version: 66.08
glider: 183
mission: 3
dive: 635
start: 12 30 110 22 46 45
data:
$ID,183
$MISSION,3
$DIVE,635
$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,-11339.555
$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,28
$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
$GPS1,301210,223308,6640.621,-5928.652,28,1.0,28,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.9
$GPS2,301210,224614,6640.341,-5928.649,10,1.1,10,-37.8
$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,107.9,123369,-17.5,-10.000
$D_GRID,875
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,154,0.00,0.00,-133.62,0.000,2,0.000,0.000,296,2788,3127,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.5,-13.5,24,184,8.45,2.33,-8.38,0.000,4,0.249,0.065,2283,1367,3523,0,0,0,0,0,0
$GC,305,-0.53,-146.0,32.2,-13.6,49,312,0.00,2.40,0.00,0.000,6,0.000,0.066,2283,2785,3525,0,0,0,0,0,0
$GC,652,-0.51,-146.0,79.2,-12.4,110,658,0.00,2.30,0.00,0.000,4,0.000,0.054,2282,1362,3524,0,0,0,0,0,0
$GC,740,-0.51,-146.0,89.4,-11.2,125,748,0.12,2.33,0.00,0.000,6,0.180,0.065,2311,2752,3524,0,0,0,0,0,0
$GC,1080,-0.57,-146.0,117.9,-8.0,166,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2752,3524,0,0,0,0,0,0
$GC,1402,-0.65,-146.0,142.8,-8.3,196,1407,0.15,2.25,0.00,0.000,4,0.097,0.054,2247,1368,3524,0,0,0,0,0,0
$GC,1487,-0.65,-146.0,153.3,-12.0,203,1491,0.00,2.28,0.00,0.000,6,0.000,0.066,2248,2736,3524,0,0,0,0,0,0
$GC,1813,-0.61,-146.0,194.3,-12.2,233,1817,0.00,2.08,0.00,0.000,4,0.000,0.075,2239,3948,3524,0,0,0,0,0,0
$GC,1848,-0.57,-146.0,198.5,-12.7,236,1853,0.17,2.03,0.00,0.000,6,0.161,0.050,2288,2731,3524,0,0,0,0,0,0
$GC,2180,-0.64,-146.0,226.4,-8.5,267,2184,0.00,2.20,0.00,0.000,4,0.000,0.053,2288,1368,3524,0,0,0,0,0,0
$GC,2248,-0.72,-146.0,232.5,-8.6,273,2253,0.12,2.28,0.00,0.000,6,0.101,0.065,2233,2718,3524,0,0,0,0,0,0
$GC,2574,-0.68,-146.0,269.9,-11.8,303,2578,0.00,2.08,0.00,0.000,4,0.000,0.074,2225,3927,3524,0,0,0,0,0,0
$GC,2643,-0.63,-146.0,278.2,-11.8,309,2647,0.15,2.00,0.00,0.000,6,0.164,0.050,2266,2708,3524,0,0,0,0,0,0
$GC,2969,-0.67,-146.0,307.5,-9.1,339,2973,0.00,2.17,0.00,0.000,4,0.000,0.052,2266,1361,3524,0,0,0,0,0,0
$GC,2999,-0.71,-146.0,310.4,-9.7,341,3003,0.00,2.28,0.00,0.000,6,0.000,0.064,2265,2717,3524,0,0,0,0,0,0
$GC,3330,-0.74,-146.0,341.7,-9.5,372,3334,0.00,2.08,0.00,0.000,4,0.000,0.075,2258,3929,3524,0,0,0,0,0,0
$GC,3365,-0.77,-146.0,345.1,-10.1,375,3369,0.00,2.00,0.00,0.000,6,0.000,0.050,2258,2693,3524,0,0,0,0,0,0
$STATE,3422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3422,begin apogee
$GC,3429,-0.14,0.0,350.7,9.7,380,3561,0.52,0.00,120.80,0.845,4,0.137,0.000,2427,2596,2922,0,0,0,0,0,0
$STATE,3561,end apogee,CONTROL_FINISHED_OK
$STATE,3562,begin climb
$GC,3565,0.57,146.0,357.1,0.0,392,3699,0.68,2.40,125.85,0.820,4,0.078,0.051,2659,1183,2327,0,0,0,0,0,0
$GC,3849,0.58,171.9,342.2,8.8,417,3878,0.00,2.47,22.75,0.793,6,0.000,0.057,2659,2605,2221,0,0,0,0,0,0
$GC,4196,0.58,171.9,307.1,10.2,450,4200,0.00,2.33,0.00,0.000,4,0.000,0.054,2661,1184,2215,0,0,0,0,0,0
$GC,4398,0.63,179.2,287.5,9.7,467,4410,0.00,2.35,6.93,0.711,6,0.000,0.058,2662,2611,2191,0,0,0,0,0,0
$GC,4729,0.63,180.9,253.9,9.9,498,4733,0.00,2.22,0.00,0.000,4,0.000,0.071,2662,3930,2189,0,0,0,0,0,0
$GC,4792,0.58,180.9,246.5,11.9,503,4796,0.00,2.15,0.00,0.000,6,0.000,0.047,2661,2597,2187,0,0,0,0,0,0
$GC,5117,0.58,180.9,212.0,10.7,533,5121,0.00,2.28,0.00,0.000,4,0.000,0.054,2662,1184,2188,0,0,0,0,0,0
$GC,5139,0.62,182.3,209.7,9.9,534,5146,0.00,2.33,0.00,0.000,6,0.000,0.057,2662,2610,2188,0,0,0,0,0,0
$GC,5465,0.63,206.5,178.5,8.9,565,5498,0.00,2.30,24.30,0.737,4,0.000,0.070,2662,3925,2079,0,0,0,0,0,0
$GC,5567,0.63,206.5,167.6,11.3,574,5571,0.00,2.12,0.00,0.000,6,0.000,0.047,2662,2613,2075,0,0,0,0,0,0
$GC,5893,0.69,230.7,137.6,8.9,604,5920,0.10,2.28,21.33,0.709,4,0.125,0.070,2703,3933,1981,0,0,0,0,0,0
$GC,5933,0.66,230.7,133.2,11.1,607,5937,0.00,2.15,0.00,0.000,6,0.000,0.047,2704,2623,1980,0,0,0,0,0,0
$GC,6261,0.66,230.7,96.4,10.4,640,6268,0.00,2.33,0.00,0.000,4,0.000,0.055,2704,1190,1976,0,0,0,0,0,0
$GC,6333,0.71,245.9,89.5,9.3,652,6352,0.00,2.38,13.85,0.685,6,0.000,0.058,2704,2625,1920,0,0,0,0,0,0
$GC,6692,0.76,264.2,54.4,9.2,715,6716,0.00,2.22,16.62,0.674,4,0.000,0.072,2704,3930,1844,0,0,0,0,0,0
$GC,6762,0.76,264.2,46.5,11.9,727,6769,0.00,2.12,0.00,0.000,6,0.000,0.047,2704,2636,1841,0,0,0,0,0,0
$FREEZE,8.83,-1.731,-1.769,2,1,0
$GC,7110,0.89,383.9,16.5,4.5,788,7176,0.17,0.00,63.22,0.642,2,0.093,0.000,2776,2635,1543,0,0,0,0,0,0
$STATE,7177,end climb,FINISH_DEPTH_REACHED
$STATE,7177,begin subsurface finish
$FINISH1,8.8,1.025905,78
$GC,7185,0.05,78.2,8.8,-15.5,799,7228,0.98,2.38,-34.70,0.000,4,0.177,0.064,2500,1188,2604,0,0,0,0,0,0
$FINISH2,6.2
$STATE,7229,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7229,begin surface
$RAFOS_CLK,378
$RAFOS,5,1293756063,0.700000,0.684167,59,45,45,45,43,42,851,1835,1940,258,935,1758
$RAFOS,4,1293755585,0.566667,0.551389,120,48,48,47,43,42,620,861,1431,483,1175,26
$RAFOS,3,1293755102,0.433333,0.417222,115,48,44,43,39,38,681,1116,236,26,406,378
$RAFOS,2,1293754627,0.300000,0.285278,85,41,41,41,40,39,614,1712,373,1856,847,1782
$RAFOS,1,1293754150,0.166667,0.152778,115,50,45,45,39,39,612,172,1125,750,885,1843
$RAFOS,0,1293753666,0.033333,0.018333,50,48,46,44,44,43,1768,1669,888,787,857,517
$RAFOS_FIX,6639.480957,-5926.555664,311210,000028,4,109,0.38
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,49.13
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.8
$ALTIM_BOTTOM_PING,350.7,14.4
$24V_AH,22.0,74.514
$10V_AH,9.7,51.749
$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,11.625,74.000,415.650,0.000,0.000,28.693,38.926,389.712,1.250,0.000,13.306,1862.237,3432.818,517.211,1772.105,448.653,0.000,1282.915,0.000,1328.188,2160.000,11.688,0.000
$DEVICE_MAMPS,248.625,82.620,844.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151600
$DATA_FILE_SIZE,30104,806
$CAP_FILE_SIZE,101173,0
$CFSIZE,260165632,206884864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.2
$GPS,311210,002328,6639.481,-5926.556,0,4108.8,0,-37.8