version: 66.08
glider: 183
mission: 3
dive: 628
start: 12 30 110 6 9 3
data:
$ID,183
$MISSION,3
$DIVE,628
$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,-10969.108
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,301210,041101,6640.425,-5951.067,0,3095.3,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.71
$_SM_ANGLEo,-3.5
$GPS2,301210,041101,6640.425,-5951.067,0,3095.3,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,110.5,138655,-17.5,-10.000
$D_GRID,723
$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,17,-0.57,-146.0,0.0,0.0,0,64,0.00,2.67,-40.30,0.000,6,0.000,0.070,2502,2783,3521,0,0,0,0,0,0
$GC,68,-0.57,-146.0,3.2,1.4,8,75,0.60,1.95,0.00,0.000,4,0.106,0.073,2294,3927,3521,0,0,0,0,0,0
$GC,123,-0.61,-146.0,8.2,-12.8,17,129,0.00,1.85,0.00,0.000,6,0.000,0.050,2294,2780,3521,0,0,0,0,0,0
$GC,468,-0.61,-146.0,56.5,-12.9,78,474,0.00,2.30,0.00,0.000,4,0.000,0.054,2294,1373,3521,0,0,0,0,0,0
$GC,505,-0.61,-146.0,60.9,-11.7,84,512,0.00,2.35,0.00,0.000,6,0.000,0.064,2294,2787,3521,0,0,0,0,0,0
$GC,852,-0.64,-146.0,96.5,-9.9,145,859,0.00,2.30,0.00,0.000,4,0.000,0.054,2294,1373,3521,0,0,0,0,0,0
$GC,906,-0.69,-146.0,102.0,-9.5,152,913,0.12,2.33,0.00,0.000,6,0.110,0.064,2242,2777,3522,0,0,0,0,0,0
$GC,1231,-0.64,-146.0,146.7,-13.7,183,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2777,3522,0,0,0,0,0,0
$GC,1552,-0.61,-146.0,185.8,-11.7,213,1556,0.12,2.33,0.00,0.000,4,0.183,0.054,2274,1367,3521,0,0,0,0,0,0
$GC,1642,-0.67,-146.0,195.1,-10.0,220,1649,0.00,2.35,0.00,0.000,6,0.000,0.065,2274,2767,3521,0,0,0,0,0,0
$GC,1968,-0.71,-146.0,227.5,-9.6,251,1972,0.00,2.25,0.00,0.000,4,0.000,0.054,2274,1369,3521,0,0,0,0,0,0
$GC,1998,-0.75,-146.0,230.5,-9.6,253,2003,0.12,2.33,0.00,0.000,6,0.106,0.065,2222,2766,3520,0,0,0,0,0,0
$GC,2324,-0.70,-146.0,271.4,-12.3,283,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2766,3520,0,0,0,0,0,0
$GC,2645,-0.66,-146.0,308.9,-11.4,313,2650,0.15,2.28,0.00,0.000,4,0.174,0.054,2264,1369,3520,0,0,0,0,0,0
$GC,2662,-0.66,-146.0,311.0,-11.4,314,2666,0.00,2.33,0.00,0.000,6,0.000,0.065,2263,2757,3520,0,0,0,0,0,0
$GC,2994,-0.69,-146.0,339.1,-8.4,345,2998,0.00,2.00,0.00,0.000,4,0.000,0.075,2254,3936,3520,0,0,0,0,0,0
$GC,3033,-0.72,-146.0,342.7,-9.2,348,3039,0.00,1.92,0.00,0.000,6,0.000,0.050,2254,2745,3520,0,0,0,0,0,0
$GC,3359,-0.75,-146.0,370.5,-8.5,379,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2745,3520,0,0,0,0,0,0
$GC,3680,-0.78,-146.0,397.0,-8.4,409,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2745,3520,0,0,0,0,0,0
$GC,3995,-0.81,-146.0,424.0,-8.5,422,4000,0.12,2.22,0.00,0.000,4,0.111,0.052,2199,1364,3520,0,0,0,0,0,0
$GC,4061,-0.76,-146.0,431.7,-12.0,424,4066,0.12,2.30,0.00,0.000,6,0.181,0.063,2224,2745,3520,0,0,0,0,0,0
$GC,4397,-0.76,-146.0,466.2,-10.3,435,4401,0.00,2.00,0.00,0.000,4,0.000,0.073,2220,3928,3520,0,0,0,0,0,0
$GC,4419,-0.73,-146.0,468.8,-10.7,435,4422,0.00,1.92,0.00,0.000,6,0.000,0.049,2219,2733,3521,0,0,0,0,0,0
$GC,4741,-0.70,-146.0,501.9,-10.3,446,4746,0.10,2.20,0.00,0.000,4,0.197,0.052,2245,1366,3521,0,0,0,0,0,0
$GC,4756,-0.70,-146.0,504.0,-10.1,446,4761,0.00,2.28,0.00,0.000,6,0.000,0.063,2241,2734,3521,0,0,0,0,0,0
$GC,5076,-0.70,-146.0,531.8,-8.7,457,5079,0.00,2.03,0.00,0.000,4,0.000,0.073,2234,3933,3521,0,0,0,0,0,0
$GC,5103,-0.70,-146.0,534.5,-9.5,457,5110,0.00,1.95,0.00,0.000,6,0.000,0.047,2234,2723,3521,0,0,0,0,0,0
$GC,5417,-0.70,-146.0,563.7,-9.4,468,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2723,3521,0,0,0,0,0,0
$GC,5723,-0.70,-146.0,593.5,-9.9,478,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2723,3521,0,0,0,0,0,0
$STATE,5815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5815,begin apogee
$GC,5822,-0.14,0.0,602.7,9.9,481,5952,0.60,0.00,123.90,0.986,4,0.136,0.000,2427,2604,2923,0,0,0,0,0,0
$STATE,5952,end apogee,CONTROL_FINISHED_OK
$STATE,5953,begin climb
$GC,5955,0.57,146.0,608.6,0.0,485,6097,0.68,2.45,131.85,0.959,4,0.069,0.050,2662,1182,2326,0,0,0,0,0,0
$GC,6194,-1.85,146.0,593.8,22287.4,492,6203,2.80,2.53,0.00,0.000,6,0.156,0.055,1893,2606,2318,0,0,0,0,0,0
$GC,6518,-1.85,146.0,547.0,22287.4,503,6522,0.00,2.25,0.00,0.000,4,0.000,0.063,1882,3930,2308,0,0,0,0,0,0
$GC,6776,-1.85,146.0,495.9,22287.4,510,6783,0.00,2.25,0.00,0.000,6,0.000,0.047,1881,2551,2306,0,0,0,0,0,0
$GC,7089,-1.85,146.0,438.3,22287.4,521,7094,0.00,2.28,0.00,0.000,4,0.000,0.060,1870,3929,2307,0,0,0,0,0,0
$GC,7350,-1.85,146.0,385.5,22287.4,532,7354,0.00,2.15,0.00,0.000,6,0.000,0.044,1869,2591,2306,0,0,0,0,0,0
$GC,7684,-1.85,146.0,322.8,22287.4,563,7688,0.00,2.28,0.00,0.000,4,0.000,0.071,1858,3933,2308,0,0,0,0,0,0
$GC,7943,-1.85,146.0,269.8,22287.4,585,7949,0.00,2.15,0.00,0.000,6,0.000,0.048,1858,2600,2307,0,0,0,0,0,0
$GC,8268,-1.85,146.0,211.6,22287.4,616,8272,0.00,2.28,0.00,0.000,4,0.000,0.073,1849,3937,2307,0,0,0,0,0,0
$GC,8527,-1.85,146.0,165.0,22287.4,638,8535,0.12,2.15,0.00,0.000,6,0.272,0.045,1872,2604,2307,0,0,0,0,0,0
$GC,8852,-1.85,146.0,112.7,22287.4,669,8856,0.00,2.22,0.00,0.000,4,0.000,0.067,1864,3930,2306,0,0,0,0,0,0
$GC,9114,-1.85,146.0,67.6,22287.4,708,9122,0.00,2.15,0.00,0.000,6,0.000,0.047,1864,2601,2305,0,0,0,0,0,0
$GC,9462,-1.85,146.0,30.5,22287.4,769,9469,0.00,2.25,0.00,0.000,4,0.000,0.065,1854,3940,2306,0,0,0,0,0,0
$FREEZE,8.79,-1.648,-1.750,2,39,0
$FREEZE,8.24,-1.687,-1.752,2,39,0
$STATE,9672,end climb,FINISH_DEPTH_REACHED
$STATE,9673,begin subsurface finish
$FINISH1,8.2,1.025659,90
$GC,9681,0.06,90.4,8.2,-22287.4,806,9700,2.47,2.33,-8.32,0.000,4,0.221,0.086,2487,3932,2556,0,0,0,0,0,0
$FINISH2,5.8
$STATE,9701,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9701,begin surface
$RAFOS_CLK,570
$RAFOS,5,1293698462,8.700000,8.683888,94,47,43,42,41,37,896,472,145,373,26,1859
$RAFOS,4,1293697991,8.566667,8.553056,113,48,48,46,42,39,614,1014,1523,598,1731,356
$RAFOS,3,1293697502,8.433333,8.417222,96,45,44,42,39,36,724,258,1033,1118,1863,145
$RAFOS,2,1293697021,8.300000,8.283611,73,47,46,44,44,44,631,765,1282,361,1053,1839
$RAFOS,1,1293696543,8.166667,8.150833,110,49,49,45,42,42,593,743,1501,1164,1927,729
$RAFOS,0,1293696066,8.033334,8.018333,53,48,46,45,43,39,687,809,283,882,1467,656
$RAFOS_FIX,6641.460449,-5944.667969,301210,080818,5,97,0.33
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.030709
$HUMID,48.46
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,602.7,11.1
$24V_AH,21.4,73.814
$10V_AH,9.7,51.396
$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,8.150,84.525,255.750,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2069.155,5693.403,319.750,1521.652,169.513,0.000,1128.501,0.000,1502.812,2520.000,20.720,0.000
$DEVICE_MAMPS,272.340,86.445,986.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,565.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30064,809
$CAP_FILE_SIZE,100932,0
$CFSIZE,260165632,207224832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,301210,082718,6641.460,-5944.668,0,5097.2,0,-38.0