version: 66.08
glider: 183
mission: 3
dive: 568
start: 12 23 110 18 16 35
data:
$ID,183
$MISSION,3
$DIVE,568
$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,20
$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
$GPS1,231210,162701,6709.435,-5840.112,0,6105.5,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.06
$_SM_ANGLEo,-0.0
$GPS2,231210,162701,6709.435,-5840.112,0,6105.5,0,-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,276.8,90662,-17.5,-10.000
$D_GRID,1280
$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,-6.25,0.000,2,0.000,0.000,2499,2598,2878,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.4,-0.0,1,52,0.57,2.35,-14.88,0.000,4,0.099,0.086,2289,3928,3521,0,0,0,0,0,0
$GC,71,-0.62,-146.0,14.1,-9.9,8,78,0.00,1.85,0.00,0.000,6,0.000,0.048,2289,2780,3523,0,0,0,0,0,0
$GC,417,-0.62,-146.0,58.3,-11.0,69,423,0.00,2.28,0.00,0.000,4,0.000,0.052,2288,1372,3522,0,0,0,0,0,0
$GC,528,-0.66,-146.0,70.3,-11.1,88,534,0.00,2.35,0.00,0.000,6,0.000,0.063,2288,2774,3522,0,0,0,0,0,0
$GC,872,-0.70,-146.0,104.2,-9.7,145,876,0.12,1.98,0.00,0.000,4,0.109,0.075,2235,3927,3521,0,0,0,0,0,0
$GC,894,-0.70,-146.0,107.0,-11.4,147,898,0.00,1.88,0.00,0.000,6,0.000,0.048,2235,2772,3521,0,0,0,0,0,0
$GC,1226,-0.65,-146.0,146.3,-10.8,178,1231,0.12,2.28,0.00,0.000,4,0.181,0.052,2268,1372,3521,0,0,0,0,0,0
$GC,1289,-0.69,-146.0,152.1,-8.3,183,1293,0.00,2.33,0.00,0.000,6,0.000,0.064,2263,2768,3521,0,0,0,0,0,0
$GC,1614,-0.69,-146.0,180.9,-8.7,213,1618,0.00,1.98,0.00,0.000,4,0.000,0.075,2253,3932,3521,0,0,0,0,0,0
$GC,1653,-0.69,-146.0,184.8,-9.9,216,1660,0.00,1.92,0.00,0.000,6,0.000,0.049,2254,2753,3521,0,0,0,0,0,0
$GC,1979,-0.69,-146.0,215.3,-8.9,247,1983,0.00,2.20,0.00,0.000,4,0.000,0.052,2254,1371,3520,0,0,0,0,0,0
$GC,2020,-0.71,-146.0,219.1,-9.3,250,2024,0.00,2.33,0.00,0.000,6,0.000,0.063,2251,2767,3520,0,0,0,0,0,0
$GC,2346,-0.71,-146.0,251.1,-10.4,280,2350,0.00,2.00,0.00,0.000,4,0.000,0.074,2247,3931,3520,0,0,0,0,0,0
$GC,2403,-0.73,-146.0,257.6,-10.9,285,2407,0.00,1.92,0.00,0.000,6,0.000,0.049,2247,2765,3520,0,0,0,0,0,0
$GC,2735,-0.73,-146.0,291.0,-9.6,316,2739,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1367,3520,0,0,0,0,0,0
$GC,2788,-0.76,-146.0,295.8,-9.0,320,2792,0.00,2.33,0.00,0.000,6,0.000,0.063,2247,2757,3519,0,0,0,0,0,0
$GC,3119,-0.76,-146.0,325.0,-8.8,351,3123,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3934,3519,0,0,0,0,0,0
$GC,3147,-0.76,-146.0,327.8,-9.2,353,3154,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2759,3520,0,0,0,0,0,0
$GC,3472,-0.76,-146.0,356.8,-8.9,384,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2759,3520,0,0,0,0,0,0
$GC,3793,-0.76,-146.0,383.5,-7.8,414,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2759,3520,0,0,0,0,0,0
$GC,4125,-0.76,-146.0,410.9,-8.3,438,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2759,3521,0,0,0,0,0,0
$GC,4431,-0.76,-146.0,438.3,-9.2,448,4434,0.00,2.03,0.00,0.000,4,0.000,0.073,2247,3929,3521,0,0,0,0,0,0
$GC,4486,-0.79,-146.0,443.7,-9.8,449,4490,0.00,1.88,0.00,0.000,6,0.000,0.047,2247,2762,3521,0,0,0,0,0,0
$GC,4805,-0.79,-146.0,471.4,-8.4,460,4809,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1371,3521,0,0,0,0,0,0
$GC,4839,-0.82,-146.0,474.6,-8.3,461,4844,0.10,2.30,0.00,0.000,6,0.113,0.062,2201,2757,3521,0,0,0,0,0,0
$GC,5168,-0.75,-146.0,512.0,-11.7,472,5170,0.12,0.00,0.00,0.000,6,0.182,0.000,2232,2757,3521,0,0,0,0,0,0
$GC,5475,-0.75,-146.0,542.1,-9.6,482,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2756,3521,0,0,0,0,0,0
$STATE,5568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5568,begin apogee
$GC,5574,-0.14,0.0,550.9,9.7,485,5704,0.57,0.00,122.05,0.954,4,0.135,0.000,2421,2600,2925,0,0,0,0,0,0
$STATE,5705,end apogee,CONTROL_FINISHED_OK
$STATE,5705,begin climb
$GC,5707,0.57,146.0,555.5,0.0,489,5846,0.70,2.42,129.65,0.931,4,0.073,0.050,2663,1184,2326,0,0,0,0,0,0
$GC,6003,-1.62,146.0,532.1,21149.7,498,6012,2.47,2.47,0.00,0.000,6,0.150,0.057,1961,2603,2317,0,0,0,0,0,0
$GC,6333,-1.62,146.0,486.1,21149.7,509,6338,0.00,2.25,0.00,0.000,4,0.000,0.063,1951,3940,2307,0,0,0,0,0,0
$GC,6591,-1.62,146.0,440.7,21149.7,516,6598,0.00,2.15,0.00,0.000,6,0.000,0.046,1950,2620,2306,0,0,0,0,0,0
$GC,6906,-1.62,146.0,390.2,21149.7,529,6910,0.00,2.28,0.00,0.000,4,0.000,0.049,1949,1187,2307,0,0,0,0,0,0
$GC,7164,-1.62,146.0,346.3,21149.7,551,7171,0.00,2.30,0.00,0.000,6,0.000,0.054,1938,2601,2306,0,0,0,0,0,0
$GC,7490,-1.62,146.0,293.7,21149.7,582,7494,0.00,2.25,0.00,0.000,4,0.000,0.050,1937,1186,2307,0,0,0,0,0,0
$GC,7512,-1.62,146.0,289.9,21149.7,583,7519,0.00,2.28,0.00,0.000,6,0.000,0.060,1937,2570,2308,0,0,0,0,0,0
$GC,7838,-1.62,146.0,237.0,21149.7,614,7842,0.00,2.25,0.00,0.000,4,0.000,0.061,1926,3940,2305,0,0,0,0,0,0
$GC,8097,-1.62,146.0,190.5,21149.7,637,8102,0.00,2.20,0.00,0.000,6,0.000,0.047,1925,2587,2305,0,0,0,0,0,0
$GC,8423,-1.62,146.0,136.1,21149.7,667,8428,0.12,2.25,0.00,0.000,4,0.243,0.049,1950,1173,2306,0,0,0,0,0,0
$GC,8682,-1.62,146.0,95.2,21149.7,692,8689,0.00,2.33,0.00,0.000,6,0.000,0.057,1941,2589,2307,0,0,0,0,0,0
$GC,9028,-1.62,146.0,41.9,21149.7,753,9035,0.00,2.25,0.00,0.000,4,0.000,0.048,1940,1174,2304,0,0,0,0,0,0
$GC,9065,-1.62,146.0,36.2,21149.7,759,9072,0.00,2.30,0.00,0.000,6,0.000,0.058,1929,2584,2306,0,0,0,0,0,0
$FREEZE,8.61,-1.567,-1.761,2,7,0
$FREEZE,7.82,-1.625,-1.764,2,7,0
$FREEZE,7.16,-1.682,-1.767,2,7,0
$STATE,9293,end climb,FINISH_DEPTH_REACHED
$STATE,9294,begin subsurface finish
$FINISH1,7.2,1.025884,79
$GC,9301,0.05,79.3,7.2,-21149.7,800,9320,2.25,2.38,-10.95,0.000,4,0.230,0.085,2484,3925,2600,0,0,0,0,0,0
$FINISH2,4.6
$STATE,9321,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9321,begin surface
$RAFOS_CLK,544
$RAFOS,5,1293136863,20.700001,20.684166,128,43,41,39,39,38,699,1505,1846,183,1002,377
$RAFOS,4,1293136392,20.566668,20.553333,72,51,47,41,39,39,604,145,1482,351,652,1290
$RAFOS,3,1293135903,20.433332,20.417500,103,54,48,45,45,44,866,932,1087,672,26,1057
$RAFOS,2,1293135427,20.299999,20.285278,101,42,42,41,41,40,828,1649,77,261,1173,373
$RAFOS,1,1293134943,20.166666,20.150833,73,50,46,42,42,40,801,163,1907,519,1267,250
$RAFOS,0,1293134464,20.033333,20.017778,57,50,44,43,42,42,926,267,205,621,693,1184
$RAFOS_FIX,6706.770020,-5841.040039,231210,202031,5,95,0.35
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.030709
$HUMID,49.29
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,550.9,10.2
$24V_AH,21.7,67.943
$10V_AH,9.8,48.299
$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,7.175,81.075,251.700,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2042.334,5397.504,293.899,1500.290,154.891,0.000,1087.907,0.000,1483.388,2520.000,16.122,0.000
$DEVICE_MAMPS,242.505,86.445,953.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30127,803
$CAP_FILE_SIZE,99653,0
$CFSIZE,260165632,210280448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$GPS,231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1