version: 66.08
glider: 183
mission: 3
dive: 654
start: 1 1 111 14 35 58
data:
$ID,183
$MISSION,3
$DIVE,654
$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,36
$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
$GPS1,010111,123928,6642.083,-5841.499,0,4084.8,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.52
$_SM_ANGLEo,0.1
$GPS2,010111,123928,6642.083,-5841.499,0,4084.8,0,-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,102.5,90656,-17.5,-10.000
$D_GRID,763
$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,-5.65,0.000,2,0.000,0.000,2496,1185,2865,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.2,-0.0,1,52,0.57,4.70,-17.02,0.000,4,0.103,0.070,2286,3931,3520,0,0,0,0,0,0
$GC,251,-0.60,-146.0,33.3,-12.2,40,258,0.00,1.88,0.00,0.000,6,0.000,0.046,2286,2771,3522,0,0,0,0,0,0
$GC,598,-0.63,-146.0,72.2,-11.1,101,604,0.00,1.98,0.00,0.000,4,0.000,0.073,2286,3932,3522,0,0,0,0,0,0
$GC,629,-0.66,-146.0,75.8,-10.7,106,636,0.00,1.88,0.00,0.000,6,0.000,0.047,2286,2776,3521,0,0,0,0,0,0
$GC,971,-0.71,-146.0,109.1,-9.0,158,975,0.12,2.25,0.00,0.000,4,0.109,0.050,2233,1373,3520,0,0,0,0,0,0
$GC,1022,-0.69,-146.0,115.1,-11.5,162,1026,0.00,2.30,0.00,0.000,6,0.000,0.060,2230,2757,3520,0,0,0,0,0,0
$GC,1348,-0.64,-146.0,152.3,-10.9,192,1352,0.15,2.00,0.00,0.000,4,0.178,0.071,2264,3932,3520,0,0,0,0,0,0
$GC,1405,-0.68,-146.0,157.9,-9.1,197,1409,0.00,1.90,0.00,0.000,6,0.000,0.048,2264,2777,3520,0,0,0,0,0,0
$GC,1737,-0.70,-146.0,188.6,-9.0,228,1741,0.00,2.25,0.00,0.000,4,0.000,0.050,2264,1370,3520,0,0,0,0,0,0
$GC,1806,-0.75,-146.0,194.9,-8.1,234,1810,0.00,2.35,0.00,0.000,6,0.000,0.062,2263,2774,3519,0,0,0,0,0,0
$GC,2132,-0.78,-146.0,224.0,-8.7,264,2136,0.12,2.30,0.00,0.000,4,0.109,0.050,2208,1365,3519,0,0,0,0,0,0
$GC,2153,-0.78,-146.0,226.5,-10.6,265,2160,0.00,2.30,0.00,0.000,6,0.000,0.060,2204,2765,3519,0,0,0,0,0,0
$GC,2479,-0.71,-146.0,265.8,-11.9,296,2481,0.15,0.00,0.00,0.000,6,0.185,0.000,2243,2765,3519,0,0,0,0,0,0
$GC,2798,-0.71,-146.0,296.0,-9.7,326,2802,0.00,2.25,0.00,0.000,4,0.000,0.050,2244,1362,3519,0,0,0,0,0,0
$GC,2821,-0.71,-146.0,298.4,-9.8,328,2825,0.00,2.33,0.00,0.000,6,0.000,0.060,2241,2771,3519,0,0,0,0,0,0
$GC,3147,-0.71,-146.0,330.0,-9.8,358,3151,0.00,2.25,0.00,0.000,4,0.000,0.049,2241,1372,3519,0,0,0,0,0,0
$GC,3203,-0.74,-146.0,335.7,-10.0,362,3210,0.00,2.30,0.00,0.000,6,0.000,0.060,2237,2749,3519,0,0,0,0,0,0
$GC,3529,-0.74,-146.0,366.7,-9.4,393,3532,0.00,1.98,0.00,0.000,4,0.000,0.070,2229,3927,3519,0,0,0,0,0,0
$GC,3568,-0.74,-146.0,370.8,-10.4,396,3575,0.00,1.92,0.00,0.000,6,0.000,0.046,2229,2738,3519,0,0,0,0,0,0
$GC,3892,-0.74,-146.0,403.2,-10.2,425,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2738,3520,0,0,0,0,0,0
$GC,4199,-0.74,-146.0,436.0,-11.1,435,4203,0.00,2.17,0.00,0.000,4,0.000,0.048,2229,1371,3520,0,0,0,0,0,0
$GC,4227,-0.74,-146.0,439.4,-11.5,436,4232,0.00,2.28,0.00,0.000,6,0.000,0.060,2223,2751,3520,0,0,0,0,0,0
$STATE,4349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4349,begin apogee
$GC,4355,-0.14,0.0,453.2,11.5,440,4483,0.62,0.00,120.70,0.888,4,0.138,0.000,2423,2594,2923,0,0,0,0,0,0
$STATE,4484,end apogee,CONTROL_FINISHED_OK
$STATE,4484,begin climb
$GC,4487,0.57,146.0,459.0,0.0,444,4624,0.70,2.38,127.35,0.864,4,0.077,0.049,2663,1187,2326,0,0,0,0,0,0
$GC,4786,0.58,166.9,437.4,9.0,453,4812,0.00,2.45,18.48,0.825,6,0.000,0.054,2663,2604,2243,0,0,0,0,0,0
$GC,5151,0.56,166.9,398.3,10.8,465,5155,0.00,2.30,0.00,0.000,4,0.000,0.051,2664,1179,2237,0,0,0,0,0,0
$GC,5360,0.56,166.9,376.2,10.8,483,5364,0.00,2.35,0.00,0.000,6,0.000,0.054,2664,2610,2237,0,0,0,0,0,0
$GC,5691,0.54,166.9,339.0,12.1,514,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2611,2235,0,0,0,0,0,0
$GC,6013,0.54,166.9,300.2,12.5,544,6017,0.00,2.20,0.00,0.000,4,0.000,0.066,2664,3932,2235,0,0,0,0,0,0
$GC,6035,0.48,166.9,296.8,12.6,545,6042,0.12,2.15,0.00,0.000,6,0.211,0.044,2636,2584,2234,0,0,0,0,0,0
$GC,6362,0.53,180.2,265.4,9.4,576,6380,0.00,0.00,11.95,0.754,6,0.000,0.000,2637,2584,2187,0,0,0,0,0,0
$GC,6699,0.58,199.6,235.4,9.1,608,6722,0.00,2.35,17.55,0.750,4,0.000,0.066,2636,3926,2109,0,0,0,0,0,0
$GC,6758,0.58,199.6,229.4,11.6,613,6762,0.00,2.12,0.00,0.000,6,0.000,0.043,2636,2600,2107,0,0,0,0,0,0
$GC,7085,0.65,213.4,198.9,9.4,643,7104,0.15,0.00,13.35,0.723,6,0.095,0.000,2697,2599,2051,0,0,0,0,0,0
$GC,7423,0.62,213.4,157.0,11.6,675,7427,0.00,2.25,0.00,0.000,4,0.000,0.051,2697,1195,2048,0,0,0,0,0,0
$GC,7444,0.62,213.4,154.2,11.7,676,7451,0.00,2.30,0.00,0.000,6,0.000,0.053,2697,2602,2048,0,0,0,0,0,0
$GC,7771,0.59,213.4,116.9,11.2,707,7776,0.12,2.25,0.00,0.000,4,0.188,0.066,2665,3927,2048,0,0,0,0,0,0
$GC,7789,0.59,213.4,114.7,11.4,708,7793,0.00,2.15,0.00,0.000,6,0.000,0.044,2664,2580,2046,0,0,0,0,0,0
$GC,8124,0.67,239.7,84.6,8.8,753,8154,0.00,2.22,22.85,0.673,4,0.000,0.050,2664,1194,1946,0,0,0,0,0,0
$GC,8168,0.76,262.6,80.7,8.9,760,8198,0.17,2.30,20.83,0.653,6,0.089,0.054,2734,2592,1854,0,0,0,0,0,0
$GC,8536,0.76,262.6,33.2,13.5,825,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2592,1848,0,0,0,0,0,0
$FREEZE,8.36,-1.733,-1.786,2,20,2
$FREEZE,7.52,-1.733,-1.785,2,20,2
$FREEZE,6.94,-1.733,-1.785,2,20,2
$FREEZE,6.19,-1.732,-1.784,2,20,2
$FREEZE,5.40,-1.733,-1.784,2,20,2
$FREEZE,4.70,-1.731,-1.783,2,20,2
$FREEZE,3.96,-1.732,-1.783,2,20,2
$FREEZE,3.42,-1.731,-1.782,2,20,2
$FREEZE,2.76,-1.731,-1.782,2,20,2
$STATE,8785,end climb,SURFACE_DEPTH_REACHED
$STATE,8785,begin surface coast
$FREEZE,2.14,-1.736,-1.781,2,20,2
$FREEZE,1.46,-1.743,-1.781,2,20,2
$FREEZE,1.01,-1.739,-1.781,2,20,2
$FREEZE,0.80,-1.787,-0.999,2,20,2
$FINISH,0.8,1.014732
$STATE,8811,end surface coast,CONTROL_FINISHED_OK
$STATE,8811,begin surface
$SM_CCo,8828,241.98,0.589,1,0,440,609.08
$SM_GC,1.61,0.00,0.00,241.98,0.000,0.000,0.589,297,2789,440,-6.80,0.25,609.08
$RAFOS_CLK,523
$RAFOS,6,1293900544,16.833334,16.817778,100,49,41,41,40,38,736,866,1339,1281,1695,500
$RAFOS,5,1293900071,16.700001,16.686388,49,47,44,43,43,42,684,663,406,431,822,278
$RAFOS,4,1293899586,16.566668,16.551666,72,43,42,41,40,40,615,1882,197,1771,1651,436
$RAFOS,3,1293899105,16.433332,16.418056,87,49,48,47,40,39,694,1500,705,882,1056,1441
$RAFOS,2,1293898629,16.299999,16.285833,52,47,45,44,43,42,728,858,1889,1080,740,840
$RAFOS,1,1293898151,16.166666,16.153055,43,41,41,41,38,37,1726,348,241,478,1265,1602
$RAFOS,0,1293897673,16.033333,16.020277,48,45,43,41,41,40,162,1769,826,446,950,1774
$RAFOS_FIX,6642.819336,-5839.936035,010111,161624,3,86,0.12
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.41676
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,453.2,9.3
$24V_AH,21.8,76.104
$10V_AH,9.7,52.609
$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,9.675,77.900,353.050,241.975,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2161.321,4705.989,616.851,1485.011,178.711,0.000,1412.097,0.000,1468.658,2520.000,13.907,0.000
$DEVICE_MAMPS,211.140,77.265,888.165,589.050,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30103,874
$CAP_FILE_SIZE,102488,0
$CFSIZE,260165632,205996032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1451.5
$GPS,010111,170858,6641.966,-5835.528,25,99.0,44,-37.6