version: 66.08
glider: 183
mission: 3
dive: 579
start: 12 25 110 8 26 51
data:
$ID,183
$MISSION,3
$DIVE,579
$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,-9858.5273
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,251210,082037,6700.150,-5908.495,37,1.2,37,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.3
$GPS2,251210,082620,6700.129,-5908.329,12,1.2,12,-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,280.4,64195,-17.5,-10.000
$D_GRID,1135
$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,17,-0.57,-146.0,0.0,0.0,0,158,0.00,0.00,-136.45,0.000,2,0.000,0.000,295,2793,3290,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.1,-11.0,24,181,8.38,2.33,-4.88,0.000,4,0.246,0.062,2286,1365,3520,0,0,0,0,0,0
$GC,328,-0.57,-146.0,35.9,-11.3,53,335,0.00,2.35,0.00,0.000,6,0.000,0.063,2286,2776,3523,0,0,0,0,0,0
$GC,673,-0.57,-146.0,73.8,-10.2,114,680,0.00,1.98,0.00,0.000,4,0.000,0.073,2279,3932,3522,0,0,0,0,0,0
$GC,716,-0.57,-146.0,78.7,-11.8,121,723,0.00,1.88,0.00,0.000,6,0.000,0.049,2279,2769,3521,0,0,0,0,0,0
$GC,1057,-0.57,-146.0,116.2,-10.4,169,1061,0.00,2.00,0.00,0.000,4,0.000,0.075,2275,3926,3522,0,0,0,0,0,0
$GC,1097,-0.59,-146.0,120.8,-11.8,172,1104,0.00,1.85,0.00,0.000,6,0.000,0.050,2275,2790,3521,0,0,0,0,0,0
$GC,1422,-0.59,-146.0,154.8,-10.3,203,1426,0.00,2.30,0.00,0.000,4,0.000,0.053,2274,1365,3521,0,0,0,0,0,0
$GC,1479,-0.64,-146.0,160.6,-10.3,207,1485,0.00,2.35,0.00,0.000,6,0.000,0.063,2274,2778,3521,0,0,0,0,0,0
$GC,1805,-0.67,-146.0,192.7,-9.6,238,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2778,3520,0,0,0,0,0,0
$GC,2127,-0.71,-146.0,221.4,-8.9,268,2131,0.00,2.28,0.00,0.000,4,0.000,0.052,2275,1360,3521,0,0,0,0,0,0
$GC,2161,-0.76,-146.0,224.7,-9.9,270,2169,0.12,2.35,0.00,0.000,6,0.098,0.063,2217,2772,3522,0,0,0,0,0,0
$GC,2487,-0.70,-146.0,262.9,-11.5,301,2489,0.12,0.00,0.00,0.000,6,0.182,0.000,2249,2772,3521,0,0,0,0,0,0
$GC,2805,-0.70,-146.0,291.9,-8.5,331,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2772,3522,0,0,0,0,0,0
$GC,3125,-0.70,-146.0,318.0,-7.9,361,3129,0.00,2.25,0.00,0.000,4,0.000,0.051,2249,1364,3522,0,0,0,0,0,0
$GC,3147,-0.70,-146.0,320.0,-8.0,362,3154,0.00,2.35,0.00,0.000,6,0.000,0.062,2247,2766,3522,0,0,0,0,0,0
$GC,3472,-0.70,-146.0,347.4,-8.6,393,3476,0.00,2.00,0.00,0.000,4,0.000,0.072,2247,3924,3522,0,0,0,0,0,0
$GC,3496,-0.70,-146.0,349.6,-9.4,395,3503,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2754,3523,0,0,0,0,0,0
$GC,3829,-0.70,-146.0,378.2,-8.1,426,3833,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1365,3523,0,0,0,0,0,0
$GC,3863,-0.70,-146.0,381.3,-8.1,428,3869,0.00,2.33,0.00,0.000,6,0.000,0.062,2247,2755,3523,0,0,0,0,0,0
$GC,4188,-0.70,-146.0,408.4,-8.9,453,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2755,3523,0,0,0,0,0,0
$GC,4491,-0.70,-146.0,435.4,-8.8,463,4494,0.00,1.98,0.00,0.000,4,0.000,0.071,2242,3928,3523,0,0,0,0,0,0
$GC,4536,-0.70,-146.0,439.8,-9.7,464,4540,0.00,1.90,0.00,0.000,6,0.000,0.047,2242,2757,3523,0,0,0,0,0,0
$STATE,4684,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4684,begin apogee
$GC,4690,-0.14,0.0,452.8,9.0,469,4818,0.55,0.00,120.70,0.887,4,0.132,0.000,2422,2594,2922,0,0,0,0,0,0
$STATE,4819,end apogee,CONTROL_FINISHED_OK
$STATE,4819,begin climb
$GC,4821,0.57,146.0,456.9,0.0,473,4957,0.68,2.38,125.72,0.868,4,0.074,0.050,2657,1185,2328,0,0,0,0,0,0
$GC,5102,0.57,146.0,435.3,10.2,481,5107,0.00,2.45,0.00,0.000,6,0.000,0.055,2657,2600,2321,0,0,0,0,0,0
$GC,5422,0.53,146.0,400.4,10.8,492,5426,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1180,2317,0,0,0,0,0,0
$GC,5619,0.53,146.0,380.2,10.0,508,5624,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2616,2318,0,0,0,0,0,0
$GC,5945,0.50,146.0,343.8,11.1,538,5949,0.00,2.22,0.00,0.000,4,0.000,0.068,2662,3934,2316,0,0,0,0,0,0
$GC,6001,0.41,146.0,336.2,13.8,542,6008,0.20,2.15,0.00,0.000,6,0.189,0.045,2610,2605,2315,0,0,0,0,0,0
$GC,6327,0.49,185.4,308.5,8.2,573,6366,0.00,0.00,32.80,0.791,6,0.000,0.000,2610,2604,2167,0,0,0,0,0,0
$GC,6685,0.61,231.8,279.1,7.9,607,6728,0.17,0.00,39.65,0.773,6,0.084,0.000,2683,2604,1977,0,0,0,0,0,0
$GC,7042,0.61,231.8,233.4,13.2,641,7047,0.00,2.22,0.00,0.000,4,0.000,0.068,2683,3925,1970,0,0,0,0,0,0
$GC,7076,0.56,231.8,228.4,14.5,643,7083,0.00,2.12,0.00,0.000,6,0.000,0.045,2685,2616,1968,0,0,0,0,0,0
$GC,7401,0.56,231.8,186.0,12.8,674,7405,0.00,2.30,0.00,0.000,4,0.000,0.054,2686,1184,1967,0,0,0,0,0,0
$GC,7469,0.58,231.8,177.9,12.1,679,7475,0.00,2.33,0.00,0.000,6,0.000,0.056,2686,2614,1968,0,0,0,0,0,0
$GC,7794,0.58,231.8,136.5,12.4,710,7798,0.00,2.28,0.00,0.000,4,0.000,0.054,2686,1192,1967,0,0,0,0,0,0
$GC,7834,0.62,231.8,131.7,11.5,713,7838,0.00,2.30,0.00,0.000,6,0.000,0.056,2686,2610,1967,0,0,0,0,0,0
$GC,8163,0.62,231.8,93.7,11.1,748,8169,0.00,2.22,0.00,0.000,4,0.000,0.068,2686,3934,1967,0,0,0,0,0,0
$GC,8283,0.62,231.8,78.7,12.6,769,8290,0.00,2.12,0.00,0.000,6,0.000,0.046,2690,2610,1965,0,0,0,0,0,0
$GC,8629,0.65,231.8,43.2,10.4,830,8636,0.00,2.28,0.00,0.000,4,0.000,0.054,2690,1191,1965,0,0,0,0,0,0
$GC,8667,0.73,261.6,39.9,8.6,836,8698,0.00,2.38,24.90,0.652,6,0.000,0.058,2690,2632,1856,0,0,0,0,0,0
$FREEZE,8.68,-1.103,-1.789,2,1,0
$FREEZE,8.12,-1.106,-1.788,2,1,0
$FREEZE,7.76,-1.133,-1.788,2,1,0
$FREEZE,7.22,-1.144,-1.788,2,1,0
$FREEZE,6.64,-1.173,-1.787,2,1,0
$FREEZE,5.85,-1.207,-1.787,2,1,0
$GC,9037,0.79,276.9,7.2,9.3,901,9060,0.12,2.22,13.77,0.636,4,0.107,0.070,2744,3922,1792,0,0,0,0,0,0
$FREEZE,4.00,-1.254,-1.783,2,1,0
$FREEZE,3.25,-1.352,-1.783,2,1,0
$FREEZE,2.54,-1.394,-1.784,2,1,0
$STATE,9076,end climb,SURFACE_DEPTH_REACHED
$STATE,9076,begin surface coast
$FREEZE,1.84,-1.405,-1.782,2,1,0
$FREEZE,1.15,-1.471,-1.782,2,1,0
$FREEZE,0.86,-1.346,-0.860,2,1,0
$FINISH,0.9,1.012671
$STATE,9094,end surface coast,FINISH_DEPTH_REACHED
$STATE,9094,begin surface
$SM_CCo,9113,217.60,0.086,0,0,440,609.08
$SM_GC,1.71,0.00,0.00,217.60,0.000,0.000,0.086,302,2775,440,-6.79,-0.14,609.08
$RAFOS_CLK,483
$RAFOS,6,1293266946,8.833333,8.818334,71,46,45,41,40,39,622,298,758,383,1117,1474
$RAFOS,5,1293266462,8.700000,8.683888,63,43,41,40,39,38,778,980,1282,1458,1635,144
$RAFOS,4,1293265984,8.566667,8.551111,99,45,43,43,42,42,590,1718,334,1104,454,1362
$RAFOS,1,1293264543,8.166667,8.150833,67,45,44,39,39,38,704,26,1718,1568,1839,214
$RAFOS_FIX,6700.701172,-5908.077148,251210,080812,4,75,2.03
$IRIDIUM_FIX,6631.12,-5905.01,251210,030352
$TT8_MAMPS,0.029211
$HUMID,46.18
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,452.8,9.3
$24V_AH,22.0,69.118
$10V_AH,9.8,49.004
$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,17.050,79.350,357.550,217.600,0.000,30.335,16.874,140.025,1.500,0.000,14.524,2199.748,4813.551,704.531,1707.882,258.521,0.000,1533.922,0.000,1504.993,1080.000,12.371,0.000
$DEVICE_MAMPS,245.565,74.970,886.635,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.638,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33347,910
$CAP_FILE_SIZE,108579,0
$CFSIZE,260165632,209604608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,251210,110355,6659.087,-5909.266,37,1.4,37,-38.1