version: 66.08
glider: 183
mission: 3
dive: 796
start: 1 20 111 22 21 52
data:
$ID,183
$MISSION,3
$DIVE,796
$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,-12213.804
$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,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,5
$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
$GPS1,200111,202734,6648.676,-5942.916,0,7129.3,0,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.49
$_SM_ANGLEo,-0.9
$GPS2,200111,202734,6648.676,-5942.916,0,7129.3,0,-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,292.8,32687,-17.5,-10.000
$D_GRID,889
$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,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.47,0.000,2,0.000,0.000,2498,2642,2816,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.6,-0.0,1,53,0.55,2.15,-17.75,0.000,4,0.084,0.067,2295,1367,3522,0,0,0,0,0,0
$GC,83,-0.59,-146.0,13.2,-9.0,10,90,0.00,2.35,0.00,0.000,6,0.000,0.062,2290,2777,3523,0,0,0,0,0,0
$GC,430,-0.59,-146.0,60.8,-12.4,71,437,0.00,1.98,0.00,0.000,4,0.000,0.073,2282,3935,3522,0,0,0,0,0,0
$GC,457,-0.57,-146.0,64.0,-12.1,75,464,0.00,1.90,0.00,0.000,6,0.000,0.049,2282,2776,3523,0,0,0,0,0,0
$GC,805,-0.57,-146.0,108.1,-12.1,131,809,0.00,2.28,0.00,0.000,4,0.000,0.052,2282,1365,3522,0,0,0,0,0,0
$GC,872,-0.60,-146.0,115.7,-10.5,136,879,0.00,2.38,0.00,0.000,6,0.000,0.063,2279,2770,3522,0,0,0,0,0,0
$GC,1200,-0.62,-146.0,148.3,-8.5,167,1203,0.00,2.03,0.00,0.000,4,0.000,0.073,2273,3938,3522,0,0,0,0,0,0
$GC,1247,-0.66,-146.0,152.5,-8.8,171,1251,0.00,1.92,0.00,0.000,6,0.000,0.050,2273,2772,3522,0,0,0,0,0,0
$GC,1578,-0.68,-146.0,185.8,-10.6,202,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2772,3522,0,0,0,0,0,0
$GC,1902,-0.71,-146.0,216.7,-8.6,232,1906,0.00,2.28,0.00,0.000,4,0.000,0.051,2273,1362,3521,0,0,0,0,0,0
$GC,1936,-0.76,-146.0,220.1,-8.4,234,1943,0.12,2.40,0.00,0.000,6,0.102,0.063,2220,2773,3521,0,0,0,0,0,0
$GC,2262,-0.70,-146.0,259.0,-11.5,265,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2773,3521,0,0,0,0,0,0
$GC,2583,-0.65,-146.0,297.3,-12.1,295,2590,0.15,0.00,0.00,0.000,6,0.172,0.000,2262,2773,3521,0,0,0,0,0,0
$GC,2909,-0.69,-146.0,326.9,-9.0,326,2913,0.00,2.30,0.00,0.000,4,0.000,0.052,2262,1370,3521,0,0,0,0,0,0
$GC,2955,-0.74,-146.0,331.1,-8.5,329,2962,0.00,2.38,0.00,0.000,6,0.000,0.063,2261,2765,3521,0,0,0,0,0,0
$GC,3283,-0.78,-146.0,357.8,-8.1,360,3290,0.10,0.00,0.00,0.000,6,0.118,0.000,2216,2766,3521,0,0,0,0,0,0
$GC,3609,-0.73,-146.0,392.2,-10.7,391,3613,0.00,2.30,0.00,0.000,4,0.000,0.051,2216,1362,3521,0,0,0,0,0,0
$GC,3656,-0.71,-146.0,397.1,-10.3,395,3661,0.15,2.38,0.00,0.000,6,0.170,0.062,2246,2759,3521,0,0,0,0,0,0
$GC,3992,-0.71,-146.0,427.3,-9.0,407,3996,0.00,2.25,0.00,0.000,4,0.000,0.051,2246,1370,3521,0,0,0,0,0,0
$GC,4026,-0.74,-146.0,430.8,-9.6,408,4031,0.00,2.33,0.00,0.000,6,0.000,0.062,2246,2752,3521,0,0,0,0,0,0
$GC,4358,-0.76,-146.0,459.9,-9.0,419,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2752,3522,0,0,0,0,0,0
$GC,4663,-0.76,-146.0,487.5,-9.1,429,4667,0.00,2.28,0.00,0.000,4,0.000,0.050,2246,1360,3522,0,0,0,0,0,0
$GC,4686,-0.78,-146.0,489.8,-9.1,429,4690,0.00,2.35,0.00,0.000,6,0.000,0.061,2246,2757,3522,0,0,0,0,0,0
$GC,5001,-0.80,-146.0,517.4,-8.8,439,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2757,3522,0,0,0,0,0,0
$GC,5306,-0.83,-146.0,544.7,-8.9,449,5311,0.12,2.28,0.00,0.000,4,0.102,0.050,2185,1369,3522,0,0,0,0,0,0
$GC,5338,-0.75,-146.0,548.6,-12.2,450,5343,0.20,2.33,0.00,0.000,6,0.170,0.061,2228,2741,3522,0,0,0,0,0,0
$GC,5669,-0.75,-146.0,581.3,-9.6,461,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2741,3523,0,0,0,0,0,0
$GC,5978,-0.75,-146.0,610.8,-9.6,471,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2742,3523,0,0,0,0,0,0
$GC,6281,-0.75,-146.0,640.0,-9.4,481,6284,0.00,2.05,0.00,0.000,4,0.000,0.071,2222,3929,3523,0,0,0,0,0,0
$GC,6309,-0.75,-146.0,642.9,-10.2,481,6316,0.00,1.95,0.00,0.000,6,0.000,0.047,2222,2736,3523,0,0,0,0,0,0
$STATE,6410,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6410,begin apogee
$GC,6417,-0.14,0.0,652.5,9.8,485,6551,0.62,0.00,125.38,1.010,4,0.132,0.000,2422,2604,2922,0,0,0,0,0,0
$STATE,6552,end apogee,CONTROL_FINISHED_OK
$STATE,6552,begin climb
$GC,6555,0.57,146.0,657.1,0.0,489,6695,0.68,2.42,132.98,0.982,4,0.061,0.050,2665,1187,2327,0,0,0,0,0,0
$GC,6818,0.57,146.0,637.0,10.9,496,6823,0.00,2.50,0.00,0.000,6,0.000,0.056,2665,2608,2320,0,0,0,0,0,0
$GC,7133,0.51,146.0,599.8,12.2,506,7137,0.00,2.30,0.00,0.000,4,0.000,0.052,2666,1188,2316,0,0,0,0,0,0
$GC,7373,0.51,146.0,572.6,10.5,513,7378,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2602,2316,0,0,0,0,0,0
$GC,7699,0.45,146.0,534.3,11.9,524,7704,0.15,2.28,0.00,0.000,4,0.185,0.069,2626,3935,2315,0,0,0,0,0,0
$GC,7772,0.42,146.0,525.7,11.6,526,7776,0.00,2.17,0.00,0.000,6,0.000,0.045,2626,2602,2313,0,0,0,0,0,0
$GC,8109,0.43,168.0,494.9,9.0,537,8128,0.00,0.00,18.12,0.886,6,0.000,0.000,2625,2600,2237,0,0,0,0,0,0
$GC,8414,0.47,186.2,466.8,9.2,547,8433,0.00,0.00,17.40,0.869,6,0.000,0.000,2625,2601,2164,0,0,0,0,0,0
$GC,8722,0.51,188.9,436.9,9.9,557,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2601,2159,0,0,0,0,0,0
$GC,9027,0.56,198.6,407.1,9.6,567,9041,0.00,0.00,11.62,0.822,6,0.000,0.000,2625,2601,2113,0,0,0,0,0,0
$GC,9343,0.61,199.7,376.5,9.9,591,9348,0.12,2.30,0.00,0.000,4,0.097,0.070,2684,3926,2110,0,0,0,0,0,0
$GC,9389,0.51,199.7,369.8,15.1,594,9396,0.17,2.12,0.00,0.000,6,0.181,0.045,2644,2609,2108,0,0,0,0,0,0
$GC,9715,0.53,204.0,335.3,9.8,625,9728,0.00,2.28,6.10,0.717,4,0.000,0.051,2644,1193,2090,0,0,0,0,0,0
$GC,9763,0.63,234.7,331.0,8.6,629,9798,0.10,2.33,28.42,0.805,6,0.111,0.057,2689,2616,1966,0,0,0,0,0,0
$GC,10117,0.60,234.7,287.1,11.7,662,10121,0.00,2.22,0.00,0.000,4,0.000,0.068,2689,3925,1960,0,0,0,0,0,0
$GC,10175,0.54,234.7,279.1,14.2,667,10180,0.15,2.12,0.00,0.000,6,0.183,0.046,2651,2611,1958,0,0,0,0,0,0
$GC,10506,0.59,234.7,247.2,10.1,698,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2610,1958,0,0,0,0,0,0
$GC,10826,0.65,234.7,214.4,10.0,728,10831,0.10,2.25,0.00,0.000,4,0.112,0.069,2695,3928,1957,0,0,0,0,0,0
$GC,10857,0.61,234.7,210.5,14.1,730,10861,0.00,2.12,0.00,0.000,6,0.000,0.045,2697,2622,1957,0,0,0,0,0,0
$GC,11188,0.61,234.7,165.6,12.9,761,11192,0.00,2.33,0.00,0.000,4,0.000,0.054,2697,1194,1957,0,0,0,0,0,0
$GC,11233,0.65,234.7,160.2,11.9,764,11240,0.00,2.35,0.00,0.000,6,0.000,0.056,2697,2625,1957,0,0,0,0,0,0
$GC,11559,0.65,234.7,124.0,10.3,795,11563,0.00,2.22,0.00,0.000,4,0.000,0.070,2697,3930,1957,0,0,0,0,0,0
$GC,11618,0.60,234.7,117.0,13.2,800,11622,0.00,2.12,0.00,0.000,6,0.000,0.047,2697,2619,1956,0,0,0,0,0,0
$GC,11954,0.63,281.1,84.2,7.9,847,11996,0.00,0.00,39.62,0.679,6,0.000,0.000,2697,2618,1777,0,0,0,0,0,0
$GC,12337,0.73,326.0,49.1,7.9,914,12385,0.00,2.40,38.62,0.660,4,0.000,0.055,2697,1191,1592,0,0,0,0,0,0
$GC,12404,0.85,345.1,42.9,9.1,925,12430,0.15,2.38,17.92,0.643,6,0.090,0.058,2762,2626,1514,0,0,0,0,0,0
$FREEZE,8.85,-1.747,-1.765,2,14,0
$STATE,12656,end climb,FINISH_DEPTH_REACHED
$STATE,12657,begin subsurface finish
$FINISH1,8.9,1.025845,81
$GC,12664,0.05,81.2,8.9,-12.8,969,12707,0.85,2.25,-34.28,0.000,4,0.145,0.086,2499,3927,2594,0,0,0,0,0,0
$FINISH2,6.9
$STATE,12707,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12708,begin surface
$RAFOS_CLK,734
$RAFOS,6,1295570951,0.833333,0.819722,132,48,43,42,42,42,717,1398,875,1881,1085,1233
$RAFOS,5,1295570462,0.700000,0.683889,91,47,43,43,43,40,898,1806,1367,1521,545,1423
$RAFOS,4,1295570002,0.566667,0.556111,167,45,44,43,41,38,555,712,26,1192,1112,268
$RAFOS,3,1295569501,0.433333,0.416944,129,56,49,46,46,44,765,1275,1199,860,1613,1923
$RAFOS,2,1295569027,0.300000,0.285278,68,43,42,41,41,41,638,26,1017,251,594,1203
$RAFOS,1,1295568542,0.166667,0.150556,51,50,45,43,43,42,1010,1942,1537,384,1002,26
$RAFOS,0,1295568084,0.033333,0.023333,52,46,43,43,42,40,582,915,1291,1881,250,686
$RAFOS_FIX,6647.594238,-5945.093262,210111,000024,5,117,0.17
$IRIDIUM_FIX,6641.98,-5833.70,170111,181821
$TT8_MAMPS,0.028462
$HUMID,49.80
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,652.5,12.3
$24V_AH,21.2,90.063
$10V_AH,9.7,61.623
$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,4.500,96.825,436.200,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2439.591,7920.958,474.145,1702.754,246.018,0.000,1409.185,0.000,1686.602,2520.000,19.663,0.000
$DEVICE_MAMPS,185.130,85.680,1009.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,33436,976
$CAP_FILE_SIZE,127359,0
$CFSIZE,260165632,197509120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$GPS,210111,003524,6647.594,-5945.093,0,5117.4,0,-38.2