version: 66.08
glider: 183
mission: 3
dive: 584
start: 12 26 110 2 49 28
data:
$ID,183
$MISSION,3
$DIVE,584
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,261210,002920,6655.893,-5921.149,0,4097.2,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.83
$_SM_ANGLEo,-3.9
$GPS2,261210,002920,6655.893,-5921.149,0,4097.2,0,-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,283.2,52306,-17.5,-10.000
$D_GRID,1028
$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,-6.35,0.000,2,0.000,0.000,2501,1186,2834,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.0,-0.0,1,53,0.57,4.70,-15.48,0.000,4,0.092,0.073,2286,3925,3522,0,0,0,0,0,0
$GC,268,-0.57,-146.0,42.0,-13.0,43,275,0.00,1.88,0.00,0.000,6,0.000,0.048,2286,2776,3523,0,0,0,0,0,0
$GC,614,-0.57,-146.0,84.8,-12.1,104,621,0.00,2.28,0.00,0.000,4,0.000,0.052,2286,1368,3523,0,0,0,0,0,0
$GC,657,-0.60,-146.0,89.9,-11.5,111,664,0.00,2.38,0.00,0.000,6,0.000,0.063,2286,2781,3523,0,0,0,0,0,0
$GC,990,-0.63,-146.0,123.0,-9.9,150,994,0.00,1.95,0.00,0.000,4,0.000,0.074,2286,3930,3522,0,0,0,0,0,0
$GC,1037,-0.68,-146.0,127.7,-9.7,154,1041,0.00,1.85,0.00,0.000,6,0.000,0.050,2286,2812,3522,0,0,0,0,0,0
$GC,1368,-0.72,-146.0,157.6,-9.4,185,1373,0.12,2.35,0.00,0.000,4,0.109,0.053,2233,1364,3522,0,0,0,0,0,0
$GC,1425,-0.72,-146.0,164.3,-12.1,190,1429,0.00,2.42,0.00,0.000,6,0.000,0.063,2228,2805,3522,0,0,0,0,0,0
$GC,1750,-0.67,-146.0,205.4,-12.7,220,1752,0.12,0.00,0.00,0.000,6,0.187,0.000,2261,2805,3521,0,0,0,0,0,0
$GC,2069,-0.69,-146.0,235.1,-9.2,250,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2805,3521,0,0,0,0,0,0
$GC,2390,-0.72,-146.0,264.1,-8.9,280,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2806,3521,0,0,0,0,0,0
$GC,2719,-0.76,-146.0,291.9,-8.7,311,2723,0.00,2.35,0.00,0.000,4,0.000,0.053,2261,1362,3521,0,0,0,0,0,0
$GC,2748,-0.80,-146.0,294.8,-9.3,313,2753,0.12,2.40,0.00,0.000,6,0.100,0.063,2206,2799,3521,0,0,0,0,0,0
$GC,3075,-0.73,-146.0,333.4,-11.8,343,3079,0.12,1.95,0.00,0.000,4,0.189,0.074,2231,3935,3521,0,0,0,0,0,0
$GC,3101,-0.69,-146.0,336.6,-10.9,345,3108,0.00,1.85,0.00,0.000,6,0.000,0.049,2231,2787,3521,0,0,0,0,0,0
$GC,3428,-0.67,-146.0,367.5,-9.5,376,3432,0.00,2.28,0.00,0.000,4,0.000,0.050,2231,1363,3521,0,0,0,0,0,0
$GC,3461,-0.67,-146.0,370.9,-9.3,378,3469,0.12,2.38,0.00,0.000,6,0.176,0.063,2261,2792,3521,0,0,0,0,0,0
$GC,3788,-0.71,-146.0,394.8,-7.3,409,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2792,3522,0,0,0,0,0,0
$GC,4107,-0.75,-146.0,417.8,-7.1,424,4111,0.00,2.28,0.00,0.000,4,0.000,0.051,2261,1372,3522,0,0,0,0,0,0
$GC,4145,-0.82,-146.0,420.8,-6.9,425,4150,0.15,2.38,0.00,0.000,6,0.090,0.063,2196,2793,3522,0,0,0,0,0,0
$GC,4471,-0.74,-146.0,456.2,-11.3,436,4475,0.15,1.95,0.00,0.000,4,0.181,0.073,2229,3929,3522,0,0,0,0,0,0
$GC,4515,-0.74,-146.0,461.1,-9.9,437,4518,0.00,1.83,0.00,0.000,6,0.000,0.047,2229,2791,3522,0,0,0,0,0,0
$GC,4845,-0.74,-146.0,493.2,-10.2,448,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2792,3522,0,0,0,0,0,0
$GC,5152,-0.74,-146.0,524.1,-10.5,458,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2791,3522,0,0,0,0,0,0
$GC,5457,-0.74,-146.0,554.1,-9.8,468,5461,0.00,2.30,0.00,0.000,4,0.000,0.050,2229,1363,3522,0,0,0,0,0,0
$GC,5487,-0.74,-146.0,556.9,-9.3,469,5491,0.00,2.38,0.00,0.000,6,0.000,0.062,2222,2788,3523,0,0,0,0,0,0
$GC,5823,-0.71,-146.0,590.4,-10.0,480,5827,0.00,1.92,0.00,0.000,4,0.000,0.073,2219,3929,3523,0,0,0,0,0,0
$GC,5858,-0.68,-146.0,594.2,-10.8,481,5862,0.12,1.88,0.00,0.000,6,0.168,0.047,2252,2775,3523,0,0,0,0,0,0
$STATE,5954,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5954,begin apogee
$GC,5961,-0.14,0.0,602.0,7.9,484,6091,0.52,0.00,123.35,0.982,4,0.129,0.000,2426,2597,2924,0,0,0,0,0,0
$STATE,6092,end apogee,CONTROL_FINISHED_OK
$STATE,6092,begin climb
$GC,6094,0.57,146.0,606.0,0.0,488,6229,0.62,0.00,130.15,0.955,6,0.073,0.000,2659,2597,2327,0,0,0,0,0,0
$GC,6543,0.52,146.0,562.8,11.5,503,6547,0.00,2.35,0.00,0.000,4,0.000,0.069,2659,3932,2317,0,0,0,0,0,0
$GC,6598,0.43,146.0,555.2,14.4,504,6606,0.17,2.20,0.00,0.000,6,0.194,0.045,2619,2603,2315,0,0,0,0,0,0
$GC,6912,0.47,162.8,526.1,9.2,515,6928,0.00,0.00,13.98,0.884,6,0.000,0.000,2619,2603,2259,0,0,0,0,0,0
$GC,7218,0.52,168.1,496.9,9.8,525,7226,0.00,0.00,6.00,0.769,6,0.000,0.000,2618,2603,2237,0,0,0,0,0,0
$GC,7524,0.58,190.9,468.7,8.9,535,7550,0.12,2.28,20.62,0.881,4,0.099,0.067,2675,3932,2147,0,0,0,0,0,0
$GC,7605,0.49,190.9,458.4,15.3,536,7609,0.17,2.15,0.00,0.000,6,0.189,0.045,2634,2614,2143,0,0,0,0,0,0
$GC,7923,0.52,190.9,425.8,10.0,547,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2613,2142,0,0,0,0,0,0
$GC,8232,0.56,211.1,396.4,9.1,559,8255,0.00,2.38,18.85,0.842,4,0.000,0.054,2634,1185,2062,0,0,0,0,0,0
$GC,8291,0.67,238.6,391.1,8.7,564,8326,0.17,2.33,25.42,0.835,6,0.087,0.056,2704,2606,1949,0,0,0,0,0,0
$GC,8643,0.61,238.6,340.9,14.4,597,8645,0.12,0.00,0.00,0.000,6,0.192,0.000,2673,2607,1942,0,0,0,0,0,0
$GC,8961,0.61,238.6,303.2,11.7,627,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2607,1941,0,0,0,0,0,0
$GC,9281,0.61,238.6,266.2,11.4,657,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2607,1940,0,0,0,0,0,0
$GC,9602,0.61,238.6,228.6,11.7,687,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2606,1939,0,0,0,0,0,0
$GC,9931,0.64,238.6,190.0,11.8,718,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2607,1939,0,0,0,0,0,0
$GC,10259,0.67,240.1,154.2,9.9,749,10265,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2607,1939,0,0,0,0,0,0
$GC,10586,0.73,263.8,122.7,8.9,780,10610,0.12,0.00,21.33,0.707,6,0.109,0.000,2725,2607,1847,0,0,0,0,0,0
$GC,10937,0.73,263.8,77.5,13.2,827,10943,0.00,2.33,0.00,0.000,4,0.000,0.056,2725,1181,1842,0,0,0,0,0,0
$GC,10996,0.77,263.8,70.7,12.1,837,11003,0.00,2.33,0.00,0.000,6,0.000,0.057,2725,2602,1842,0,0,0,0,0,0
$GC,11342,0.77,263.8,30.9,11.5,898,11349,0.00,2.30,0.00,0.000,4,0.000,0.056,2725,1193,1840,0,0,0,0,0,0
$GC,11395,0.84,285.8,25.7,9.0,907,11420,0.00,2.30,19.50,0.662,6,0.000,0.059,2725,2597,1757,0,0,0,0,0,0
$FREEZE,8.79,-1.719,-1.750,2,5,0
$STATE,11573,end climb,FINISH_DEPTH_REACHED
$STATE,11573,begin subsurface finish
$FINISH1,8.8,1.025637,91
$GC,11580,0.06,91.4,8.8,-8.4,938,11611,0.73,2.35,-23.85,0.000,4,0.147,0.086,2500,3926,2553,0,0,0,0,0,0
$FINISH2,7.6
$STATE,11612,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11612,begin surface
$RAFOS_CLK,677
$RAFOS,6,1293338952,4.833333,4.820000,114,45,45,44,43,41,633,642,1716,1685,104,1402
$RAFOS,5,1293338462,4.700000,4.683889,121,44,42,41,40,40,822,1188,1817,565,875,1168
$RAFOS,4,1293337986,4.566667,4.551667,55,52,46,40,39,39,1168,584,595,681,445,824
$RAFOS,3,1293337527,4.433333,4.424167,56,45,42,40,38,38,655,1134,26,1018,463,1124
$RAFOS,2,1293337039,4.300000,4.288611,65,45,43,43,40,39,628,1665,205,318,1764,226
$RAFOS,1,1293336549,4.166667,4.152500,145,47,43,40,38,38,616,929,1211,662,25,1719
$RAFOS,0,1293336082,4.033333,4.022778,48,44,41,40,38,38,675,696,127,1088,476,1446
$RAFOS_FIX,6654.962402,-5924.071289,261210,040400,4,111,0.19
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.029211
$HUMID,49.88
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,602.0,10.7
$24V_AH,21.6,69.627
$10V_AH,9.7,49.321
$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,4.400,75.450,379.200,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2351.891,7185.361,408.317,1550.908,183.101,0.000,1255.437,0.000,1540.879,2520.000,17.695,0.000
$DEVICE_MAMPS,193.545,85.680,982.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33378,943
$CAP_FILE_SIZE,112156,0
$CFSIZE,260165632,209281024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$GPS,261210,043200,6654.962,-5924.071,0,4111.2,0,-38.1