version: 66.08
glider: 183
mission: 3
dive: 588
start: 12 26 110 17 33 28
data:
$ID,183
$MISSION,3
$DIVE,588
$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,-9859.7803
$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,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
$GPS1,261210,162952,6651.937,-5933.688,0,6106.7,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.79
$_SM_ANGLEo,-0.5
$GPS2,261210,162952,6651.937,-5933.688,0,6106.7,0,-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,287.1,40995,-17.5,-10.000
$D_GRID,934
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.78,0.000,2,0.000,0.000,2497,3930,2839,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.9,-0.0,1,52,0.57,4.22,-15.43,0.000,4,0.099,0.057,2293,1371,3523,0,0,0,0,0,0
$GC,256,-0.60,-146.0,37.3,-11.6,41,263,0.00,2.38,0.00,0.000,6,0.000,0.063,2292,2783,3525,0,0,0,0,0,0
$GC,602,-0.60,-146.0,82.6,-12.6,102,608,0.00,1.98,0.00,0.000,4,0.000,0.075,2288,3935,3523,0,0,0,0,0,0
$GC,645,-0.63,-146.0,87.7,-11.9,109,652,0.00,1.90,0.00,0.000,6,0.000,0.050,2288,2786,3523,0,0,0,0,0,0
$GC,984,-0.66,-146.0,121.7,-9.4,150,988,0.00,2.28,0.00,0.000,4,0.000,0.052,2288,1363,3523,0,0,0,0,0,0
$GC,1018,-0.71,-146.0,125.4,-10.4,152,1025,0.12,2.38,0.00,0.000,6,0.104,0.063,2236,2787,3522,0,0,0,0,0,0
$GC,1345,-0.66,-146.0,164.5,-11.4,183,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3523,0,0,0,0,0,0
$GC,1663,-0.61,-146.0,200.7,-11.6,213,1667,0.15,1.98,0.00,0.000,4,0.174,0.076,2271,3933,3522,0,0,0,0,0,0
$GC,1702,-0.65,-146.0,204.8,-9.2,216,1709,0.00,1.90,0.00,0.000,6,0.000,0.050,2271,2774,3522,0,0,0,0,0,0
$GC,2028,-0.68,-146.0,231.9,-8.1,247,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2774,3522,0,0,0,0,0,0
$GC,2349,-0.72,-146.0,257.6,-7.9,277,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2774,3522,0,0,0,0,0,0
$GC,2677,-0.77,-146.0,287.7,-9.7,308,2681,0.12,2.28,0.00,0.000,4,0.107,0.053,2215,1368,3522,0,0,0,0,0,0
$GC,2698,-0.77,-146.0,290.6,-11.3,309,2705,0.00,2.38,0.00,0.000,6,0.000,0.064,2209,2778,3522,0,0,0,0,0,0
$GC,3024,-0.69,-146.0,333.1,-13.0,340,3026,0.15,0.00,0.00,0.000,6,0.184,0.000,2248,2778,3522,0,0,0,0,0,0
$GC,3342,-0.69,-146.0,365.9,-9.9,370,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2779,3522,0,0,0,0,0,0
$GC,3662,-0.69,-146.0,399.0,-10.2,400,3670,0.00,2.30,0.00,0.000,4,0.000,0.051,2249,1364,3522,0,0,0,0,0,0
$GC,3692,-0.72,-146.0,402.5,-10.0,401,3699,0.00,2.35,0.00,0.000,6,0.000,0.063,2248,2773,3522,0,0,0,0,0,0
$GC,4005,-0.72,-146.0,432.4,-9.3,412,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3522,0,0,0,0,0,0
$GC,4312,-0.72,-146.0,460.4,-9.1,422,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3522,0,0,0,0,0,0
$GC,4617,-0.72,-146.0,489.2,-9.2,432,4619,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3522,0,0,0,0,0,0
$GC,4924,-0.74,-146.0,518.0,-9.2,442,4928,0.00,2.25,0.00,0.000,4,0.000,0.051,2248,1370,3523,0,0,0,0,0,0
$GC,4954,-0.77,-146.0,520.6,-8.9,443,4958,0.00,2.33,0.00,0.000,6,0.000,0.063,2247,2765,3523,0,0,0,0,0,0
$GC,5289,-0.79,-146.0,549.5,-8.5,454,5296,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3928,3523,0,0,0,0,0,0
$STATE,5299,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5299,begin apogee
$GC,5307,-0.14,0.0,550.8,8.7,454,5436,0.55,0.00,122.20,0.955,4,0.133,0.000,2425,2589,2924,0,0,0,0,0,0
$STATE,5437,end apogee,CONTROL_FINISHED_OK
$STATE,5437,begin climb
$GC,5440,0.57,146.0,555.0,0.0,458,5581,0.68,2.40,130.10,0.929,4,0.068,0.050,2663,1186,2326,0,0,0,0,0,0
$GC,5726,0.57,146.0,533.4,10.4,467,5731,0.00,2.47,0.00,0.000,6,0.000,0.056,2663,2608,2318,0,0,0,0,0,0
$GC,6058,0.52,146.0,496.8,11.1,478,6062,0.00,2.33,0.00,0.000,4,0.000,0.053,2663,1191,2315,0,0,0,0,0,0
$GC,6275,0.52,146.0,473.6,10.4,484,6279,0.00,2.33,0.00,0.000,6,0.000,0.057,2663,2610,2315,0,0,0,0,0,0
$GC,6595,0.48,146.0,439.0,10.9,495,6600,0.12,2.25,0.00,0.000,4,0.205,0.069,2633,3929,2314,0,0,0,0,0,0
$GC,6630,0.44,146.0,435.1,11.2,496,6634,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2603,2312,0,0,0,0,0,0
$GC,6966,0.46,180.4,405.9,8.4,507,6997,0.00,0.00,28.75,0.856,6,0.000,0.000,2635,2602,2187,0,0,0,0,0,0
$GC,7313,0.51,198.0,374.5,9.2,534,7332,0.00,0.00,15.70,0.822,6,0.000,0.000,2635,2602,2114,0,0,0,0,0,0
$GC,7650,0.55,198.0,339.7,10.5,566,7654,0.00,2.28,0.00,0.000,4,0.000,0.053,2634,1191,2111,0,0,0,0,0,0
$GC,7690,0.64,198.6,335.7,10.0,569,7695,0.12,2.33,0.00,0.000,6,0.101,0.057,2686,2614,2111,0,0,0,0,0,0
$GC,8016,0.60,198.6,293.0,12.9,599,8020,0.00,2.22,0.00,0.000,4,0.000,0.069,2686,3928,2110,0,0,0,0,0,0
$GC,8090,0.52,198.6,282.5,15.1,605,8094,0.17,2.12,0.00,0.000,6,0.190,0.046,2645,2619,2109,0,0,0,0,0,0
$GC,8417,0.57,211.9,251.5,9.4,635,8440,0.00,2.38,12.62,0.758,4,0.000,0.054,2645,1186,2059,0,0,0,0,0,0
$GC,8475,0.69,243.2,246.1,8.6,640,8510,0.15,2.38,28.52,0.760,6,0.094,0.057,2706,2627,1930,0,0,0,0,0,0
$GC,8827,0.66,243.2,201.0,13.2,673,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2626,1924,0,0,0,0,0,0
$GC,9150,0.64,243.2,160.6,12.8,703,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2626,1922,0,0,0,0,0,0
$GC,9475,0.64,243.2,122.8,10.6,734,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2627,1922,0,0,0,0,0,0
$GC,9799,0.64,251.0,89.6,9.6,773,9812,0.00,2.20,6.65,0.654,4,0.000,0.070,2706,3928,1899,0,0,0,0,0,0
$GC,9859,0.62,251.0,82.8,11.6,783,9866,0.12,2.15,0.00,0.000,6,0.197,0.047,2676,2607,1896,0,0,0,0,0,0
$GC,10209,0.72,290.4,53.8,8.2,844,10250,0.00,2.30,34.35,0.675,4,0.000,0.054,2676,1193,1740,0,0,0,0,0,0
$GC,10315,0.89,326.1,43.9,8.4,862,10357,0.25,2.33,32.05,0.656,6,0.077,0.057,2774,2602,1591,0,0,0,0,0,0
$FREEZE,8.40,-1.741,-1.774,2,9,0
$STATE,10564,end climb,FINISH_DEPTH_REACHED
$STATE,10564,begin subsurface finish
$FINISH1,8.4,1.025985,74
$GC,10572,0.05,74.3,8.4,-14.9,906,10614,0.93,2.28,-33.80,0.000,4,0.158,0.086,2498,3925,2623,0,0,0,0,0,0
$FINISH2,6.6
$STATE,10615,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10615,begin surface
$RAFOS_CLK,624
$RAFOS,2,1293394625,20.299999,20.284721,79,44,43,42,42,41,663,1766,1034,1891,26,1792
$RAFOS,1,1293394143,20.166666,20.150833,137,48,48,47,43,41,597,1091,1363,154,1722,852
$RAFOS,0,1293393665,20.033333,20.018055,64,47,46,45,45,42,713,1893,1916,1527,989,1841
$RAFOS_FIX,6650.187988,-5940.518066,261210,202044,3,93,0.45
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.031458
$HUMID,49.72
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,550.1,10.2
$24V_AH,21.6,69.993
$10V_AH,9.8,49.566
$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,4.225,75.950,410.950,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2211.207,6300.795,447.809,1547.207,176.441,0.000,1288.471,0.000,1530.680,1440.000,18.730,0.000
$DEVICE_MAMPS,205.020,85.680,955.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,33378,913
$CAP_FILE_SIZE,107475,0
$CFSIZE,260165632,209043456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,261210,201144,6650.188,-5940.518,0,3093.3,0,-38.1