version: 66.08
glider: 183
mission: 3
dive: 569
start: 12 23 110 20 54 0
data:
$ID,183
$MISSION,3
$DIVE,569
$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,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
$GPS1,231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.16
$_SM_ANGLEo,-4.4
$GPS2,231210,202731,6706.770,-5841.040,0,5095.4,0,-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,279.3,87602,-17.5,-10.000
$D_GRID,1261
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,23,0.00,0.00,-5.72,0.000,2,0.000,0.000,2483,3925,2814,0,0,0,0,0,0
$GC,26,-0.57,-146.0,8.6,-0.0,1,50,0.52,0.00,-17.92,0.000,4,0.090,0.000,2293,3925,3521,0,0,0,0,0,0
$GC,192,-0.57,-146.0,28.6,-13.0,30,198,0.00,1.85,0.00,0.000,6,0.000,0.048,2293,2771,3523,0,0,0,0,0,0
$GC,538,-0.59,-146.0,65.1,-11.1,91,544,0.00,2.22,0.00,0.000,4,0.000,0.051,2293,1371,3523,0,0,0,0,0,0
$GC,614,-0.65,-146.0,73.6,-10.4,104,621,0.00,2.33,0.00,0.000,6,0.000,0.063,2292,2771,3522,0,0,0,0,0,0
$GC,957,-0.69,-146.0,106.0,-8.8,159,961,0.12,2.00,0.00,0.000,4,0.100,0.074,2234,3925,3522,0,0,0,0,0,0
$GC,1002,-0.64,-146.0,111.7,-13.1,163,1007,0.12,1.88,0.00,0.000,6,0.173,0.048,2268,2773,3522,0,0,0,0,0,0
$GC,1333,-0.64,-146.0,145.8,-9.9,194,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2773,3522,0,0,0,0,0,0
$GC,1653,-0.64,-146.0,176.0,-9.3,224,1658,0.00,2.25,0.00,0.000,4,0.000,0.052,2268,1365,3521,0,0,0,0,0,0
$GC,1688,-0.67,-146.0,179.4,-9.5,226,1695,0.00,2.35,0.00,0.000,6,0.000,0.063,2264,2775,3521,0,0,0,0,0,0
$GC,2013,-0.67,-146.0,208.7,-8.7,257,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2775,3521,0,0,0,0,0,0
$GC,2334,-0.67,-146.0,236.7,-8.8,287,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2775,3521,0,0,0,0,0,0
$GC,2662,-0.70,-146.0,265.7,-8.3,318,2666,0.00,2.25,0.00,0.000,4,0.000,0.052,2264,1372,3521,0,0,0,0,0,0
$GC,2694,-0.73,-146.0,268.4,-8.6,320,2698,0.00,2.35,0.00,0.000,6,0.000,0.063,2263,2782,3521,0,0,0,0,0,0
$GC,3019,-0.76,-146.0,295.4,-8.2,350,3023,0.00,1.98,0.00,0.000,4,0.000,0.073,2255,3945,3521,0,0,0,0,0,0
$GC,3044,-0.78,-146.0,297.5,-8.7,352,3048,0.00,1.92,0.00,0.000,6,0.000,0.048,2255,2762,3521,0,0,0,0,0,0
$GC,3375,-0.78,-146.0,327.0,-8.5,383,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2762,3521,0,0,0,0,0,0
$GC,3697,-0.80,-146.0,354.8,-8.6,413,3703,0.12,0.00,0.00,0.000,6,0.107,0.000,2197,2762,3521,0,0,0,0,0,0
$GC,4022,-0.71,-146.0,394.4,-12.3,444,4024,0.17,0.00,0.00,0.000,6,0.170,0.000,2244,2762,3522,0,0,0,0,0,0
$GC,4331,-0.71,-146.0,422.7,-9.0,458,4335,0.00,2.25,0.00,0.000,4,0.000,0.050,2244,1363,3523,0,0,0,0,0,0
$GC,4371,-0.73,-146.0,426.6,-9.5,459,4375,0.00,2.35,0.00,0.000,6,0.000,0.062,2244,2778,3522,0,0,0,0,0,0
$GC,4695,-0.73,-146.0,457.2,-9.6,470,4699,0.00,2.28,0.00,0.000,4,0.000,0.050,2244,1364,3522,0,0,0,0,0,0
$GC,4722,-0.73,-146.0,460.2,-9.7,470,4729,0.00,2.38,0.00,0.000,6,0.000,0.062,2244,2782,3522,0,0,0,0,0,0
$GC,5036,-0.73,-146.0,490.1,-9.7,481,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2782,3522,0,0,0,0,0,0
$GC,5341,-0.73,-146.0,519.6,-9.5,491,5345,0.00,2.28,0.00,0.000,4,0.000,0.050,2244,1364,3523,0,0,0,0,0,0
$GC,5363,-0.73,-146.0,522.0,-9.9,491,5370,0.00,2.35,0.00,0.000,6,0.000,0.061,2243,2779,3523,0,0,0,0,0,0
$GC,5680,-0.73,-146.0,550.7,-9.1,502,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2779,3523,0,0,0,0,0,0
$GC,5982,-0.73,-146.0,575.7,-7.7,512,5986,0.00,2.28,0.00,0.000,4,0.000,0.050,2244,1363,3523,0,0,0,0,0,0
$GC,6004,-0.73,-146.0,577.6,-7.9,512,6011,0.00,2.35,0.00,0.000,6,0.000,0.062,2243,2777,3523,0,0,0,0,0,0
$STATE,6319,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6319,begin apogee
$GC,6326,-0.14,0.0,601.8,8.1,523,6456,0.55,0.00,124.03,0.984,4,0.135,0.000,2421,2604,2923,0,0,0,0,0,0
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6459,0.57,146.0,605.2,0.0,527,6597,0.70,2.45,130.62,0.962,4,0.073,0.050,2662,1182,2327,0,0,0,0,0,0
$GC,6761,0.57,146.0,578.8,11.6,536,6765,0.00,2.47,0.00,0.000,6,0.000,0.057,2662,2601,2318,0,0,0,0,0,0
$GC,7074,0.52,146.0,541.0,12.2,546,7078,0.00,2.33,0.00,0.000,4,0.000,0.054,2663,1189,2315,0,0,0,0,0,0
$GC,7280,0.52,146.0,518.1,10.7,552,7285,0.00,2.35,0.00,0.000,6,0.000,0.057,2663,2606,2315,0,0,0,0,0,0
$GC,7605,0.47,146.0,481.8,11.0,563,7609,0.12,2.25,0.00,0.000,4,0.200,0.069,2632,3930,2313,0,0,0,0,0,0
$GC,7654,0.44,146.0,476.0,11.2,564,7658,0.00,2.12,0.00,0.000,6,0.000,0.045,2634,2601,2312,0,0,0,0,0,0
$GC,7968,0.45,170.3,447.7,8.9,574,7993,0.00,2.30,20.00,0.874,4,0.000,0.070,2635,3928,2228,0,0,0,0,0,0
$GC,8021,0.43,170.3,442.2,10.8,574,8028,0.00,2.12,0.00,0.000,6,0.000,0.045,2635,2610,2225,0,0,0,0,0,0
$GC,8335,0.44,185.6,412.4,9.3,585,8354,0.00,2.30,14.38,0.844,4,0.000,0.054,2635,1186,2166,0,0,0,0,0,0
$GC,8412,0.51,198.7,405.3,9.4,587,8434,0.00,2.33,12.60,0.823,6,0.000,0.057,2635,2606,2112,0,0,0,0,0,0
$GC,8751,0.55,200.0,372.4,9.9,614,8755,0.00,2.22,0.00,0.000,4,0.000,0.070,2635,3930,2107,0,0,0,0,0,0
$GC,8789,0.55,200.0,367.8,12.2,617,8796,0.00,2.12,0.00,0.000,6,0.000,0.045,2636,2601,2106,0,0,0,0,0,0
$GC,9115,0.59,203.3,335.4,9.8,648,9127,0.00,2.28,4.88,0.666,4,0.000,0.054,2636,1192,2093,0,0,0,0,0,0
$GC,9163,0.69,232.8,331.0,8.6,652,9197,0.17,2.35,27.33,0.814,6,0.088,0.057,2708,2621,1973,0,0,0,0,0,0
$GC,9515,0.62,232.8,278.0,15.3,685,9520,0.12,2.20,0.00,0.000,4,0.193,0.068,2677,3925,1966,0,0,0,0,0,0
$GC,9555,0.58,232.8,271.9,14.3,688,9559,0.00,2.12,0.00,0.000,6,0.000,0.046,2677,2616,1964,0,0,0,0,0,0
$GC,9880,0.58,232.8,230.0,12.7,718,9884,0.00,2.30,0.00,0.000,4,0.000,0.054,2678,1187,1964,0,0,0,0,0,0
$GC,9921,0.62,232.8,225.2,11.7,721,9925,0.00,2.35,0.00,0.000,6,0.000,0.056,2678,2620,1964,0,0,0,0,0,0
$GC,10246,0.62,232.8,185.3,11.7,751,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2620,1964,0,0,0,0,0,0
$GC,10566,0.62,232.8,149.0,11.0,781,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2620,1964,0,0,0,0,0,0
$GC,10885,0.62,232.8,114.6,10.7,811,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2620,1964,0,0,0,0,0,0
$GC,11212,0.65,237.0,80.8,9.8,858,11218,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2620,1964,0,0,0,0,0,0
$GC,11557,0.69,241.9,47.4,9.8,919,11571,0.00,2.40,7.80,0.641,4,0.000,0.054,2679,1181,1936,0,0,0,0,0,0
$GC,11623,0.80,265.1,41.3,8.9,930,11654,0.15,2.33,20.95,0.659,6,0.102,0.057,2741,2608,1843,0,0,0,0,0,0
$FREEZE,8.90,-1.759,-1.771,2,8,0
$STATE,11897,end climb,FINISH_DEPTH_REACHED
$STATE,11897,begin subsurface finish
$FINISH1,8.9,1.025937,77
$GC,11903,0.05,76.7,8.9,-12.3,978,11934,0.77,2.33,-23.50,0.000,4,0.148,0.085,2500,3925,2612,0,0,0,0,0,0
$FINISH2,7.2
$STATE,11935,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$RAFOS_CLK,687
$RAFOS,0,1293148863,0.033333,0.017500,50,45,44,43,42,42,484,911,335,26,615,1769
$RAFOS,6,1293137344,20.833334,20.817778,75,54,52,52,49,41,565,1732,274,526,956,765
$RAFOS_FIX,6708.031250,-5843.584473,231210,202038,6,92,12.02
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.030709
$HUMID,49.25
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,601.8,10.9
$24V_AH,21.6,68.037
$10V_AH,9.8,48.358
$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,3.675,90.175,362.575,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2418.074,7295.424,401.810,1698.713,190.074,0.000,1318.506,0.000,1681.250,720.000,20.523,0.000
$DEVICE_MAMPS,200.430,84.915,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36695,983
$CAP_FILE_SIZE,118033,0
$CFSIZE,260165632,210206720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,231210,202731,6706.770,-5841.040,0,5095.4,0,-38.1