version: 66.08
glider: 183
mission: 3
dive: 566
start: 12 23 110 11 34 4
data:
$ID,183
$MISSION,3
$DIVE,566
$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,32
$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,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
$GPS1,231210,081912,6706.593,-5824.903,0,5087.8,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.54
$_SM_ANGLEo,-1.1
$GPS2,231210,081912,6706.593,-5824.903,0,5087.8,0,-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,282.8,97974,-17.5,-10.000
$D_GRID,1200
$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,-6.45,0.000,2,0.000,0.000,2495,2594,2853,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.3,-0.0,1,52,0.55,0.00,-17.55,0.000,6,0.095,0.000,2296,2594,3520,0,0,0,0,0,0
$GC,392,-0.66,-146.0,40.7,-8.6,65,399,0.00,1.95,0.00,0.000,4,0.000,0.050,2296,1368,3521,0,0,0,0,0,0
$GC,412,-0.79,-146.0,42.7,-9.0,68,420,0.20,2.35,0.00,0.000,6,0.087,0.062,2212,2777,3521,0,0,0,0,0,0
$GC,760,-0.67,-146.0,98.2,-15.6,129,767,0.15,2.00,0.00,0.000,4,0.182,0.073,2245,3931,3521,0,0,0,0,0,0
$GC,835,-0.64,-146.0,108.8,-12.4,136,842,0.00,1.90,0.00,0.000,6,0.000,0.049,2245,2763,3521,0,0,0,0,0,0
$GC,1161,-0.60,-146.0,149.7,-11.7,167,1165,0.12,2.05,0.00,0.000,4,0.179,0.076,2273,3932,3521,0,0,0,0,0,0
$GC,1211,-0.65,-146.0,155.3,-9.8,171,1218,0.00,1.85,0.00,0.000,6,0.000,0.050,2272,2785,3520,0,0,0,0,0,0
$GC,1537,-0.69,-146.0,187.2,-9.7,202,1541,0.00,2.28,0.00,0.000,4,0.000,0.053,2272,1362,3519,0,0,0,0,0,0
$GC,1579,-0.74,-146.0,191.0,-9.7,205,1584,0.10,2.35,0.00,0.000,6,0.118,0.064,2228,2776,3519,0,0,0,0,0,0
$GC,1905,-0.70,-146.0,228.8,-11.9,235,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2776,3519,0,0,0,0,0,0
$GC,2223,-0.67,-146.0,264.7,-11.0,265,2228,0.12,2.30,0.00,0.000,4,0.174,0.053,2262,1362,3518,0,0,0,0,0,0
$GC,2267,-0.73,-146.0,268.9,-8.8,268,2275,0.00,2.35,0.00,0.000,6,0.000,0.063,2261,2760,3518,0,0,0,0,0,0
$GC,2593,-0.76,-146.0,295.8,-8.2,299,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2760,3519,0,0,0,0,0,0
$GC,2914,-0.79,-146.0,321.5,-8.1,329,2918,0.12,2.03,0.00,0.000,4,0.107,0.074,2203,3929,3518,0,0,0,0,0,0
$GC,2946,-0.72,-146.0,325.3,-11.8,331,2954,0.15,1.92,0.00,0.000,6,0.171,0.047,2243,2742,3519,0,0,0,0,0,0
$GC,3272,-0.72,-146.0,355.9,-9.3,362,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2743,3519,0,0,0,0,0,0
$GC,3591,-0.72,-146.0,385.5,-9.3,392,3595,0.00,2.20,0.00,0.000,4,0.000,0.051,2243,1371,3519,0,0,0,0,0,0
$GC,3612,-0.72,-146.0,387.8,-9.4,393,3619,0.00,2.30,0.00,0.000,6,0.000,0.063,2243,2753,3519,0,0,0,0,0,0
$GC,3944,-0.72,-146.0,417.0,-9.0,413,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2753,3520,0,0,0,0,0,0
$GC,4248,-0.72,-146.0,442.1,-8.1,423,4252,0.00,1.98,0.00,0.000,4,0.000,0.072,2240,3926,3520,0,0,0,0,0,0
$GC,4272,-0.72,-146.0,444.2,-8.0,423,4275,0.00,1.90,0.00,0.000,6,0.000,0.047,2240,2758,3520,0,0,0,0,0,0
$GC,4590,-0.72,-146.0,470.1,-8.2,434,4594,0.00,2.22,0.00,0.000,4,0.000,0.050,2240,1369,3521,0,0,0,0,0,0
$GC,4612,-0.72,-146.0,472.3,-9.3,434,4619,0.00,2.30,0.00,0.000,6,0.000,0.061,2235,2758,3520,0,0,0,0,0,0
$GC,4926,-0.72,-146.0,499.1,-8.5,445,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2758,3520,0,0,0,0,0,0
$GC,5231,-0.72,-146.0,526.7,-9.2,455,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2758,3520,0,0,0,0,0,0
$STATE,5507,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5507,begin apogee
$GC,5514,-0.14,0.0,551.9,9.3,464,5643,0.57,0.00,122.05,0.954,4,0.133,0.000,2422,2602,2923,0,0,0,0,0,0
$STATE,5644,end apogee,CONTROL_FINISHED_OK
$STATE,5644,begin climb
$GC,5647,0.57,146.0,556.1,0.0,468,5786,0.70,2.42,129.15,0.926,4,0.073,0.050,2665,1186,2326,0,0,0,0,0,0
$GC,5937,-1.63,146.0,532.8,21247.1,477,5947,2.50,2.47,0.00,0.000,6,0.150,0.055,1956,2604,2318,0,0,0,0,0,0
$GC,6272,-1.63,146.0,487.0,21247.1,488,6276,0.00,2.33,0.00,0.000,4,0.000,0.051,1955,1181,2310,0,0,0,0,0,0
$GC,6491,-1.63,146.0,451.1,21247.1,494,6495,0.00,2.33,0.00,0.000,6,0.000,0.060,1947,2574,2310,0,0,0,0,0,0
$GC,6809,-1.63,146.0,401.5,21247.1,505,6814,0.00,2.30,0.00,0.000,4,0.000,0.071,1939,3935,2309,0,0,0,0,0,0
$GC,6826,-1.63,146.0,398.8,21247.1,505,6830,0.00,2.12,0.00,0.000,6,0.000,0.045,1939,2622,2307,0,0,0,0,0,0
$GC,7158,-1.63,146.0,345.5,21247.1,536,7162,0.00,2.20,0.00,0.000,4,0.000,0.066,1928,3931,2306,0,0,0,0,0,0
$GC,7415,-1.63,146.0,300.6,21247.1,558,7422,0.00,2.15,0.00,0.000,6,0.000,0.047,1926,2589,2307,0,0,0,0,0,0
$GC,7741,-1.63,146.0,246.0,21247.1,589,7745,0.00,2.22,0.00,0.000,4,0.000,0.048,1925,1180,2306,0,0,0,0,0,0
$GC,7752,-1.63,146.0,244.4,21247.1,589,7760,0.15,2.45,0.00,0.000,6,0.184,0.058,1952,2663,2308,0,0,0,0,0,0
$GC,8079,-1.63,146.0,190.0,21247.1,620,8083,0.00,2.38,0.00,0.000,4,0.000,0.051,1951,1190,2308,0,0,0,0,0,0
$GC,8335,-1.63,146.0,146.3,21247.1,642,8342,0.00,2.50,0.00,0.000,6,0.000,0.057,1940,2716,2306,0,0,0,0,0,0
$GC,8663,-1.63,146.0,94.5,21247.1,676,8670,0.00,2.47,0.00,0.000,4,0.000,0.050,1939,1178,2307,0,0,0,0,0,0
$GC,8683,-1.63,146.0,91.4,21247.1,679,8690,0.00,2.50,0.00,0.000,6,0.000,0.059,1937,2699,2308,0,0,0,0,0,0
$GC,9029,-1.63,146.0,39.7,21247.1,740,9036,0.00,2.03,0.00,0.000,4,0.000,0.060,1927,3933,2305,0,0,0,0,0,0
$GC,9050,-1.63,146.0,37.0,21247.1,743,9056,0.00,2.03,0.00,0.000,6,0.000,0.043,1927,2663,2305,0,0,0,0,0,0
$FREEZE,8.48,-1.673,-1.768,2,5,0
$STATE,9290,end climb,FINISH_DEPTH_REACHED
$STATE,9290,begin subsurface finish
$FINISH1,8.5,1.025892,79
$GC,9297,0.05,78.9,8.5,-21247.1,785,9317,2.30,2.30,-9.88,0.000,4,0.238,0.083,2481,3926,2601,0,0,0,0,0,0
$FINISH2,5.8
$STATE,9317,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9318,begin surface
$RAFOS_CLK,541
$RAFOS,6,1293108570,12.833333,12.825000,113,53,47,44,41,41,425,425,804,951,1584,1389
$RAFOS,5,1293108074,12.700000,12.687222,107,43,42,41,40,38,625,830,1227,759,26,1543
$RAFOS,4,1293107589,12.566667,12.552500,113,46,43,41,40,40,638,145,1793,439,180,1260
$RAFOS,3,1293107112,12.433333,12.420000,101,43,42,41,40,39,829,1880,257,1729,1382,1511
$RAFOS,2,1293106624,12.300000,12.284445,107,46,45,41,39,39,869,1413,379,1547,1300,1697
$RAFOS,1,1293106148,12.166667,12.152223,76,48,44,43,42,40,796,1270,1657,266,26,375
$RAFOS,0,1293105670,12.033333,12.019444,86,46,44,43,43,43,910,1899,1420,709,1649,1773
$RAFOS_FIX,6708.396973,-5833.292969,231210,121234,7,100,0.46
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.028462
$HUMID,49.40
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,551.9,10.2
$24V_AH,21.7,67.768
$10V_AH,9.8,48.183
$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,7.750,77.775,251.200,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2016.565,5493.395,306.146,1424.861,157.391,0.000,1067.147,0.000,1410.134,2520.000,17.489,0.000
$DEVICE_MAMPS,237.915,95.625,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,30062,788
$CAP_FILE_SIZE,97950,0
$CFSIZE,260165632,210403328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,231210,122734,6708.397,-5833.293,0,7100.4,0,-38.1