version: 66.08
glider: 183
mission: 3
dive: 580
start: 12 25 110 11 9 45
data:
$ID,183
$MISSION,3
$DIVE,580
$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,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
$GPS1,251210,110355,6659.087,-5909.266,37,1.4,37,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.1
$GPS2,251210,110914,6658.996,-5909.191,12,1.0,12,-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,281.8,62679,-17.5,-10.000
$D_GRID,1116
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,156,0.00,0.00,-135.65,0.000,2,0.000,0.000,300,2776,3288,0,0,0,0,0,0
$GC,160,-0.57,-146.0,5.3,-12.1,24,180,8.38,2.05,-4.85,0.000,4,0.247,0.086,2277,3936,3521,0,0,0,0,0,0
$GC,344,-0.54,-146.0,44.0,-15.0,56,351,0.00,1.90,0.00,0.000,6,0.000,0.050,2277,2776,3523,0,0,0,0,0,0
$GC,690,-0.54,-146.0,86.4,-11.5,117,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2776,3523,0,0,0,0,0,0
$GC,1024,-0.54,-146.0,120.5,-9.9,159,1027,0.00,2.00,0.00,0.000,4,0.000,0.076,2275,3929,3522,0,0,0,0,0,0
$GC,1141,-0.57,-146.0,133.2,-10.7,169,1148,0.00,1.88,0.00,0.000,6,0.000,0.050,2274,2779,3522,0,0,0,0,0,0
$GC,1467,-0.59,-146.0,165.7,-9.5,200,1471,0.00,2.25,0.00,0.000,4,0.000,0.053,2274,1368,3521,0,0,0,0,0,0
$GC,1519,-0.64,-146.0,170.8,-9.8,204,1524,0.00,2.35,0.00,0.000,6,0.000,0.064,2274,2778,3521,0,0,0,0,0,0
$GC,1845,-0.67,-146.0,200.8,-8.5,234,1850,0.00,2.25,0.00,0.000,4,0.000,0.051,2275,1371,3521,0,0,0,0,0,0
$GC,1875,-0.72,-146.0,203.3,-8.2,236,1879,0.00,2.35,0.00,0.000,6,0.000,0.064,2274,2781,3521,0,0,0,0,0,0
$GC,2201,-0.75,-146.0,229.5,-7.4,266,2203,0.12,0.00,0.00,0.000,6,0.104,0.000,2219,2781,3521,0,0,0,0,0,0
$GC,2519,-0.69,-146.0,265.0,-11.6,296,2523,0.12,1.98,0.00,0.000,4,0.182,0.073,2245,3936,3521,0,0,0,0,0,0
$GC,2557,-0.69,-146.0,269.4,-10.5,299,2564,0.00,1.90,0.00,0.000,6,0.000,0.048,2245,2780,3522,0,0,0,0,0,0
$GC,2884,-0.69,-146.0,300.2,-9.7,330,2888,0.00,2.28,0.00,0.000,4,0.000,0.052,2245,1368,3522,0,0,0,0,0,0
$GC,2927,-0.69,-146.0,304.9,-9.9,333,2934,0.00,2.35,0.00,0.000,6,0.000,0.063,2243,2784,3522,0,0,0,0,0,0
$GC,3253,-0.69,-146.0,337.8,-9.9,364,3257,0.00,1.95,0.00,0.000,4,0.000,0.072,2235,3928,3523,0,0,0,0,0,0
$GC,3292,-0.67,-146.0,342.2,-10.8,367,3299,0.00,1.88,0.00,0.000,6,0.000,0.047,2235,2771,3523,0,0,0,0,0,0
$GC,3618,-0.67,-146.0,375.5,-10.1,398,3622,0.00,2.25,0.00,0.000,4,0.000,0.050,2234,1368,3523,0,0,0,0,0,0
$GC,3662,-0.67,-146.0,380.3,-9.6,401,3668,0.00,2.35,0.00,0.000,6,0.000,0.062,2235,2773,3523,0,0,0,0,0,0
$GC,3984,-0.67,-146.0,413.6,-10.7,424,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2774,3523,0,0,0,0,0,0
$GC,4288,-0.67,-146.0,446.0,-10.3,434,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2773,3524,0,0,0,0,0,0
$GC,4594,-0.67,-146.0,477.3,-10.1,444,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2774,3523,0,0,0,0,0,0
$GC,4901,-0.67,-146.0,508.9,-10.4,454,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2773,3524,0,0,0,0,0,0
$GC,5207,-0.67,-146.0,541.6,-10.8,464,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2773,3524,0,0,0,0,0,0
$GC,5513,-0.67,-146.0,573.3,-10.2,474,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2773,3525,0,0,0,0,0,0
$GC,5820,-0.67,-146.0,603.9,-9.7,484,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2774,3525,0,0,0,0,0,0
$GC,6126,-0.67,-146.0,632.8,-9.3,494,6130,0.00,2.00,0.00,0.000,4,0.000,0.072,2231,3929,3525,0,0,0,0,0,0
$GC,6147,-0.67,-146.0,635.1,-9.5,494,6151,0.00,1.88,0.00,0.000,6,0.000,0.047,2230,2767,3525,0,0,0,0,0,0
$GC,6467,-0.67,-146.0,665.0,-9.4,505,6468,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2767,3525,0,0,0,0,0,0
$GC,6773,-0.67,-146.0,693.4,-9.3,515,6777,0.00,2.22,0.00,0.000,4,0.000,0.050,2230,1365,3525,0,0,0,0,0,0
$GC,6802,-0.67,-146.0,696.2,-9.2,516,6807,0.12,2.33,0.00,0.000,6,0.172,0.061,2260,2769,3525,0,0,0,0,0,0
$STATE,6862,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6862,begin apogee
$GC,6869,-0.14,0.0,701.0,7.6,518,7000,0.50,0.00,125.68,1.040,4,0.126,0.000,2427,2598,2923,0,0,0,0,0,0
$STATE,7001,end apogee,CONTROL_FINISHED_OK
$STATE,7001,begin climb
$GC,7004,0.57,146.0,705.5,0.0,522,7145,0.68,2.42,132.60,1.016,4,0.063,0.050,2666,1188,2327,0,0,0,0,0,0
$GC,7290,0.57,146.0,682.6,10.6,530,7294,0.00,2.47,0.00,0.000,6,0.000,0.056,2667,2611,2319,0,0,0,0,0,0
$GC,7621,0.51,146.0,644.5,11.6,541,7625,0.00,2.30,0.00,0.000,4,0.000,0.054,2670,1190,2315,0,0,0,0,0,0
$GC,7822,0.48,146.0,622.1,11.4,547,7827,0.15,2.33,0.00,0.000,6,0.188,0.057,2633,2611,2315,0,0,0,0,0,0
$GC,8152,0.49,164.5,591.1,9.1,558,8172,0.00,2.22,14.98,0.934,4,0.000,0.069,2633,3926,2252,0,0,0,0,0,0
$GC,8207,0.46,164.5,585.5,10.6,559,8214,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2606,2249,0,0,0,0,0,0
$GC,8520,0.47,173.7,555.8,9.6,570,8531,0.00,0.00,9.82,0.884,6,0.000,0.000,2634,2606,2214,0,0,0,0,0,0
$GC,8826,0.47,173.7,525.0,10.1,580,8830,0.00,2.25,0.00,0.000,4,0.000,0.069,2634,3928,2211,0,0,0,0,0,0
$GC,8853,0.47,173.7,521.9,11.3,580,8860,0.00,2.12,0.00,0.000,6,0.000,0.045,2636,2615,2210,0,0,0,0,0,0
$GC,9166,0.47,175.2,490.5,9.9,591,9170,0.00,2.28,0.00,0.000,4,0.000,0.054,2635,1185,2210,0,0,0,0,0,0
$GC,9205,0.53,180.7,486.7,9.7,592,9219,0.00,2.35,7.10,0.813,6,0.000,0.057,2636,2624,2186,0,0,0,0,0,0
$GC,9539,0.55,180.7,452.6,10.3,603,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2624,2184,0,0,0,0,0,0
$GC,9844,0.55,180.7,421.3,10.2,613,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2624,2184,0,0,0,0,0,0
$GC,10153,0.55,180.7,390.8,10.0,627,10157,0.00,2.30,0.00,0.000,4,0.000,0.054,2636,1192,2184,0,0,0,0,0,0
$GC,10177,0.60,186.0,388.6,9.8,629,10190,0.00,2.33,6.18,0.747,6,0.000,0.056,2636,2611,2164,0,0,0,0,0,0
$GC,10508,0.62,186.0,354.1,10.4,660,10512,0.12,2.22,0.00,0.000,4,0.103,0.069,2688,3931,2163,0,0,0,0,0,0
$GC,10549,0.51,186.0,348.4,16.7,663,10554,0.20,2.12,0.00,0.000,6,0.186,0.045,2639,2614,2162,0,0,0,0,0,0
$GC,10874,0.54,186.0,313.4,10.4,693,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2613,2161,0,0,0,0,0,0
$GC,11197,0.57,186.0,280.2,10.4,723,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2613,2162,0,0,0,0,0,0
$GC,11525,0.60,187.7,246.3,9.9,754,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2613,2162,0,0,0,0,0,0
$GC,11853,0.64,190.4,213.9,9.9,785,11866,0.12,2.22,5.38,0.645,4,0.103,0.067,2690,3928,2145,0,0,0,0,0,0
$GC,11902,0.54,190.4,207.4,14.2,789,11907,0.17,2.12,0.00,0.000,6,0.185,0.045,2647,2610,2145,0,0,0,0,0,0
$GC,12228,0.58,196.5,173.5,9.7,819,12238,0.00,0.00,6.65,0.666,6,0.000,0.000,2647,2609,2122,0,0,0,0,0,0
$GC,12557,0.64,217.6,141.5,9.0,850,12579,0.10,0.00,19.90,0.705,6,0.116,0.000,2689,2609,2034,0,0,0,0,0,0
$GC,12894,0.64,217.6,101.8,10.2,882,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2609,2030,0,0,0,0,0,0
$GC,13231,0.65,230.0,69.7,9.4,940,13250,0.00,2.22,11.68,0.666,4,0.000,0.068,2689,3923,1984,0,0,0,0,0,0
$GC,13336,0.65,230.0,58.3,11.0,958,13342,0.00,2.12,0.00,0.000,6,0.000,0.047,2690,2614,1981,0,0,0,0,0,0
$GC,13684,0.72,273.0,30.7,8.0,1019,13726,0.00,2.38,37.12,0.656,4,0.000,0.054,2690,1194,1808,0,0,0,0,0,0
$GC,13775,0.85,310.6,23.3,8.3,1034,13813,0.17,2.35,32.15,0.640,6,0.088,0.057,2762,2621,1656,0,0,0,0,0,0
$FREEZE,8.91,-1.754,-1.783,2,1,0
$STATE,13886,end climb,FINISH_DEPTH_REACHED
$STATE,13886,begin subsurface finish
$FINISH1,8.9,1.026099,69
$GC,13892,0.04,68.7,8.9,-14.1,1053,13935,0.90,2.30,-31.65,0.000,4,0.157,0.088,2494,3921,2646,0,0,0,0,0,0
$FINISH2,6.5
$STATE,13935,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13935,begin surface
$RAFOS_CLK,745
$RAFOS,6,1293281355,12.833333,12.820833,84,47,45,42,39,38,572,376,887,1000,953,530
$RAFOS,5,1293280865,12.700000,12.684722,67,57,48,46,39,39,772,758,1289,1366,1203,1827
$RAFOS,4,1293280406,12.566667,12.557222,93,45,44,43,42,42,465,320,740,1308,26,1687
$RAFOS,3,1293279917,12.433333,12.421389,71,48,48,42,42,42,726,637,432,421,1212,1092
$RAFOS,2,1293279426,12.300000,12.285000,57,44,44,43,41,40,744,599,1469,1349,291,537
$RAFOS,1,1293278947,12.166667,12.151944,69,48,44,44,40,40,683,771,156,182,90,1333
$RAFOS,0,1293278466,12.033333,12.018333,46,45,41,38,38,37,1842,1464,656,1132,1330,1856
$RAFOS_FIX,6659.751953,-5910.478027,251210,121255,5,77,0.33
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.028462
$HUMID,48.97
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,701.0,12.0
$24V_AH,21.5,69.233
$10V_AH,9.8,49.074
$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,11.875,90.250,409.225,0.000,0.000,28.306,20.362,124.929,3.500,0.000,15.488,2587.737,8854.778,544.640,1986.042,298.807,0.000,1542.756,0.000,1787.448,2520.000,29.701,0.000
$DEVICE_MAMPS,247.095,87.975,1039.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36755,1060
$CAP_FILE_SIZE,137087,0
$CFSIZE,260165632,209514496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,251210,123355,6659.752,-5910.478,0,5076.8,0,-38.1