version: 66.08
glider: 183
mission: 3
dive: 581
start: 12 25 110 15 4 18
data:
$ID,183
$MISSION,3
$DIVE,581
$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,35
$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
$GPS1,251210,123355,6659.752,-5910.478,0,5076.8,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.45
$_SM_ANGLEo,-0.6
$GPS2,251210,123355,6659.752,-5910.478,0,5076.8,0,-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,280.3,62478,-17.5,-10.000
$D_GRID,1124
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2495,3921,2879,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.5,-0.0,1,52,0.57,4.25,-14.60,0.000,4,0.106,0.057,2295,1364,3523,0,0,0,0,0,0
$GC,128,-0.59,-146.0,20.7,-12.1,18,135,0.00,2.35,0.00,0.000,6,0.000,0.062,2293,2780,3524,0,0,0,0,0,0
$GC,474,-0.62,-146.0,63.6,-11.7,79,481,0.00,2.28,0.00,0.000,4,0.000,0.052,2293,1374,3524,0,0,0,0,0,0
$GC,546,-0.67,-146.0,71.0,-9.7,91,554,0.10,2.30,0.00,0.000,6,0.116,0.063,2249,2759,3524,0,0,0,0,0,0
$GC,888,-0.63,-146.0,115.2,-12.9,141,891,0.00,1.98,0.00,0.000,4,0.000,0.074,2247,3927,3523,0,0,0,0,0,0
$GC,1072,-0.63,-146.0,137.3,-10.9,157,1079,0.00,1.88,0.00,0.000,6,0.000,0.050,2248,2785,3523,0,0,0,0,0,0
$GC,1398,-0.61,-146.0,174.7,-11.4,188,1400,0.10,0.00,0.00,0.000,6,0.194,0.000,2273,2785,3523,0,0,0,0,0,0
$GC,1718,-0.65,-146.0,204.6,-8.9,218,1722,0.00,1.95,0.00,0.000,4,0.000,0.077,2273,3926,3522,0,0,0,0,0,0
$GC,1753,-0.70,-146.0,207.9,-9.4,221,1757,0.00,1.85,0.00,0.000,6,0.000,0.050,2273,2788,3523,0,0,0,0,0,0
$GC,2085,-0.74,-146.0,238.9,-9.5,252,2087,0.10,0.00,0.00,0.000,6,0.121,0.000,2230,2788,3522,0,0,0,0,0,0
$GC,2403,-0.71,-146.0,273.3,-9.9,282,2407,0.00,2.28,0.00,0.000,4,0.000,0.051,2230,1371,3522,0,0,0,0,0,0
$GC,2443,-0.71,-146.0,277.3,-9.5,285,2447,0.00,2.35,0.00,0.000,6,0.000,0.063,2222,2784,3522,0,0,0,0,0,0
$GC,2769,-0.67,-146.0,310.1,-10.4,315,2773,0.12,1.98,0.00,0.000,4,0.185,0.073,2249,3938,3522,0,0,0,0,0,0
$GC,2795,-0.67,-146.0,313.0,-9.7,317,2802,0.00,1.88,0.00,0.000,6,0.000,0.048,2248,2780,3522,0,0,0,0,0,0
$GC,3121,-0.67,-146.0,344.1,-9.8,348,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2780,3522,0,0,0,0,0,0
$GC,3439,-0.67,-146.0,375.6,-10.2,378,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2780,3522,0,0,0,0,0,0
$GC,3757,-0.67,-146.0,405.6,-9.0,404,3761,0.00,2.28,0.00,0.000,4,0.000,0.051,2248,1365,3522,0,0,0,0,0,0
$GC,3813,-0.70,-146.0,410.9,-8.8,405,3820,0.00,2.38,0.00,0.000,6,0.000,0.062,2247,2783,3522,0,0,0,0,0,0
$GC,4127,-0.70,-146.0,438.6,-8.9,416,4130,0.00,1.92,0.00,0.000,4,0.000,0.073,2248,3927,3522,0,0,0,0,0,0
$GC,4155,-0.72,-146.0,441.5,-9.1,416,4161,0.00,1.85,0.00,0.000,6,0.000,0.047,2247,2783,3522,0,0,0,0,0,0
$GC,4469,-0.72,-146.0,467.3,-8.1,427,4473,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1365,3522,0,0,0,0,0,0
$GC,4502,-0.76,-146.0,470.2,-8.4,428,4506,0.00,2.35,0.00,0.000,6,0.000,0.062,2247,2782,3522,0,0,0,0,0,0
$GC,4833,-0.78,-146.0,496.3,-8.0,439,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2782,3522,0,0,0,0,0,0
$GC,5138,-0.80,-146.0,522.1,-8.6,449,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2782,3523,0,0,0,0,0,0
$GC,5444,-0.83,-146.0,547.8,-8.3,459,5446,0.12,0.00,0.00,0.000,6,0.107,0.000,2189,2782,3523,0,0,0,0,0,0
$GC,5751,-0.74,-146.0,583.7,-11.9,469,5756,0.17,2.28,0.00,0.000,4,0.168,0.049,2236,1373,3524,0,0,0,0,0,0
$GC,5780,-0.74,-146.0,586.9,-9.8,470,5784,0.00,2.35,0.00,0.000,6,0.000,0.062,2235,2778,3524,0,0,0,0,0,0
$STATE,5933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5933,begin apogee
$GC,5940,-0.14,0.0,600.1,8.8,475,6069,0.57,0.00,122.57,0.981,4,0.131,0.000,2423,2605,2926,0,0,0,0,0,0
$STATE,6069,end apogee,CONTROL_FINISHED_OK
$STATE,6070,begin climb
$GC,6072,0.57,146.0,604.3,0.0,479,6211,0.68,2.42,129.62,0.953,4,0.065,0.050,2663,1183,2329,0,0,0,0,0,0
$GC,6374,-1.83,146.0,579.2,22681.1,488,6383,2.70,2.47,0.00,0.000,6,0.152,0.054,1895,2603,2321,0,0,0,0,0,0
$GC,6697,-1.83,146.0,531.5,22681.1,499,6701,0.00,2.30,0.00,0.000,4,0.000,0.049,1893,1184,2314,0,0,0,0,0,0
$GC,6955,-1.83,146.0,487.3,22681.1,506,6962,0.00,2.30,0.00,0.000,6,0.000,0.050,1881,2611,2312,0,0,0,0,0,0
$GC,7268,-1.83,146.0,434.2,22681.1,517,7272,0.00,2.17,0.00,0.000,4,0.000,0.061,1870,3923,2311,0,0,0,0,0,0
$GC,7347,-1.83,146.0,418.7,22681.1,519,7351,0.00,2.05,0.00,0.000,6,0.000,0.045,1869,2653,2309,0,0,0,0,0,0
$GC,7671,-1.83,146.0,360.8,22681.1,543,7675,0.00,2.10,0.00,0.000,4,0.000,0.057,1859,3932,2309,0,0,0,0,0,0
$GC,7931,-1.83,146.0,309.4,22681.1,566,7936,0.12,2.10,0.00,0.000,6,0.270,0.045,1880,2629,2309,0,0,0,0,0,0
$GC,8259,-1.83,146.0,252.6,22681.1,596,8263,0.00,2.30,0.00,0.000,4,0.000,0.047,1880,1172,2310,0,0,0,0,0,0
$GC,8517,-1.83,146.0,204.0,22681.1,618,8524,0.00,2.33,0.00,0.000,6,0.000,0.054,1869,2605,2310,0,0,0,0,0,0
$GC,8842,-1.83,146.0,147.3,22681.1,649,8846,0.00,2.25,0.00,0.000,4,0.000,0.042,1868,1166,2309,0,0,0,0,0,0
$GC,9101,-1.83,146.0,101.9,22681.1,671,9109,0.12,2.38,0.00,0.000,6,0.263,0.055,1879,2621,2309,0,0,0,0,0,0
$GC,9446,-1.83,146.0,46.4,22681.1,731,9453,0.00,2.20,0.00,0.000,4,0.000,0.067,1870,3930,2309,0,0,0,0,0,0
$GC,9483,-1.83,146.0,39.9,22681.1,737,9490,0.00,2.20,0.00,0.000,6,0.000,0.044,1870,2557,2310,0,0,0,0,0,0
$FREEZE,8.56,-1.468,-1.765,2,2,0
$FREEZE,7.78,-1.635,-1.774,2,2,0
$FREEZE,7.04,-1.667,-1.776,2,2,0
$FREEZE,6.46,-1.612,-1.772,2,2,0
$FREEZE,5.94,-1.545,-1.767,2,2,0
$FREEZE,5.28,-1.682,-1.775,2,2,0
$STATE,9729,end climb,FINISH_DEPTH_REACHED
$STATE,9729,begin subsurface finish
$FINISH1,5.3,1.026023,72
$GC,9736,0.05,72.5,5.3,-22681.1,781,9761,2.55,2.28,-15.07,0.000,4,0.241,0.063,2479,1191,2628,0,0,0,0,0,0
$FINISH2,2.4
$STATE,9762,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9762,begin surface
$RAFOS_CLK,568
$RAFOS,6,1293295747,16.833334,16.818611,71,50,45,44,41,40,618,1589,1338,1450,1799,270
$RAFOS,5,1293295264,16.700001,16.684444,58,47,41,41,40,39,783,792,281,572,444,1364
$RAFOS,4,1293294807,16.566668,16.557501,108,44,43,42,42,39,470,148,711,250,1468,26
$RAFOS,3,1293294318,16.433332,16.421667,60,47,43,40,38,37,727,1367,1763,1626,1012,1707
$RAFOS,2,1293293831,16.299999,16.286388,51,45,43,41,39,38,716,1769,380,1542,1093,695
$RAFOS,1,1293293368,16.166666,16.157778,89,48,41,41,40,39,557,793,669,1364,1516,686
$RAFOS,0,1293292863,16.033333,16.017500,50,45,44,44,43,42,824,1556,1378,1607,1579,725
$RAFOS_FIX,6659.711426,-5911.319336,251210,161628,4,82,0.04
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.029211
$HUMID,49.37
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.2
$ALTIM_BOTTOM_PING,600.1,11.0
$24V_AH,21.6,69.303
$10V_AH,9.8,49.125
$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,8.050,79.150,252.200,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2026.216,5837.470,296.241,1503.080,166.416,0.000,1090.003,0.000,1488.709,2520.000,20.517,0.000
$DEVICE_MAMPS,270.045,130.050,980.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30057,785
$CAP_FILE_SIZE,101331,0
$CFSIZE,260165632,209494016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$GPS,251210,163128,6659.711,-5911.319,0,4082.0,0,-38.1