version: 66.08
glider: 183
mission: 3
dive: 591
start: 12 27 110 2 15 29
data:
$ID,183
$MISSION,3
$DIVE,591
$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,-9861.1309
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.66
$_SM_ANGLEo,-7.8
$GPS2,271210,002453,6647.448,-5941.745,0,6089.2,0,-38.0
$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,296.8,32999,-17.5,-10.000
$D_GRID,877
$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,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.75,0.000,2,0.000,0.000,2484,1189,2823,0,0,0,0,0,0
$GC,27,-0.57,-146.0,14.6,-0.0,1,52,0.50,4.68,-13.70,0.000,4,0.065,0.070,2273,3915,3523,0,0,0,0,0,0
$GC,245,-0.53,-146.0,45.9,-13.5,39,252,0.12,1.88,0.00,0.000,6,0.171,0.048,2306,2768,3524,0,0,0,0,0,0
$GC,592,-0.57,-146.0,80.3,-10.2,100,599,0.00,2.00,0.00,0.000,4,0.000,0.076,2301,3920,3524,0,0,0,0,0,0
$GC,646,-0.64,-146.0,85.9,-10.5,109,653,0.00,1.85,0.00,0.000,6,0.000,0.050,2301,2777,3524,0,0,0,0,0,0
$GC,989,-0.69,-146.0,118.3,-9.8,154,996,0.12,0.00,0.00,0.000,6,0.103,0.000,2246,2777,3523,0,0,0,0,0,0
$GC,1315,-0.64,-146.0,159.9,-13.5,185,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2777,3523,0,0,0,0,0,0
$GC,1636,-0.62,-146.0,197.5,-11.2,215,1639,0.00,1.98,0.00,0.000,4,0.000,0.075,2239,3915,3523,0,0,0,0,0,0
$GC,1671,-0.58,-146.0,201.9,-12.2,218,1675,0.17,1.85,0.00,0.000,6,0.158,0.050,2288,2787,3522,0,0,0,0,0,0
$GC,2002,-0.65,-146.0,230.2,-8.2,249,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2787,3523,0,0,0,0,0,0
$GC,2324,-0.72,-146.0,256.3,-8.0,279,2329,0.15,2.30,0.00,0.000,4,0.093,0.052,2226,1367,3522,0,0,0,0,0,0
$GC,2368,-0.70,-146.0,261.8,-11.8,282,2375,0.00,2.38,0.00,0.000,6,0.000,0.064,2223,2787,3522,0,0,0,0,0,0
$GC,2695,-0.65,-146.0,299.8,-12.3,313,2700,0.15,2.00,0.00,0.000,4,0.182,0.076,2257,3931,3522,0,0,0,0,0,0
$GC,2730,-0.65,-146.0,303.7,-10.1,316,2733,0.00,1.85,0.00,0.000,6,0.000,0.050,2257,2791,3522,0,0,0,0,0,0
$GC,3062,-0.67,-146.0,333.7,-9.0,347,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2791,3522,0,0,0,0,0,0
$GC,3381,-0.70,-146.0,362.5,-8.9,377,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2791,3522,0,0,0,0,0,0
$GC,3702,-0.73,-146.0,390.9,-8.2,407,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2791,3522,0,0,0,0,0,0
$GC,4029,-0.76,-146.0,419.0,-8.4,425,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2791,3522,0,0,0,0,0,0
$GC,4336,-0.80,-146.0,445.1,-8.3,435,4341,0.12,2.33,0.00,0.000,4,0.107,0.052,2199,1368,3523,0,0,0,0,0,0
$GC,4369,-0.74,-146.0,448.8,-11.7,436,4374,0.17,2.40,0.00,0.000,6,0.167,0.063,2236,2803,3523,0,0,0,0,0,0
$GC,4699,-0.74,-146.0,479.8,-9.3,447,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2803,3524,0,0,0,0,0,0
$GC,5006,-0.74,-146.0,508.3,-9.3,457,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2803,3523,0,0,0,0,0,0
$GC,5311,-0.74,-146.0,536.5,-9.2,467,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2803,3523,0,0,0,0,0,0
$GC,5618,-0.74,-146.0,564.3,-9.3,477,5622,0.00,2.33,0.00,0.000,4,0.000,0.051,2237,1363,3524,0,0,0,0,0,0
$GC,5646,-0.74,-146.0,567.2,-9.7,477,5653,0.00,2.42,0.00,0.000,6,0.000,0.063,2235,2802,3524,0,0,0,0,0,0
$GC,5959,-0.74,-146.0,596.5,-9.3,488,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2802,3524,0,0,0,0,0,0
$STATE,6020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6021,begin apogee
$GC,6027,-0.14,0.0,602.2,9.2,490,6158,0.57,0.00,124.43,0.984,4,0.135,0.000,2421,2602,2923,0,0,0,0,0,0
$STATE,6158,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6161,0.57,146.0,606.3,0.0,494,6300,0.70,2.45,130.65,0.957,4,0.073,0.050,2661,1182,2330,0,0,0,0,0,0
$GC,6475,0.57,146.0,580.7,10.7,504,6479,0.00,2.50,0.00,0.000,6,0.000,0.056,2661,2610,2322,0,0,0,0,0,0
$GC,6811,0.53,146.0,542.9,11.1,515,6816,0.00,2.30,0.00,0.000,4,0.000,0.053,2662,1185,2318,0,0,0,0,0,0
$GC,7000,0.53,146.0,522.9,10.8,520,7004,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2618,2318,0,0,0,0,0,0
$GC,7323,0.49,146.0,488.0,11.2,531,7327,0.00,2.22,0.00,0.000,4,0.000,0.069,2662,3930,2317,0,0,0,0,0,0
$GC,7368,0.39,146.0,481.7,13.9,532,7373,0.22,2.12,0.00,0.000,6,0.190,0.046,2604,2606,2315,0,0,0,0,0,0
$GC,7687,0.50,198.5,456.5,7.6,543,7739,0.00,2.38,44.65,0.883,4,0.000,0.070,2604,3930,2112,0,0,0,0,0,0
$GC,7756,0.59,222.8,450.8,8.9,545,7785,0.17,2.17,22.65,0.853,6,0.088,0.044,2675,2613,2014,0,0,0,0,0,0
$GC,8115,0.59,222.8,406.1,13.0,557,8119,0.00,2.30,0.00,0.000,4,0.000,0.055,2676,1194,2005,0,0,0,0,0,0
$GC,8181,0.62,222.8,397.7,12.3,559,8188,0.00,2.35,0.00,0.000,6,0.000,0.057,2675,2619,2004,0,0,0,0,0,0
$GC,8507,0.62,222.8,356.3,12.7,590,8511,0.00,2.17,0.00,0.000,4,0.000,0.068,2676,3926,2002,0,0,0,0,0,0
$GC,8536,0.59,222.8,352.4,13.5,592,8540,0.00,2.12,0.00,0.000,6,0.000,0.046,2677,2616,2001,0,0,0,0,0,0
$GC,8861,0.59,222.8,312.3,11.9,622,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2615,2001,0,0,0,0,0,0
$GC,9180,0.59,222.8,272.9,12.7,652,9184,0.00,2.22,0.00,0.000,4,0.000,0.070,2677,3933,2001,0,0,0,0,0,0
$GC,9236,0.55,222.8,264.8,14.5,656,9242,0.00,2.17,0.00,0.000,6,0.000,0.047,2677,2593,2000,0,0,0,0,0,0
$GC,9561,0.55,222.8,226.4,11.3,687,9565,0.00,2.22,0.00,0.000,4,0.000,0.054,2677,1192,2000,0,0,0,0,0,0
$GC,9624,0.60,222.8,219.7,10.7,692,9628,0.00,2.30,0.00,0.000,6,0.000,0.057,2677,2600,2000,0,0,0,0,0,0
$GC,9955,0.63,222.8,182.8,10.6,723,9959,0.00,2.25,0.00,0.000,4,0.000,0.070,2677,3930,1999,0,0,0,0,0,0
$GC,10024,0.63,222.8,174.9,11.9,729,10028,0.00,2.15,0.00,0.000,6,0.000,0.045,2679,2602,1999,0,0,0,0,0,0
$GC,10356,0.66,228.6,142.8,9.7,760,10360,0.00,2.25,0.00,0.000,4,0.000,0.070,2679,3928,2000,0,0,0,0,0,0
$GC,10408,0.66,228.6,137.0,12.3,764,10412,0.00,2.12,0.00,0.000,6,0.000,0.047,2680,2614,1999,0,0,0,0,0,0
$GC,10739,0.70,228.6,103.8,10.3,795,10743,0.00,2.30,0.00,0.000,4,0.000,0.054,2679,1189,1999,0,0,0,0,0,0
$GC,10791,0.77,228.6,98.6,10.3,800,10800,0.12,2.35,0.00,0.000,6,0.109,0.057,2730,2617,1999,0,0,0,0,0,0
$GC,11141,0.74,228.6,59.5,10.1,861,11148,0.00,2.22,0.00,0.000,4,0.000,0.070,2730,3925,1999,0,0,0,0,0,0
$GC,11234,0.65,228.6,48.4,11.8,877,11241,0.17,2.12,0.00,0.000,6,0.191,0.047,2688,2618,1998,0,0,0,0,0,0
$GC,11581,0.77,308.5,27.6,6.3,938,11659,0.10,2.35,70.72,0.649,4,0.119,0.072,2728,3924,1664,0,0,0,0,0,0
$GC,11764,0.77,308.5,9.8,12.1,969,11771,0.00,2.10,0.00,0.000,6,0.000,0.047,2732,2653,1656,0,0,0,0,0,0
$FREEZE,7.72,-1.660,-1.741,2,2,0
$STATE,11776,end climb,FINISH_DEPTH_REACHED
$STATE,11776,begin subsurface finish
$FINISH1,7.7,1.025518,97
$GC,11784,0.06,97.3,7.7,-13.3,971,11820,0.75,0.00,-29.12,0.000,6,0.146,0.000,2500,2601,2527,0,0,0,0,0,0
$FINISH2,6.2
$STATE,11820,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11820,begin surface
$RAFOS_CLK,690
$RAFOS,6,1293425347,4.833333,4.818611,66,48,43,43,40,39,739,1011,357,144,656,1140
$RAFOS,5,1293424871,4.700000,4.686389,41,41,40,40,38,38,1205,1221,836,1528,543,1770
$RAFOS,4,1293424389,4.566667,4.552500,82,48,46,42,42,41,620,1895,913,1106,1445,726
$RAFOS,3,1293423906,4.433333,4.418334,86,46,43,41,39,39,742,62,1459,1666,445,627
$RAFOS,2,1293423446,4.300000,4.290555,137,48,46,45,44,42,527,570,1368,1052,154,1555
$RAFOS,1,1293422944,4.166667,4.151111,76,49,48,43,43,42,580,713,145,1224,1571,1897
$RAFOS,0,1293422467,4.033333,4.018611,95,50,46,44,43,42,692,877,1486,1586,901,1052
$RAFOS_FIX,6646.907227,-5943.550293,271210,040453,6,90,0.11
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.028462
$HUMID,48.93
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,21.4
$ALTIM_BOTTOM_PING,602.2,11.0
$24V_AH,21.5,70.322
$10V_AH,9.8,49.745
$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,4.350,91.225,393.100,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2444.976,7128.980,426.808,1692.334,199.753,0.000,1346.962,0.000,1674.193,2520.000,17.692,0.000
$DEVICE_MAMPS,191.250,110.160,983.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,33417,977
$CAP_FILE_SIZE,118738,0
$CFSIZE,260165632,208867328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$GPS,271210,042453,6646.907,-5943.550,0,6090.3,0,-38.0