version: 66.08
glider: 183
mission: 3
dive: 573
start: 12 24 110 10 19 21
data:
$ID,183
$MISSION,3
$DIVE,573
$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,33
$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
$GPS1,241210,100224,6704.868,-5850.263,27,1.5,44,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.7
$GPS2,241210,101852,6704.744,-5849.963,11,2.5,30,-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,279.5,80075,-17.5,-10.000
$D_GRID,1221
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,164,0.00,0.00,-141.77,0.000,2,0.000,0.000,283,2776,3360,0,0,0,0,0,0
$GC,167,-0.57,-146.0,6.2,-15.3,25,187,8.52,2.30,-3.25,0.000,4,0.246,0.063,2284,1361,3523,0,0,0,0,0,0
$GC,312,-0.57,-146.0,39.4,-13.7,50,319,0.00,2.38,0.00,0.000,6,0.000,0.064,2279,2767,3525,0,0,0,0,0,0
$GC,658,-0.57,-146.0,81.2,-10.2,111,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2767,3526,0,0,0,0,0,0
$GC,1000,-0.57,-146.0,113.7,-8.7,159,1004,0.00,2.00,0.00,0.000,4,0.000,0.075,2275,3929,3525,0,0,0,0,0,0
$GC,1119,-0.60,-146.0,124.4,-8.4,169,1126,0.00,1.85,0.00,0.000,6,0.000,0.050,2275,2782,3524,0,0,0,0,0,0
$GC,1445,-0.63,-146.0,154.6,-9.3,200,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2782,3524,0,0,0,0,0,0
$GC,1765,-0.66,-146.0,183.4,-9.3,230,1769,0.00,2.28,0.00,0.000,4,0.000,0.052,2274,1371,3524,0,0,0,0,0,0
$GC,1806,-0.70,-146.0,187.3,-9.3,233,1810,0.00,2.38,0.00,0.000,6,0.000,0.063,2275,2794,3524,0,0,0,0,0,0
$GC,2132,-0.74,-146.0,216.4,-9.1,263,2134,0.12,0.00,0.00,0.000,6,0.103,0.000,2218,2794,3524,0,0,0,0,0,0
$GC,2450,-0.67,-146.0,257.2,-12.6,293,2455,0.15,2.33,0.00,0.000,4,0.174,0.051,2260,1364,3524,0,0,0,0,0,0
$GC,2471,-0.67,-146.0,260.0,-11.8,294,2478,0.00,2.40,0.00,0.000,6,0.000,0.063,2259,2788,3525,0,0,0,0,0,0
$GC,2797,-0.67,-146.0,291.7,-10.2,325,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2788,3525,0,0,0,0,0,0
$GC,3118,-0.70,-146.0,322.0,-9.0,355,3122,0.00,2.28,0.00,0.000,4,0.000,0.050,2259,1368,3525,0,0,0,0,0,0
$GC,3139,-0.72,-146.0,324.3,-9.1,356,3146,0.00,2.38,0.00,0.000,6,0.000,0.063,2259,2784,3525,0,0,0,0,0,0
$GC,3465,-0.75,-146.0,352.9,-8.7,387,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2783,3525,0,0,0,0,0,0
$GC,3788,-0.78,-146.0,379.7,-8.2,417,3793,0.10,2.30,0.00,0.000,4,0.122,0.050,2216,1363,3526,0,0,0,0,0,0
$GC,3854,-0.76,-146.0,387.2,-10.9,422,3861,0.00,2.35,0.00,0.000,6,0.000,0.063,2208,2778,3526,0,0,0,0,0,0
$GC,4183,-0.69,-146.0,424.6,-11.5,440,4187,0.15,1.98,0.00,0.000,4,0.181,0.071,2242,3928,3526,0,0,0,0,0,0
$GC,4221,-0.69,-146.0,428.8,-9.5,441,4225,0.00,1.90,0.00,0.000,6,0.000,0.047,2242,2775,3526,0,0,0,0,0,0
$GC,4557,-0.69,-146.0,460.0,-9.5,452,4561,0.00,2.22,0.00,0.000,4,0.000,0.050,2242,1370,3527,0,0,0,0,0,0
$GC,4607,-0.72,-146.0,465.0,-9.3,453,4611,0.00,2.33,0.00,0.000,6,0.000,0.062,2242,2773,3527,0,0,0,0,0,0
$GC,4920,-0.72,-146.0,493.3,-9.0,463,4924,0.00,1.98,0.00,0.000,4,0.000,0.072,2238,3942,3527,0,0,0,0,0,0
$GC,4942,-0.72,-146.0,495.4,-8.8,463,4946,0.00,1.92,0.00,0.000,6,0.000,0.047,2238,2759,3527,0,0,0,0,0,0
$GC,5260,-0.72,-146.0,525.5,-9.4,474,5264,0.00,2.20,0.00,0.000,4,0.000,0.050,2238,1371,3528,0,0,0,0,0,0
$GC,5295,-0.72,-146.0,528.9,-9.8,475,5299,0.00,2.33,0.00,0.000,6,0.000,0.062,2235,2772,3528,0,0,0,0,0,0
$GC,5625,-0.72,-146.0,560.6,-9.7,486,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2772,3528,0,0,0,0,0,0
$GC,5930,-0.72,-146.0,590.8,-10.0,496,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2772,3529,0,0,0,0,0,0
$STATE,6053,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6053,begin apogee
$GC,6060,-0.14,0.0,603.0,10.0,500,6193,0.57,0.00,125.15,0.978,4,0.135,0.000,2421,2602,2923,0,0,0,0,0,0
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6194,begin climb
$GC,6196,0.57,146.0,608.2,0.0,504,6334,0.70,2.45,130.18,0.955,4,0.070,0.050,2663,1178,2329,0,0,0,0,0,0
$GC,6502,0.57,146.0,584.1,10.9,513,6509,0.00,2.45,0.00,0.000,6,0.000,0.055,2663,2600,2320,0,0,0,0,0,0
$GC,6816,0.52,146.0,548.6,11.4,524,6820,0.00,2.30,0.00,0.000,4,0.000,0.054,2666,1183,2317,0,0,0,0,0,0
$GC,7029,0.52,146.0,525.4,10.8,530,7033,0.00,2.33,0.00,0.000,6,0.000,0.057,2666,2608,2317,0,0,0,0,0,0
$GC,7347,0.46,146.0,486.9,12.5,541,7352,0.15,2.22,0.00,0.000,4,0.194,0.068,2627,3933,2316,0,0,0,0,0,0
$GC,7397,0.44,146.0,480.6,12.0,542,7401,0.00,2.12,0.00,0.000,6,0.000,0.045,2628,2605,2314,0,0,0,0,0,0
$GC,7710,0.44,146.0,448.1,10.4,552,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2604,2314,0,0,0,0,0,0
$GC,8016,0.44,146.0,416.6,10.3,562,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2604,2314,0,0,0,0,0,0
$GC,8327,0.45,164.9,386.5,9.1,580,8350,0.00,2.28,15.55,0.825,4,0.000,0.054,2628,1192,2249,0,0,0,0,0,0
$GC,8375,0.51,180.4,382.1,9.3,584,8398,0.00,2.33,15.20,0.812,6,0.000,0.056,2628,2618,2186,0,0,0,0,0,0
$GC,8719,0.56,186.2,349.6,9.7,616,8733,0.00,2.33,5.38,0.684,4,0.000,0.052,2628,1181,2166,0,0,0,0,0,0
$GC,8757,0.63,196.8,345.8,9.5,619,8774,0.15,2.35,11.25,0.781,6,0.093,0.055,2690,2611,2120,0,0,0,0,0,0
$GC,9093,0.57,196.8,299.1,13.8,650,9098,0.12,2.25,0.00,0.000,4,0.194,0.067,2659,3932,2116,0,0,0,0,0,0
$GC,9115,0.52,196.8,295.6,14.7,651,9122,0.00,2.15,0.00,0.000,6,0.000,0.044,2662,2600,2115,0,0,0,0,0,0
$GC,9440,0.52,196.8,258.7,11.1,682,9444,0.00,2.25,0.00,0.000,4,0.000,0.052,2662,1195,2115,0,0,0,0,0,0
$GC,9474,0.55,198.2,255.1,9.9,684,9481,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2612,2115,0,0,0,0,0,0
$GC,9799,0.55,198.2,221.7,10.0,715,9803,0.00,2.22,0.00,0.000,4,0.000,0.068,2662,3935,2114,0,0,0,0,0,0
$GC,9844,0.51,198.2,216.6,12.0,718,9850,0.00,2.12,0.00,0.000,6,0.000,0.045,2662,2604,2114,0,0,0,0,0,0
$GC,10169,0.51,198.2,182.9,10.5,749,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2604,2114,0,0,0,0,0,0
$GC,10489,0.51,198.7,150.0,10.0,779,10493,0.00,2.25,0.00,0.000,4,0.000,0.054,2662,1186,2114,0,0,0,0,0,0
$GC,10523,0.56,204.0,146.5,9.8,781,10535,0.00,2.33,7.03,0.659,6,0.000,0.056,2662,2619,2091,0,0,0,0,0,0
$GC,10855,0.59,211.4,112.8,9.7,812,10868,0.00,2.28,8.12,0.662,4,0.000,0.069,2663,3932,2060,0,0,0,0,0,0
$GC,10920,0.59,211.4,105.8,10.4,817,10927,0.00,2.10,0.00,0.000,6,0.000,0.046,2662,2619,2058,0,0,0,0,0,0
$GC,11262,0.63,225.7,75.2,9.3,872,11282,0.00,2.35,13.35,0.672,4,0.000,0.054,2662,1189,2003,0,0,0,0,0,0
$GC,11306,0.74,264.1,71.3,8.2,879,11349,0.15,2.38,34.15,0.662,6,0.098,0.057,2724,2633,1845,0,0,0,0,0,0
$GC,11688,0.74,274.5,26.2,9.5,946,11701,0.00,2.25,9.10,0.625,4,0.000,0.069,2724,3925,1802,0,0,0,0,0,0
$GC,11737,0.74,274.5,20.7,11.6,954,11744,0.00,2.05,0.00,0.000,6,0.000,0.046,2725,2652,1800,0,0,0,0,0,0
$FREEZE,8.49,-1.757,-1.771,2,1,0
$STATE,11857,end climb,FINISH_DEPTH_REACHED
$STATE,11857,begin subsurface finish
$FINISH1,8.5,1.025930,77
$GC,11864,0.05,77.0,8.5,-10.2,975,11896,0.73,2.35,-24.88,0.000,4,0.150,0.066,2501,1182,2611,0,0,0,0,0,0
$FINISH2,6.9
$STATE,11896,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11897,begin surface
$RAFOS_CLK,628
$RAFOS,6,1293194945,12.833333,12.818055,79,50,45,44,44,43,574,1739,782,1856,1885,26
$RAFOS,5,1293194462,12.700000,12.683888,72,48,44,43,42,42,734,392,154,1785,298,1371
$RAFOS,4,1293194005,12.566667,12.556945,94,48,43,41,39,38,504,1044,641,26,1861,676
$RAFOS,3,1293193515,12.433333,12.420834,121,44,42,41,41,39,773,154,1129,699,26,908
$RAFOS,2,1293193030,12.300000,12.286111,122,51,45,45,43,43,782,712,265,1055,200,751
$RAFOS,1,1293192560,12.166667,12.155556,127,45,44,44,41,41,685,1442,1784,1827,262,373
$RAFOS,0,1293192065,12.033333,12.018056,46,45,39,39,38,38,574,406,144,1115,1109,1507
$RAFOS_FIX,6704.628906,-5852.418457,241210,121238,6,102,0.22
$IRIDIUM_FIX,6636.54,-5844.18,241210,101051
$TT8_MAMPS,0.029211
$HUMID,48.22
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,17.7
$ALTIM_BOTTOM_PING,603.0,10.9
$24V_AH,21.6,68.449
$10V_AH,9.8,48.613
$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,11.625,101.200,374.450,0.000,0.000,56.934,64.302,442.201,2.500,0.000,33.598,2410.270,7201.929,512.847,2263.676,511.075,0.000,1468.938,0.000,1697.874,2520.000,20.522,0.000
$DEVICE_MAMPS,246.330,111.690,977.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,36723,980
$CAP_FILE_SIZE,134609,0
$CFSIZE,260165632,209960960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,241210,123138,6704.629,-5852.418,0,6102.5,0,-38.2