version: 66.08
glider: 183
mission: 3
dive: 658
start: 1 1 111 23 36 21
data:
$ID,183
$MISSION,3
$DIVE,658
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,010111,203512,6641.754,-5832.550,0,3100.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.29
$_SM_ANGLEo,-0.2
$GPS2,010111,203512,6641.754,-5832.550,0,3100.0,0,-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,100.1,85138,-17.5,-10.000
$D_GRID,728
$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,-5.62,0.000,2,0.000,0.000,2498,2591,2884,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.9,-0.0,1,51,0.57,2.33,-14.57,0.000,4,0.108,0.084,2294,3922,3523,0,0,0,0,0,0
$GC,76,-0.63,-146.0,15.1,-11.2,9,83,0.00,1.83,0.00,0.000,6,0.000,0.047,2293,2778,3523,0,0,0,0,0,0
$GC,422,-0.65,-146.0,55.5,-10.6,70,429,0.00,2.25,0.00,0.000,4,0.000,0.051,2293,1367,3523,0,0,0,0,0,0
$GC,534,-0.70,-146.0,66.8,-9.9,89,541,0.12,2.33,0.00,0.000,6,0.105,0.061,2241,2762,3523,0,0,0,0,0,0
$GC,876,-0.65,-146.0,110.8,-12.6,142,880,0.00,1.95,0.00,0.000,4,0.000,0.072,2233,3926,3523,0,0,0,0,0,0
$GC,900,-0.59,-146.0,114.1,-13.1,144,904,0.10,1.90,0.00,0.000,6,0.148,0.047,2278,2772,3522,0,0,0,0,0,0
$GC,1232,-0.63,-146.0,146.2,-9.5,175,1236,0.00,2.22,0.00,0.000,4,0.000,0.050,2278,1374,3522,0,0,0,0,0,0
$GC,1273,-0.69,-146.0,150.3,-9.7,178,1277,0.00,2.35,0.00,0.000,6,0.000,0.061,2277,2779,3523,0,0,0,0,0,0
$GC,1599,-0.74,-146.0,180.6,-8.7,208,1603,0.12,2.28,0.00,0.000,4,0.106,0.051,2223,1374,3523,0,0,0,0,0,0
$GC,1650,-0.72,-146.0,186.4,-11.8,212,1654,0.00,2.33,0.00,0.000,6,0.000,0.062,2222,2764,3522,0,0,0,0,0,0
$GC,1982,-0.66,-146.0,224.5,-10.9,243,1984,0.12,0.00,0.00,0.000,6,0.188,0.000,2254,2764,3521,0,0,0,0,0,0
$GC,2301,-0.69,-146.0,251.7,-8.5,273,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2764,3521,0,0,0,0,0,0
$GC,2619,-0.71,-146.0,279.2,-8.7,303,2623,0.00,2.22,0.00,0.000,4,0.000,0.050,2255,1375,3521,0,0,0,0,0,0
$GC,2675,-0.76,-146.0,284.4,-8.8,307,2682,0.00,2.33,0.00,0.000,6,0.000,0.060,2252,2777,3521,0,0,0,0,0,0
$GC,3003,-0.78,-146.0,313.7,-9.2,338,3007,0.00,2.25,0.00,0.000,4,0.000,0.050,2252,1372,3521,0,0,0,0,0,0
$GC,3038,-0.81,-146.0,317.2,-9.4,340,3045,0.12,2.33,0.00,0.000,6,0.100,0.061,2196,2773,3521,0,0,0,0,0,0
$GC,3366,-0.73,-146.0,359.4,-13.3,371,3373,0.15,0.00,0.00,0.000,6,0.181,0.000,2235,2773,3521,0,0,0,0,0,0
$GC,3692,-0.73,-146.0,393.5,-9.9,402,3696,0.00,2.25,0.00,0.000,4,0.000,0.049,2235,1373,3522,0,0,0,0,0,0
$GC,3754,-0.75,-146.0,399.5,-9.4,407,3762,0.00,2.33,0.00,0.000,6,0.000,0.060,2235,2764,3521,0,0,0,0,0,0
$GC,4068,-0.75,-146.0,428.1,-9.1,418,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2764,3521,0,0,0,0,0,0
$STATE,4343,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4343,begin apogee
$GC,4349,-0.14,0.0,450.9,8.1,427,4479,0.57,0.00,121.40,0.886,4,0.135,0.000,2421,2594,2923,0,0,0,0,0,0
$STATE,4480,end apogee,CONTROL_FINISHED_OK
$STATE,4480,begin climb
$GC,4483,0.57,146.0,453.8,0.0,431,4619,0.70,2.40,127.47,0.859,4,0.074,0.050,2663,1179,2326,0,0,0,0,0,0
$GC,4769,-1.21,146.0,429.5,16560.3,440,4778,2.03,2.47,0.00,0.000,6,0.155,0.054,2095,2602,2318,0,0,0,0,0,0
$GC,5090,-1.21,146.0,394.9,16560.3,451,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2602,2309,0,0,0,0,0,0
$GC,5409,-1.21,146.0,358.2,16560.3,481,5413,0.00,2.28,0.00,0.000,4,0.000,0.046,2094,1169,2309,0,0,0,0,0,0
$GC,5666,-1.21,146.0,327.7,16560.3,503,5673,0.00,2.33,0.00,0.000,6,0.000,0.054,2084,2593,2309,0,0,0,0,0,0
$GC,5992,-1.21,146.0,291.5,16560.3,534,5996,0.00,2.25,0.00,0.000,4,0.000,0.070,2083,3933,2310,0,0,0,0,0,0
$GC,6015,-1.21,146.0,288.5,16560.3,535,6022,0.00,2.22,0.00,0.000,6,0.000,0.045,2083,2555,2310,0,0,0,0,0,0
$GC,6340,-1.21,146.0,250.0,16560.3,566,6344,0.00,2.33,0.00,0.000,4,0.000,0.070,2083,3926,2309,0,0,0,0,0,0
$GC,6598,-1.21,146.0,214.1,16560.3,588,6605,0.00,2.25,0.00,0.000,6,0.000,0.046,2083,2537,2308,0,0,0,0,0,0
$GC,6924,-1.21,146.0,174.3,16560.3,619,6928,0.00,2.33,0.00,0.000,4,0.000,0.060,2072,3935,2307,0,0,0,0,0,0
$GC,7182,-1.21,146.0,138.4,16560.3,641,7189,0.00,2.28,0.00,0.000,6,0.000,0.047,2071,2518,2308,0,0,0,0,0,0
$GC,7508,-1.21,146.0,97.7,16560.3,673,7515,0.00,2.38,0.00,0.000,4,0.000,0.063,2061,3933,2306,0,0,0,0,0,0
$GC,7770,-1.21,146.0,61.3,16560.3,719,7776,0.00,2.25,0.00,0.000,6,0.000,0.044,2061,2534,2307,0,0,0,0,0,0
$GC,8116,-1.21,146.0,22.0,16560.3,780,8123,0.00,2.35,0.00,0.000,4,0.000,0.063,2049,3929,2306,0,0,0,0,0,0
$GC,8158,-1.21,146.0,17.0,16560.3,787,8165,0.15,2.40,0.00,0.000,6,0.256,0.043,2079,2439,2306,0,0,0,0,0,0
$FREEZE,8.65,-1.555,-1.773,2,4,0
$FREEZE,8.05,-1.587,-1.775,2,4,0
$FREEZE,7.36,-1.616,-1.776,2,4,0
$FREEZE,6.68,-1.658,-1.778,2,4,0
$FREEZE,6.03,-1.547,-1.770,2,4,0
$FREEZE,5.33,-1.567,-1.771,2,4,0
$FREEZE,4.63,-1.663,-1.776,2,4,0
$FREEZE,3.87,-1.661,-1.775,2,4,0
$FREEZE,3.49,-1.664,-1.775,2,4,0
$FREEZE,3.20,-1.681,-1.776,2,4,0
$STATE,8276,end climb,FINISH_DEPTH_REACHED
$STATE,8276,begin subsurface finish
$FINISH1,3.2,1.026063,70
$GC,8284,0.05,70.5,3.2,-16560.3,808,8309,1.52,2.38,-18.70,0.000,4,0.209,0.066,2477,1196,2636,0,0,0,0,0,0
$FINISH2,1.5
$STATE,8311,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8311,begin surface
$RAFOS_CLK,486
$RAFOS,6,1293929344,0.833333,0.817778,53,45,41,41,39,39,737,239,26,1774,660,1940
$RAFOS,5,1293928862,0.700000,0.683889,146,46,44,42,41,41,700,1787,970,1486,653,1557
$RAFOS,4,1293928384,0.566667,0.551111,125,48,43,43,41,41,644,1665,273,1650,182,1548
$RAFOS,3,1293927907,0.433333,0.418611,103,46,44,44,43,42,702,162,258,1493,1938,515
$RAFOS,2,1293927427,0.300000,0.285278,54,50,45,44,44,42,1731,1298,765,173,1547,1238
$RAFOS,1,1293926949,0.166667,0.152500,49,43,43,42,41,40,647,1536,1637,492,149,180
$RAFOS,0,1293926470,0.033333,0.019444,42,41,40,39,39,39,812,871,651,390,818,1182
$RAFOS_FIX,6642.218262,-5828.159668,020111,000033,3,125,0.23
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,49.44
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,450.9,9.2
$24V_AH,21.8,76.423
$10V_AH,9.7,52.801
$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,6.300,70.875,248.875,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2046.663,4442.224,299.121,1429.823,159.005,0.000,1051.699,0.000,1412.534,2520.000,15.398,0.000
$DEVICE_MAMPS,255.510,84.150,885.870,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30123,812
$CAP_FILE_SIZE,93079,0
$CFSIZE,260165632,205815808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$GPS,020111,003533,6642.218,-5828.160,0,3124.7,0,-37.6