version: 66.08
glider: 183
mission: 3
dive: 656
start: 1 1 111 19 7 5
data:
$ID,183
$MISSION,3
$DIVE,656
$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,-3
$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,-11340.817
$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,24
$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
$GPS1,010111,172246,6641.893,-5835.159,12,99.0,31,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.99
$_SM_ANGLEo,0.4
$GPS2,010111,172246,6641.893,-5835.159,12,99.0,31,-37.6
$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,100.8,86697,-17.5,-10.000
$D_GRID,731
$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,-5.50,0.000,2,0.000,0.000,2492,3932,2886,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.2,-0.0,1,52,0.57,4.25,-14.65,0.000,4,0.105,0.054,2292,1367,3523,0,0,0,0,0,0
$GC,115,-0.57,-146.0,18.7,-11.2,16,122,0.00,2.33,0.00,0.000,6,0.000,0.058,2292,2778,3524,0,0,0,0,0,0
$GC,462,-0.59,-146.0,57.4,-9.8,77,469,0.00,2.25,0.00,0.000,4,0.000,0.050,2292,1373,3525,0,0,0,0,0,0
$GC,579,-0.64,-146.0,69.0,-9.2,97,586,0.00,2.28,0.00,0.000,6,0.000,0.061,2292,2749,3524,0,0,0,0,0,0
$GC,926,-0.70,-146.0,100.4,-9.1,158,928,0.12,0.00,0.00,0.000,6,0.108,0.000,2239,2749,3523,0,0,0,0,0,0
$GC,1243,-0.66,-146.0,138.5,-11.5,188,1247,0.00,2.22,0.00,0.000,4,0.000,0.051,2238,1373,3523,0,0,0,0,0,0
$GC,1288,-0.66,-146.0,144.0,-11.8,191,1295,0.00,2.25,0.00,0.000,6,0.000,0.062,2236,2718,3523,0,0,0,0,0,0
$GC,1614,-0.63,-146.0,182.4,-12.2,222,1619,0.12,2.08,0.00,0.000,4,0.187,0.072,2262,3932,3523,0,0,0,0,0,0
$GC,1693,-0.66,-146.0,190.8,-10.2,228,1699,0.00,1.95,0.00,0.000,6,0.000,0.048,2262,2724,3523,0,0,0,0,0,0
$GC,2019,-0.69,-146.0,221.8,-9.3,259,2023,0.00,2.05,0.00,0.000,4,0.000,0.073,2255,3927,3523,0,0,0,0,0,0
$GC,2044,-0.72,-146.0,224.0,-9.5,261,2048,0.00,1.95,0.00,0.000,6,0.000,0.047,2255,2743,3522,0,0,0,0,0,0
$GC,2375,-0.74,-146.0,256.8,-10.1,292,2379,0.00,2.20,0.00,0.000,4,0.000,0.050,2254,1364,3522,0,0,0,0,0,0
$GC,2426,-0.78,-146.0,262.0,-9.6,296,2433,0.00,2.30,0.00,0.000,6,0.000,0.061,2253,2740,3522,0,0,0,0,0,0
$GC,2752,-0.81,-146.0,293.9,-9.9,327,2754,0.10,0.00,0.00,0.000,6,0.125,0.000,2208,2740,3522,0,0,0,0,0,0
$GC,3070,-0.74,-146.0,332.1,-12.0,357,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2208,2740,3522,0,0,0,0,0,0
$GC,3388,-0.68,-146.0,369.5,-11.4,387,3393,0.15,2.03,0.00,0.000,4,0.172,0.070,2242,3929,3522,0,0,0,0,0,0
$GC,3444,-0.71,-146.0,375.3,-9.2,391,3450,0.00,1.95,0.00,0.000,6,0.000,0.047,2242,2715,3523,0,0,0,0,0,0
$GC,3778,-0.71,-146.0,405.8,-9.1,419,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2715,3523,0,0,0,0,0,0
$GC,4084,-0.71,-146.0,433.2,-8.9,429,4088,0.00,2.08,0.00,0.000,4,0.000,0.072,2238,3935,3524,0,0,0,0,0,0
$GC,4106,-0.71,-146.0,435.3,-8.8,429,4110,0.00,1.95,0.00,0.000,6,0.000,0.046,2238,2732,3523,0,0,0,0,0,0
$GC,4425,-0.71,-146.0,464.1,-8.9,440,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2731,3523,0,0,0,0,0,0
$GC,4731,-0.71,-146.0,490.3,-8.3,450,4735,0.00,2.17,0.00,0.000,4,0.000,0.049,2238,1372,3523,0,0,0,0,0,0
$GC,4776,-0.73,-146.0,494.4,-8.7,451,4780,0.00,2.25,0.00,0.000,6,0.000,0.060,2237,2735,3524,0,0,0,0,0,0
$GC,5096,-0.73,-146.0,522.9,-9.0,462,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2735,3524,0,0,0,0,0,0
$GC,5402,-0.73,-146.0,551.0,-9.3,472,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2735,3524,0,0,0,0,0,0
$GC,5708,-0.73,-146.0,579.0,-9.2,482,5712,0.00,2.17,0.00,0.000,4,0.000,0.049,2236,1372,3524,0,0,0,0,0,0
$GC,5737,-0.73,-146.0,581.7,-8.7,483,5741,0.00,2.28,0.00,0.000,6,0.000,0.060,2235,2736,3524,0,0,0,0,0,0
$STATE,5950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5950,begin apogee
$GC,5957,-0.14,0.0,600.3,8.7,490,6087,0.57,0.00,123.90,0.978,4,0.134,0.000,2421,2597,2924,0,0,0,0,0,0
$STATE,6087,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6090,0.57,146.0,604.5,0.0,494,6229,0.70,2.42,131.90,0.952,4,0.068,0.049,2665,1186,2327,0,0,0,0,0,0
$GC,6427,-1.84,146.0,576.6,22751.7,504,6436,2.72,2.45,0.00,0.000,6,0.156,0.054,1894,2603,2317,0,0,0,0,0,0
$GC,6751,-1.84,146.0,528.7,22751.7,515,6755,0.00,2.30,0.00,0.000,4,0.000,0.049,1893,1185,2310,0,0,0,0,0,0
$GC,7009,-1.84,146.0,482.6,22751.7,522,7016,0.00,2.35,0.00,0.000,6,0.000,0.050,1880,2639,2306,0,0,0,0,0,0
$GC,7322,-1.84,146.0,427.8,22751.7,533,7326,0.00,2.35,0.00,0.000,4,0.000,0.053,1880,1189,2307,0,0,0,0,0,0
$GC,7446,-1.84,146.0,405.0,22751.7,536,7453,0.00,2.35,0.00,0.000,6,0.000,0.056,1870,2616,2308,0,0,0,0,0,0
$GC,7771,-1.84,146.0,346.5,22751.7,565,7775,0.00,2.28,0.00,0.000,4,0.000,0.047,1870,1186,2307,0,0,0,0,0,0
$GC,8028,-1.84,146.0,297.4,22751.7,587,8035,0.00,2.22,0.00,0.000,6,0.000,0.050,1858,2574,2306,0,0,0,0,0,0
$GC,8354,-1.84,146.0,237.2,22751.7,618,8358,0.00,2.22,0.00,0.000,4,0.000,0.057,1846,3932,2305,0,0,0,0,0,0
$GC,8612,-1.84,146.0,184.0,22751.7,640,8619,0.17,2.17,0.00,0.000,6,0.277,0.042,1879,2575,2305,0,0,0,0,0,0
$GC,8938,-1.84,146.0,123.6,22751.7,671,8942,0.00,2.22,0.00,0.000,4,0.000,0.056,1870,3927,2305,0,0,0,0,0,0
$GC,9022,-1.84,146.0,107.6,22751.7,678,9029,0.00,2.12,0.00,0.000,6,0.000,0.043,1869,2601,2307,0,0,0,0,0,0
$GC,9364,-1.84,146.0,53.1,22751.7,735,9371,0.00,2.20,0.00,0.000,4,0.000,0.060,1858,3926,2305,0,0,0,0,0,0
$GC,9452,-1.84,146.0,39.9,22751.7,750,9459,0.00,2.17,0.00,0.000,6,0.000,0.044,1858,2582,2306,0,0,0,0,0,0
$FREEZE,8.86,-1.644,-1.781,2,2,0
$FREEZE,7.94,-1.630,-1.780,2,2,0
$FREEZE,7.45,-1.580,-1.776,2,2,0
$FREEZE,6.68,-1.540,-1.773,2,2,0
$FREEZE,5.85,-1.656,-1.780,2,2,0
$FREEZE,4.99,-1.656,-1.779,2,2,0
$FREEZE,4.41,-1.669,-1.779,2,2,0
$FREEZE,3.65,-1.687,-1.780,2,2,0
$STATE,9712,end climb,FINISH_DEPTH_REACHED
$STATE,9712,begin subsurface finish
$FINISH1,3.7,1.026111,68
$GC,9720,0.04,68.1,3.7,-22751.7,796,9750,2.33,2.28,-20.05,0.000,4,0.203,0.064,2479,1189,2647,0,0,0,0,0,0
$FINISH2,1.5
$STATE,9751,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9751,begin surface
$RAFOS_CLK,566
$RAFOS,6,1293914945,20.833334,20.818056,50,45,45,44,42,41,727,380,1598,1778,267,1679
$RAFOS,5,1293914468,20.700001,20.685556,91,46,44,43,41,40,677,1608,144,422,1785,801
$RAFOS,4,1293914008,20.566668,20.557777,146,46,44,42,42,41,509,1533,636,1086,1933,1762
$RAFOS,3,1293913522,20.433332,20.422777,63,53,42,42,41,39,608,475,593,627,786,1788
$RAFOS,2,1293913033,20.299999,20.286945,45,45,42,41,40,39,1719,727,1670,1815,1151,1770
$RAFOS,1,1293912542,20.166666,20.150555,47,43,43,42,39,39,1558,798,1383,25,201,1521
$RAFOS,0,1293912062,20.033333,20.017221,45,42,42,40,40,39,829,1862,1401,281,393,688
$RAFOS_FIX,6641.754395,-5832.550293,010111,202012,3,100,0.17
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.029211
$HUMID,49.44
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,600.3,11.2
$24V_AH,21.4,76.281
$10V_AH,9.7,52.712
$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,7.575,79.325,255.800,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2029.615,5801.289,301.925,1500.740,182.657,0.000,1100.804,0.000,1486.973,2520.000,19.488,0.000
$DEVICE_MAMPS,276.930,73.440,978.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,30025,801
$CAP_FILE_SIZE,100293,0
$CFSIZE,260165632,205901824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,010111,203512,6641.754,-5832.550,0,3100.0,0,-37.6