version: 66.08
glider: 183
mission: 3
dive: 661
start: 1 2 111 6 26 25
data:
$ID,183
$MISSION,3
$DIVE,661
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,020111,043537,6643.092,-5827.165,0,5096.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.56
$_SM_ANGLEo,-0.4
$GPS2,020111,043537,6643.092,-5827.165,0,5096.0,0,-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,100.4,80545,-17.5,-10.000
$D_GRID,737
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-5.95,0.000,2,0.000,0.000,2481,3929,2928,0,0,0,0,0,0
$GC,28,-0.57,-146.0,12.0,-0.0,1,46,0.52,0.00,-12.70,0.000,4,0.103,0.000,2297,3929,3522,0,0,0,0,0,0
$GC,133,-0.61,-146.0,22.8,-11.1,19,139,0.00,1.88,0.00,0.000,6,0.000,0.046,2296,2770,3524,0,0,0,0,0,0
$GC,479,-0.65,-146.0,59.9,-9.9,80,486,0.00,2.25,0.00,0.000,4,0.000,0.050,2296,1367,3524,0,0,0,0,0,0
$GC,670,-0.72,-146.0,77.6,-8.8,113,677,0.15,2.25,0.00,0.000,6,0.095,0.060,2230,2731,3524,0,0,0,0,0,0
$GC,1013,-0.66,-146.0,122.3,-12.7,159,1017,0.12,2.05,0.00,0.000,4,0.176,0.071,2256,3931,3523,0,0,0,0,0,0
$GC,1058,-0.66,-146.0,127.6,-10.8,163,1062,0.00,1.92,0.00,0.000,6,0.000,0.047,2256,2751,3523,0,0,0,0,0,0
$GC,1389,-0.66,-146.0,161.5,-10.5,194,1393,0.00,2.20,0.00,0.000,4,0.000,0.050,2256,1366,3522,0,0,0,0,0,0
$GC,1485,-0.69,-146.0,171.6,-10.3,202,1489,0.00,2.30,0.00,0.000,6,0.000,0.061,2252,2741,3522,0,0,0,0,0,0
$GC,1816,-0.69,-146.0,207.4,-10.3,233,1820,0.00,2.03,0.00,0.000,4,0.000,0.073,2247,3927,3522,0,0,0,0,0,0
$GC,1889,-0.69,-146.0,215.3,-10.1,239,1895,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2734,3522,0,0,0,0,0,0
$GC,2215,-0.69,-146.0,247.7,-9.4,270,2218,0.00,2.20,0.00,0.000,4,0.000,0.051,2247,1367,3522,0,0,0,0,0,0
$GC,2261,-0.71,-146.0,252.3,-10.1,274,2265,0.00,2.30,0.00,0.000,6,0.000,0.061,2247,2741,3522,0,0,0,0,0,0
$GC,2587,-0.71,-146.0,283.2,-9.3,304,2591,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1366,3522,0,0,0,0,0,0
$GC,2608,-0.71,-146.0,285.5,-9.7,305,2615,0.00,2.30,0.00,0.000,6,0.000,0.061,2247,2739,3522,0,0,0,0,0,0
$GC,2934,-0.71,-146.0,315.6,-9.6,336,2938,0.00,2.00,0.00,0.000,4,0.000,0.071,2247,3926,3523,0,0,0,0,0,0
$GC,3003,-0.74,-146.0,322.2,-10.1,342,3007,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2741,3522,0,0,0,0,0,0
$GC,3334,-0.74,-146.0,351.6,-8.6,373,3337,0.00,2.17,0.00,0.000,4,0.000,0.050,2247,1370,3522,0,0,0,0,0,0
$GC,3369,-0.77,-146.0,354.7,-9.3,376,3373,0.00,2.30,0.00,0.000,6,0.000,0.060,2247,2746,3523,0,0,0,0,0,0
$GC,3695,-0.77,-146.0,382.7,-8.5,406,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2747,3523,0,0,0,0,0,0
$GC,4030,-0.77,-146.0,410.9,-8.5,430,4033,0.00,2.00,0.00,0.000,4,0.000,0.071,2247,3932,3523,0,0,0,0,0,0
$GC,4052,-0.77,-146.0,413.0,-8.6,430,4056,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2730,3523,0,0,0,0,0,0
$GC,4371,-0.77,-146.0,440.1,-8.4,441,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2730,3524,0,0,0,0,0,0
$GC,4677,-0.77,-146.0,465.1,-7.9,451,4681,0.00,2.05,0.00,0.000,4,0.000,0.071,2247,3935,3524,0,0,0,0,0,0
$GC,4700,-0.77,-146.0,467.0,-7.7,451,4704,0.00,1.92,0.00,0.000,6,0.000,0.046,2247,2735,3523,0,0,0,0,0,0
$GC,5021,-0.79,-146.0,492.8,-8.4,462,5025,0.00,2.17,0.00,0.000,4,0.000,0.050,2247,1365,3524,0,0,0,0,0,0
$GC,5054,-0.82,-146.0,495.9,-8.8,463,5059,0.10,2.28,0.00,0.000,6,0.113,0.060,2200,2741,3524,0,0,0,0,0,0
$STATE,5108,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5109,begin apogee
$GC,5116,-0.14,0.0,501.5,11.0,465,5245,0.70,0.00,122.62,0.913,4,0.143,0.000,2419,2601,2923,0,0,0,0,0,0
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5249,0.57,146.0,506.2,0.0,469,5390,0.70,2.42,128.90,0.887,4,0.077,0.049,2660,1180,2326,0,0,0,0,0,0
$GC,5560,-1.42,146.0,482.0,19447.8,478,5572,2.25,2.45,0.00,0.000,6,0.153,0.054,2023,2610,2316,0,0,0,0,0,0
$GC,5878,-1.42,146.0,442.0,19447.8,489,5882,0.00,2.30,0.00,0.000,4,0.000,0.050,2022,1179,2310,0,0,0,0,0,0
$GC,6136,-1.42,146.0,405.5,19447.8,496,6143,0.00,2.25,0.00,0.000,6,0.000,0.057,2021,2553,2311,0,0,0,0,0,0
$GC,6461,-1.42,146.0,360.9,19447.8,523,6465,0.00,2.17,0.00,0.000,4,0.000,0.048,2021,1185,2308,0,0,0,0,0,0
$GC,6720,-1.42,146.0,322.4,19447.8,545,6727,0.00,2.20,0.00,0.000,6,0.000,0.054,2011,2540,2307,0,0,0,0,0,0
$GC,7046,-1.42,146.0,274.2,19447.8,576,7049,0.00,2.17,0.00,0.000,4,0.000,0.051,2010,1189,2309,0,0,0,0,0,0
$GC,7306,-1.42,146.0,233.9,19447.8,599,7310,0.00,2.15,0.00,0.000,6,0.000,0.058,2007,2498,2309,0,0,0,0,0,0
$GC,7638,-1.42,146.0,185.1,19447.8,630,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2497,2308,0,0,0,0,0,0
$GC,7960,-1.42,146.0,139.6,19447.8,660,7964,0.00,2.40,0.00,0.000,4,0.000,0.069,2006,3925,2309,0,0,0,0,0,0
$GC,8218,-1.42,146.0,99.9,19447.8,682,8225,0.00,2.25,0.00,0.000,6,0.000,0.045,2006,2533,2308,0,0,0,0,0,0
$GC,8568,-1.42,146.0,56.4,19447.8,743,8575,0.00,2.40,0.00,0.000,4,0.000,0.069,1999,3932,2307,0,0,0,0,0,0
$GC,8729,-1.42,146.0,35.5,19447.8,771,8736,0.00,2.22,0.00,0.000,6,0.000,0.043,1998,2548,2305,0,0,0,0,0,0
$FREEZE,8.41,-1.704,-1.788,2,7,0
$STATE,8955,end climb,FINISH_DEPTH_REACHED
$STATE,8955,begin subsurface finish
$FINISH1,8.4,1.026177,65
$GC,8962,0.04,64.9,8.4,-19447.8,811,8982,1.92,2.33,-11.07,0.000,4,0.226,0.084,2481,3918,2659,0,0,0,0,0,0
$FINISH2,6.6
$STATE,8984,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$RAFOS_CLK,520
$RAFOS,6,1293958145,8.833333,8.818055,84,42,41,40,40,39,742,1853,616,512,1021,1645
$RAFOS,5,1293957666,8.700000,8.685000,89,48,46,42,42,41,679,293,1518,747,952,954
$RAFOS,4,1293957188,8.566667,8.552222,132,43,43,41,39,39,627,1675,145,1034,303,1833
$RAFOS,3,1293956702,8.433333,8.417222,116,47,45,43,41,41,737,1538,1350,1662,1062,1285
$RAFOS,2,1293956225,8.300000,8.284722,73,46,45,42,41,39,780,1859,1883,480,270,1683
$RAFOS,1,1293955756,8.166667,8.154445,47,45,44,43,42,42,170,434,671,1837,657,193
$RAFOS,0,1293955276,8.033334,8.021111,46,43,43,42,42,40,1152,829,1722,821,1636,464
$RAFOS_FIX,6643.089355,-5826.150879,020111,080824,5,99,0.05
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,49.48
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,21.7
$ALTIM_BOTTOM_PING,501.5,9.8
$24V_AH,21.7,76.630
$10V_AH,9.7,52.943
$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,6.475,78.650,251.525,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2084.793,4984.842,287.169,1523.521,171.755,0.000,1086.431,0.000,1508.483,2520.000,14.155,0.000
$DEVICE_MAMPS,225.675,113.220,913.410,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,30112,814
$CAP_FILE_SIZE,97662,0
$CFSIZE,260165632,205668352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$GPS,020111,083524,6643.089,-5826.151,0,5098.8,0,-37.6