version: 66.08
glider: 183
mission: 3
dive: 663
start: 1 2 111 11 19 39
data:
$ID,183
$MISSION,3
$DIVE,663
$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,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
$GPS1,020111,083524,6643.089,-5826.151,0,5098.8,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.07
$_SM_ANGLEo,0.4
$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,12,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,-5.55,0.000,2,0.000,0.000,2497,1186,2899,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.2,-0.0,1,52,0.57,4.70,-14.52,0.000,4,0.112,0.070,2291,3932,3522,0,0,0,0,0,0
$GC,251,-0.60,-146.0,34.6,-11.5,40,258,0.00,1.88,0.00,0.000,6,0.000,0.047,2291,2776,3524,0,0,0,0,0,0
$GC,598,-0.63,-146.0,72.2,-9.0,101,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2776,3523,0,0,0,0,0,0
$GC,943,-0.68,-146.0,101.8,-8.5,160,948,0.10,2.28,0.00,0.000,4,0.120,0.052,2247,1366,3522,0,0,0,0,0,0
$GC,1017,-0.68,-146.0,110.2,-11.3,166,1021,0.00,2.40,0.00,0.000,6,0.000,0.062,2247,2811,3522,0,0,0,0,0,0
$GC,1344,-0.65,-146.0,146.3,-10.9,196,1348,0.00,2.33,0.00,0.000,4,0.000,0.051,2247,1366,3521,0,0,0,0,0,0
$GC,1377,-0.65,-146.0,150.2,-10.7,198,1384,0.00,2.42,0.00,0.000,6,0.000,0.062,2247,2810,3521,0,0,0,0,0,0
$GC,1702,-0.65,-146.0,184.9,-10.8,229,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2810,3521,0,0,0,0,0,0
$GC,2023,-0.65,-146.0,218.8,-10.4,259,2028,0.00,2.33,0.00,0.000,4,0.000,0.051,2247,1366,3520,0,0,0,0,0,0
$GC,2102,-0.67,-146.0,227.4,-10.3,265,2108,0.00,2.40,0.00,0.000,6,0.000,0.063,2247,2793,3520,0,0,0,0,0,0
$GC,2427,-0.67,-146.0,259.2,-9.5,296,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2793,3520,0,0,0,0,0,0
$GC,2748,-0.67,-146.0,288.5,-9.2,326,2753,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1374,3520,0,0,0,0,0,0
$GC,2782,-0.70,-146.0,292.0,-9.2,328,2789,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2792,3520,0,0,0,0,0,0
$GC,3109,-0.70,-146.0,320.8,-8.9,359,3113,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1371,3521,0,0,0,0,0,0
$GC,3153,-0.73,-146.0,325.3,-9.8,362,3160,0.00,2.33,0.00,0.000,6,0.000,0.061,2247,2775,3520,0,0,0,0,0,0
$GC,3480,-0.73,-146.0,353.9,-9.0,393,3484,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1370,3521,0,0,0,0,0,0
$GC,3520,-0.76,-146.0,357.6,-9.0,396,3524,0.00,2.30,0.00,0.000,6,0.000,0.060,2247,2759,3521,0,0,0,0,0,0
$GC,3846,-0.76,-146.0,386.7,-8.9,426,3850,0.00,2.25,0.00,0.000,4,0.000,0.050,2246,1365,3521,0,0,0,0,0,0
$GC,3879,-0.79,-146.0,389.8,-8.9,428,3886,0.00,2.28,0.00,0.000,6,0.000,0.060,2245,2741,3522,0,0,0,0,0,0
$GC,4218,-0.79,-146.0,419.9,-9.0,447,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2741,3522,0,0,0,0,0,0
$GC,4523,-0.79,-146.0,447.3,-8.9,457,4527,0.00,2.20,0.00,0.000,4,0.000,0.050,2244,1364,3523,0,0,0,0,0,0
$STATE,4557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4557,begin apogee
$GC,4565,-0.14,0.0,450.5,9.1,458,4695,0.55,0.00,121.35,0.881,4,0.136,0.000,2420,2603,2923,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4698,0.57,146.0,455.1,0.0,462,4833,0.70,2.40,127.05,0.858,4,0.075,0.049,2663,1195,2327,0,0,0,0,0,0
$GC,4990,0.57,146.0,433.4,10.3,471,4994,0.00,2.42,0.00,0.000,6,0.000,0.054,2663,2601,2319,0,0,0,0,0,0
$GC,5316,0.53,146.0,397.7,11.0,482,5320,0.00,2.28,0.00,0.000,4,0.000,0.053,2664,1195,2316,0,0,0,0,0,0
$GC,5501,0.53,146.0,378.7,10.3,498,5505,0.00,2.33,0.00,0.000,6,0.000,0.055,2664,2617,2316,0,0,0,0,0,0
$GC,5833,0.49,146.0,342.8,10.8,529,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2616,2314,0,0,0,0,0,0
$GC,6154,0.46,146.0,305.8,11.8,559,6160,0.15,0.00,0.00,0.000,6,0.193,0.000,2624,2617,2314,0,0,0,0,0,0
$GC,6480,0.52,173.0,276.0,8.8,590,6506,0.00,2.22,21.77,0.772,4,0.000,0.066,2624,3930,2218,0,0,0,0,0,0
$GC,6580,0.52,173.0,265.8,10.7,598,6587,0.00,2.12,0.00,0.000,6,0.000,0.044,2624,2603,2214,0,0,0,0,0,0
$GC,6906,0.59,210.5,238.7,8.3,629,6944,0.12,2.30,32.50,0.745,4,0.103,0.051,2682,1187,2066,0,0,0,0,0,0
$GC,6958,0.59,210.5,233.2,12.0,633,6962,0.00,2.33,0.00,0.000,6,0.000,0.054,2682,2604,2065,0,0,0,0,0,0
$GC,7283,0.59,210.5,193.3,12.5,663,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2605,2060,0,0,0,0,0,0
$GC,7604,0.59,210.5,155.9,11.1,693,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2605,2059,0,0,0,0,0,0
$GC,7931,0.59,210.5,121.2,10.1,724,7935,0.00,2.20,0.00,0.000,4,0.000,0.067,2682,3928,2058,0,0,0,0,0,0
$GC,8001,0.56,210.5,113.0,12.5,729,8007,0.00,2.15,0.00,0.000,6,0.000,0.044,2684,2595,2057,0,0,0,0,0,0
$GC,8338,0.57,229.5,80.5,9.1,778,8363,0.00,2.28,16.90,0.666,4,0.000,0.054,2683,1189,1986,0,0,0,0,0,0
$GC,8398,0.65,240.5,74.7,9.5,788,8417,0.00,2.25,10.15,0.633,6,0.000,0.055,2684,2576,1945,0,0,0,0,0,0
$GC,8758,0.73,277.3,41.8,8.3,851,8800,0.00,2.35,32.70,0.646,4,0.000,0.068,2684,3922,1790,0,0,0,0,0,0
$GC,8877,0.78,277.3,31.1,10.5,871,8885,0.12,2.15,0.00,0.000,6,0.109,0.045,2733,2591,1785,0,0,0,0,0,0
$FREEZE,8.69,-1.758,-1.791,2,9,0
$STATE,9070,end climb,FINISH_DEPTH_REACHED
$STATE,9070,begin subsurface finish
$FINISH1,8.7,1.026216,63
$GC,9077,0.04,63.0,8.7,-11.0,905,9114,0.77,2.28,-26.98,0.000,4,0.151,0.066,2496,1188,2669,0,0,0,0,0,0
$FINISH2,6.7
$STATE,9116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9116,begin surface
$RAFOS_CLK,527
$RAFOS,6,1293972544,12.833333,12.817778,126,50,47,46,45,43,727,1068,1661,1643,1420,275
$RAFOS,5,1293972067,12.700000,12.685278,124,46,45,44,43,41,658,26,799,790,1131,414
$RAFOS,4,1293971608,12.566667,12.557777,118,54,43,41,41,41,520,481,639,698,1189,1083
$RAFOS,3,1293971105,12.433333,12.418056,102,50,43,43,41,40,741,200,1262,1066,1600,421
$RAFOS,2,1293970623,12.300000,12.284166,69,50,48,43,42,42,808,394,343,624,775,1702
$RAFOS,1,1293970146,12.166667,12.151667,44,42,41,41,40,39,1436,555,1432,1661,1412,1476
$RAFOS,0,1293969667,12.033333,12.018611,50,46,44,44,43,39,302,789,244,351,1503,1501
$RAFOS_FIX,6644.939941,-5824.599609,020111,121212,5,108,0.25
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,48.58
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,450.5,9.2
$24V_AH,21.8,76.795
$10V_AH,9.7,53.045
$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,3.100,77.400,362.425,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2205.068,4873.449,393.677,1529.807,184.487,0.000,1219.526,0.000,1520.193,2520.000,12.378,0.000
$DEVICE_MAMPS,192.780,69.615,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33381,911
$CAP_FILE_SIZE,98516,0
$CFSIZE,260165632,205561856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,020111,123512,6644.940,-5824.600,0,5107.8,0,-37.6