version: 66.08
glider: 183
mission: 3
dive: 634
start: 12 30 110 19 57 23
data:
$ID,183
$MISSION,3
$DIVE,634
$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,-11338.299
$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,24
$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
$GPS1,301210,162707,6642.533,-5934.562,0,7101.4,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.97
$_SM_ANGLEo,-7.4
$GPS2,301210,162707,6642.533,-5934.562,0,7101.4,0,-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,110.5,126113,-17.5,-10.000
$D_GRID,856
$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,-5.95,0.000,2,0.000,0.000,2495,1183,2781,0,0,0,0,0,0
$GC,27,-0.57,-146.0,11.1,-0.0,1,51,0.55,0.30,-16.20,0.000,4,0.083,0.176,2288,1372,3522,0,0,0,0,0,0
$GC,188,-0.54,-146.0,32.9,-13.7,29,195,0.00,2.33,0.00,0.000,6,0.000,0.063,2287,2776,3524,0,0,0,0,0,0
$GC,534,-0.54,-146.0,75.1,-10.9,90,541,0.00,2.28,0.00,0.000,4,0.000,0.054,2286,1366,3523,0,0,0,0,0,0
$GC,572,-0.57,-146.0,79.1,-10.4,96,578,0.00,2.38,0.00,0.000,6,0.000,0.064,2286,2792,3523,0,0,0,0,0,0
$GC,909,-0.60,-146.0,116.0,-9.9,143,913,0.00,2.33,0.00,0.000,4,0.000,0.053,2286,1364,3524,0,0,0,0,0,0
$GC,950,-0.64,-146.0,120.0,-9.3,146,954,0.00,2.35,0.00,0.000,6,0.000,0.064,2286,2775,3523,0,0,0,0,0,0
$GC,1275,-0.68,-146.0,149.9,-10.0,176,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2775,3523,0,0,0,0,0,0
$GC,1596,-0.73,-146.0,180.5,-9.2,206,1600,0.12,2.30,0.00,0.000,4,0.113,0.054,2234,1369,3523,0,0,0,0,0,0
$GC,1668,-0.73,-146.0,189.0,-11.9,212,1675,0.00,2.35,0.00,0.000,6,0.000,0.065,2230,2763,3523,0,0,0,0,0,0
$GC,1994,-0.68,-146.0,227.8,-12.3,243,1998,0.00,2.25,0.00,0.000,4,0.000,0.054,2230,1371,3523,0,0,0,0,0,0
$GC,2052,-0.68,-146.0,234.8,-12.2,248,2056,0.00,2.30,0.00,0.000,6,0.000,0.065,2230,2748,3523,0,0,0,0,0,0
$GC,2377,-0.65,-146.0,274.8,-12.1,278,2379,0.12,0.00,0.00,0.000,6,0.190,0.000,2263,2748,3522,0,0,0,0,0,0
$GC,2698,-0.69,-146.0,304.8,-8.7,308,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2748,3523,0,0,0,0,0,0
$GC,3017,-0.73,-146.0,333.7,-8.8,338,3021,0.00,2.22,0.00,0.000,4,0.000,0.053,2263,1368,3522,0,0,0,0,0,0
$GC,3074,-0.79,-146.0,339.3,-9.2,342,3081,0.12,2.28,0.00,0.000,6,0.101,0.064,2208,2733,3522,0,0,0,0,0,0
$GC,3400,-0.72,-146.0,379.0,-11.8,373,3404,0.12,2.05,0.00,0.000,4,0.186,0.073,2233,3927,3523,0,0,0,0,0,0
$GC,3467,-0.72,-146.0,386.3,-9.7,378,3475,0.00,1.98,0.00,0.000,6,0.000,0.050,2233,2721,3522,0,0,0,0,0,0
$GC,3788,-0.72,-146.0,418.9,-10.0,397,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2720,3523,0,0,0,0,0,0
$GC,4092,-0.72,-146.0,448.2,-9.7,407,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2720,3523,0,0,0,0,0,0
$GC,4398,-0.72,-146.0,477.5,-9.4,417,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2720,3523,0,0,0,0,0,0
$STATE,4674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4674,begin apogee
$GC,4681,-0.14,0.0,502.6,8.9,426,4810,0.60,0.00,122.82,0.925,4,0.139,0.000,2424,2604,2923,0,0,0,0,0,0
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4814,0.57,146.0,506.2,0.0,430,4955,0.70,2.42,129.40,0.897,4,0.073,0.050,2665,1185,2326,0,0,0,0,0,0
$GC,5064,-1.43,146.0,488.0,17654.8,437,5072,2.35,2.50,0.00,0.000,6,0.158,0.056,2022,2605,2319,0,0,0,0,0,0
$GC,5377,-1.43,146.0,448.6,17654.8,448,5381,0.00,2.35,0.00,0.000,4,0.000,0.052,2022,1176,2311,0,0,0,0,0,0
$GC,5635,-1.43,146.0,413.2,17654.8,455,5642,0.00,2.33,0.00,0.000,6,0.000,0.060,2021,2567,2312,0,0,0,0,0,0
$GC,5957,-1.43,146.0,371.5,17654.8,478,5961,0.00,2.20,0.00,0.000,4,0.000,0.045,2021,1177,2308,0,0,0,0,0,0
$GC,6215,-1.43,146.0,333.2,17654.8,500,6222,0.00,2.28,0.00,0.000,6,0.000,0.060,2011,2552,2308,0,0,0,0,0,0
$GC,6541,-1.43,146.0,284.5,17654.8,531,6545,0.00,2.20,0.00,0.000,4,0.000,0.052,2010,1182,2309,0,0,0,0,0,0
$GC,6553,-1.43,146.0,283.3,17654.8,532,6557,0.00,2.25,0.00,0.000,6,0.000,0.060,2000,2556,2309,0,0,0,0,0,0
$GC,6879,-1.43,146.0,235.5,17654.8,562,6883,0.00,2.20,0.00,0.000,4,0.000,0.049,2001,1182,2308,0,0,0,0,0,0
$GC,7099,-1.43,146.0,204.1,17654.8,581,7104,0.00,2.28,0.00,0.000,6,0.000,0.059,1990,2561,2309,0,0,0,0,0,0
$GC,7425,-1.43,146.0,159.4,17654.8,611,7429,0.00,2.22,0.00,0.000,4,0.000,0.052,1989,1181,2309,0,0,0,0,0,0
$GC,7615,-1.43,146.0,132.0,17654.8,627,7623,0.15,2.30,0.00,0.000,6,0.259,0.057,2007,2582,2308,0,0,0,0,0,0
$GC,7945,-0.25,146.0,90.3,11.2,665,7952,1.45,2.25,0.00,0.000,4,0.216,0.049,2382,1186,2309,0,0,0,0,0,0
$GC,8006,0.43,280.1,87.0,3.8,675,8129,0.75,2.35,110.18,0.675,6,0.138,0.060,2612,2602,1780,0,0,0,0,0,0
$GC,8470,0.84,371.4,60.5,5.8,756,8551,0.32,2.38,74.97,0.656,4,0.083,0.069,2742,3929,1407,0,0,0,0,0,0
$GC,8573,0.93,371.4,50.8,10.9,773,8580,0.00,2.10,0.00,0.000,6,0.000,0.047,2742,2657,1402,0,0,0,0,0,0
$GC,8921,0.97,371.4,12.2,10.1,834,8929,0.12,2.35,0.00,0.000,4,0.104,0.053,2793,1186,1394,0,0,0,0,0,0
$FREEZE,8.97,-1.725,-1.749,2,45,1
$FREEZE,8.17,-1.724,-1.748,2,45,1
$FREEZE,7.71,-1.726,-1.748,2,45,1
$FREEZE,7.24,-1.727,-1.747,2,45,1
$FREEZE,6.55,-1.726,-1.747,2,45,1
$FREEZE,5.90,-1.726,-1.746,2,45,1
$FREEZE,5.31,-1.727,-1.746,2,45,1
$FREEZE,4.80,-1.727,-1.745,2,45,1
$FREEZE,4.41,-1.727,-1.745,2,45,1
$FREEZE,4.43,-1.728,-1.745,2,45,1
$FREEZE,4.09,-1.728,-1.745,2,45,1
$FREEZE,3.68,-1.728,-1.744,2,45,1
$FREEZE,3.05,-1.728,-1.744,2,45,1
$FREEZE,2.29,-1.728,-1.743,2,45,1
$STATE,9014,end climb,SURFACE_DEPTH_REACHED
$STATE,9014,begin surface coast
$FREEZE,1.74,-1.729,-1.743,2,45,1
$FREEZE,0.82,-1.731,-1.742,2,45,1
$FREEZE,0.89,-1.717,-1.742,2,45,1
$FREEZE,0.87,-1.729,-1.743,2,45,1
$FREEZE,0.82,-1.730,-1.743,2,45,1
$FREEZE,0.84,-1.729,-1.743,2,45,1
$FREEZE,0.74,-1.729,-1.743,2,45,1
$FINISH,0.7,1.025611
$STATE,9051,end surface coast,CONTROL_FINISHED_OK
$STATE,9051,begin surface
$SM_CCo,9070,170.10,0.591,1,0,440,609.08
$SM_GC,1.70,0.00,0.00,170.10,0.000,0.000,0.591,297,2787,440,-6.81,0.20,609.08
$RAFOS_CLK,544
$RAFOS,6,1293742143,20.833334,20.817499,145,47,47,47,44,43,774,787,927,553,296,991
$RAFOS,5,1293741673,20.700001,20.686945,90,47,45,43,40,39,794,222,926,90,685,1361
$RAFOS,4,1293741184,20.566668,20.551111,105,44,41,39,39,39,625,1109,1784,545,1941,147
$RAFOS,3,1293740704,20.433332,20.417778,90,44,43,42,41,41,679,104,325,565,926,1165
$RAFOS,2,1293740231,20.299999,20.286388,90,53,48,44,40,39,591,1279,1911,1583,1168,1121
$RAFOS,1,1293739743,20.166666,20.150833,113,42,41,41,40,39,636,754,1244,1439,180,1451
$RAFOS,0,1293739266,20.033333,20.018333,46,43,42,42,41,39,735,730,1408,866,619,1920
$RAFOS_FIX,6641.365723,-5928.649414,301210,202017,6,106,0.33
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,46.61
$INTERNAL_PRESSURE,8.407
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,25.2
$ALTIM_BOTTOM_PING,502.6,9.7
$24V_AH,21.6,74.396
$10V_AH,9.7,51.691
$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,14.350,71.500,437.375,170.100,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2098.299,4923.498,607.250,1526.317,172.954,0.000,1427.584,0.000,1507.649,2520.000,19.814,0.000
$DEVICE_MAMPS,259.335,175.950,924.885,591.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,30052,858
$CAP_FILE_SIZE,102225,0
$CFSIZE,260165632,206938112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1447.7
$GPS,301210,223308,6640.621,-5928.652,28,1.0,28,-37.8