version: 66.08
glider: 183
mission: 3
dive: 667
start: 1 2 111 19 47 23
data:
$ID,183
$MISSION,3
$DIVE,667
$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,32
$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
$GPS1,020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.82
$_SM_ANGLEo,1.9
$GPS2,020111,163524,6646.410,-5820.752,0,5127.8,0,-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,103.0,73691,-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,-6.20,0.000,2,0.000,0.000,2497,3918,2932,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.5,-0.0,1,53,0.62,4.22,-13.23,0.000,4,0.123,0.055,2289,1377,3523,0,0,0,0,0,0
$GC,105,-0.57,-146.0,17.7,-10.9,14,112,0.00,2.33,0.00,0.000,6,0.000,0.060,2287,2786,3523,0,0,0,0,0,0
$GC,451,-0.57,-146.0,57.7,-11.0,75,458,0.00,2.28,0.00,0.000,4,0.000,0.051,2287,1371,3523,0,0,0,0,0,0
$GC,489,-0.60,-146.0,61.6,-10.0,81,496,0.00,2.30,0.00,0.000,6,0.000,0.061,2287,2759,3523,0,0,0,0,0,0
$GC,836,-0.64,-146.0,94.9,-9.2,142,842,0.00,2.00,0.00,0.000,4,0.000,0.073,2285,3926,3522,0,0,0,0,0,0
$GC,878,-0.71,-146.0,98.7,-9.0,149,885,0.12,1.88,0.00,0.000,6,0.108,0.048,2231,2760,3522,0,0,0,0,0,0
$GC,1213,-0.66,-146.0,139.1,-11.5,181,1217,0.12,2.25,0.00,0.000,4,0.183,0.052,2264,1369,3522,0,0,0,0,0,0
$GC,1337,-0.69,-146.0,151.4,-9.4,191,1344,0.00,2.30,0.00,0.000,6,0.000,0.063,2264,2738,3522,0,0,0,0,0,0
$GC,1663,-0.72,-146.0,182.6,-10.0,222,1667,0.00,2.03,0.00,0.000,4,0.000,0.073,2255,3933,3521,0,0,0,0,0,0
$GC,1732,-0.75,-146.0,189.6,-10.0,228,1735,0.00,1.95,0.00,0.000,6,0.000,0.050,2255,2739,3521,0,0,0,0,0,0
$GC,2063,-0.75,-146.0,224.7,-11.1,259,2067,0.00,2.20,0.00,0.000,4,0.000,0.052,2255,1365,3521,0,0,0,0,0,0
$GC,2096,-0.78,-146.0,228.5,-11.2,261,2102,0.00,2.28,0.00,0.000,6,0.000,0.063,2252,2737,3520,0,0,0,0,0,0
$GC,2421,-0.78,-146.0,261.2,-9.3,292,2425,0.00,2.03,0.00,0.000,4,0.000,0.073,2247,3932,3520,0,0,0,0,0,0
$GC,2438,-0.78,-146.0,262.9,-9.0,293,2444,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2731,3520,0,0,0,0,0,0
$GC,2763,-0.78,-146.0,293.1,-8.8,324,2767,0.00,2.17,0.00,0.000,4,0.000,0.050,2247,1364,3520,0,0,0,0,0,0
$GC,2820,-0.81,-146.0,298.1,-8.9,328,2827,0.10,2.28,0.00,0.000,6,0.113,0.061,2201,2722,3520,0,0,0,0,0,0
$GC,3145,-0.74,-146.0,334.8,-11.3,359,3150,0.12,2.08,0.00,0.000,4,0.186,0.071,2225,3926,3520,0,0,0,0,0,0
$GC,3202,-0.74,-146.0,340.9,-10.3,363,3208,0.00,1.95,0.00,0.000,6,0.000,0.047,2226,2727,3520,0,0,0,0,0,0
$GC,3528,-0.72,-146.0,373.9,-10.6,394,3531,0.00,2.05,0.00,0.000,4,0.000,0.072,2223,3930,3521,0,0,0,0,0,0
$GC,3563,-0.69,-146.0,377.7,-11.2,397,3567,0.12,1.95,0.00,0.000,6,0.164,0.047,2256,2731,3521,0,0,0,0,0,0
$GC,3886,-0.72,-146.0,405.6,-8.5,423,3890,0.00,2.05,0.00,0.000,4,0.000,0.072,2250,3935,3521,0,0,0,0,0,0
$GC,3915,-0.75,-146.0,408.4,-8.9,423,3921,0.00,1.95,0.00,0.000,6,0.000,0.047,2249,2738,3521,0,0,0,0,0,0
$GC,4229,-0.78,-146.0,436.8,-9.1,434,4233,0.00,2.17,0.00,0.000,4,0.000,0.050,2249,1370,3522,0,0,0,0,0,0
$GC,4259,-0.81,-146.0,439.7,-9.1,435,4263,0.00,2.28,0.00,0.000,6,0.000,0.061,2247,2743,3521,0,0,0,0,0,0
$STATE,4382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4382,begin apogee
$GC,4390,-0.14,0.0,450.4,8.9,439,4516,0.55,0.00,120.93,0.881,4,0.132,0.000,2425,2603,2923,0,0,0,0,0,0
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4520,0.57,146.0,455.1,0.0,443,4657,0.68,2.40,126.68,0.858,4,0.070,0.050,2664,1186,2329,0,0,0,0,0,0
$GC,4816,0.57,148.0,433.3,9.9,452,4820,0.00,2.45,0.00,0.000,6,0.000,0.055,2664,2609,2321,0,0,0,0,0,0
$GC,5152,0.53,148.0,396.8,10.9,463,5156,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1182,2317,0,0,0,0,0,0
$GC,5396,0.53,148.0,371.6,10.1,484,5400,0.00,2.33,0.00,0.000,6,0.000,0.057,2666,2596,2317,0,0,0,0,0,0
$GC,5727,0.49,148.0,334.7,10.8,515,5732,0.12,2.25,0.00,0.000,4,0.201,0.067,2635,3929,2316,0,0,0,0,0,0
$GC,5794,0.46,148.0,327.0,11.6,520,5801,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2597,2315,0,0,0,0,0,0
$GC,6120,0.47,162.5,297.4,9.3,551,6143,0.00,2.30,13.45,0.771,4,0.000,0.053,2635,1201,2260,0,0,0,0,0,0
$GC,6172,0.54,179.1,292.5,9.2,555,6193,0.00,2.28,16.15,0.765,6,0.000,0.055,2635,2596,2192,0,0,0,0,0,0
$GC,6514,0.59,185.4,259.8,9.7,587,6524,0.00,0.00,6.20,0.675,6,0.000,0.000,2635,2596,2167,0,0,0,0,0,0
$GC,6843,0.64,185.4,226.5,10.5,618,6848,0.12,2.25,0.00,0.000,4,0.102,0.067,2689,3929,2165,0,0,0,0,0,0
$GC,6875,0.54,185.4,221.8,16.5,620,6882,0.15,2.12,0.00,0.000,6,0.193,0.044,2652,2604,2164,0,0,0,0,0,0
$GC,7201,0.57,185.4,185.6,10.6,651,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2603,2164,0,0,0,0,0,0
$GC,7522,0.61,195.0,153.3,9.6,681,7537,0.00,2.30,9.40,0.686,4,0.000,0.068,2653,3926,2128,0,0,0,0,0,0
$GC,7556,0.61,195.0,149.7,10.3,684,7560,0.00,2.15,0.00,0.000,6,0.000,0.044,2652,2596,2125,0,0,0,0,0,0
$GC,7883,0.68,253.0,121.0,7.3,714,7941,0.12,2.38,50.38,0.682,4,0.106,0.053,2704,1187,1890,0,0,0,0,0,0
$GC,8008,0.74,253.0,106.9,11.6,725,8015,0.00,2.35,0.00,0.000,6,0.000,0.055,2704,2601,1886,0,0,0,0,0,0
$GC,8350,0.74,253.0,65.1,11.7,781,8356,0.00,2.28,0.00,0.000,4,0.000,0.054,2704,1191,1882,0,0,0,0,0,0
$GC,8369,0.77,253.0,62.9,11.5,784,8376,0.00,2.30,0.00,0.000,6,0.000,0.056,2704,2587,1882,0,0,0,0,0,0
$GC,8715,0.81,253.9,28.4,10.0,845,8722,0.00,2.28,0.00,0.000,4,0.000,0.068,2704,3932,1880,0,0,0,0,0,0
$GC,8855,0.81,253.9,13.0,10.3,869,8862,0.00,2.17,0.00,0.000,6,0.000,0.046,2704,2587,1878,0,0,0,0,0,0
$FREEZE,8.97,-1.748,-1.791,2,13,0
$STATE,8890,end climb,FINISH_DEPTH_REACHED
$STATE,8890,begin subsurface finish
$FINISH1,9.0,1.026211,63
$GC,8897,0.04,63.2,9.0,-10.3,875,8928,0.68,2.25,-22.83,0.000,4,0.146,0.063,2493,1188,2666,0,0,0,0,0,0
$FINISH2,7.6
$STATE,8929,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$RAFOS_CLK,514
$RAFOS,6,1294001348,20.833334,20.818890,116,48,42,42,42,41,713,724,196,1635,154,1732
$RAFOS,5,1294000870,20.700001,20.686111,120,44,43,41,41,39,616,738,872,1090,1462,594
$RAFOS,4,1294000382,20.566668,20.550556,123,46,45,41,41,39,682,806,546,222,487,1388
$RAFOS,3,1293999902,20.433332,20.417223,138,46,45,43,39,39,763,886,145,1190,1281,1408
$RAFOS,2,1293999427,20.299999,20.285278,121,49,47,46,44,43,805,1209,1845,329,586,1362
$RAFOS,1,1293998943,20.166666,20.150833,48,45,45,44,44,42,840,476,957,1386,1398,1933
$RAFOS,0,1293998464,20.033333,20.017778,45,43,43,41,41,40,955,521,1521,785,969,1437
$RAFOS_FIX,6646.413086,-5816.849609,020111,202037,5,124,0.20
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,49.56
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,450.4,9.2
$24V_AH,21.9,77.084
$10V_AH,9.7,53.226
$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,3.650,96.400,343.175,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2162.949,4724.052,395.215,1532.544,186.142,0.000,1227.065,0.000,1516.773,2520.000,12.378,0.000
$DEVICE_MAMPS,201.195,73.440,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.581,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30113,880
$CAP_FILE_SIZE,105636,0
$CFSIZE,260165632,205377536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,020111,203537,6646.413,-5816.850,0,5123.6,0,-37.6