version: 66.08
glider: 183
mission: 3
dive: 638
start: 12 31 110 4 58 34
data:
$ID,183
$MISSION,3
$DIVE,638
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.36
$_SM_ANGLEo,-0.2
$GPS2,311210,042913,6639.488,-5921.347,0,5087.8,0,-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,106.3,118993,-17.5,-10.000
$D_GRID,881
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.30,0.000,2,0.000,0.000,2500,1193,2879,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.0,-0.0,1,47,0.57,0.30,-15.18,0.000,4,0.109,0.174,2299,1375,3520,0,0,0,0,0,0
$GC,164,-0.57,-146.0,23.9,-9.6,24,171,0.00,2.33,0.00,0.000,6,0.000,0.063,2293,2780,3524,0,0,0,0,0,0
$GC,509,-0.57,-146.0,68.5,-11.8,85,516,0.00,2.28,0.00,0.000,4,0.000,0.054,2293,1373,3523,0,0,0,0,0,0
$GC,558,-0.57,-146.0,74.5,-12.4,93,565,0.00,2.33,0.00,0.000,6,0.000,0.064,2293,2768,3523,0,0,0,0,0,0
$GC,906,-0.61,-146.0,109.6,-9.2,146,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2769,3523,0,0,0,0,0,0
$GC,1226,-0.67,-146.0,138.6,-8.4,176,1230,0.00,2.25,0.00,0.000,4,0.000,0.054,2293,1369,3522,0,0,0,0,0,0
$GC,1282,-0.74,-146.0,144.0,-8.6,180,1290,0.17,2.33,0.00,0.000,6,0.091,0.064,2220,2765,3522,0,0,0,0,0,0
$GC,1608,-0.67,-146.0,188.7,-14.2,211,1613,0.12,2.28,0.00,0.000,4,0.187,0.053,2253,1366,3522,0,0,0,0,0,0
$GC,1641,-0.67,-146.0,193.2,-11.7,213,1648,0.00,2.33,0.00,0.000,6,0.000,0.065,2252,2747,3522,0,0,0,0,0,0
$GC,1967,-0.67,-146.0,227.2,-9.7,244,1971,0.00,2.22,0.00,0.000,4,0.000,0.053,2252,1367,3521,0,0,0,0,0,0
$GC,1999,-0.67,-146.0,230.6,-9.5,246,2006,0.00,2.30,0.00,0.000,6,0.000,0.064,2252,2745,3521,0,0,0,0,0,0
$GC,2325,-0.67,-146.0,259.2,-8.4,277,2329,0.00,2.20,0.00,0.000,4,0.000,0.053,2252,1372,3521,0,0,0,0,0,0
$GC,2378,-0.70,-146.0,263.8,-8.7,281,2382,0.00,2.25,0.00,0.000,6,0.000,0.063,2251,2726,3521,0,0,0,0,0,0
$GC,2703,-0.70,-146.0,295.2,-10.1,311,2706,0.00,2.20,0.00,0.000,4,0.000,0.053,2251,1371,3520,0,0,0,0,0,0
$GC,2720,-0.70,-146.0,296.9,-10.1,312,2727,0.00,2.28,0.00,0.000,6,0.000,0.063,2251,2736,3521,0,0,0,0,0,0
$GC,3046,-0.70,-146.0,328.6,-9.5,343,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2736,3521,0,0,0,0,0,0
$GC,3369,-0.70,-146.0,357.8,-8.8,373,3373,0.00,2.20,0.00,0.000,4,0.000,0.052,2251,1365,3521,0,0,0,0,0,0
$GC,3436,-0.74,-146.0,364.2,-8.5,378,3443,0.00,2.28,0.00,0.000,6,0.000,0.063,2250,2719,3521,0,0,0,0,0,0
$GC,3763,-0.76,-146.0,392.1,-8.9,409,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2719,3521,0,0,0,0,0,0
$GC,4071,-0.78,-146.0,420.1,-9.0,425,4075,0.00,2.15,0.00,0.000,4,0.000,0.050,2250,1372,3522,0,0,0,0,0,0
$GC,4094,-0.81,-146.0,422.4,-9.1,425,4099,0.10,2.25,0.00,0.000,6,0.116,0.063,2205,2715,3522,0,0,0,0,0,0
$GC,4408,-0.74,-146.0,458.4,-11.5,435,4412,0.12,2.08,0.00,0.000,4,0.185,0.073,2229,3928,3522,0,0,0,0,0,0
$GC,4446,-0.74,-146.0,462.6,-9.7,436,4450,0.00,1.95,0.00,0.000,6,0.000,0.049,2229,2719,3522,0,0,0,0,0,0
$GC,4783,-0.74,-146.0,493.7,-9.1,447,4787,0.00,2.08,0.00,0.000,4,0.000,0.074,2222,3932,3522,0,0,0,0,0,0
$GC,4807,-0.71,-146.0,496.1,-9.8,447,4810,0.00,1.95,0.00,0.000,6,0.000,0.048,2222,2720,3522,0,0,0,0,0,0
$STATE,4852,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4852,begin apogee
$GC,4858,-0.14,0.0,500.5,10.1,449,4988,0.62,0.00,122.15,0.924,4,0.139,0.000,2421,2604,2923,0,0,0,0,0,0
$STATE,4988,end apogee,CONTROL_FINISHED_OK
$STATE,4989,begin climb
$GC,4991,0.57,146.0,504.7,0.0,453,5132,0.70,2.42,129.10,0.894,4,0.076,0.050,2661,1186,2327,0,0,0,0,0,0
$GC,5257,0.57,146.0,484.8,10.5,461,5261,0.00,2.47,0.00,0.000,6,0.000,0.056,2661,2601,2320,0,0,0,0,0,0
$GC,5587,0.53,146.0,448.0,11.1,472,5591,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1182,2316,0,0,0,0,0,0
$GC,5825,0.54,160.5,424.8,9.3,479,5844,0.00,2.33,12.00,0.822,6,0.000,0.057,2662,2603,2268,0,0,0,0,0,0
$GC,6159,0.51,160.5,390.2,10.3,495,6163,0.00,2.25,0.00,0.000,4,0.000,0.070,2662,3930,2265,0,0,0,0,0,0
$GC,6193,0.43,160.5,385.8,11.8,498,6198,0.17,2.15,0.00,0.000,6,0.197,0.046,2618,2594,2264,0,0,0,0,0,0
$GC,6526,0.51,204.8,358.9,8.0,529,6571,0.00,2.38,38.78,0.826,4,0.000,0.053,2618,1184,2087,0,0,0,0,0,0
$GC,6588,0.65,252.6,353.8,7.8,534,6639,0.20,2.35,42.35,0.809,6,0.081,0.057,2696,2600,1893,0,0,0,0,0,0
$GC,6957,0.62,252.6,301.9,14.0,569,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2601,1882,0,0,0,0,0,0
$GC,7279,0.60,252.6,259.6,13.1,599,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2601,1881,0,0,0,0,0,0
$GC,7606,0.60,252.6,214.2,14.2,630,7610,0.00,2.28,0.00,0.000,4,0.000,0.054,2697,1193,1880,0,0,0,0,0,0
$GC,7664,0.63,252.6,206.5,12.9,635,7668,0.00,2.28,0.00,0.000,6,0.000,0.057,2697,2590,1880,0,0,0,0,0,0
$GC,7989,0.63,252.6,167.3,10.8,665,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2590,1879,0,0,0,0,0,0
$GC,8310,0.63,252.6,130.7,11.7,695,8314,0.00,2.28,0.00,0.000,4,0.000,0.070,2697,3934,1879,0,0,0,0,0,0
$GC,8328,0.63,252.6,128.0,12.3,696,8332,0.00,2.15,0.00,0.000,6,0.000,0.047,2697,2594,1878,0,0,0,0,0,0
$GC,8658,0.65,252.6,92.0,10.8,733,8665,0.00,2.25,0.00,0.000,4,0.000,0.054,2698,1183,1878,0,0,0,0,0,0
$GC,8689,0.70,252.6,88.8,10.2,738,8696,0.00,2.35,0.00,0.000,6,0.000,0.057,2698,2610,1878,0,0,0,0,0,0
$GC,9036,0.75,257.7,56.6,9.8,799,9043,0.00,2.22,0.00,0.000,4,0.000,0.070,2698,3934,1877,0,0,0,0,0,0
$GC,9067,0.75,257.7,53.3,10.2,804,9074,0.00,2.10,0.00,0.000,6,0.000,0.047,2698,2621,1877,0,0,0,0,0,0
$GC,9413,0.82,303.8,22.4,7.9,865,9463,0.12,2.35,41.90,0.655,4,0.113,0.054,2750,1186,1685,0,0,0,0,0,0
$FREEZE,8.65,-1.757,-1.781,2,4,0
$STATE,9531,end climb,FINISH_DEPTH_REACHED
$STATE,9532,begin subsurface finish
$FINISH1,8.6,1.026074,70
$GC,9541,0.05,70.0,8.6,-10.3,885,9577,0.85,0.00,-28.48,0.000,6,0.158,0.000,2495,2600,2639,0,0,0,0,0,0
$FINISH2,7.3
$STATE,9578,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9578,begin surface
$RAFOS_CLK,565
$RAFOS_FIX,6639.487793,-5921.346680,311210,040413,5,88,0.26
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,49.13
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,500.5,9.8
$24V_AH,21.6,74.752
$10V_AH,9.7,51.889
$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,3.775,88.275,386.275,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2194.271,5290.841,416.818,1540.917,189.951,0.000,1259.326,0.000,1526.009,0.000,16.974,0.000
$DEVICE_MAMPS,197.370,174.420,924.120,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,30134,891
$CAP_FILE_SIZE,103995,0
$CFSIZE,260165632,206737408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.7
$GPS,311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8