version: 66.08
glider: 183
mission: 3
dive: 587
start: 12 26 110 14 49 9
data:
$ID,183
$MISSION,3
$DIVE,587
$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,34
$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
$GPS1,261210,122716,6651.820,-5930.458,0,7080.4,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.79
$_SM_ANGLEo,-3.3
$GPS2,261210,122716,6651.820,-5930.458,0,7080.4,0,-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,288.5,43136,-17.5,-10.000
$D_GRID,944
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.75,0.000,2,0.000,0.000,2503,3925,2759,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.6,-0.0,1,57,0.57,4.28,-18.55,0.000,4,0.094,0.056,2297,1375,3523,0,0,0,0,0,0
$GC,72,-0.55,-146.0,12.9,-8.4,8,79,0.00,2.35,0.00,0.000,6,0.000,0.061,2292,2784,3523,0,0,0,0,0,0
$GC,418,-0.55,-146.0,57.4,-12.3,69,425,0.00,2.30,0.00,0.000,4,0.000,0.052,2292,1371,3524,0,0,0,0,0,0
$GC,630,-0.60,-146.0,81.2,-9.6,106,637,0.00,2.38,0.00,0.000,6,0.000,0.063,2292,2781,3524,0,0,0,0,0,0
$GC,968,-0.63,-146.0,114.9,-10.3,153,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2781,3523,0,0,0,0,0,0
$GC,1288,-0.68,-146.0,143.2,-8.5,183,1293,0.12,2.30,0.00,0.000,4,0.110,0.054,2240,1368,3522,0,0,0,0,0,0
$GC,1321,-0.66,-146.0,147.1,-11.2,185,1328,0.00,2.38,0.00,0.000,6,0.000,0.064,2235,2778,3523,0,0,0,0,0,0
$GC,1647,-0.61,-146.0,189.1,-13.1,216,1651,0.15,2.00,0.00,0.000,4,0.182,0.074,2270,3930,3523,0,0,0,0,0,0
$GC,1731,-0.65,-146.0,198.7,-11.0,223,1738,0.00,1.88,0.00,0.000,6,0.000,0.050,2270,2784,3522,0,0,0,0,0,0
$GC,2057,-0.68,-146.0,230.8,-9.6,254,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2784,3522,0,0,0,0,0,0
$GC,2378,-0.72,-146.0,258.5,-8.3,284,2382,0.00,2.30,0.00,0.000,4,0.000,0.052,2270,1360,3522,0,0,0,0,0,0
$GC,2447,-0.78,-146.0,264.8,-9.1,290,2452,0.12,2.38,0.00,0.000,6,0.103,0.064,2211,2780,3522,0,0,0,0,0,0
$GC,2772,-0.71,-146.0,303.3,-12.1,320,2777,0.12,1.98,0.00,0.000,4,0.186,0.074,2237,3928,3522,0,0,0,0,0,0
$GC,2808,-0.68,-146.0,307.4,-12.0,323,2812,0.00,1.88,0.00,0.000,6,0.000,0.050,2236,2770,3522,0,0,0,0,0,0
$GC,3139,-0.68,-146.0,340.2,-9.6,354,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3522,0,0,0,0,0,0
$GC,3460,-0.68,-146.0,372.0,-10.2,384,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3522,0,0,0,0,0,0
$GC,3776,-0.68,-146.0,403.6,-10.0,412,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3522,0,0,0,0,0,0
$GC,4082,-0.68,-146.0,433.7,-9.7,422,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3522,0,0,0,0,0,0
$GC,4387,-0.68,-146.0,462.7,-9.4,432,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3522,0,0,0,0,0,0
$GC,4695,-0.68,-146.0,492.3,-9.7,442,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3523,0,0,0,0,0,0
$STATE,4787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4787,begin apogee
$GC,4794,-0.14,0.0,501.1,9.6,445,4922,0.57,0.00,121.72,0.929,4,0.134,0.000,2423,2593,2923,0,0,0,0,0,0
$STATE,4923,end apogee,CONTROL_FINISHED_OK
$STATE,4923,begin climb
$GC,4925,0.57,146.0,505.7,0.0,449,5061,0.70,2.40,128.62,0.900,4,0.074,0.050,2665,1184,2326,0,0,0,0,0,0
$GC,5241,0.57,146.0,479.7,10.9,458,5245,0.00,2.45,0.00,0.000,6,0.000,0.057,2665,2601,2317,0,0,0,0,0,0
$GC,5554,0.52,146.0,443.7,11.3,468,5558,0.00,2.30,0.00,0.000,4,0.000,0.054,2666,1189,2314,0,0,0,0,0,0
$GC,5752,0.52,146.0,423.2,10.0,474,5757,0.00,2.33,0.00,0.000,6,0.000,0.057,2665,2618,2314,0,0,0,0,0,0
$GC,6078,0.48,146.0,386.5,11.5,491,6083,0.12,2.20,0.00,0.000,4,0.203,0.068,2635,3929,2313,0,0,0,0,0,0
$GC,6145,0.44,146.0,378.5,11.4,496,6152,0.00,2.12,0.00,0.000,6,0.000,0.045,2635,2616,2312,0,0,0,0,0,0
$GC,6470,0.44,146.0,346.1,10.6,527,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2616,2312,0,0,0,0,0,0
$GC,6789,0.44,146.0,313.2,10.1,557,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2616,2312,0,0,0,0,0,0
$GC,7108,0.45,155.3,281.5,9.6,587,7120,0.00,2.30,6.75,0.718,4,0.000,0.070,2635,3926,2289,0,0,0,0,0,0
$GC,7160,0.42,155.3,275.8,11.5,591,7167,0.00,2.12,0.00,0.000,6,0.000,0.046,2636,2616,2288,0,0,0,0,0,0
$GC,7486,0.47,190.9,247.2,8.4,622,7523,0.00,2.38,31.83,0.766,4,0.000,0.054,2636,1188,2143,0,0,0,0,0,0
$GC,7548,0.57,227.7,241.9,8.3,627,7588,0.00,2.38,32.60,0.749,6,0.000,0.057,2636,2628,1993,0,0,0,0,0,0
$GC,7907,0.66,247.4,209.0,9.1,661,7931,0.15,2.20,16.48,0.732,4,0.096,0.068,2698,3926,1915,0,0,0,0,0,0
$GC,7955,0.60,247.4,203.0,14.1,665,7960,0.12,2.15,0.00,0.000,6,0.200,0.046,2671,2616,1912,0,0,0,0,0,0
$GC,8281,0.65,250.1,168.5,9.9,695,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2614,1909,0,0,0,0,0,0
$GC,8601,0.70,261.3,137.3,9.5,725,8624,0.00,2.38,12.98,0.703,4,0.000,0.055,2671,1185,1856,0,0,0,0,0,0
$GC,8653,0.82,278.8,132.2,9.2,729,8675,0.20,2.35,16.40,0.695,6,0.086,0.057,2751,2608,1786,0,0,0,0,0,0
$GC,9003,0.77,278.8,79.2,15.8,772,9010,0.00,2.25,0.00,0.000,4,0.000,0.070,2751,3927,1779,0,0,0,0,0,0
$GC,9045,0.69,278.8,71.9,17.8,779,9053,0.20,2.15,0.00,0.000,6,0.193,0.047,2701,2611,1778,0,0,0,0,0,0
$GC,9393,0.74,297.3,35.9,9.1,840,9417,0.00,2.30,16.15,0.665,4,0.000,0.071,2700,3923,1709,0,0,0,0,0,0
$GC,9448,0.77,297.3,31.1,10.4,849,9455,0.00,2.12,0.00,0.000,6,0.000,0.047,2701,2621,1707,0,0,0,0,0,0
$FREEZE,9.00,-1.762,-1.765,2,8,0
$STATE,9681,end climb,FINISH_DEPTH_REACHED
$STATE,9681,begin subsurface finish
$FINISH1,9.0,1.025849,81
$GC,9688,0.05,81.0,9.0,-8.8,890,9724,0.65,2.33,-26.38,0.000,4,0.145,0.087,2497,3929,2596,0,0,0,0,0,0
$FINISH2,7.7
$STATE,9725,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9725,begin surface
$RAFOS_CLK,575
$RAFOS,6,1293382145,16.833334,16.818056,90,50,48,47,46,45,706,715,1150,559,1381,1758
$RAFOS,5,1293381672,16.700001,16.686666,67,49,48,45,44,44,805,395,877,363,1503,975
$RAFOS,4,1293381183,16.566668,16.550833,97,49,46,42,41,40,625,145,749,1411,552,301
$RAFOS,3,1293380705,16.433332,16.418056,146,50,46,45,43,41,759,154,1644,544,1054,883
$RAFOS,2,1293380225,16.299999,16.284721,145,45,41,40,40,40,689,150,729,1543,1594,1289
$RAFOS,1,1293379747,16.166666,16.151945,44,43,41,39,38,38,234,1595,1170,1596,370,1881
$RAFOS,0,1293379272,16.033333,16.020000,95,49,48,44,42,41,690,162,255,1205,1756,153
$RAFOS_FIX,6651.937012,-5933.687988,261210,161652,6,107,0.16
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.028462
$HUMID,49.68
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,501.1,9.7
$24V_AH,21.7,69.893
$10V_AH,9.8,49.511
$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,3.825,71.850,383.525,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2194.033,5503.669,404.568,1526.435,170.492,0.000,1232.604,0.000,1511.266,2520.000,14.151,0.000
$DEVICE_MAMPS,202.725,87.210,928.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,33354,896
$CAP_FILE_SIZE,102166,0
$CFSIZE,260165632,209108992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,261210,162952,6651.937,-5933.688,0,6106.7,0,-38.1