version: 66.08
glider: 183
mission: 3
dive: 636
start: 12 31 110 0 49 22
data:
$ID,183
$MISSION,3
$DIVE,636
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,311210,002328,6639.481,-5926.556,0,4108.8,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.03
$_SM_ANGLEo,-4.4
$GPS2,311210,002328,6639.481,-5926.556,0,4108.8,0,-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,107.0,122506,-17.5,-10.000
$D_GRID,873
$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,16,-0.57,-146.0,0.0,0.0,0,26,0.00,0.00,-7.68,0.000,2,0.000,0.000,2500,1188,2920,0,0,0,0,0,0
$GC,29,-0.57,-146.0,10.0,-0.0,1,48,0.60,0.32,-13.98,0.000,4,0.112,0.167,2295,1384,3521,0,0,0,0,0,0
$GC,174,-0.57,-146.0,25.0,-12.3,26,181,0.00,2.33,0.00,0.000,6,0.000,0.065,2293,2777,3524,0,0,0,0,0,0
$GC,520,-0.57,-146.0,65.4,-12.4,87,527,0.00,2.28,0.00,0.000,4,0.000,0.054,2293,1368,3523,0,0,0,0,0,0
$GC,568,-0.60,-146.0,71.8,-12.3,95,575,0.00,2.38,0.00,0.000,6,0.000,0.064,2293,2784,3523,0,0,0,0,0,0
$GC,909,-0.64,-146.0,110.1,-10.0,147,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2785,3523,0,0,0,0,0,0
$GC,1229,-0.69,-146.0,141.8,-9.6,177,1234,0.12,2.30,0.00,0.000,4,0.111,0.054,2241,1371,3523,0,0,0,0,0,0
$GC,1293,-0.69,-146.0,149.4,-11.8,182,1297,0.00,2.35,0.00,0.000,6,0.000,0.064,2237,2782,3523,0,0,0,0,0,0
$GC,1618,-0.64,-146.0,187.1,-11.5,212,1620,0.10,0.00,0.00,0.000,6,0.203,0.000,2260,2781,3523,0,0,0,0,0,0
$GC,1937,-0.64,-146.0,217.6,-9.4,242,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2782,3523,0,0,0,0,0,0
$GC,2258,-0.66,-146.0,247.7,-9.8,272,2262,0.00,2.28,0.00,0.000,4,0.000,0.054,2261,1371,3522,0,0,0,0,0,0
$GC,2310,-0.71,-146.0,252.8,-9.8,276,2315,0.00,2.35,0.00,0.000,6,0.000,0.065,2261,2779,3522,0,0,0,0,0,0
$GC,2637,-0.73,-146.0,284.6,-9.3,306,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2779,3522,0,0,0,0,0,0
$GC,2959,-0.76,-146.0,313.6,-9.6,336,2963,0.00,2.28,0.00,0.000,4,0.000,0.052,2261,1367,3522,0,0,0,0,0,0
$GC,3039,-0.81,-146.0,321.6,-10.0,342,3046,0.12,2.35,0.00,0.000,6,0.106,0.065,2207,2774,3522,0,0,0,0,0,0
$GC,3365,-0.74,-146.0,363.7,-13.4,373,3367,0.10,0.00,0.00,0.000,6,0.196,0.000,2231,2774,3522,0,0,0,0,0,0
$GC,3683,-0.74,-146.0,399.4,-11.1,403,3690,0.00,2.28,0.00,0.000,4,0.000,0.052,2231,1361,3522,0,0,0,0,0,0
$GC,3723,-0.74,-146.0,404.1,-11.0,405,3728,0.00,2.35,0.00,0.000,6,0.000,0.063,2230,2774,3522,0,0,0,0,0,0
$GC,4060,-0.74,-146.0,438.0,-9.9,416,4064,0.00,2.28,0.00,0.000,4,0.000,0.052,2230,1361,3522,0,0,0,0,0,0
$GC,4105,-0.74,-146.0,442.5,-9.9,417,4109,0.00,2.33,0.00,0.000,6,0.000,0.063,2230,2747,3522,0,0,0,0,0,0
$GC,4423,-0.74,-146.0,471.8,-9.2,428,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2747,3523,0,0,0,0,0,0
$STATE,4730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4730,begin apogee
$GC,4737,-0.14,0.0,500.6,9.6,438,4867,0.60,0.00,122.40,0.928,4,0.140,0.000,2422,2601,2922,0,0,0,0,0,0
$STATE,4867,end apogee,CONTROL_FINISHED_OK
$STATE,4867,begin climb
$GC,4870,0.57,146.0,505.0,0.0,442,5009,0.70,2.42,129.20,0.898,4,0.076,0.051,2661,1190,2326,0,0,0,0,0,0
$GC,5201,-1.42,146.0,478.1,18112.4,452,5210,2.28,2.47,0.00,0.000,6,0.158,0.056,2024,2609,2317,0,0,0,0,0,0
$GC,5530,-1.42,146.0,434.6,18112.4,463,5534,0.00,2.30,0.00,0.000,4,0.000,0.046,2024,1172,2309,0,0,0,0,0,0
$GC,5788,-1.42,146.0,392.3,18112.4,472,5795,0.00,2.33,0.00,0.000,6,0.000,0.060,2021,2565,2310,0,0,0,0,0,0
$GC,6115,-1.42,146.0,343.7,18112.4,503,6118,0.00,2.20,0.00,0.000,4,0.000,0.052,2021,1191,2309,0,0,0,0,0,0
$GC,6139,-1.42,146.0,339.7,18112.4,505,6143,0.00,2.20,0.00,0.000,6,0.000,0.061,2018,2527,2310,0,0,0,0,0,0
$GC,6464,-1.42,146.0,291.6,18112.4,535,6469,0.00,2.38,0.00,0.000,4,0.000,0.072,2018,3927,2309,0,0,0,0,0,0
$GC,6725,-1.42,146.0,251.7,18112.4,558,6729,0.00,2.33,0.00,0.000,6,0.000,0.044,2018,2489,2306,0,0,0,0,0,0
$GC,7051,-1.42,146.0,205.2,18112.4,588,7055,0.00,2.45,0.00,0.000,4,0.000,0.067,2006,3929,2306,0,0,0,0,0,0
$GC,7310,-1.42,146.0,164.7,18112.4,610,7317,0.00,2.35,0.00,0.000,6,0.000,0.044,2006,2470,2306,0,0,0,0,0,0
$GC,7636,-1.42,146.0,119.4,18112.4,641,7640,0.00,2.45,0.00,0.000,4,0.000,0.063,1994,3940,2306,0,0,0,0,0,0
$GC,7765,-1.42,146.0,100.3,18112.4,652,7772,0.00,2.35,0.00,0.000,6,0.000,0.044,1994,2483,2305,0,0,0,0,0,0
$GC,8111,-1.42,146.0,58.4,18112.4,713,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2483,2307,0,0,0,0,0,0
$GC,8458,-1.42,146.0,19.1,18112.4,774,8464,0.00,2.47,0.00,0.000,4,0.000,0.067,1983,3941,2306,0,0,0,0,0,0
$FREEZE,8.78,-1.679,-1.770,2,2,0
$STATE,8549,end climb,FINISH_DEPTH_REACHED
$STATE,8549,begin subsurface finish
$FINISH1,8.8,1.025922,77
$GC,8558,0.05,77.4,8.8,-18112.4,790,8577,1.92,2.35,-9.73,0.000,4,0.216,0.085,2483,3935,2609,0,0,0,0,0,0
$FINISH2,6.2
$STATE,8578,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8578,begin surface
$RAFOS_CLK,512
$RAFOS,6,1293756584,0.833333,0.828889,81,42,42,42,41,40,551,1324,1465,156,980,231
$RAFOS_FIX,6640.494141,-5925.682617,311210,000000,5,103,5.97
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,49.13
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,500.6,9.8
$24V_AH,21.6,74.579
$10V_AH,9.7,51.797
$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,6.550,65.925,251.600,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2020.917,4734.784,279.078,1453.369,157.421,0.000,1038.897,0.000,1439.593,360.000,14.335,0.000
$DEVICE_MAMPS,215.730,166.770,927.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,30040,793
$CAP_FILE_SIZE,89133,0
$CFSIZE,260165632,206843904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$GPS,311210,002328,6639.481,-5926.556,0,4108.8,0,-37.8