69,-146.0,265.2,-10.6,284,2399,0.00,2.33,0.00,0.000,6,0.000,0.063,2249,2776,3521,0,0,0,0,0,0
$GC,2718,-0.69,-146.0,295.7,-9.3,315,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2776,3521,0,0,0,0,0,0
$GC,3040,-0.69,-146.0,326.6,-10.1,345,3044,0.00,2.28,0.00,0.000,4,0.000,0.051,2248,1370,3521,0,0,0,0,0,0
$GC,3092,-0.73,-146.0,331.9,-9.3,349,3096,0.00,2.35,0.00,0.000,6,0.000,0.063,2247,2771,3521,0,0,0,0,0,0
$GC,3417,-0.73,-146.0,361.9,-8.7,379,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3522,0,0,0,0,0,0
$GC,3739,-0.73,-146.0,390.1,-8.8,409,3743,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1364,3522,0,0,0,0,0,0
$GC,3761,-0.73,-146.0,392.5,-8.9,410,3768,0.00,2.33,0.00,0.000,6,0.000,0.062,2247,2765,3521,0,0,0,0,0,0
$GC,4098,-0.73,-146.0,421.6,-8.7,427,4102,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3927,3523,0,0,0,0,0,0
$GC,4136,-0.73,-146.0,425.3,-9.5,428,4140,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2772,3523,0,0,0,0,0,0
$GC,4473,-0.73,-146.0,454.5,-8.7,439,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3523,0,0,0,0,0,0
$GC,4778,-0.73,-146.0,480.4,-8.3,449,4782,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3929,3523,0,0,0,0,0,0
$GC,4806,-0.75,-146.0,483.0,-8.2,449,4812,0.00,1.88,0.00,0.000,6,0.000,0.047,2247,2773,3523,0,0,0,0,0,0
$GC,5120,-0.78,-146.0,507.9,-8.0,460,5124,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1367,3523,0,0,0,0,0,0
$GC,5159,-0.81,-146.0,511.1,-8.2,461,5163,0.10,2.33,0.00,0.000,6,0.114,0.061,2200,2770,3523,0,0,0,0,0,0
$GC,5489,-0.75,-146.0,545.6,-10.6,472,5491,0.12,0.00,0.00,0.000,6,0.182,0.000,2232,2770,3523,0,0,0,0,0,0
$STATE,5551,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5551,begin apogee
$GC,5557,-0.14,0.0,551.1,9.9,474,5687,0.57,0.00,122.35,0.952,4,0.133,0.000,2421,2598,2923,0,0,0,0,0,0
$STATE,5688,end apogee,CONTROL_FINISHED_OK
$STATE,5688,begin climb
$GC,5690,0.57,146.0,554.4,0.0,478,5827,0.70,2.42,129.02,0.924,4,0.073,0.050,2664,1181,2326,0,0,0,0,0,0
$GC,5980,-1.62,146.0,528.3,21184.6,487,5990,2.47,2.45,0.00,0.000,6,0.151,0.056,1964,2600,2317,0,0,0,0,0,0
$GC,6321,-1.62,146.0,477.6,21184.6,498,6325,0.00,2.28,0.00,0.000,4,0.000,0.050,1963,1189,2310,0,0,0,0,0,0
$GC,6579,-1.62,146.0,432.6,21184.6,505,6583,0.00,2.33,0.00,0.000,6,0.000,0.059,1954,2589,2311,0,0,0,0,0,0
$GC,6897,-1.62,146.0,380.2,21184.6,521,6901,0.00,2.25,0.00,0.000,4,0.000,0.051,1952,1179,2309,0,0,0,0,0,0
$GC,7154,-1.62,146.0,337.4,21184.6,543,7160,0.00,2.28,0.00,0.000,6,0.000,0.060,1950,2566,2309,0,0,0,0,0,0
$GC,7479,-1.62,146.0,286.8,21184.6,574,7483,0.00,2.17,0.00,0.000,4,0.000,0.044,1950,1180,2306,0,0,0,0,0,0
$GC,7739,-1.62,146.0,245.5,21184.6,597,7743,0.00,2.22,0.00,0.000,6,0.000,0.052,1939,2553,2306,0,0,0,0,0,0
$GC,8066,-1.62,146.0,193.5,21184.6,627,8070,0.00,2.20,0.00,0.000,4,0.000,0.052,1937,1183,2308,0,0,0,0,0,0
$GC,8084,-1.62,146.0,190.6,21184.6,628,8088,0.00,2.22,0.00,0.000,6,0.000,0.060,1937,2542,2308,0,0,0,0,0,0
$GC,8410,-1.62,146.0,137.0,21184.6,658,8414,0.00,2.15,0.00,0.000,4,0.000,0.047,1937,1185,2306,0,0,0,0,0,0
$GC,8456,-1.62,146.0,129.3,21184.6,662,8460,0.00,2.20,0.00,0.000,6,0.000,0.059,1927,2524,2308,0,0,0,0,0,0
$GC,8791,-1.62,146.0,73.7,21184.6,706,8798,0.00,2.15,0.00,0.000,4,0.000,0.050,1926,1181,2308,0,0,0,0,0,0
$GC,9051,-1.62,146.0,36.0,21184.6,752,9058,0.17,2.25,0.00,0.000,6,0.248,0.054,1950,2568,2306,0,0,0,0,0,0
$FREEZE,8.62,-1.625,-1.764,2,3,0
$FREEZE,7.95,-1.654,-1.765,2,3,0
$FREEZE,7.36,-1.704,-1.768,2,3,0
$STATE,9318,end climb,FINISH_DEPTH_REACHED
$STATE,9318,begin subsurface finish
$FINISH1,7.4,1.025899,79
$GC,9324,0.05,78.5,7.4,-21184.6,799,9344,2.17,2.38,-10.88,0.000,4,0.237,0.081,2480,3921,2603,0,0,0,0,0,0
$FINISH2,4.9
$STATE,9345,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9345,begin surface
$RAFOS_CLK,545
$RAFOS,4,1293093183,8.566667,8.550834,75,51,49,43,42,42,694,885,963,342,707,1262
$RAFOS,3,1293092706,8.433333,8.418333,118,44,43,42,42,41,857,271,1248,255,1144,492
$RAFOS,2,1293092224,8.300000,8.284445,77,45,43,41,40,40,872,150,1919,1817,1264,1304
$RAFOS,1,1293091747,8.166667,8.151944,73,44,41,41,41,40,813,1707,1904,135,630,402
$RAFOS,0,1293091264,8.033334,8.017777,96,59,47,43,42,38,959,1287,1455,505,539,1709
$RAFOS_FIX,6706.593262,-5824.903320,231210,080812,5,88,0.16
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.02996
$HUMID,49.09
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,551.1,10.1
$24V_AH,21.8,67.613
$10V_AH,9.8,48.079
$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,7.500,79.950,251.375,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2069.686,5436.724,279.630,1477.320,154.813,0.000,1059.522,0.000,1462.497,1800.000,16.122,0.000
$DEVICE_MAMPS,247.860,81.090,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,30042,802
$CAP_FILE_SIZE,98094,0
$CFSIZE,260165632,210509824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1