version: 66.08
glider: 183
mission: 3
dive: 589
start: 12 26 110 20 32 29
data:
$ID,183
$MISSION,3
$DIVE,589
$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,21
$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
$GPS1,261210,201144,6650.188,-5940.518,0,3093.3,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.33
$_SM_ANGLEo,-2.3
$GPS2,261210,201144,6650.188,-5940.518,0,3093.3,0,-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,289.1,35191,-17.5,-10.000
$D_GRID,903
$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,-6.95,0.000,2,0.000,0.000,2498,3925,2901,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.8,-0.0,1,54,0.57,4.28,-15.00,0.000,4,0.104,0.058,2297,1377,3523,0,0,0,0,0,0
$GC,158,-0.61,-146.0,22.6,-11.8,23,164,0.00,2.33,0.00,0.000,6,0.000,0.063,2293,2779,3524,0,0,0,0,0,0
$GC,503,-0.61,-146.0,67.4,-11.8,84,509,0.00,2.30,0.00,0.000,4,0.000,0.053,2293,1366,3523,0,0,0,0,0,0
$GC,528,-0.63,-146.0,70.5,-11.7,88,535,0.00,2.35,0.00,0.000,6,0.000,0.063,2293,2765,3523,0,0,0,0,0,0
$GC,870,-0.66,-146.0,107.3,-10.6,143,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2765,3523,0,0,0,0,0,0
$GC,1189,-0.70,-146.0,139.1,-9.8,173,1190,0.12,0.00,0.00,0.000,6,0.106,0.000,2239,2765,3523,0,0,0,0,0,0
$GC,1507,-0.66,-146.0,180.6,-12.6,203,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2765,3522,0,0,0,0,0,0
$GC,1829,-0.62,-146.0,216.7,-10.8,233,1836,0.12,0.00,0.00,0.000,6,0.180,0.000,2273,2765,3522,0,0,0,0,0,0
$GC,2155,-0.66,-146.0,241.8,-6.9,264,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2765,3522,0,0,0,0,0,0
$GC,2476,-0.71,-146.0,265.7,-7.4,294,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2765,3522,0,0,0,0,0,0
$GC,2803,-0.77,-146.0,289.0,-6.9,325,2805,0.12,0.00,0.00,0.000,6,0.106,0.000,2221,2765,3521,0,0,0,0,0,0
$GC,3121,-0.72,-146.0,324.3,-11.5,355,3125,0.00,2.25,0.00,0.000,4,0.000,0.052,2221,1365,3522,0,0,0,0,0,0
$GC,3142,-0.68,-146.0,327.2,-11.8,356,3150,0.15,2.33,0.00,0.000,6,0.176,0.064,2256,2758,3522,0,0,0,0,0,0
$GC,3469,-0.71,-146.0,356.0,-8.5,387,3472,0.00,2.00,0.00,0.000,4,0.000,0.074,2250,3929,3522,0,0,0,0,0,0
$GC,3493,-0.73,-146.0,358.1,-9.1,389,3496,0.00,1.90,0.00,0.000,6,0.000,0.049,2250,2763,3522,0,0,0,0,0,0
$GC,3824,-0.73,-146.0,389.9,-9.5,420,3828,0.00,2.22,0.00,0.000,4,0.000,0.051,2250,1368,3522,0,0,0,0,0,0
$GC,3857,-0.76,-146.0,393.2,-9.8,422,3864,0.00,2.33,0.00,0.000,6,0.000,0.063,2248,2761,3522,0,0,0,0,0,0
$GC,4184,-0.76,-146.0,422.8,-8.9,438,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2761,3522,0,0,0,0,0,0
$GC,4489,-0.76,-146.0,449.1,-8.7,448,4493,0.00,2.22,0.00,0.000,4,0.000,0.051,2247,1374,3522,0,0,0,0,0,0
$STATE,4501,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4501,begin apogee
$GC,4509,-0.14,0.0,450.2,9.0,448,4638,0.55,0.00,120.80,0.898,4,0.137,0.000,2423,2601,2923,0,0,0,0,0,0
$STATE,4638,end apogee,CONTROL_FINISHED_OK
$STATE,4638,begin climb
$GC,4641,0.57,146.0,455.2,0.0,452,4780,0.68,2.42,126.38,0.871,4,0.073,0.051,2658,1194,2329,0,0,0,0,0,0
$GC,4905,0.57,146.0,437.4,10.3,460,4909,0.00,2.47,0.00,0.000,6,0.000,0.056,2658,2598,2322,0,0,0,0,0,0
$GC,5219,0.54,146.0,403.6,10.5,470,5223,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1188,2319,0,0,0,0,0,0
$GC,5397,0.54,151.3,386.2,9.8,482,5407,0.00,2.38,4.60,0.646,6,0.000,0.057,2662,2628,2306,0,0,0,0,0,0
$GC,5734,0.51,151.3,349.3,11.7,514,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2628,2304,0,0,0,0,0,0
$GC,6056,0.48,151.3,312.5,11.5,544,6061,0.12,2.22,0.00,0.000,4,0.202,0.070,2631,3926,2304,0,0,0,0,0,0
$GC,6088,0.48,151.3,308.2,11.7,546,6095,0.00,2.12,0.00,0.000,6,0.000,0.047,2630,2614,2303,0,0,0,0,0,0
$GC,6414,0.52,162.9,278.3,9.5,577,6428,0.00,0.00,11.35,0.767,6,0.000,0.000,2631,2613,2258,0,0,0,0,0,0
$GC,6743,0.57,183.0,248.5,9.1,608,6764,0.00,0.00,18.83,0.768,6,0.000,0.000,2631,2613,2176,0,0,0,0,0,0
$GC,7082,0.67,231.0,220.8,7.8,640,7129,0.17,2.33,41.33,0.752,4,0.089,0.070,2702,3923,1981,0,0,0,0,0,0
$GC,7177,0.59,231.0,209.3,14.2,648,7185,0.15,2.15,0.00,0.000,6,0.191,0.047,2668,2621,1976,0,0,0,0,0,0
$GC,7503,0.65,266.3,179.0,8.4,679,7539,0.00,2.38,30.23,0.728,4,0.000,0.054,2668,1199,1836,0,0,0,0,0,0
$GC,7588,0.79,315.8,172.2,7.7,686,7639,0.17,2.35,42.88,0.717,6,0.090,0.057,2736,2612,1634,0,0,0,0,0,0
$GC,7956,0.79,315.8,121.1,14.1,721,7960,0.00,2.25,0.00,0.000,4,0.000,0.070,2736,3934,1623,0,0,0,0,0,0
$GC,8012,0.76,315.8,111.9,17.2,725,8019,0.00,2.15,0.00,0.000,6,0.000,0.047,2738,2622,1621,0,0,0,0,0,0
$GC,8352,0.76,315.8,61.7,13.7,779,8358,0.00,2.30,0.00,0.000,4,0.000,0.057,2738,1191,1620,0,0,0,0,0,0
$GC,8433,0.81,315.8,51.4,12.6,793,8440,0.00,2.33,0.00,0.000,6,0.000,0.057,2738,2613,1619,0,0,0,0,0,0
$GC,8779,0.81,315.8,11.3,10.9,854,8785,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2613,1619,0,0,0,0,0,0
$FREEZE,8.60,-1.606,-1.757,2,10,0
$FREEZE,8.26,-1.608,-1.757,2,10,0
$FREEZE,7.64,-1.609,-1.756,2,10,0
$FREEZE,7.16,-1.609,-1.756,2,10,0
$FREEZE,6.47,-1.609,-1.756,2,10,0
$FREEZE,5.69,-1.606,-1.755,2,10,0
$FREEZE,4.71,-1.603,-1.754,2,10,0
$FREEZE,4.01,-1.602,-1.754,2,10,0
$FREEZE,3.39,-1.605,-1.753,2,10,0
$FREEZE,2.82,-1.605,-1.753,2,10,0
$STATE,8841,end climb,SURFACE_DEPTH_REACHED
$STATE,8841,begin surface coast
$FREEZE,1.94,-1.614,-1.752,2,10,0
$FREEZE,1.48,-1.627,-1.752,2,10,0
$FREEZE,1.49,-1.638,-1.752,2,10,0
$FREEZE,1.57,-1.562,-1.748,2,10,0
$FINISH,1.6,1.025676
$STATE,8865,end surface coast,CONTROL_FINISHED_OK
$STATE,8865,begin surface
$SM_CCo,8882,206.18,0.604,1,0,440,609.08
$SM_GC,1.87,0.00,0.00,206.18,0.000,0.000,0.604,296,2783,440,-6.81,0.08,609.08
$RAFOS_CLK,536
$RAFOS,6,1293396543,20.833334,20.817499,88,48,44,43,42,42,743,1098,809,1853,1176,25
$RAFOS,5,1293396064,20.700001,20.684444,79,46,43,41,41,40,862,378,795,1923,26,605
$RAFOS,4,1293395583,20.566668,20.550833,63,50,49,44,44,41,647,636,286,641,875,1496
$RAFOS,3,1293395102,20.433332,20.417223,56,48,43,43,43,41,760,162,676,1146,542,1744
$RAFOS_FIX,6651.500000,-5940.703125,261210,202022,6,85,2.59
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.029211
$HUMID,47.83
$INTERNAL_PRESSURE,8.407
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,23.0
$ALTIM_BOTTOM_PING,450.2,8.6
$24V_AH,21.8,70.121
$10V_AH,9.8,49.618
$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,9.950,61.050,396.375,206.175,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2106.264,4842.532,611.559,1440.854,162.493,0.000,1389.523,0.000,1425.850,1080.000,15.218,0.000
$DEVICE_MAMPS,201.960,81.090,898.110,603.585,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30173,870
$CAP_FILE_SIZE,97535,0
$CFSIZE,260165632,209002496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1449.0
$GPS,261210,230537,6648.702,-5942.010,36,1.0,36,-38.0