version: 66.08
glider: 183
mission: 3
dive: 592
start: 12 27 110 5 34 46
data:
$ID,183
$MISSION,3
$DIVE,592
$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,-9861.1309
$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,29
$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
$GPS1,271210,042453,6646.907,-5943.550,0,6090.3,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.47
$_SM_ANGLEo,-5.1
$GPS2,271210,042453,6646.907,-5943.550,0,6090.3,0,-38.0
$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,298.2,31518,-17.5,-10.000
$D_GRID,838
$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,-6.38,0.000,2,0.000,0.000,2500,2601,2798,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.1,-0.0,1,53,0.55,2.03,-16.60,0.000,4,0.076,0.067,2288,1368,3523,0,0,0,0,0,0
$GC,66,-0.54,-146.0,14.9,-13.1,7,73,0.00,2.35,0.00,0.000,6,0.000,0.060,2287,2778,3525,0,0,0,0,0,0
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$GC,1374,-0.69,-146.0,172.9,-10.0,180,1380,0.00,1.85,0.00,0.000,6,0.000,0.050,2274,2802,3524,0,0,0,0,0,0
$GC,1700,-0.72,-146.0,205.7,-9.4,211,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2803,3524,0,0,0,0,0,0
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$GC,2044,-0.76,-146.0,236.5,-9.6,243,2048,0.00,1.85,0.00,0.000,6,0.000,0.050,2217,2803,3523,0,0,0,0,0,0
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$GC,2693,-0.70,-146.0,312.2,-10.1,304,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2802,3523,0,0,0,0,0,0
$GC,3015,-0.70,-146.0,342.6,-8.8,334,3018,0.00,1.98,0.00,0.000,4,0.000,0.076,2247,3936,3523,0,0,0,0,0,0
$GC,3043,-0.70,-146.0,345.5,-9.2,336,3050,0.00,1.83,0.00,0.000,6,0.000,0.050,2247,2808,3523,0,0,0,0,0,0
$GC,3368,-0.70,-146.0,376.2,-10.0,367,3372,0.00,2.30,0.00,0.000,4,0.000,0.051,2247,1372,3523,0,0,0,0,0,0
$GC,3436,-0.74,-146.0,382.6,-9.2,372,3442,0.00,2.40,0.00,0.000,6,0.000,0.064,2247,2805,3523,0,0,0,0,0,0
$GC,3758,-0.74,-146.0,411.8,-9.2,395,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2805,3523,0,0,0,0,0,0
$GC,4062,-0.74,-146.0,440.9,-9.4,405,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2805,3523,0,0,0,0,0,0
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$GC,4779,-0.85,-146.0,502.8,-7.5,428,4784,0.12,2.40,0.00,0.000,6,0.100,0.063,2191,2790,3524,0,0,0,0,0,0
$GC,5103,-0.76,-146.0,539.8,-11.5,439,5105,0.15,0.00,0.00,0.000,6,0.184,0.000,2230,2791,3524,0,0,0,0,0,0
$GC,5410,-0.76,-146.0,566.7,-8.7,449,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2790,3524,0,0,0,0,0,0
$GC,5716,-0.76,-146.0,594.9,-9.4,459,5720,0.00,2.30,0.00,0.000,4,0.000,0.050,2230,1361,3524,0,0,0,0,0,0
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$GC,6057,-0.76,-146.0,626.8,-9.2,470,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2788,3524,0,0,0,0,0,0
$GC,6362,-0.76,-146.0,655.6,-9.1,480,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2788,3525,0,0,0,0,0,0
$GC,6668,-0.76,-146.0,683.7,-9.0,490,6673,0.00,2.30,0.00,0.000,4,0.000,0.050,2230,1368,3525,0,0,0,0,0,0
$GC,6708,-0.78,-146.0,687.4,-8.9,491,6713,0.00,2.35,0.00,0.000,6,0.000,0.063,2230,2781,3525,0,0,0,0,0,0
$GC,7033,-0.78,-146.0,716.5,-9.1,502,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2781,3525,0,0,0,0,0,0
$GC,7340,-0.78,-146.0,743.2,-8.9,512,7344,0.00,2.28,0.00,0.000,4,0.000,0.050,2230,1363,3525,0,0,0,0,0,0
$GC,7369,-0.78,-146.0,745.8,-9.3,513,7373,0.00,2.35,0.00,0.000,6,0.000,0.062,2230,2775,3525,0,0,0,0,0,0
$STATE,7429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7429,begin apogee
$GC,7435,-0.14,0.0,751.1,8.8,515,7571,0.60,0.00,127.38,1.073,4,0.135,0.000,2423,2603,2921,0,0,0,0,0,0
$STATE,7571,end apogee,CONTROL_FINISHED_OK
$STATE,7571,begin climb
$GC,7574,0.57,146.0,754.3,0.0,519,7720,0.70,2.47,134.75,1.046,4,0.067,0.050,2665,1180,2325,0,0,0,0,0,0
$GC,7883,0.57,146.0,726.4,11.0,528,7890,0.00,2.50,0.00,0.000,6,0.000,0.055,2665,2602,2317,0,0,0,0,0,0
$GC,8197,0.52,146.0,688.6,12.3,539,8202,0.00,2.33,0.00,0.000,4,0.000,0.054,2666,1179,2314,0,0,0,0,0,0
$GC,8387,0.52,146.0,666.9,11.4,544,8394,0.00,2.38,0.00,0.000,6,0.000,0.057,2666,2628,2314,0,0,0,0,0,0
$GC,8702,0.47,146.0,629.1,11.9,555,8707,0.15,2.20,0.00,0.000,4,0.195,0.069,2628,3930,2313,0,0,0,0,0,0
$GC,8751,0.44,146.0,622.9,11.9,556,8755,0.00,2.12,0.00,0.000,6,0.000,0.045,2628,2620,2311,0,0,0,0,0,0
$GC,9070,0.45,163.0,593.6,9.2,567,9085,0.00,0.00,13.57,0.933,6,0.000,0.000,2628,2620,2258,0,0,0,0,0,0
$GC,9377,0.49,188.1,566.3,8.8,577,9409,0.00,2.38,23.50,0.941,4,0.000,0.054,2628,1190,2155,0,0,0,0,0,0
$GC,9432,0.59,217.5,561.3,8.6,578,9466,0.10,2.38,27.10,0.929,6,0.115,0.057,2673,2628,2035,0,0,0,0,0,0
$GC,9780,0.59,217.5,519.0,13.0,590,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2628,2028,0,0,0,0,0,0
$GC,10086,0.59,217.5,478.6,13.2,600,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2628,2026,0,0,0,0,0,0
$GC,10393,0.59,217.5,439.5,12.5,610,10397,0.00,2.33,0.00,0.000,4,0.000,0.054,2676,1190,2026,0,0,0,0,0,0
$GC,10428,0.62,217.5,435.2,12.2,611,10432,0.00,2.35,0.00,0.000,6,0.000,0.057,2676,2632,2026,0,0,0,0,0,0
$GC,10744,0.62,217.5,394.5,12.6,624,10748,0.00,2.20,0.00,0.000,4,0.000,0.069,2676,3929,2025,0,0,0,0,0,0
$GC,10785,0.57,217.5,388.7,14.7,627,10789,0.00,2.10,0.00,0.000,6,0.000,0.045,2678,2630,2023,0,0,0,0,0,0
$GC,11110,0.57,217.5,346.8,13.0,657,11114,0.00,2.30,0.00,0.000,4,0.000,0.054,2677,1186,2023,0,0,0,0,0,0
$GC,11167,0.61,217.5,340.0,11.3,661,11173,0.00,2.35,0.00,0.000,6,0.000,0.057,2678,2629,2023,0,0,0,0,0,0
$GC,11492,0.61,217.5,299.2,12.2,692,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2629,2023,0,0,0,0,0,0
$GC,11810,0.61,217.5,262.0,11.5,722,11814,0.00,2.17,0.00,0.000,4,0.000,0.070,2677,3928,2023,0,0,0,0,0,0
$GC,11851,0.57,217.5,256.8,14.0,725,11855,0.00,2.15,0.00,0.000,6,0.000,0.046,2679,2602,2023,0,0,0,0,0,0
$GC,12176,0.57,217.5,218.9,11.3,755,12180,0.00,2.28,0.00,0.000,4,0.000,0.054,2679,1188,2023,0,0,0,0,0,0
$GC,12228,0.63,241.0,213.9,8.9,759,12253,0.00,2.30,19.20,0.752,6,0.000,0.057,2679,2602,1942,0,0,0,0,0,0
$GC,12580,0.66,241.0,177.4,11.0,792,12584,0.00,2.22,0.00,0.000,4,0.000,0.070,2680,3925,1938,0,0,0,0,0,0
$GC,12619,0.66,241.0,172.3,13.7,795,12623,0.00,2.15,0.00,0.000,6,0.000,0.047,2680,2602,1936,0,0,0,0,0,0
$GC,12950,0.70,241.0,136.8,10.5,826,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2601,1937,0,0,0,0,0,0
$GC,13273,0.75,241.0,103.6,10.2,856,13278,0.10,2.28,0.00,0.000,4,0.126,0.055,2719,1190,1936,0,0,0,0,0,0
$GC,13347,0.75,241.0,94.7,11.5,866,13353,0.00,2.33,0.00,0.000,6,0.000,0.058,2718,2598,1937,0,0,0,0,0,0
$GC,13692,0.76,255.0,58.1,9.4,927,13712,0.00,2.33,13.32,0.684,4,0.000,0.071,2719,3929,1882,0,0,0,0,0,0
$GC,13736,0.73,255.0,53.7,10.6,934,13743,0.00,2.20,0.00,0.000,6,0.000,0.047,2719,2582,1879,0,0,0,0,0,0
$GC,14084,0.79,312.3,21.6,7.4,995,14139,0.00,2.40,49.35,0.653,4,0.000,0.071,2719,3924,1649,0,0,0,0,0,0
$FREEZE,8.51,-1.662,-1.741,2,3,0
$STATE,14230,end climb,FINISH_DEPTH_REACHED
$STATE,14230,begin subsurface finish
$FINISH1,8.5,1.025499,98
$GC,14239,0.06,98.2,8.5,-9.6,1020,14274,0.70,0.00,-27.58,0.000,6,0.140,0.000,2498,2601,2524,0,0,0,0,0,0
$FINISH2,7.3
$STATE,14275,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14275,begin surface
$RAFOS_CLK,829
$RAFOS,6,1293439746,8.833333,8.818334,74,55,43,39,38,38,761,1475,1508,830,737,1453
$RAFOS,5,1293439268,8.700000,8.685555,60,45,45,43,41,41,868,1593,1699,1658,231,1117
$RAFOS,4,1293438787,8.566667,8.551945,75,45,44,42,42,42,642,273,1262,477,591,296
$RAFOS,3,1293438323,8.433333,8.423056,83,52,47,47,41,39,642,1681,1881,1906,1490,597
$RAFOS,2,1293437833,8.300000,8.286944,89,45,42,41,39,39,590,1015,1140,366,585,1656
$RAFOS,1,1293437367,8.166667,8.157500,85,45,41,41,40,40,435,162,539,1594,153,684
$RAFOS,0,1293436877,8.033334,8.021389,53,49,42,42,40,39,616,1373,329,26,545,703
$RAFOS_FIX,6646.708008,-5947.745117,271210,080817,6,78,0.21
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.028462
$HUMID,49.29
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,23.9
$ALTIM_BOTTOM_PING,751.1,14.8
$24V_AH,21.2,70.434
$10V_AH,9.7,49.810
$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,3.425,112.125,408.175,0.000,0.000,0.000,0.000,0.000,3.750,0.000,0.000,2596.824,9257.652,458.182,1815.328,221.581,0.000,1452.456,0.000,1791.573,2520.000,31.221,0.000
$DEVICE_MAMPS,195.075,76.500,1073.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,36732,1026
$CAP_FILE_SIZE,134588,0
$CFSIZE,260165632,208785408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$GPS,271210,083117,6646.708,-5947.745,0,6077.7,0,-38.0