version: 66.08
glider: 183
mission: 3
dive: 567
start: 12 23 110 14 11 39
data:
$ID,183
$MISSION,3
$DIVE,567
$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,21
$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
$GPS1,231210,122734,6708.397,-5833.293,0,7100.4,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.83
$_SM_ANGLEo,-3.9
$GPS2,231210,122734,6708.397,-5833.293,0,7100.4,0,-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,279.4,94020,-17.5,-10.000
$D_GRID,1250
$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,-6.35,0.000,2,0.000,0.000,2482,3926,2858,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.2,-0.0,1,53,0.52,4.22,-15.77,0.000,4,0.094,0.056,2293,1365,3522,0,0,0,0,0,0
$GC,206,-0.60,-146.0,30.2,-12.1,32,213,0.00,2.35,0.00,0.000,6,0.000,0.063,2292,2780,3524,0,0,0,0,0,0
$GC,553,-0.62,-146.0,68.6,-10.6,93,559,0.00,2.00,0.00,0.000,4,0.000,0.074,2285,3934,3523,0,0,0,0,0,0
$GC,607,-0.65,-146.0,75.0,-11.4,102,613,0.00,1.90,0.00,0.000,6,0.000,0.049,2285,2766,3522,0,0,0,0,0,0
$GC,947,-0.67,-146.0,111.2,-9.8,153,951,0.00,2.25,0.00,0.000,4,0.000,0.052,2285,1367,3522,0,0,0,0,0,0
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$GC,1336,-0.67,-146.0,160.0,-12.8,188,1341,0.12,2.28,0.00,0.000,4,0.175,0.052,2261,1368,3522,0,0,0,0,0,0
$GC,1399,-0.70,-146.0,166.9,-10.8,193,1403,0.00,2.30,0.00,0.000,6,0.000,0.064,2261,2746,3522,0,0,0,0,0,0
$GC,1724,-0.70,-146.0,198.8,-9.8,223,1728,0.00,2.22,0.00,0.000,4,0.000,0.052,2261,1371,3522,0,0,0,0,0,0
$GC,1753,-0.70,-146.0,201.6,-9.5,225,1757,0.00,2.30,0.00,0.000,6,0.000,0.064,2260,2738,3522,0,0,0,0,0,0
$GC,2078,-0.70,-146.0,231.4,-8.7,255,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2738,3521,0,0,0,0,0,0
$GC,2398,-0.70,-146.0,260.8,-9.5,285,2402,0.00,2.03,0.00,0.000,4,0.000,0.074,2252,3931,3521,0,0,0,0,0,0
$GC,2445,-0.70,-146.0,265.6,-10.5,289,2449,0.00,1.98,0.00,0.000,6,0.000,0.049,2251,2735,3521,0,0,0,0,0,0
$GC,2775,-0.70,-146.0,298.0,-9.8,320,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2735,3521,0,0,0,0,0,0
$GC,3096,-0.70,-146.0,327.2,-8.6,350,3100,0.00,2.20,0.00,0.000,4,0.000,0.050,2251,1366,3521,0,0,0,0,0,0
$GC,3141,-0.73,-146.0,331.8,-9.5,353,3148,0.00,2.30,0.00,0.000,6,0.000,0.063,2249,2735,3521,0,0,0,0,0,0
$GC,3467,-0.73,-146.0,360.9,-9.0,384,3470,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3930,3522,0,0,0,0,0,0
$GC,3502,-0.73,-146.0,364.1,-9.6,387,3505,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2733,3522,0,0,0,0,0,0
$GC,3833,-0.73,-146.0,393.2,-8.9,418,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2733,3522,0,0,0,0,0,0
$GC,4163,-0.73,-146.0,422.4,-8.7,434,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2733,3522,0,0,0,0,0,0
$GC,4469,-0.73,-146.0,449.0,-8.5,444,4473,0.00,2.17,0.00,0.000,4,0.000,0.050,2247,1363,3522,0,0,0,0,0,0
$GC,4491,-0.73,-146.0,451.2,-8.3,444,4498,0.00,2.30,0.00,0.000,6,0.000,0.062,2247,2739,3523,0,0,0,0,0,0
$GC,4805,-0.73,-146.0,478.1,-8.7,455,4809,0.00,2.03,0.00,0.000,4,0.000,0.072,2247,3926,3523,0,0,0,0,0,0
$GC,4840,-0.73,-146.0,481.2,-8.8,456,4844,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2727,3523,0,0,0,0,0,0
$GC,5181,-0.73,-146.0,510.0,-8.3,467,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2728,3523,0,0,0,0,0,0
$GC,5487,-0.73,-146.0,535.7,-8.2,477,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2727,3523,0,0,0,0,0,0
$GC,5795,-0.73,-146.0,561.8,-8.6,487,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2727,3523,0,0,0,0,0,0
$GC,6100,-0.73,-146.0,586.4,-7.8,497,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2727,3524,0,0,0,0,0,0
$GC,6406,-0.73,-146.0,610.4,-7.8,507,6410,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3926,3523,0,0,0,0,0,0
$GC,6457,-0.77,-146.0,614.5,-8.2,508,6460,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2731,3523,0,0,0,0,0,0
$GC,6781,-0.79,-146.0,639.5,-7.9,519,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2730,3524,0,0,0,0,0,0
$GC,7087,-0.81,-146.0,664.2,-8.2,529,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2731,3523,0,0,0,0,0,0
$GC,7395,-0.84,-146.0,689.2,-8.1,539,7399,0.12,2.10,0.00,0.000,4,0.109,0.073,2180,3932,3524,0,0,0,0,0,0
$GC,7429,-0.73,-146.0,693.3,-13.0,540,7433,0.20,1.95,0.00,0.000,6,0.165,0.047,2234,2729,3524,0,0,0,0,0,0
$GC,7759,-0.73,-146.0,723.7,-9.0,551,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2729,3524,0,0,0,0,0,0
$STATE,8065,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8065,begin apogee
$GC,8071,-0.14,0.0,750.3,8.6,561,8206,0.57,0.00,127.07,1.072,4,0.133,0.000,2423,2599,2921,0,0,0,0,0,0
$STATE,8207,end apogee,CONTROL_FINISHED_OK
$STATE,8207,begin climb
$GC,8209,0.57,146.0,754.0,0.0,565,8355,0.70,2.47,134.07,1.045,4,0.065,0.050,2668,1178,2329,0,0,0,0,0,0
$GC,8501,0.55,146.0,728.7,12.4,574,8505,0.00,2.50,0.00,0.000,6,0.000,0.056,2668,2604,2321,0,0,0,0,0,0
$GC,8825,0.49,146.0,689.4,12.2,585,8830,0.12,2.30,0.00,0.000,4,0.197,0.054,2644,1187,2317,0,0,0,0,0,0
$GC,9023,0.51,158.3,669.6,9.4,591,9039,0.00,2.35,10.43,0.933,6,0.000,0.058,2644,2611,2277,0,0,0,0,0,0
$GC,9361,0.51,158.3,634.7,10.4,602,9365,0.00,2.20,0.00,0.000,4,0.000,0.068,2644,3926,2275,0,0,0,0,0,0
$GC,9390,0.46,158.3,630.9,12.8,603,9394,0.00,2.15,0.00,0.000,6,0.000,0.046,2649,2599,2273,0,0,0,0,0,0
$GC,9726,0.43,158.3,593.0,11.3,614,9728,0.12,0.00,0.00,0.000,6,0.194,0.000,2618,2598,2274,0,0,0,0,0,0
$GC,10032,0.48,168.8,563.5,9.5,624,10044,0.00,0.00,10.52,0.903,6,0.000,0.000,2617,2598,2234,0,0,0,0,0,0
$GC,10338,0.52,170.9,533.4,9.9,634,10342,0.00,2.25,0.00,0.000,4,0.000,0.054,2617,1191,2231,0,0,0,0,0,0
$GC,10366,0.60,170.9,530.5,10.3,634,10373,0.15,2.33,0.00,0.000,6,0.093,0.057,2679,2604,2231,0,0,0,0,0,0
$GC,10679,0.53,170.9,488.9,13.6,645,10684,0.12,2.25,0.00,0.000,4,0.190,0.069,2648,3932,2231,0,0,0,0,0,0
$GC,10714,0.47,170.9,484.0,13.3,646,10718,0.00,2.12,0.00,0.000,6,0.000,0.045,2652,2601,2231,0,0,0,0,0,0
$GC,11054,0.47,170.9,444.4,11.3,657,11056,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2600,2231,0,0,0,0,0,0
$GC,11361,0.47,170.9,411.2,10.7,667,11365,0.00,2.28,0.00,0.000,4,0.000,0.069,2652,3925,2231,0,0,0,0,0,0
$GC,11394,0.42,170.9,407.2,12.1,668,11399,0.17,2.10,0.00,0.000,6,0.186,0.046,2610,2612,2230,0,0,0,0,0,0
$GC,11722,0.52,219.1,381.2,7.8,692,11777,0.00,2.40,44.38,0.845,4,0.000,0.054,2609,1185,2028,0,0,0,0,0,0
$GC,11807,0.70,277.5,374.9,7.3,699,11869,0.25,2.38,50.80,0.829,6,0.073,0.056,2707,2612,1792,0,0,0,0,0,0
$GC,12187,0.65,277.5,316.4,15.9,735,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2612,1780,0,0,0,0,0,0
$GC,12508,0.61,277.5,266.2,15.8,765,12513,0.12,2.33,0.00,0.000,4,0.194,0.054,2676,1183,1778,0,0,0,0,0,0
$GC,12560,0.68,277.5,259.2,11.6,769,12564,0.00,2.33,0.00,0.000,6,0.000,0.057,2676,2614,1777,0,0,0,0,0,0
$GC,12886,0.70,277.5,219.4,12.0,799,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2614,1776,0,0,0,0,0,0
$GC,13208,0.74,277.5,178.8,12.4,829,13213,0.10,2.30,0.00,0.000,4,0.119,0.054,2719,1184,1776,0,0,0,0,0,0
$GC,13263,0.74,277.5,170.4,13.6,833,13270,0.00,2.30,0.00,0.000,6,0.000,0.056,2719,2589,1776,0,0,0,0,0,0
$GC,13589,0.71,277.5,121.4,15.2,864,13593,0.00,2.28,0.00,0.000,4,0.000,0.055,2719,1185,1776,0,0,0,0,0,0
$GC,13617,0.71,277.5,117.3,13.9,866,13621,0.00,2.25,0.00,0.000,6,0.000,0.055,2719,2576,1776,0,0,0,0,0,0
$GC,13953,0.71,277.5,72.1,13.9,914,13959,0.00,2.22,0.00,0.000,4,0.000,0.055,2719,1193,1776,0,0,0,0,0,0
$GC,13978,0.71,277.5,68.9,12.9,918,13984,0.00,2.25,0.00,0.000,6,0.000,0.057,2719,2566,1776,0,0,0,0,0,0
$GC,14323,0.71,277.5,28.8,10.1,979,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2566,1775,0,0,0,0,0,0
$FREEZE,8.81,-1.757,-1.774,2,6,0
$STATE,14521,end climb,FINISH_DEPTH_REACHED
$STATE,14521,begin subsurface finish
$FINISH1,8.8,1.025978,75
$GC,14528,0.05,74.7,8.8,-9.3,1014,14558,0.70,0.00,-25.40,0.000,6,0.144,0.000,2500,2597,2620,0,0,0,0,0,0
$FINISH2,7.3
$STATE,14559,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14559,begin surface
$RAFOS_CLK,838
$RAFOS,6,1293122946,16.833334,16.818333,129,57,45,41,40,39,537,537,104,1049,365,1040
$RAFOS,5,1293122463,16.700001,16.684166,105,47,43,43,41,40,708,566,596,26,1566,493
$RAFOS,4,1293121988,16.566668,16.552221,90,46,44,43,43,42,648,1819,524,986,1591,1850
$RAFOS,3,1293121530,16.433332,16.424999,49,48,46,43,42,41,976,1348,343,850,676,1516
$RAFOS,2,1293121040,16.299999,16.288889,123,44,43,39,39,38,770,1712,145,911,1908,992
$RAFOS,1,1293120553,16.166666,16.153610,85,43,43,43,41,39,753,483,1395,144,1700,1834
$RAFOS,0,1293120063,16.033333,16.017500,101,47,45,41,39,39,933,1764,1723,617,26,1889
$RAFOS_FIX,6709.435059,-5840.112305,231210,161601,6,106,0.37
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.028462
$HUMID,49.05
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,750.3,12.4
$24V_AH,21.4,67.875
$10V_AH,9.8,48.248
$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,4.250,103.675,377.275,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,2581.279,9617.269,416.685,1804.112,213.946,0.000,1396.633,0.000,1778.297,2520.000,25.832,0.000
$DEVICE_MAMPS,197.370,165.240,1071.765,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,712.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,36688,1019
$CAP_FILE_SIZE,133715,0
$CFSIZE,260165632,210305024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,231210,162701,6709.435,-5840.112,0,6105.5,0,-38.1