version: 66.08
glider: 183
mission: 3
dive: 652
start: 1 1 111 9 22 38
data:
$ID,183
$MISSION,3
$DIVE,652
$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,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
$GPS1,010111,083824,6639.602,-5847.519,0,3109.7,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.52
$_SM_ANGLEo,-4.2
$GPS2,010111,083824,6639.602,-5847.519,0,3109.7,0,-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,101.1,96578,-17.5,-10.000
$D_GRID,757
$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,-5.70,0.000,2,0.000,0.000,2496,1197,2920,0,0,0,0,0,0
$GC,27,-0.57,-146.0,12.9,-0.0,1,52,0.55,4.68,-12.32,0.000,4,0.079,0.068,2286,3924,3522,0,0,0,0,0,0
$GC,268,-0.60,-146.0,42.7,-11.6,43,275,0.00,1.85,0.00,0.000,6,0.000,0.047,2286,2780,3524,0,0,0,0,0,0
$GC,614,-0.63,-146.0,81.1,-12.3,104,621,0.00,2.28,0.00,0.000,4,0.000,0.051,2286,1368,3523,0,0,0,0,0,0
$GC,646,-0.67,-146.0,85.0,-11.8,109,653,0.00,2.38,0.00,0.000,6,0.000,0.061,2286,2788,3523,0,0,0,0,0,0
$GC,982,-0.71,-146.0,116.6,-8.8,153,987,0.12,2.30,0.00,0.000,4,0.110,0.051,2233,1373,3522,0,0,0,0,0,0
$GC,1065,-0.68,-146.0,126.2,-12.0,160,1072,0.00,2.38,0.00,0.000,6,0.000,0.062,2230,2790,3522,0,0,0,0,0,0
$GC,1391,-0.63,-146.0,165.4,-12.2,191,1393,0.15,0.00,0.00,0.000,6,0.179,0.000,2271,2789,3521,0,0,0,0,0,0
$GC,1710,-0.67,-146.0,193.9,-9.1,221,1714,0.00,2.28,0.00,0.000,4,0.000,0.052,2271,1373,3521,0,0,0,0,0,0
$GC,1763,-0.73,-146.0,198.7,-9.0,225,1767,0.00,2.35,0.00,0.000,6,0.000,0.063,2271,2777,3520,0,0,0,0,0,0
$GC,2090,-0.78,-146.0,227.3,-8.2,255,2092,0.15,0.00,0.00,0.000,6,0.102,0.000,2208,2777,3520,0,0,0,0,0,0
$GC,2407,-0.71,-146.0,268.1,-12.7,285,2412,0.12,2.28,0.00,0.000,4,0.181,0.051,2240,1373,3520,0,0,0,0,0,0
$GC,2504,-0.71,-146.0,278.1,-10.0,293,2508,0.00,2.33,0.00,0.000,6,0.000,0.062,2235,2774,3521,0,0,0,0,0,0
$GC,2830,-0.71,-146.0,309.5,-9.1,323,2834,0.00,2.25,0.00,0.000,4,0.000,0.050,2236,1370,3520,0,0,0,0,0,0
$GC,2864,-0.71,-146.0,312.9,-9.6,325,2870,0.00,2.30,0.00,0.000,6,0.000,0.062,2235,2756,3520,0,0,0,0,0,0
$GC,3189,-0.71,-146.0,344.2,-9.6,356,3193,0.00,1.98,0.00,0.000,4,0.000,0.070,2229,3932,3520,0,0,0,0,0,0
$GC,3253,-0.71,-146.0,350.5,-9.7,361,3260,0.00,1.90,0.00,0.000,6,0.000,0.047,2229,2761,3521,0,0,0,0,0,0
$GC,3579,-0.71,-146.0,382.9,-10.4,392,3583,0.00,2.22,0.00,0.000,4,0.000,0.050,2229,1370,3521,0,0,0,0,0,0
$GC,3628,-0.71,-146.0,388.0,-9.9,396,3635,0.00,2.33,0.00,0.000,6,0.000,0.061,2223,2760,3521,0,0,0,0,0,0
$GC,3967,-0.69,-146.0,423.6,-10.8,415,3971,0.00,2.25,0.00,0.000,4,0.000,0.050,2224,1366,3521,0,0,0,0,0,0
$GC,3989,-0.69,-146.0,426.4,-11.0,415,3997,0.12,2.30,0.00,0.000,6,0.179,0.060,2254,2749,3522,0,0,0,0,0,0
$GC,4304,-0.73,-146.0,452.6,-8.2,426,4308,0.00,1.98,0.00,0.000,4,0.000,0.070,2248,3927,3522,0,0,0,0,0,0
$GC,4326,-0.76,-146.0,454.9,-9.0,426,4329,0.00,1.90,0.00,0.000,6,0.000,0.047,2248,2745,3522,0,0,0,0,0,0
$GC,4645,-0.78,-146.0,482.1,-8.5,437,4649,0.00,2.20,0.00,0.000,4,0.000,0.049,2248,1361,3522,0,0,0,0,0,0
$GC,4697,-0.83,-146.0,486.5,-8.7,438,4702,0.12,2.30,0.00,0.000,6,0.099,0.060,2192,2740,3522,0,0,0,0,0,0
$GC,5016,-0.75,-146.0,524.9,-12.2,449,5020,0.15,2.03,0.00,0.000,4,0.182,0.070,2224,3928,3522,0,0,0,0,0,0
$GC,5085,-0.75,-146.0,532.0,-9.6,451,5089,0.00,1.90,0.00,0.000,6,0.000,0.047,2224,2744,3523,0,0,0,0,0,0
$GC,5426,-0.75,-146.0,567.2,-10.5,462,5430,0.00,2.17,0.00,0.000,4,0.000,0.050,2224,1372,3522,0,0,0,0,0,0
$GC,5481,-0.75,-146.0,573.2,-9.9,463,5485,0.00,2.28,0.00,0.000,6,0.000,0.061,2222,2745,3523,0,0,0,0,0,0
$STATE,5764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5764,begin apogee
$GC,5771,-0.14,0.0,601.8,10.2,472,5901,0.62,0.00,122.95,0.979,4,0.137,0.000,2422,2602,2925,0,0,0,0,0,0
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5905,0.57,146.0,606.5,0.0,476,6046,0.70,2.45,131.68,0.954,4,0.069,0.049,2667,1180,2326,0,0,0,0,0,0
$GC,6231,-1.85,146.0,579.7,22095.8,486,6240,2.75,2.45,0.00,0.000,6,0.155,0.054,1890,2607,2318,0,0,0,0,0,0
$GC,6566,-1.85,146.0,527.7,22095.8,497,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,2607,2308,0,0,0,0,0,0
$GC,6872,-1.85,146.0,474.8,22095.8,507,6876,0.00,2.22,0.00,0.000,4,0.000,0.067,1876,3939,2308,0,0,0,0,0,0
$GC,7130,-1.85,146.0,425.1,22095.8,514,7137,0.00,2.15,0.00,0.000,6,0.000,0.046,1874,2617,2306,0,0,0,0,0,0
$GC,7451,-1.85,146.0,367.6,22095.8,535,7455,0.00,2.22,0.00,0.000,4,0.000,0.064,1862,3943,2305,0,0,0,0,0,0
$GC,7568,-1.85,146.0,344.8,22095.8,545,7575,0.00,2.10,0.00,0.000,6,0.000,0.047,1861,2641,2306,0,0,0,0,0,0
$GC,7894,-1.85,146.0,287.1,22095.8,576,7898,0.00,2.30,0.00,0.000,4,0.000,0.043,1861,1170,2305,0,0,0,0,0,0
$GC,7923,-1.85,146.0,282.1,22095.8,578,7928,0.12,2.42,0.00,0.000,6,0.199,0.060,1878,2633,2308,0,0,0,0,0,0
$GC,8249,-1.85,146.0,225.9,22095.8,608,8253,0.00,2.33,0.00,0.000,4,0.000,0.053,1878,1181,2306,0,0,0,0,0,0
$GC,8506,-1.85,146.0,180.4,22095.8,630,8513,0.00,2.42,0.00,0.000,6,0.000,0.051,1868,2682,2305,0,0,0,0,0,0
$GC,8831,-1.85,146.0,125.1,22095.8,661,8836,0.00,2.38,0.00,0.000,4,0.000,0.045,1868,1185,2306,0,0,0,0,0,0
$GC,9058,-1.85,146.0,84.7,22095.8,687,9064,0.00,2.40,0.00,0.000,6,0.000,0.057,1856,2656,2308,0,0,0,0,0,0
$GC,9404,-1.85,146.0,31.1,22095.8,748,9411,0.00,2.38,0.00,0.000,4,0.000,0.050,1856,1177,2307,0,0,0,0,0,0
$GC,9418,-1.85,146.0,28.9,22095.8,750,9426,0.15,2.33,0.00,0.000,6,0.260,0.054,1874,2605,2306,0,0,0,0,0,0
$FREEZE,8.29,-1.548,-1.775,2,18,0
$FREEZE,7.47,-1.616,-1.779,2,18,0
$FREEZE,6.35,-1.661,-1.781,2,18,0
$FREEZE,5.53,-1.627,-1.778,2,18,0
$FREEZE,4.76,-1.618,-1.777,2,18,0
$FREEZE,3.76,-1.689,-1.781,2,18,0
$STATE,9608,end climb,FINISH_DEPTH_REACHED
$STATE,9608,begin subsurface finish
$FINISH1,3.8,1.026123,68
$GC,9615,0.04,67.5,3.8,-22095.8,784,9646,2.30,2.35,-19.23,0.000,4,0.209,0.064,2479,1186,2649,0,0,0,0,0,0
$FINISH2,1.5
$STATE,9646,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9647,begin surface
$RAFOS_CLK,555
$RAFOS_FIX,6639.601562,-5847.518555,010111,080824,3,110,0.39
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.030709
$HUMID,50.66
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,601.8,10.8
$24V_AH,21.5,75.899
$10V_AH,9.7,52.501
$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,8.150,94.475,254.625,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2016.745,5688.407,315.350,1512.461,168.682,0.000,1116.660,0.000,1486.322,360.000,26.373,0.000
$DEVICE_MAMPS,260.100,70.380,979.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151740
$DATA_FILE_SIZE,30054,789
$CAP_FILE_SIZE,101678,0
$CFSIZE,260165632,206106624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,010111,083824,6639.602,-5847.519,0,3109.7,0,-37.8