version: 66.08
glider: 183
mission: 3
dive: 594
start: 12 27 110 11 9 7
data:
$ID,183
$MISSION,3
$DIVE,594
$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,20
$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
$GPS1,271210,083117,6646.708,-5947.745,0,6077.7,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.67
$_SM_ANGLEo,-3.3
$GPS2,271210,083117,6646.708,-5947.745,0,6077.7,0,-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,297.8,28432,-17.5,-10.000
$D_GRID,787
$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,-5.72,0.000,2,0.000,0.000,2504,3928,2690,0,0,0,0,0,0
$GC,27,-0.57,-146.0,6.0,-0.0,1,63,0.57,4.30,-25.20,0.000,4,0.085,0.062,2290,1367,3522,0,0,0,0,0,0
$GC,194,-0.57,-146.0,28.4,-15.4,30,201,0.00,2.38,0.00,0.000,6,0.000,0.065,2286,2779,3523,0,0,0,0,0,0
$GC,540,-0.57,-146.0,73.8,-11.8,91,547,0.00,2.30,0.00,0.000,4,0.000,0.054,2286,1365,3522,0,0,0,0,0,0
$GC,560,-0.57,-146.0,76.2,-11.1,94,567,0.00,2.35,0.00,0.000,6,0.000,0.063,2286,2776,3522,0,0,0,0,0,0
$GC,904,-0.59,-146.0,113.5,-10.0,144,908,0.00,1.98,0.00,0.000,4,0.000,0.076,2285,3927,3522,0,0,0,0,0,0
$GC,931,-0.62,-146.0,116.5,-10.0,146,938,0.00,1.90,0.00,0.000,6,0.000,0.050,2284,2765,3522,0,0,0,0,0,0
$GC,1257,-0.65,-146.0,145.0,-8.2,177,1261,0.00,2.22,0.00,0.000,4,0.000,0.053,2284,1372,3522,0,0,0,0,0,0
$GC,1280,-0.69,-146.0,147.0,-8.5,178,1287,0.00,2.35,0.00,0.000,6,0.000,0.064,2279,2779,3522,0,0,0,0,0,0
$GC,1606,-0.72,-146.0,178.3,-9.9,209,1608,0.10,0.00,0.00,0.000,6,0.120,0.000,2236,2778,3522,0,0,0,0,0,0
$GC,1924,-0.69,-146.0,216.8,-11.6,239,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2779,3522,0,0,0,0,0,0
$GC,2247,-0.66,-146.0,253.2,-11.5,269,2250,0.00,1.98,0.00,0.000,4,0.000,0.075,2230,3927,3522,0,0,0,0,0,0
$GC,2270,-0.62,-146.0,256.5,-11.4,271,2275,0.10,1.92,0.00,0.000,6,0.145,0.050,2274,2769,3522,0,0,0,0,0,0
$GC,2602,-0.67,-146.0,286.2,-8.4,302,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2769,3522,0,0,0,0,0,0
$GC,2921,-0.73,-146.0,312.3,-8.2,332,2926,0.10,2.28,0.00,0.000,4,0.116,0.054,2231,1365,3522,0,0,0,0,0,0
$GC,2962,-0.73,-146.0,316.4,-10.7,335,2966,0.00,2.38,0.00,0.000,6,0.000,0.064,2230,2771,3522,0,0,0,0,0,0
$GC,3288,-0.71,-146.0,350.9,-10.2,365,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2772,3522,0,0,0,0,0,0
$GC,3609,-0.68,-146.0,384.9,-10.8,395,3613,0.00,2.28,0.00,0.000,4,0.000,0.052,2230,1360,3522,0,0,0,0,0,0
$GC,3643,-0.68,-146.0,389.1,-11.5,397,3649,0.00,2.35,0.00,0.000,6,0.000,0.064,2230,2766,3522,0,0,0,0,0,0
$GC,3960,-0.68,-146.0,422.2,-10.0,414,3964,0.00,2.00,0.00,0.000,4,0.000,0.075,2222,3929,3522,0,0,0,0,0,0
$GC,4010,-0.66,-146.0,427.8,-10.9,415,4015,0.12,1.90,0.00,0.000,6,0.169,0.050,2255,2767,3522,0,0,0,0,0,0
$GC,4337,-0.70,-146.0,454.1,-7.9,426,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2766,3522,0,0,0,0,0,0
$GC,4642,-0.74,-146.0,477.9,-7.8,436,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2767,3523,0,0,0,0,0,0
$GC,4949,-0.79,-146.0,503.0,-8.4,446,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2767,3523,0,0,0,0,0,0
$GC,5255,-0.83,-146.0,528.1,-8.3,456,5259,0.15,2.25,0.00,0.000,4,0.097,0.052,2189,1369,3523,0,0,0,0,0,0
$GC,5287,-0.77,-146.0,531.9,-11.7,457,5292,0.17,2.33,0.00,0.000,6,0.174,0.063,2225,2767,3523,0,0,0,0,0,0
$GC,5619,-0.77,-146.0,563.4,-9.4,468,5623,0.00,2.00,0.00,0.000,4,0.000,0.074,2220,3932,3523,0,0,0,0,0,0
$GC,5662,-0.77,-146.0,568.3,-10.4,469,5666,0.00,1.92,0.00,0.000,6,0.000,0.047,2220,2763,3523,0,0,0,0,0,0
$GC,5993,-0.74,-146.0,600.0,-9.4,480,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2763,3523,0,0,0,0,0,0
$GC,6300,-0.72,-146.0,630.6,-10.0,490,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2763,3523,0,0,0,0,0,0
$STATE,6514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6514,begin apogee
$GC,6520,-0.14,0.0,652.1,9.9,497,6651,0.62,0.00,125.12,1.015,4,0.138,0.000,2420,2600,2923,0,0,0,0,0,0
$STATE,6652,end apogee,CONTROL_FINISHED_OK
$STATE,6652,begin climb
$GC,6655,0.57,146.0,656.3,0.0,501,6795,0.70,2.42,132.65,0.989,4,0.072,0.050,2661,1188,2327,0,0,0,0,0,0
$GC,6957,0.57,146.0,631.8,10.5,509,6964,0.00,2.47,0.00,0.000,6,0.000,0.056,2661,2599,2318,0,0,0,0,0,0
$GC,7271,0.53,146.0,596.4,11.6,520,7275,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1189,2315,0,0,0,0,0,0
$GC,7461,0.53,146.0,575.7,10.4,525,7468,0.00,2.38,0.00,0.000,6,0.000,0.057,2662,2622,2315,0,0,0,0,0,0
$GC,7775,0.49,146.0,539.2,11.8,536,7779,0.00,2.22,0.00,0.000,4,0.000,0.070,2662,3934,2314,0,0,0,0,0,0
$GC,7848,0.39,146.0,529.0,14.0,538,7853,0.22,2.15,0.00,0.000,6,0.190,0.046,2605,2611,2312,0,0,0,0,0,0
$GC,8172,0.49,185.6,501.6,8.2,549,8208,0.00,0.00,33.33,0.911,6,0.000,0.000,2605,2610,2166,0,0,0,0,0,0
$GC,8509,0.60,216.4,472.6,8.6,560,8540,0.17,0.00,27.60,0.888,6,0.088,0.000,2680,2610,2040,0,0,0,0,0,0
$GC,8844,0.60,216.4,428.1,13.4,571,8848,0.00,2.25,0.00,0.000,4,0.000,0.070,2680,3925,2033,0,0,0,0,0,0
$GC,8871,0.54,216.4,424.1,14.5,571,8878,0.00,2.12,0.00,0.000,6,0.000,0.046,2680,2617,2032,0,0,0,0,0,0
$GC,9189,0.54,216.4,383.2,12.8,590,9193,0.00,2.30,0.00,0.000,4,0.000,0.054,2681,1191,2031,0,0,0,0,0,0
$GC,9228,0.57,216.4,378.2,12.9,593,9235,0.00,2.35,0.00,0.000,6,0.000,0.057,2680,2623,2031,0,0,0,0,0,0
$GC,9553,0.57,216.4,337.5,12.7,624,9557,0.00,2.20,0.00,0.000,4,0.000,0.070,2681,3925,2031,0,0,0,0,0,0
$GC,9642,0.51,216.4,323.8,16.4,631,9649,0.15,2.08,0.00,0.000,6,0.190,0.047,2646,2644,2029,0,0,0,0,0,0
$GC,9967,0.57,216.4,287.9,10.8,662,9971,0.00,2.35,0.00,0.000,4,0.000,0.054,2646,1184,2029,0,0,0,0,0,0
$GC,10036,0.67,229.7,281.2,9.4,667,10055,0.12,2.38,11.40,0.767,6,0.102,0.057,2696,2642,1986,0,0,0,0,0,0
$GC,10372,0.67,229.7,239.0,12.4,699,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2643,1985,0,0,0,0,0,0
$GC,10695,0.67,229.7,199.8,11.8,729,10699,0.00,2.15,0.00,0.000,4,0.000,0.070,2697,3926,1984,0,0,0,0,0,0
$GC,10739,0.62,229.7,193.4,14.1,732,10745,0.00,2.10,0.00,0.000,6,0.000,0.046,2700,2630,1983,0,0,0,0,0,0
$GC,11064,0.62,229.7,155.0,11.5,763,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2630,1983,0,0,0,0,0,0
$GC,11385,0.62,229.7,119.9,10.5,793,11389,0.00,2.20,0.00,0.000,4,0.000,0.071,2700,3928,1982,0,0,0,0,0,0
$GC,11415,0.59,229.7,116.4,13.0,795,11420,0.12,2.10,0.00,0.000,6,0.197,0.047,2670,2636,1982,0,0,0,0,0,0
$GC,11750,0.70,279.2,88.5,7.7,838,11803,0.00,2.30,43.17,0.689,4,0.000,0.072,2670,3929,1782,0,0,0,0,0,0
$GC,11824,0.80,296.3,82.8,9.2,850,11849,0.17,2.12,16.27,0.664,6,0.095,0.047,2737,2640,1713,0,0,0,0,0,0
$GC,12188,0.85,313.8,41.8,9.2,914,12212,0.00,2.40,14.95,0.662,4,0.000,0.055,2737,1192,1642,0,0,0,0,0,0
$GC,12289,0.96,355.8,33.3,8.1,931,12331,0.12,2.38,36.47,0.649,6,0.103,0.058,2787,2620,1472,0,0,0,0,0,0
$FREEZE,8.85,-1.714,-1.736,2,5,0
$STATE,12478,end climb,FINISH_DEPTH_REACHED
$STATE,12478,begin subsurface finish
$FINISH1,8.9,1.025427,102
$GC,12485,0.07,101.8,8.9,-13.0,964,12527,0.93,2.28,-33.05,0.000,4,0.153,0.086,2505,3925,2510,0,0,0,0,0,0
$FINISH2,7.0
$STATE,12528,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12528,begin surface
$RAFOS_CLK,734
$RAFOS,6,1293454169,12.833333,12.824722,127,49,44,44,43,40,647,1586,462,952,1342,1171
$RAFOS,5,1293453669,12.700000,12.685833,85,49,45,44,44,41,871,1011,144,1213,1512,1189
$RAFOS,4,1293453183,12.566667,12.550834,85,44,42,42,39,39,674,619,1057,1239,157,1856
$RAFOS,3,1293452724,12.433333,12.423333,117,49,48,45,41,41,629,1815,878,920,354,26
$RAFOS,2,1293452234,12.300000,12.287222,134,48,43,42,38,38,571,927,90,529,144,1925
$RAFOS,1,1293451750,12.166667,12.152778,111,45,41,39,39,39,519,576,1415,674,44,1853
$RAFOS,0,1293451262,12.033333,12.017222,124,44,43,42,42,41,691,26,751,361,1681,1587
$RAFOS_FIX,6645.176270,-5951.109375,271210,121234,7,112,0.26
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.028462
$HUMID,49.44
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,16.1
$ALTIM_BOTTOM_PING,652.1,11.7
$24V_AH,21.4,70.630
$10V_AH,9.7,49.907
$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,4.675,97.625,440.975,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2409.078,7818.573,496.125,1678.481,205.860,0.000,1414.267,0.000,1662.519,2520.000,19.464,0.000
$DEVICE_MAMPS,197.370,85.680,1015.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,676.884,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,33348,971
$CAP_FILE_SIZE,124575,0
$CFSIZE,260165632,208695296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,271210,122734,6645.176,-5951.109,0,7111.9,0,-38.0