version: 66.08
glider: 183
mission: 3
dive: 662
start: 1 2 111 8 58 17
data:
$ID,183
$MISSION,3
$DIVE,662
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,020111,083524,6643.089,-5826.151,0,5098.8,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.78
$_SM_ANGLEo,-4.5
$GPS2,020111,083524,6643.089,-5826.151,0,5098.8,0,-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,100.1,79898,-17.5,-10.000
$D_GRID,721
$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,-6.20,0.000,2,0.000,0.000,2481,3918,2927,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.3,-0.0,1,46,0.52,0.00,-13.12,0.000,4,0.094,0.000,2292,3919,3522,0,0,0,0,0,0
$GC,93,-0.57,-146.0,17.0,-10.0,12,100,0.00,1.85,0.00,0.000,6,0.000,0.047,2292,2773,3524,0,0,0,0,0,0
$GC,440,-0.59,-146.0,57.6,-9.7,73,447,0.00,2.22,0.00,0.000,4,0.000,0.050,2292,1373,3524,0,0,0,0,0,0
$GC,512,-0.65,-146.0,64.8,-10.7,85,519,0.00,2.35,0.00,0.000,6,0.000,0.061,2292,2776,3524,0,0,0,0,0,0
$GC,859,-0.69,-146.0,100.1,-9.5,146,864,0.12,2.28,0.00,0.000,4,0.102,0.050,2237,1370,3522,0,0,0,0,0,0
$GC,955,-0.69,-146.0,111.4,-11.9,154,959,0.00,2.35,0.00,0.000,6,0.000,0.062,2235,2769,3523,0,0,0,0,0,0
$GC,1281,-0.64,-146.0,150.9,-12.3,184,1286,0.12,2.28,0.00,0.000,4,0.184,0.050,2268,1367,3523,0,0,0,0,0,0
$GC,1325,-0.69,-146.0,156.1,-10.0,187,1332,0.00,2.33,0.00,0.000,6,0.000,0.062,2265,2753,3522,0,0,0,0,0,0
$GC,1651,-0.69,-146.0,190.4,-10.7,218,1654,0.00,2.00,0.00,0.000,4,0.000,0.073,2258,3932,3522,0,0,0,0,0,0
$GC,1708,-0.73,-146.0,196.6,-10.9,223,1712,0.00,1.92,0.00,0.000,6,0.000,0.048,2257,2770,3522,0,0,0,0,0,0
$GC,2039,-0.73,-146.0,232.1,-10.5,254,2043,0.00,2.22,0.00,0.000,4,0.000,0.050,2257,1371,3522,0,0,0,0,0,0
$GC,2080,-0.76,-146.0,236.4,-10.8,257,2084,0.00,2.35,0.00,0.000,6,0.000,0.062,2252,2770,3521,0,0,0,0,0,0
$GC,2405,-0.76,-146.0,270.2,-10.0,287,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2770,3522,0,0,0,0,0,0
$GC,2726,-0.76,-146.0,301.2,-9.1,317,2730,0.00,2.25,0.00,0.000,4,0.000,0.050,2252,1369,3521,0,0,0,0,0,0
$GC,2790,-0.79,-146.0,307.4,-9.2,322,2794,0.00,2.33,0.00,0.000,6,0.000,0.061,2252,2766,3521,0,0,0,0,0,0
$GC,3120,-0.79,-146.0,338.1,-9.3,353,3124,0.00,1.98,0.00,0.000,4,0.000,0.071,2248,3936,3522,0,0,0,0,0,0
$GC,3147,-0.79,-146.0,341.1,-9.7,355,3154,0.00,1.92,0.00,0.000,6,0.000,0.047,2248,2754,3522,0,0,0,0,0,0
$GC,3473,-0.79,-146.0,371.5,-9.0,386,3477,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1370,3522,0,0,0,0,0,0
$GC,3526,-0.83,-146.0,376.3,-9.3,390,3530,0.12,2.30,0.00,0.000,6,0.099,0.060,2192,2755,3522,0,0,0,0,0,0
$GC,3853,-0.74,-146.0,415.1,-11.7,413,3858,0.15,2.25,0.00,0.000,4,0.178,0.050,2230,1371,3523,0,0,0,0,0,0
$GC,3888,-0.74,-146.0,418.8,-9.5,414,3892,0.00,2.28,0.00,0.000,6,0.000,0.060,2230,2744,3523,0,0,0,0,0,0
$GC,4225,-0.72,-146.0,449.0,-9.1,425,4228,0.00,2.00,0.00,0.000,4,0.000,0.070,2222,3932,3524,0,0,0,0,0,0
$STATE,4237,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4237,begin apogee
$GC,4245,-0.14,0.0,450.3,9.2,425,4375,0.62,0.00,121.62,0.881,4,0.139,0.000,2421,2589,2924,0,0,0,0,0,0
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4378,0.57,146.0,454.1,0.0,429,4521,0.70,2.38,128.10,0.856,4,0.077,0.050,2662,1187,2326,0,0,0,0,0,0
$GC,4692,0.57,146.0,428.6,10.3,439,4696,0.00,2.42,0.00,0.000,6,0.000,0.054,2662,2607,2318,0,0,0,0,0,0
$GC,5009,0.53,146.0,393.3,11.4,452,5013,0.00,2.33,0.00,0.000,4,0.000,0.051,2663,1182,2315,0,0,0,0,0,0
$GC,5233,0.53,147.8,370.2,9.9,471,5240,0.00,2.35,0.00,0.000,6,0.000,0.055,2663,2622,2314,0,0,0,0,0,0
$GC,5559,0.50,147.8,335.5,10.8,502,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2622,2314,0,0,0,0,0,0
$GC,5880,0.46,147.8,302.3,10.3,532,5885,0.15,2.22,0.00,0.000,4,0.193,0.067,2624,3927,2313,0,0,0,0,0,0
$GC,5901,0.46,147.8,299.6,10.3,533,5909,0.00,2.12,0.00,0.000,6,0.000,0.044,2624,2597,2312,0,0,0,0,0,0
$GC,6229,0.53,195.7,274.0,7.8,564,6276,0.00,2.35,40.83,0.772,4,0.000,0.051,2624,1188,2125,0,0,0,0,0,0
$GC,6308,0.68,256.3,267.8,7.2,571,6367,0.20,2.30,52.72,0.757,6,0.080,0.055,2704,2590,1878,0,0,0,0,0,0
$GC,6687,0.65,256.3,213.6,14.7,606,6691,0.00,2.25,0.00,0.000,4,0.000,0.066,2704,3926,1866,0,0,0,0,0,0
$GC,6720,0.59,256.3,207.9,16.6,608,6728,0.15,2.15,0.00,0.000,6,0.187,0.044,2667,2590,1864,0,0,0,0,0,0
$GC,7046,0.64,256.3,170.5,10.5,639,7050,0.00,2.22,0.00,0.000,4,0.000,0.052,2666,1185,1863,0,0,0,0,0,0
$GC,7069,0.71,256.3,167.9,10.7,640,7076,0.12,2.30,0.00,0.000,6,0.103,0.054,2719,2605,1863,0,0,0,0,0,0
$GC,7394,0.68,256.3,123.6,13.5,671,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2605,1862,0,0,0,0,0,0
$GC,7720,0.68,256.3,80.8,14.2,714,7727,0.00,2.28,0.00,0.000,4,0.000,0.054,2718,1185,1863,0,0,0,0,0,0
$GC,7780,0.72,256.3,73.2,12.4,724,7787,0.00,2.30,0.00,0.000,6,0.000,0.055,2719,2605,1863,0,0,0,0,0,0
$GC,8126,0.72,256.3,34.0,11.0,785,8133,0.00,2.22,0.00,0.000,4,0.000,0.067,2719,3927,1861,0,0,0,0,0,0
$GC,8280,0.70,256.3,14.8,11.7,812,8287,0.00,2.10,0.00,0.000,6,0.000,0.045,2718,2626,1860,0,0,0,0,0,0
$FREEZE,8.93,-1.711,-1.790,2,8,0
$STATE,8333,end climb,FINISH_DEPTH_REACHED
$STATE,8333,begin subsurface finish
$FINISH1,8.9,1.026208,63
$GC,8341,0.04,63.4,8.9,-11.0,821,8372,0.73,2.40,-23.62,0.000,4,0.154,0.066,2497,1186,2668,0,0,0,0,0,0
$FINISH2,7.2
$STATE,8373,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8373,begin surface
$RAFOS_CLK,483
$RAFOS_FIX,6643.089355,-5826.150879,020111,080824,5,99,0.05
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.029211
$HUMID,48.58
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.5
$ALTIM_BOTTOM_PING,450.3,9.2
$24V_AH,21.8,76.712
$10V_AH,9.7,52.991
$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,3.725,84.575,343.275,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2029.805,4418.857,374.779,1436.272,169.114,0.000,1160.828,0.000,1424.827,0.000,12.377,0.000
$DEVICE_MAMPS,192.780,72.675,881.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30034,826
$CAP_FILE_SIZE,95922,0
$CFSIZE,260165632,205619200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,020111,083524,6643.089,-5826.151,0,5098.8,0,-37.6