version: 66.08
glider: 183
mission: 3
dive: 668
start: 1 2 111 22 18 27
data:
$ID,183
$MISSION,3
$DIVE,668
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,020111,203537,6646.413,-5816.850,0,5123.6,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.08
$_SM_ANGLEo,0.1
$GPS2,020111,203537,6646.413,-5816.850,0,5123.6,0,-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,102.0,71137,-17.5,-10.000
$D_GRID,710
$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,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.68,0.000,2,0.000,0.000,2493,1187,2919,0,0,0,0,0,0
$GC,27,-0.57,-146.0,11.5,-0.0,1,52,0.57,4.72,-13.07,0.000,4,0.112,0.071,2289,3922,3522,0,0,0,0,0,0
$GC,178,-0.59,-146.0,27.7,-11.9,27,184,0.00,1.83,0.00,0.000,6,0.000,0.047,2289,2779,3524,0,0,0,0,0,0
$GC,524,-0.62,-146.0,68.7,-10.5,88,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2779,3523,0,0,0,0,0,0
$GC,874,-0.67,-146.0,102.1,-9.4,148,878,0.00,2.25,0.00,0.000,4,0.000,0.051,2289,1372,3523,0,0,0,0,0,0
$GC,949,-0.74,-146.0,108.5,-8.0,154,954,0.15,2.40,0.00,0.000,6,0.095,0.063,2225,2816,3522,0,0,0,0,0,0
$GC,1275,-0.68,-146.0,148.2,-12.4,184,1280,0.12,2.35,0.00,0.000,4,0.177,0.052,2258,1373,3521,0,0,0,0,0,0
$GC,1339,-0.71,-146.0,155.0,-9.9,189,1343,0.00,2.38,0.00,0.000,6,0.000,0.063,2256,2799,3521,0,0,0,0,0,0
$GC,1665,-0.71,-146.0,189.2,-10.8,219,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2799,3521,0,0,0,0,0,0
$GC,1985,-0.71,-146.0,221.4,-9.7,249,1989,0.00,2.33,0.00,0.000,4,0.000,0.053,2256,1366,3520,0,0,0,0,0,0
$GC,2023,-0.74,-146.0,225.6,-10.1,252,2030,0.00,2.40,0.00,0.000,6,0.000,0.063,2252,2796,3520,0,0,0,0,0,0
$GC,2349,-0.74,-146.0,255.9,-9.7,283,2353,0.00,1.95,0.00,0.000,4,0.000,0.073,2247,3944,3520,0,0,0,0,0,0
$GC,2383,-0.74,-146.0,259.2,-10.2,286,2387,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2796,3521,0,0,0,0,0,0
$GC,2713,-0.74,-146.0,293.6,-10.5,317,2717,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1370,3521,0,0,0,0,0,0
$GC,2758,-0.78,-146.0,298.7,-10.9,320,2765,0.00,2.40,0.00,0.000,6,0.000,0.062,2247,2801,3521,0,0,0,0,0,0
$GC,3083,-0.78,-146.0,332.3,-10.1,351,3087,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1370,3521,0,0,0,0,0,0
$GC,3162,-0.81,-146.0,340.3,-9.8,357,3170,0.10,2.35,0.00,0.000,6,0.116,0.062,2201,2782,3521,0,0,0,0,0,0
$GC,3488,-0.74,-146.0,378.7,-11.8,388,3492,0.12,2.30,0.00,0.000,4,0.185,0.050,2232,1369,3521,0,0,0,0,0,0
$GC,3520,-0.74,-146.0,382.4,-9.8,390,3527,0.00,2.33,0.00,0.000,6,0.000,0.061,2228,2773,3521,0,0,0,0,0,0
$GC,3863,-0.74,-146.0,415.2,-9.8,413,3867,0.00,1.95,0.00,0.000,4,0.000,0.070,2222,3932,3522,0,0,0,0,0,0
$GC,3899,-0.72,-146.0,419.1,-10.3,414,3902,0.00,1.88,0.00,0.000,6,0.000,0.047,2222,2765,3522,0,0,0,0,0,0
$GC,4241,-0.69,-146.0,454.7,-10.4,425,4245,0.00,2.25,0.00,0.000,4,0.000,0.050,2222,1368,3522,0,0,0,0,0,0
$GC,4305,-0.69,-146.0,461.3,-10.0,427,4309,0.00,2.35,0.00,0.000,6,0.000,0.061,2221,2771,3522,0,0,0,0,0,0
$GC,4640,-0.67,-146.0,495.4,-10.0,438,4642,0.12,0.00,0.00,0.000,6,0.184,0.000,2255,2770,3522,0,0,0,0,0,0
$STATE,4701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4701,begin apogee
$GC,4708,-0.14,0.0,500.6,9.3,440,4838,0.50,0.00,122.20,0.915,4,0.129,0.000,2421,2601,2922,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4842,0.57,146.0,504.9,0.0,444,4979,0.68,2.42,128.43,0.887,4,0.070,0.050,2660,1179,2327,0,0,0,0,0,0
$GC,5105,-1.43,146.0,486.2,16636.1,452,5114,2.28,2.47,0.00,0.000,6,0.154,0.055,2024,2601,2318,0,0,0,0,0,0
$GC,5441,-1.43,146.0,444.0,16636.1,463,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2602,2311,0,0,0,0,0,0
$GC,5747,-1.43,146.0,402.7,16636.1,473,5751,0.00,2.30,0.00,0.000,4,0.000,0.052,2022,1180,2310,0,0,0,0,0,0
$GC,6004,-1.43,146.0,366.7,16636.1,494,6011,0.00,2.33,0.00,0.000,6,0.000,0.055,2012,2602,2308,0,0,0,0,0,0
$GC,6329,-1.43,146.0,322.4,16636.1,525,6333,0.00,2.22,0.00,0.000,4,0.000,0.066,2000,3930,2308,0,0,0,0,0,0
$GC,6588,-1.43,146.0,283.0,16636.1,547,6595,0.00,2.25,0.00,0.000,6,0.000,0.048,1999,2539,2309,0,0,0,0,0,0
$GC,6913,-1.43,146.0,236.5,16636.1,578,6917,0.00,2.17,0.00,0.000,4,0.000,0.054,2000,1183,2309,0,0,0,0,0,0
$GC,7172,-1.43,146.0,199.1,16636.1,600,7178,0.00,2.17,0.00,0.000,6,0.000,0.059,2000,2500,2309,0,0,0,0,0,0
$GC,7498,-1.43,146.0,151.1,16636.1,631,7501,0.00,2.10,0.00,0.000,4,0.000,0.051,2000,1183,2309,0,0,0,0,0,0
$GC,7758,-1.43,146.0,111.4,16636.1,654,7762,0.00,2.22,0.00,0.000,6,0.000,0.058,1989,2531,2308,0,0,0,0,0,0
$GC,8097,-1.43,146.0,63.6,16636.1,707,8104,0.00,2.15,0.00,0.000,4,0.000,0.048,1989,1182,2306,0,0,0,0,0,0
$GC,8207,-1.43,146.0,51.6,16636.1,726,8214,0.15,2.17,0.00,0.000,6,0.238,0.054,2010,2512,2307,0,0,0,0,0,0
$GC,8555,-1.43,146.0,9.5,16636.1,787,8563,0.00,2.40,0.00,0.000,4,0.000,0.067,2001,3932,2307,0,0,0,0,0,0
$FREEZE,7.04,-1.687,-1.785,2,14,0
$STATE,8569,end climb,FINISH_DEPTH_REACHED
$STATE,8569,begin subsurface finish
$FINISH1,7.0,1.026143,67
$GC,8579,0.04,66.6,7.0,-16636.1,789,8604,1.62,2.33,-13.10,0.000,4,0.164,0.065,2476,1194,2652,0,0,0,0,0,0
$FINISH2,4.6
$STATE,8606,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8606,begin surface
$RAFOS_CLK,500
$RAFOS,4,1294014784,0.566667,0.551111,145,44,44,44,43,41,661,1260,1692,455,1544,1048
$RAFOS,3,1294014305,0.433333,0.418056,101,46,42,40,39,38,759,1207,25,1356,1307,1566
$RAFOS,2,1294013821,0.300000,0.283611,81,43,43,42,42,41,842,483,986,26,396,1340
$RAFOS,1,1294013342,0.166667,0.150556,46,45,43,40,38,38,1892,661,890,1531,301,407
$RAFOS,0,1294012864,0.033333,0.017778,56,49,46,39,39,38,1395,341,1498,454,1108,1659
$RAFOS_FIX,6645.697754,-5815.084961,030111,000044,3,109,0.13
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.030709
$HUMID,49.64
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,500.6,9.7
$24V_AH,21.7,77.148
$10V_AH,9.7,53.276
$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,6.425,81.075,250.625,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1991.867,4739.008,295.134,1476.226,168.547,0.000,1073.201,0.000,1458.145,2160.000,16.972,0.000
$DEVICE_MAMPS,237.915,72.675,914.940,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30158,793
$CAP_FILE_SIZE,94517,0
$CFSIZE,260165632,205328384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,030111,002744,6645.698,-5815.085,0,3109.0,0,-37.6