version: 66.08
glider: 183
mission: 3
dive: 574
start: 12 24 110 13 39 54
data:
$ID,183
$MISSION,3
$DIVE,574
$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,-2
$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,-9853.5
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,241210,123138,6704.629,-5852.418,0,6102.5,0,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.42
$_SM_ANGLEo,-0.9
$GPS2,241210,123138,6704.629,-5852.418,0,6102.5,0,-38.2
$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,279.0,78400,-17.5,-10.000
$D_GRID,1208
$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,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.75,0.000,2,0.000,0.000,2500,1182,2860,0,0,0,0,0,0
$GC,27,-0.57,-146.0,11.1,-0.0,1,52,0.57,4.70,-14.65,0.000,4,0.106,0.071,2290,3932,3521,0,0,0,0,0,0
$GC,239,-0.57,-146.0,36.6,-13.3,38,246,0.00,1.85,0.00,0.000,6,0.000,0.047,2290,2777,3523,0,0,0,0,0,0
$GC,585,-0.60,-146.0,73.0,-8.7,99,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2776,3523,0,0,0,0,0,0
$GC,930,-0.66,-146.0,103.2,-8.3,157,934,0.00,2.25,0.00,0.000,4,0.000,0.051,2290,1367,3521,0,0,0,0,0,0
$GC,1010,-0.73,-146.0,110.1,-9.0,164,1015,0.15,2.33,0.00,0.000,6,0.095,0.063,2223,2758,3522,0,0,0,0,0,0
$GC,1336,-0.66,-146.0,153.1,-13.6,194,1341,0.15,2.03,0.00,0.000,4,0.175,0.073,2257,3928,3521,0,0,0,0,0,0
$GC,1443,-0.66,-146.0,165.3,-10.7,203,1449,0.00,1.90,0.00,0.000,6,0.000,0.049,2257,2762,3521,0,0,0,0,0,0
$GC,1768,-0.66,-146.0,197.8,-10.1,234,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2761,3522,0,0,0,0,0,0
$GC,2088,-0.66,-146.0,229.2,-9.9,264,2092,0.00,2.00,0.00,0.000,4,0.000,0.074,2248,3930,3521,0,0,0,0,0,0
$GC,2135,-0.66,-146.0,234.1,-10.8,268,2138,0.00,1.90,0.00,0.000,6,0.000,0.048,2248,2760,3521,0,0,0,0,0,0
$GC,2466,-0.66,-146.0,267.8,-9.5,299,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2760,3521,0,0,0,0,0,0
$GC,2788,-0.66,-146.0,296.8,-9.0,329,2792,0.00,2.03,0.00,0.000,4,0.000,0.075,2247,3929,3521,0,0,0,0,0,0
$GC,2825,-0.66,-146.0,300.3,-9.3,332,2828,0.00,1.88,0.00,0.000,6,0.000,0.047,2247,2762,3521,0,0,0,0,0,0
$GC,3156,-0.66,-146.0,331.2,-9.3,363,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2762,3521,0,0,0,0,0,0
$GC,3478,-0.66,-146.0,361.7,-9.4,393,3482,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1373,3521,0,0,0,0,0,0
$GC,3508,-0.68,-146.0,364.8,-9.5,395,3512,0.00,2.33,0.00,0.000,6,0.000,0.063,2247,2769,3521,0,0,0,0,0,0
$GC,3839,-0.68,-146.0,395.4,-8.9,426,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3522,0,0,0,0,0,0
$GC,4168,-0.68,-146.0,424.1,-8.6,440,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3522,0,0,0,0,0,0
$GC,4475,-0.68,-146.0,448.7,-7.9,450,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3522,0,0,0,0,0,0
$GC,4780,-0.68,-146.0,473.2,-7.9,460,4784,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1371,3522,0,0,0,0,0,0
$GC,4810,-0.70,-146.0,475.7,-8.5,461,4814,0.00,2.33,0.00,0.000,6,0.000,0.062,2247,2767,3522,0,0,0,0,0,0
$GC,5151,-0.70,-146.0,504.2,-8.5,472,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3522,0,0,0,0,0,0
$GC,5458,-0.73,-146.0,530.2,-8.5,482,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3523,0,0,0,0,0,0
$GC,5765,-0.75,-146.0,555.0,-7.9,492,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3523,0,0,0,0,0,0
$GC,6070,-0.77,-146.0,578.3,-7.7,502,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3522,0,0,0,0,0,0
$GC,6378,-0.80,-146.0,602.1,-7.8,512,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3523,0,0,0,0,0,0
$GC,6684,-0.82,-146.0,626.5,-7.9,522,6686,0.10,0.00,0.00,0.000,6,0.120,0.000,2200,2767,3523,0,0,0,0,0,0
$GC,6989,-0.76,-146.0,658.9,-10.6,532,6991,0.10,0.00,0.00,0.000,6,0.185,0.000,2223,2767,3523,0,0,0,0,0,0
$GC,7296,-0.76,-146.0,686.7,-9.0,542,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2767,3523,0,0,0,0,0,0
$GC,7601,-0.76,-146.0,714.5,-8.9,552,7605,0.00,2.22,0.00,0.000,4,0.000,0.050,2223,1372,3523,0,0,0,0,0,0
$GC,7631,-0.76,-146.0,717.1,-8.8,553,7635,0.00,2.33,0.00,0.000,6,0.000,0.061,2222,2768,3523,0,0,0,0,0,0
$GC,7973,-0.76,-146.0,747.7,-8.9,564,7976,0.00,1.98,0.00,0.000,4,0.000,0.073,2217,3936,3523,0,0,0,0,0,0
$STATE,7997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7998,begin apogee
$GC,8005,-0.14,0.0,750.5,9.6,564,8139,0.65,0.00,126.00,1.070,4,0.135,0.000,2424,2591,2923,0,0,0,0,0,0
$STATE,8139,end apogee,CONTROL_FINISHED_OK
$STATE,8139,begin climb
$GC,8142,0.57,146.0,754.0,0.0,569,8285,0.68,2.42,133.90,1.043,4,0.064,0.050,2663,1180,2327,0,0,0,0,0,0
$GC,8425,0.57,146.0,729.2,12.8,577,8432,0.00,2.47,0.00,0.000,6,0.000,0.055,2663,2604,2319,0,0,0,0,0,0
$GC,8739,0.51,146.0,690.2,12.4,588,8743,0.00,2.30,0.00,0.000,4,0.000,0.054,2666,1190,2316,0,0,0,0,0,0
$GC,8945,0.51,146.0,666.7,11.2,594,8951,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2616,2315,0,0,0,0,0,0
$GC,9276,0.46,146.0,626.7,12.3,605,9280,0.15,2.20,0.00,0.000,4,0.197,0.068,2628,3925,2314,0,0,0,0,0,0
$GC,9326,0.42,146.0,620.7,12.0,606,9330,0.00,2.10,0.00,0.000,6,0.000,0.046,2628,2612,2312,0,0,0,0,0,0
$GC,9644,0.43,155.9,590.0,9.5,617,9654,0.00,0.00,7.55,0.862,6,0.000,0.000,2628,2612,2287,0,0,0,0,0,0
$GC,9951,0.43,166.1,561.3,9.5,627,9963,0.00,0.00,10.73,0.898,6,0.000,0.000,2628,2612,2245,0,0,0,0,0,0
$GC,10257,0.46,170.6,531.8,9.8,637,10264,0.00,0.00,5.43,0.767,6,0.000,0.000,2628,2612,2228,0,0,0,0,0,0
$GC,10563,0.49,182.6,502.3,9.4,647,10577,0.00,0.00,12.50,0.883,6,0.000,0.000,2628,2611,2177,0,0,0,0,0,0
$GC,10870,0.53,193.1,473.2,9.5,657,10885,0.00,2.28,10.43,0.845,4,0.000,0.052,2628,1191,2134,0,0,0,0,0,0
$GC,10908,0.60,198.4,469.2,9.8,658,10920,0.12,2.35,6.12,0.748,6,0.103,0.057,2680,2618,2114,0,0,0,0,0,0
$GC,11235,0.56,198.4,426.2,13.4,669,11237,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2618,2112,0,0,0,0,0,0
$GC,11543,0.51,198.4,385.2,13.3,685,11548,0.15,2.20,0.00,0.000,4,0.190,0.067,2641,3925,2111,0,0,0,0,0,0
$GC,11589,0.51,198.4,379.4,12.2,689,11593,0.00,2.08,0.00,0.000,6,0.000,0.046,2642,2621,2109,0,0,0,0,0,0
$GC,11916,0.53,198.4,344.7,10.5,719,11921,0.00,2.28,0.00,0.000,4,0.000,0.053,2642,1183,2110,0,0,0,0,0,0
$GC,11969,0.61,215.9,339.4,9.2,723,11992,0.00,2.35,16.33,0.809,6,0.000,0.057,2642,2618,2041,0,0,0,0,0,0
$GC,12311,0.65,215.9,301.9,11.4,755,12315,0.12,2.20,0.00,0.000,4,0.109,0.067,2693,3925,2038,0,0,0,0,0,0
$GC,12340,0.59,215.9,297.8,15.1,757,12345,0.12,2.10,0.00,0.000,6,0.201,0.045,2667,2613,2036,0,0,0,0,0,0
$GC,12665,0.59,215.9,256.2,12.2,787,12670,0.00,2.28,0.00,0.000,4,0.000,0.053,2667,1193,2036,0,0,0,0,0,0
$GC,12696,0.62,215.9,252.8,12.0,789,12700,0.00,2.33,0.00,0.000,6,0.000,0.055,2666,2620,2036,0,0,0,0,0,0
$GC,13026,0.62,215.9,213.3,11.4,820,13030,0.00,2.17,0.00,0.000,4,0.000,0.068,2667,3925,2036,0,0,0,0,0,0
$GC,13054,0.62,215.9,209.6,13.9,822,13061,0.00,2.10,0.00,0.000,6,0.000,0.044,2667,2609,2035,0,0,0,0,0,0
$GC,13379,0.62,215.9,173.2,10.8,853,13383,0.00,2.28,0.00,0.000,4,0.000,0.054,2667,1189,2035,0,0,0,0,0,0
$GC,13402,0.66,215.9,170.7,10.8,854,13409,0.00,2.33,0.00,0.000,6,0.000,0.056,2667,2622,2035,0,0,0,0,0,0
$GC,13728,0.66,215.9,134.1,11.4,885,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2622,2035,0,0,0,0,0,0
$GC,14049,0.68,217.1,99.2,9.9,915,14056,0.00,2.30,0.00,0.000,4,0.000,0.054,2667,1186,2035,0,0,0,0,0,0
$GC,14080,0.74,221.8,95.9,9.8,920,14094,0.15,2.35,5.93,0.621,6,0.099,0.056,2726,2619,2018,0,0,0,0,0,0
$GC,14433,0.69,221.8,51.6,11.4,982,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2619,2016,0,0,0,0,0,0
$GC,14781,0.68,245.8,16.8,8.9,1043,14811,0.12,2.35,22.02,0.647,4,0.185,0.054,2695,1185,1919,0,0,0,0,0,0
$FREEZE,8.78,-1.762,-1.771,2,2,0
$STATE,14887,end climb,FINISH_DEPTH_REACHED
$STATE,14887,begin subsurface finish
$FINISH1,8.8,1.025936,77
$GC,14896,0.05,76.7,8.8,-6.0,1061,14921,0.62,0.00,-20.35,0.000,6,0.145,0.000,2497,2598,2611,0,0,0,0,0,0
$FINISH2,7.8
$STATE,14921,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14921,begin surface
$RAFOS_CLK,857
$RAFOS,6,1293209347,16.833334,16.818611,123,45,45,43,43,42,565,770,1633,566,576,1023
$RAFOS,5,1293208868,16.700001,16.685556,57,49,47,45,44,41,726,153,690,1439,985,705
$RAFOS,4,1293208401,16.566668,16.555834,103,51,49,48,48,41,526,1285,145,1436,1674,919
$RAFOS,3,1293207911,16.433332,16.419722,93,42,41,41,40,40,796,1431,1354,498,436,563
$RAFOS,2,1293207421,16.299999,16.283611,110,46,44,44,43,43,821,1387,931,953,1209,1909
$RAFOS,1,1293206943,16.166666,16.150833,126,50,48,43,42,40,745,1601,1046,1460,1202,1513
$RAFOS,0,1293206485,16.033333,16.023611,70,44,40,39,39,38,766,1356,1689,875,145,1659
$RAFOS_FIX,6704.307129,-5854.137695,241210,161653,6,104,0.10
$IRIDIUM_FIX,6636.54,-5844.18,241210,101051
$TT8_MAMPS,0.028462
$HUMID,49.17
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,750.1,15.0
$24V_AH,21.4,68.548
$10V_AH,9.8,48.679
$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,3.975,95.225,356.925,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2676.326,9873.775,394.484,1817.327,227.023,0.000,1370.859,0.000,1801.063,2520.000,23.015,0.000
$DEVICE_MAMPS,201.195,74.970,1070.235,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,40005,1065
$CAP_FILE_SIZE,133123,0
$CFSIZE,260165632,209887232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,241210,162453,6704.307,-5854.138,0,6104.2,0,-38.2