version: 66.08
glider: 183
mission: 3
dive: 651
start: 1 1 111 5 48 46
data:
$ID,183
$MISSION,3
$DIVE,651
$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,34
$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
$GPS1,010111,043512,6639.102,-5855.080,0,3104.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.88
$_SM_ANGLEo,0.7
$GPS2,010111,043512,6639.102,-5855.080,0,3104.7,0,-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,102.1,101885,-17.5,-10.000
$D_GRID,798
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.10,0.000,2,0.000,0.000,2504,1184,2876,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.4,-0.0,1,53,0.60,4.72,-16.30,0.000,4,0.118,0.072,2288,3931,3523,0,0,0,0,0,0
$GC,252,-0.59,-146.0,35.7,-12.4,40,259,0.00,1.85,0.00,0.000,6,0.000,0.047,2288,2777,3524,0,0,0,0,0,0
$GC,599,-0.61,-146.0,72.6,-9.0,101,606,0.00,2.28,0.00,0.000,4,0.000,0.052,2287,1365,3524,0,0,0,0,0,0
$GC,710,-0.66,-146.0,83.7,-10.1,120,717,0.00,2.30,0.00,0.000,6,0.000,0.062,2288,2752,3524,0,0,0,0,0,0
$GC,1052,-0.71,-146.0,115.9,-8.8,166,1056,0.12,2.03,0.00,0.000,4,0.109,0.074,2235,3926,3523,0,0,0,0,0,0
$GC,1124,-0.69,-146.0,124.6,-11.9,172,1131,0.00,1.90,0.00,0.000,6,0.000,0.048,2235,2746,3522,0,0,0,0,0,0
$GC,1450,-0.65,-146.0,165.6,-12.9,203,1454,0.12,2.22,0.00,0.000,4,0.183,0.053,2268,1369,3522,0,0,0,0,0,0
$GC,1478,-0.65,-146.0,169.1,-11.4,205,1482,0.00,2.30,0.00,0.000,6,0.000,0.063,2266,2754,3522,0,0,0,0,0,0
$GC,1804,-0.68,-146.0,201.4,-10.0,235,1808,0.00,2.22,0.00,0.000,4,0.000,0.053,2266,1373,3522,0,0,0,0,0,0
$GC,1887,-0.72,-146.0,210.2,-10.2,242,1894,0.00,2.25,0.00,0.000,6,0.000,0.062,2265,2727,3521,0,0,0,0,0,0
$GC,2213,-0.76,-146.0,240.5,-9.2,273,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2727,3521,0,0,0,0,0,0
$GC,2535,-0.80,-146.0,266.9,-7.9,303,2541,0.12,0.00,0.00,0.000,6,0.109,0.000,2211,2727,3521,0,0,0,0,0,0
$GC,2860,-0.74,-146.0,304.1,-11.5,334,2864,0.00,2.03,0.00,0.000,4,0.000,0.072,2203,3929,3521,0,0,0,0,0,0
$GC,2889,-0.67,-146.0,307.5,-11.8,336,2896,0.20,1.95,0.00,0.000,6,0.164,0.047,2259,2727,3521,0,0,0,0,0,0
$GC,3215,-0.71,-146.0,334.7,-8.6,367,3218,0.00,2.17,0.00,0.000,4,0.000,0.050,2259,1372,3522,0,0,0,0,0,0
$GC,3251,-0.76,-146.0,337.9,-9.1,370,3255,0.00,2.28,0.00,0.000,6,0.000,0.061,2259,2731,3522,0,0,0,0,0,0
$GC,3577,-0.80,-146.0,365.5,-8.6,400,3579,0.12,0.00,0.00,0.000,6,0.109,0.000,2204,2731,3522,0,0,0,0,0,0
$GC,3904,-0.74,-146.0,404.1,-11.8,429,3906,0.12,0.00,0.00,0.000,6,0.182,0.000,2236,2731,3522,0,0,0,0,0,0
$GC,4210,-0.74,-146.0,433.3,-9.4,439,4214,0.00,2.20,0.00,0.000,4,0.000,0.050,2236,1369,3523,0,0,0,0,0,0
$GC,4234,-0.74,-146.0,435.5,-9.4,439,4241,0.00,2.25,0.00,0.000,6,0.000,0.060,2235,2715,3523,0,0,0,0,0,0
$GC,4547,-0.74,-146.0,464.9,-9.6,450,4551,0.00,2.05,0.00,0.000,4,0.000,0.071,2232,3929,3523,0,0,0,0,0,0
$GC,4598,-0.74,-146.0,470.1,-9.8,451,4601,0.00,1.95,0.00,0.000,6,0.000,0.047,2232,2713,3523,0,0,0,0,0,0
$GC,4924,-0.74,-146.0,501.3,-9.7,462,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2713,3524,0,0,0,0,0,0
$GC,5228,-0.74,-146.0,531.5,-9.8,472,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2713,3523,0,0,0,0,0,0
$GC,5535,-0.74,-146.0,560.7,-9.5,482,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2713,3524,0,0,0,0,0,0
$GC,5842,-0.74,-146.0,590.2,-9.5,492,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2713,3524,0,0,0,0,0,0
$GC,6147,-0.74,-146.0,620.0,-9.6,502,6151,0.00,2.12,0.00,0.000,4,0.000,0.050,2231,1371,3524,0,0,0,0,0,0
$GC,6174,-0.74,-146.0,622.9,-10.0,502,6181,0.00,2.22,0.00,0.000,6,0.000,0.061,2230,2714,3524,0,0,0,0,0,0
$STATE,6488,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6488,begin apogee
$GC,6495,-0.14,0.0,652.1,9.4,513,6626,0.60,0.00,124.82,1.013,4,0.137,0.000,2423,2604,2923,0,0,0,0,0,0
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6629,0.57,146.0,657.2,0.0,517,6770,0.70,2.45,132.60,0.985,4,0.068,0.049,2666,1185,2326,0,0,0,0,0,0
$GC,6917,0.55,146.0,634.7,11.0,526,6922,0.00,2.50,0.00,0.000,6,0.000,0.054,2667,2609,2318,0,0,0,0,0,0
$GC,7248,0.48,146.0,595.0,12.0,537,7253,0.15,2.30,0.00,0.000,4,0.196,0.051,2629,1186,2315,0,0,0,0,0,0
$GC,7433,0.53,154.1,577.5,9.6,542,7445,0.00,2.35,6.40,0.805,6,0.000,0.057,2629,2606,2293,0,0,0,0,0,0
$GC,7751,0.53,154.1,545.2,10.4,553,7755,0.00,2.22,0.00,0.000,4,0.000,0.068,2629,3928,2292,0,0,0,0,0,0
$GC,7785,0.50,154.1,541.4,11.6,554,7789,0.00,2.15,0.00,0.000,6,0.000,0.044,2629,2596,2290,0,0,0,0,0,0
$GC,8127,0.50,154.1,505.7,10.4,565,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2595,2290,0,0,0,0,0,0
$GC,8436,0.51,166.9,476.0,9.4,575,8450,0.00,0.00,12.38,0.868,6,0.000,0.000,2629,2595,2242,0,0,0,0,0,0
$GC,8740,0.54,177.5,447.0,9.5,585,8753,0.00,0.00,10.88,0.841,6,0.000,0.000,2629,2596,2198,0,0,0,0,0,0
$GC,9046,0.58,184.4,417.4,9.7,595,9060,0.10,2.33,7.43,0.783,4,0.119,0.067,2676,3926,2170,0,0,0,0,0,0
$GC,9088,0.48,184.4,411.6,15.0,596,9093,0.17,2.12,0.00,0.000,6,0.191,0.044,2634,2614,2168,0,0,0,0,0,0
$GC,9410,0.52,188.0,379.9,9.8,618,9422,0.00,2.33,4.75,0.673,4,0.000,0.053,2634,1183,2156,0,0,0,0,0,0
$GC,9440,0.59,199.0,377.0,9.5,620,9459,0.00,2.35,11.07,0.802,6,0.000,0.055,2634,2617,2112,0,0,0,0,0,0
$GC,9778,0.64,213.0,345.5,9.4,652,9798,0.15,0.00,13.90,0.806,6,0.092,0.000,2694,2617,2053,0,0,0,0,0,0
$GC,10116,0.60,213.0,298.8,14.5,684,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2617,2050,0,0,0,0,0,0
$GC,10436,0.55,213.0,254.0,13.9,714,10437,0.15,0.00,0.00,0.000,6,0.182,0.000,2654,2617,2049,0,0,0,0,0,0
$GC,10753,0.58,213.0,219.7,10.2,744,10757,0.00,2.30,0.00,0.000,4,0.000,0.052,2654,1191,2049,0,0,0,0,0,0
$GC,10775,0.63,214.1,217.5,9.9,745,10782,0.00,2.30,0.00,0.000,6,0.000,0.055,2654,2611,2049,0,0,0,0,0,0
$GC,11101,0.67,219.6,185.9,9.7,776,11115,0.10,2.20,5.97,0.653,4,0.117,0.065,2696,3925,2029,0,0,0,0,0,0
$GC,11162,0.59,219.6,177.7,14.3,781,11167,0.12,2.10,0.00,0.000,6,0.200,0.044,2666,2614,2027,0,0,0,0,0,0
$GC,11495,0.62,219.6,144.2,10.2,812,11499,0.00,2.25,0.00,0.000,4,0.000,0.050,2666,1191,2028,0,0,0,0,0,0
$GC,11570,0.71,236.2,136.9,9.2,818,11594,0.12,2.30,16.27,0.699,6,0.105,0.055,2718,2608,1960,0,0,0,0,0,0
$GC,11916,0.68,236.2,92.7,11.3,855,11922,0.00,2.30,0.00,0.000,4,0.000,0.052,2718,1183,1956,0,0,0,0,0,0
$GC,11986,0.70,236.2,84.4,11.5,867,11993,0.00,2.30,0.00,0.000,6,0.000,0.055,2718,2586,1956,0,0,0,0,0,0
$GC,12332,0.70,236.2,44.2,11.1,928,12339,0.00,2.25,0.00,0.000,4,0.000,0.067,2718,3925,1955,0,0,0,0,0,0
$GC,12504,0.64,236.2,23.6,11.1,958,12512,0.15,2.12,0.00,0.000,6,0.195,0.045,2681,2607,1954,0,0,0,0,0,0
$FREEZE,8.69,-1.745,-1.786,2,17,0
$STATE,12663,end climb,FINISH_DEPTH_REACHED
$STATE,12663,begin subsurface finish
$FINISH1,8.7,1.026144,67
$GC,12670,0.04,66.5,8.7,-7.6,986,12701,0.57,2.33,-20.42,0.000,4,0.145,0.066,2496,1197,2655,0,0,0,0,0,0
$FINISH2,7.4
$STATE,12702,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12702,begin surface
$RAFOS_CLK,734
$RAFOS,6,1293871748,8.833333,8.818889,79,51,45,43,41,40,721,843,1303,280,26,376
$RAFOS,5,1293871262,8.700000,8.683888,54,52,46,42,42,39,757,739,777,1085,1283,506
$RAFOS,4,1293870785,8.566667,8.551389,99,46,43,42,41,39,620,232,1927,1495,1883,594
$RAFOS,3,1293870303,8.433333,8.417500,151,47,46,45,42,40,677,1559,1639,586,1725,504
$RAFOS,2,1293869846,8.300000,8.290556,55,47,47,46,43,41,599,1038,1930,1279,1372,1504
$RAFOS,1,1293869356,8.166667,8.154445,59,54,46,43,43,42,682,1254,499,154,271,285
$RAFOS,0,1293868866,8.033334,8.018333,43,43,41,41,40,38,1019,1204,1736,670,1873,1842
$RAFOS_FIX,6639.601562,-5847.518555,010111,080824,3,110,0.39
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,49.05
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.3
$ALTIM_BOTTOM_PING,652.1,11.4
$24V_AH,21.3,75.829
$10V_AH,9.7,52.451
$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,4.525,93.325,346.475,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2489.969,7967.196,405.988,1691.966,211.614,0.000,1317.529,0.000,1678.139,2520.000,22.294,0.000
$DEVICE_MAMPS,200.430,74.205,1012.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.579,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,36662,991
$CAP_FILE_SIZE,122757,0
$CFSIZE,260165632,206143488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$GPS,010111,083824,6639.602,-5847.519,0,3109.7,0,-37.8