version: 66.08
glider: 183
mission: 3
dive: 653
start: 1 1 111 12 5 15
data:
$ID,183
$MISSION,3
$DIVE,653
$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,28
$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,4.00
$_SM_ANGLEo,-5.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.47,0.000,2,0.000,0.000,2479,1185,2808,0,0,0,0,0,0
$GC,27,-0.57,-146.0,5.2,-0.0,1,58,0.47,4.65,-22.25,0.000,4,0.073,0.070,2286,3920,3519,0,0,0,0,0,0
$GC,300,-0.57,-146.0,38.4,-11.7,49,307,0.00,1.83,0.00,0.000,6,0.000,0.047,2286,2778,3521,0,0,0,0,0,0
$GC,647,-0.59,-146.0,77.3,-9.9,110,653,0.00,2.25,0.00,0.000,4,0.000,0.050,2286,1372,3521,0,0,0,0,0,0
$GC,716,-0.64,-146.0,83.9,-9.1,121,723,0.00,2.38,0.00,0.000,6,0.000,0.062,2285,2788,3521,0,0,0,0,0,0
$GC,1058,-0.68,-146.0,116.5,-9.1,167,1062,0.00,2.30,0.00,0.000,4,0.000,0.050,2286,1368,3520,0,0,0,0,0,0
$GC,1081,-0.72,-146.0,118.7,-9.5,168,1088,0.12,2.40,0.00,0.000,6,0.101,0.062,2231,2800,3520,0,0,0,0,0,0
$GC,1407,-0.66,-146.0,159.0,-12.4,199,1411,0.10,2.33,0.00,0.000,4,0.184,0.051,2255,1367,3520,0,0,0,0,0,0
$GC,1446,-0.66,-146.0,163.3,-10.2,202,1451,0.00,2.40,0.00,0.000,6,0.000,0.063,2252,2799,3520,0,0,0,0,0,0
$GC,1772,-0.66,-146.0,193.2,-8.4,232,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2799,3519,0,0,0,0,0,0
$GC,2095,-0.66,-146.0,221.6,-9.0,262,2099,0.00,2.30,0.00,0.000,4,0.000,0.051,2252,1366,3519,0,0,0,0,0,0
$GC,2162,-0.69,-146.0,228.1,-8.6,267,2169,0.00,2.38,0.00,0.000,6,0.000,0.063,2252,2792,3519,0,0,0,0,0,0
$GC,2488,-0.69,-146.0,256.9,-9.0,298,2492,0.00,2.28,0.00,0.000,4,0.000,0.050,2252,1372,3519,0,0,0,0,0,0
$GC,2540,-0.73,-146.0,261.9,-9.4,302,2544,0.00,2.38,0.00,0.000,6,0.000,0.063,2252,2785,3519,0,0,0,0,0,0
$GC,2866,-0.73,-146.0,292.5,-9.3,332,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2785,3519,0,0,0,0,0,0
$GC,3184,-0.73,-146.0,320.6,-8.6,362,3188,0.00,2.28,0.00,0.000,4,0.000,0.050,2251,1364,3519,0,0,0,0,0,0
$GC,3297,-0.76,-146.0,330.8,-9.0,371,3304,0.00,2.35,0.00,0.000,6,0.000,0.061,2251,2781,3519,0,0,0,0,0,0
$GC,3625,-0.78,-146.0,358.3,-8.4,402,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2781,3519,0,0,0,0,0,0
$GC,3943,-0.78,-146.0,385.7,-8.6,432,3947,0.00,2.28,0.00,0.000,4,0.000,0.050,2251,1372,3520,0,0,0,0,0,0
$GC,3972,-0.81,-146.0,388.4,-8.7,434,3977,0.10,2.35,0.00,0.000,6,0.113,0.060,2205,2776,3520,0,0,0,0,0,0
$GC,4292,-0.74,-146.0,425.3,-11.7,450,4293,0.12,0.00,0.00,0.000,6,0.186,0.000,2236,2776,3520,0,0,0,0,0,0
$STATE,4566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4566,begin apogee
$GC,4574,-0.14,0.0,451.2,9.2,459,4701,0.57,0.00,121.10,0.884,4,0.135,0.000,2423,2602,2922,0,0,0,0,0,0
$STATE,4702,end apogee,CONTROL_FINISHED_OK
$STATE,4702,begin climb
$GC,4704,0.57,146.0,455.2,0.0,463,4842,0.70,2.40,127.10,0.861,4,0.076,0.050,2664,1179,2326,0,0,0,0,0,0
$GC,5010,0.57,146.0,430.7,10.4,472,5015,0.00,2.45,0.00,0.000,6,0.000,0.054,2665,2611,2318,0,0,0,0,0,0
$GC,5331,0.53,146.0,394.0,11.7,485,5336,0.00,2.33,0.00,0.000,4,0.000,0.052,2665,1184,2315,0,0,0,0,0,0
$GC,5586,0.53,146.0,366.1,10.7,507,5590,0.00,2.33,0.00,0.000,6,0.000,0.056,2665,2608,2315,0,0,0,0,0,0
$GC,5912,0.49,146.0,329.4,11.2,537,5917,0.12,2.22,0.00,0.000,4,0.202,0.067,2634,3935,2314,0,0,0,0,0,0
$GC,5959,0.46,146.0,324.3,11.7,541,5963,0.00,2.12,0.00,0.000,6,0.000,0.043,2634,2598,2312,0,0,0,0,0,0
$GC,6284,0.47,167.0,294.1,9.0,571,6307,0.00,2.25,16.27,0.778,4,0.000,0.050,2634,1195,2243,0,0,0,0,0,0
$GC,6370,0.56,198.0,286.3,8.6,578,6404,0.00,2.30,28.23,0.776,6,0.000,0.053,2635,2597,2115,0,0,0,0,0,0
$GC,6724,0.62,215.8,252.8,9.2,611,6747,0.12,2.25,16.00,0.750,4,0.102,0.064,2689,3932,2042,0,0,0,0,0,0
$GC,6795,0.54,215.8,243.3,15.0,617,6800,0.15,2.15,0.00,0.000,6,0.189,0.043,2652,2605,2039,0,0,0,0,0,0
$GC,7127,0.59,215.8,208.7,10.2,648,7131,0.00,2.25,0.00,0.000,4,0.000,0.050,2652,1192,2037,0,0,0,0,0,0
$GC,7184,0.68,219.6,203.1,9.8,653,7197,0.12,2.30,3.80,0.532,6,0.103,0.054,2704,2602,2028,0,0,0,0,0,0
$GC,7515,0.63,219.6,158.4,13.4,684,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2602,2027,0,0,0,0,0,0
$GC,7835,0.60,219.6,115.0,13.8,714,7840,0.12,2.22,0.00,0.000,4,0.188,0.066,2672,3926,2027,0,0,0,0,0,0
$GC,7927,0.60,219.6,102.8,12.9,722,7931,0.00,2.12,0.00,0.000,6,0.000,0.043,2672,2590,2025,0,0,0,0,0,0
$GC,8271,0.65,222.8,68.0,9.9,780,8278,0.00,0.00,4.70,0.569,6,0.000,0.000,2672,2590,2014,0,0,0,0,0,0
$GC,8617,0.74,261.0,37.1,8.2,841,8660,0.12,2.30,34.05,0.650,4,0.110,0.067,2723,3933,1857,0,0,0,0,0,0
$GC,8702,0.70,261.0,27.6,13.3,855,8709,0.00,2.17,0.00,0.000,6,0.000,0.044,2724,2599,1853,0,0,0,0,0,0
$FREEZE,8.91,-1.706,-1.787,2,19,0
$STATE,8874,end climb,FINISH_DEPTH_REACHED
$STATE,8874,begin subsurface finish
$FINISH1,8.9,1.026163,66
$GC,8880,0.04,65.6,8.9,-10.9,885,8911,0.75,2.35,-24.17,0.000,4,0.155,0.064,2496,1185,2658,0,0,0,0,0,0
$FINISH2,6.8
$STATE,8913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$RAFOS_CLK,516
$RAFOS,6,1293886144,12.833333,12.817778,92,47,46,45,43,42,732,984,707,1299,308,379
$RAFOS,5,1293885664,12.700000,12.684444,89,43,40,39,38,37,723,272,1594,1551,834,274
$RAFOS,4,1293885189,12.566667,12.552500,61,46,42,42,41,39,591,1803,263,1082,566,1876
$RAFOS,3,1293884706,12.433333,12.418333,97,57,44,41,40,39,682,914,1649,1423,1828,311
$RAFOS,2,1293884225,12.300000,12.284722,55,46,45,45,44,43,734,1605,1865,144,307,681
$RAFOS,1,1293883745,12.166667,12.151389,47,46,46,43,40,39,1925,1036,1327,1339,1905,745
$RAFOS,0,1293883261,12.033333,12.016945,49,47,47,46,42,42,1753,519,1613,1915,26,1104
$RAFOS_FIX,6642.082520,-5841.498535,010111,121228,4,85,0.44
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,48.85
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,451.2,9.3
$24V_AH,21.8,75.981
$10V_AH,9.7,52.554
$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,3.725,77.900,351.250,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2185.374,4723.808,372.175,1526.431,174.501,0.000,1187.154,0.000,1511.099,2160.000,15.209,0.000
$DEVICE_MAMPS,201.960,69.615,883.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30020,890
$CAP_FILE_SIZE,100201,0
$CFSIZE,260165632,206057472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,010111,123928,6642.083,-5841.499,0,4084.8,0,-37.8