version: 66.08
glider: 183
mission: 3
dive: 660
start: 1 2 111 3 40 15
data:
$ID,183
$MISSION,3
$DIVE,660
$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,35
$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
$GPS1,020111,003533,6642.218,-5828.160,0,3124.7,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.20
$_SM_ANGLEo,-0.5
$GPS2,020111,003533,6642.218,-5828.160,0,3124.7,0,-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,99.6,81933,-17.5,-10.000
$D_GRID,719
$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,-5.60,0.000,2,0.000,0.000,2492,1182,2866,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.5,-0.0,1,52,0.57,4.68,-16.70,0.000,4,0.111,0.070,2283,3928,3520,0,0,0,0,0,0
$GC,77,-0.53,-146.0,12.2,-9.8,9,84,0.00,1.85,0.00,0.000,6,0.000,0.047,2282,2780,3521,0,0,0,0,0,0
$GC,423,-0.53,-146.0,53.2,-10.9,70,429,0.00,2.28,0.00,0.000,4,0.000,0.050,2282,1364,3522,0,0,0,0,0,0
$GC,440,-0.53,-146.0,54.8,-11.0,72,446,0.00,2.33,0.00,0.000,6,0.000,0.061,2279,2760,3522,0,0,0,0,0,0
$GC,786,-0.55,-146.0,90.6,-9.1,133,792,0.00,1.98,0.00,0.000,4,0.000,0.072,2275,3929,3521,0,0,0,0,0,0
$GC,1040,-0.59,-146.0,115.1,-9.7,164,1047,0.00,1.90,0.00,0.000,6,0.000,0.048,2274,2762,3520,0,0,0,0,0,0
$GC,1366,-0.63,-146.0,144.9,-9.0,195,1370,0.00,2.22,0.00,0.000,4,0.000,0.051,2275,1367,3520,0,0,0,0,0,0
$GC,1418,-0.69,-146.0,149.7,-8.8,199,1422,0.00,2.30,0.00,0.000,6,0.000,0.062,2275,2753,3520,0,0,0,0,0,0
$GC,1744,-0.74,-146.0,178.4,-8.4,229,1749,0.12,2.25,0.00,0.000,4,0.109,0.051,2221,1365,3519,0,0,0,0,0,0
$GC,1765,-0.74,-146.0,180.9,-10.4,230,1772,0.00,2.30,0.00,0.000,6,0.000,0.062,2221,2740,3519,0,0,0,0,0,0
$GC,2091,-0.69,-146.0,218.8,-11.5,261,2096,0.10,2.03,0.00,0.000,4,0.198,0.072,2239,3927,3519,0,0,0,0,0,0
$GC,2130,-0.69,-146.0,223.5,-11.7,264,2137,0.00,1.95,0.00,0.000,6,0.000,0.047,2239,2729,3519,0,0,0,0,0,0
$GC,2455,-0.69,-146.0,256.6,-10.1,295,2459,0.00,2.15,0.00,0.000,4,0.000,0.050,2239,1372,3518,0,0,0,0,0,0
$GC,2488,-0.69,-146.0,260.2,-10.1,297,2495,0.00,2.28,0.00,0.000,6,0.000,0.061,2238,2732,3518,0,0,0,0,0,0
$GC,2814,-0.69,-146.0,291.4,-9.1,328,2818,0.00,2.03,0.00,0.000,4,0.000,0.071,2235,3932,3518,0,0,0,0,0,0
$GC,2853,-0.69,-146.0,295.4,-9.9,331,2860,0.00,1.95,0.00,0.000,6,0.000,0.047,2235,2731,3519,0,0,0,0,0,0
$GC,3182,-0.69,-146.0,326.2,-9.3,362,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2730,3519,0,0,0,0,0,0
$GC,3511,-0.69,-146.0,356.2,-9.3,393,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2731,3520,0,0,0,0,0,0
$GC,3836,-0.69,-146.0,386.6,-9.4,424,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2730,3520,0,0,0,0,0,0
$GC,4170,-0.69,-146.0,418.0,-9.4,444,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2730,3520,0,0,0,0,0,0
$GC,4475,-0.69,-146.0,447.2,-9.5,454,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2730,3520,0,0,0,0,0,0
$GC,4781,-0.69,-146.0,476.1,-9.4,464,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2731,3520,0,0,0,0,0,0
$GC,5088,-0.69,-146.0,504.6,-9.2,474,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2730,3521,0,0,0,0,0,0
$GC,5394,-0.69,-146.0,534.4,-9.6,484,5397,0.00,2.17,0.00,0.000,4,0.000,0.049,2235,1372,3521,0,0,0,0,0,0
$GC,5428,-0.69,-146.0,537.9,-10.8,485,5432,0.00,2.28,0.00,0.000,6,0.000,0.060,2235,2747,3521,0,0,0,0,0,0
$GC,5765,-0.69,-146.0,569.6,-9.5,496,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2747,3521,0,0,0,0,0,0
$GC,6070,-0.69,-146.0,598.4,-9.2,506,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2747,3521,0,0,0,0,0,0
$STATE,6103,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6103,begin apogee
$GC,6109,-0.14,0.0,601.3,9.1,507,6239,0.57,0.00,123.70,0.976,4,0.135,0.000,2421,2600,2923,0,0,0,0,0,0
$STATE,6240,end apogee,CONTROL_FINISHED_OK
$STATE,6240,begin climb
$GC,6243,0.57,146.0,605.6,0.0,511,6384,0.70,2.42,131.52,0.952,4,0.072,0.049,2663,1187,2326,0,0,0,0,0,0
$GC,6541,-1.83,146.0,581.2,23466.6,520,6550,2.70,2.47,0.00,0.000,6,0.154,0.054,1899,2606,2317,0,0,0,0,0,0
$GC,6871,-1.83,146.0,529.8,23466.6,531,6875,0.00,2.30,0.00,0.000,4,0.000,0.051,1898,1186,2310,0,0,0,0,0,0
$GC,7129,-1.83,146.0,482.7,23466.6,538,7133,0.00,2.35,0.00,0.000,6,0.000,0.047,1885,2641,2306,0,0,0,0,0,0
$GC,7443,-1.83,146.0,426.1,23466.6,548,7447,0.00,2.12,0.00,0.000,4,0.000,0.067,1874,3919,2307,0,0,0,0,0,0
$GC,7499,-1.83,146.0,414.3,23466.6,549,7503,0.00,2.03,0.00,0.000,6,0.000,0.045,1873,2663,2305,0,0,0,0,0,0
$GC,7829,-1.83,146.0,355.5,23466.6,574,7833,0.00,2.12,0.00,0.000,4,0.000,0.069,1862,3918,2305,0,0,0,0,0,0
$GC,7875,-1.83,146.0,346.2,23466.6,578,7879,0.00,1.98,0.00,0.000,6,0.000,0.045,1861,2682,2306,0,0,0,0,0,0
$GC,8208,-1.83,146.0,283.8,23466.6,609,8212,0.00,2.40,0.00,0.000,4,0.000,0.050,1860,1187,2306,0,0,0,0,0,0
$GC,8270,-1.83,146.0,271.6,23466.6,614,8275,0.12,2.58,0.00,0.000,6,0.196,0.059,1882,2740,2306,0,0,0,0,0,0
$GC,8595,-1.83,146.0,212.2,23466.6,644,8600,0.00,2.50,0.00,0.000,4,0.000,0.050,1882,1192,2306,0,0,0,0,0,0
$GC,8852,-1.83,146.0,166.3,23466.6,666,8859,0.00,2.45,0.00,0.000,6,0.000,0.050,1870,2713,2304,0,0,0,0,0,0
$GC,9178,-1.83,146.0,107.7,23466.6,697,9183,0.00,2.45,0.00,0.000,4,0.000,0.047,1869,1180,2304,0,0,0,0,0,0
$GC,9439,-1.83,146.0,62.1,23466.6,738,9446,0.00,2.45,0.00,0.000,6,0.000,0.050,1857,2693,2305,0,0,0,0,0,0
$GC,9786,-1.83,146.0,12.3,23466.6,799,9793,0.00,2.03,0.00,0.000,4,0.000,0.059,1847,3924,2305,0,0,0,0,0,0
$FREEZE,8.65,-1.702,-1.788,2,6,0
$STATE,9804,end climb,FINISH_DEPTH_REACHED
$STATE,9804,begin subsurface finish
$FINISH1,8.7,1.026178,65
$GC,9814,0.04,64.8,8.7,-23466.6,802,9839,2.50,2.38,-12.38,0.000,4,0.220,0.082,2482,3929,2660,0,0,0,0,0,0
$FINISH2,5.1
$STATE,9840,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9840,begin surface
$RAFOS_CLK,566
$RAFOS,6,1293943751,4.833333,4.819722,76,49,43,42,41,40,710,1034,1928,1067,153,1630
$RAFOS,5,1293943268,4.700000,4.685555,112,56,48,46,43,40,665,1142,162,1264,474,1457
$RAFOS,4,1293942791,4.566667,4.553056,73,45,45,40,39,38,614,1098,1267,641,1137,1802
$RAFOS,3,1293942310,4.433333,4.419445,114,44,44,42,41,41,686,1548,1648,1512,249,496
$RAFOS,2,1293941824,4.300000,4.284444,105,46,43,41,41,41,784,1739,1761,1222,26,1621
$RAFOS,1,1293941345,4.166667,4.151389,47,46,43,41,38,38,144,1007,574,376,162,1319
$RAFOS,0,1293940871,4.033333,4.019722,47,46,45,45,45,44,1880,135,735,828,1578,694
$RAFOS_FIX,6643.092285,-5827.165039,020111,040437,5,96,0.12
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.029211
$HUMID,49.72
$INTERNAL_PRESSURE,8.65115
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,601.3,10.9
$24V_AH,21.5,76.566
$10V_AH,9.7,52.891
$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,7.400,80.325,255.225,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2065.475,5890.325,308.282,1463.911,180.344,0.000,1086.941,0.000,1447.971,2520.000,23.544,0.000
$DEVICE_MAMPS,219.555,81.855,976.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30107,806
$CAP_FILE_SIZE,97616,0
$CFSIZE,260165632,205721600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$GPS,020111,043537,6643.092,-5827.165,0,5096.0,0,-37.6