version: 66.08
glider: 183
mission: 3
dive: 669
start: 1 3 111 0 43 56
data:
$ID,183
$MISSION,3
$DIVE,669
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,030111,002744,6645.698,-5815.085,0,3109.0,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.14
$_SM_ANGLEo,-5.8
$GPS2,030111,002744,6645.698,-5815.085,0,3109.0,0,-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,100.6,70581,-17.5,-10.000
$D_GRID,696
$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,-5.50,0.000,2,0.000,0.000,2476,1194,2844,0,0,0,0,0,0
$GC,27,-0.57,-146.0,7.4,-0.0,1,57,0.50,4.72,-18.52,0.000,4,0.077,0.071,2279,3915,3521,0,0,0,0,0,0
$GC,64,-0.57,-146.0,10.6,-9.2,7,71,0.00,1.85,0.00,0.000,6,0.000,0.047,2279,2776,3522,0,0,0,0,0,0
$GC,409,-0.57,-146.0,56.5,-12.7,68,416,0.00,1.98,0.00,0.000,4,0.000,0.073,2274,3926,3523,0,0,0,0,0,0
$GC,584,-0.60,-146.0,77.3,-11.8,98,591,0.00,1.88,0.00,0.000,6,0.000,0.048,2274,2758,3522,0,0,0,0,0,0
$GC,922,-0.60,-146.0,113.8,-10.1,147,926,0.00,2.22,0.00,0.000,4,0.000,0.050,2273,1363,3522,0,0,0,0,0,0
$GC,1000,-0.64,-146.0,121.8,-10.1,153,1007,0.00,2.30,0.00,0.000,6,0.000,0.061,2274,2745,3522,0,0,0,0,0,0
$GC,1326,-0.67,-146.0,151.0,-9.0,184,1330,0.00,2.00,0.00,0.000,4,0.000,0.073,2271,3929,3521,0,0,0,0,0,0
$GC,1365,-0.70,-146.0,154.7,-9.4,187,1372,0.00,1.92,0.00,0.000,6,0.000,0.049,2271,2750,3521,0,0,0,0,0,0
$GC,1691,-0.73,-146.0,185.1,-8.6,218,1695,0.00,2.22,0.00,0.000,4,0.000,0.051,2271,1371,3521,0,0,0,0,0,0
$GC,1719,-0.77,-146.0,187.8,-8.7,220,1727,0.12,2.28,0.00,0.000,6,0.103,0.063,2212,2737,3520,0,0,0,0,0,0
$GC,2045,-0.70,-146.0,226.4,-11.9,251,2047,0.12,0.00,0.00,0.000,6,0.187,0.000,2244,2737,3521,0,0,0,0,0,0
$GC,2363,-0.70,-146.0,257.5,-10.0,281,2367,0.00,2.20,0.00,0.000,4,0.000,0.051,2244,1371,3520,0,0,0,0,0,0
$GC,2397,-0.70,-146.0,261.0,-10.3,283,2404,0.00,2.30,0.00,0.000,6,0.000,0.063,2243,2736,3520,0,0,0,0,0,0
$GC,2723,-0.70,-146.0,293.1,-9.8,314,2727,0.00,2.03,0.00,0.000,4,0.000,0.072,2236,3933,3521,0,0,0,0,0,0
$GC,2797,-0.70,-146.0,300.4,-10.4,320,2800,0.00,1.95,0.00,0.000,6,0.000,0.049,2235,2741,3520,0,0,0,0,0,0
$GC,3128,-0.70,-146.0,334.0,-9.5,351,3132,0.00,2.20,0.00,0.000,4,0.000,0.050,2235,1363,3521,0,0,0,0,0,0
$GC,3180,-0.70,-146.0,338.8,-8.9,355,3184,0.00,2.30,0.00,0.000,6,0.000,0.061,2235,2748,3520,0,0,0,0,0,0
$GC,3506,-0.70,-146.0,368.1,-8.5,385,3510,0.00,2.22,0.00,0.000,4,0.000,0.050,2235,1365,3521,0,0,0,0,0,0
$GC,3540,-0.70,-146.0,371.3,-9.1,387,3546,0.00,2.30,0.00,0.000,6,0.000,0.060,2235,2737,3521,0,0,0,0,0,0
$GC,3866,-0.70,-146.0,400.9,-9.7,418,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2737,3522,0,0,0,0,0,0
$GC,4172,-0.70,-146.0,430.2,-9.7,428,4176,0.00,2.20,0.00,0.000,4,0.000,0.051,2235,1366,3523,0,0,0,0,0,0
$GC,4194,-0.70,-146.0,432.7,-10.0,428,4201,0.00,2.28,0.00,0.000,6,0.000,0.061,2235,2734,3523,0,0,0,0,0,0
$STATE,4387,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4387,begin apogee
$GC,4393,-0.14,0.0,450.7,9.5,435,4524,0.57,0.00,121.62,0.881,4,0.136,0.000,2420,2597,2922,0,0,0,0,0,0
$STATE,4525,end apogee,CONTROL_FINISHED_OK
$STATE,4525,begin climb
$GC,4527,0.57,146.0,454.8,0.0,439,4664,0.70,2.40,127.62,0.858,4,0.078,0.051,2661,1186,2326,0,0,0,0,0,0
$GC,4860,-1.21,146.0,428.5,16933.3,449,4869,2.00,2.42,0.00,0.000,6,0.153,0.056,2091,2609,2317,0,0,0,0,0,0
$GC,5185,-1.21,146.0,395.0,16933.3,462,5190,0.00,2.30,0.00,0.000,4,0.000,0.048,2090,1175,2309,0,0,0,0,0,0
$GC,5445,-1.21,146.0,363.3,16933.3,485,5449,0.00,2.35,0.00,0.000,6,0.000,0.057,2083,2591,2310,0,0,0,0,0,0
$GC,5771,-1.21,146.0,324.5,16933.3,515,5775,0.00,2.28,0.00,0.000,4,0.000,0.053,2083,1184,2309,0,0,0,0,0,0
$GC,5834,-1.21,146.0,317.5,16933.3,520,5838,0.00,2.28,0.00,0.000,6,0.000,0.060,2083,2558,2310,0,0,0,0,0,0
$GC,6165,-1.21,146.0,277.9,16933.3,551,6169,0.00,2.30,0.00,0.000,4,0.000,0.064,2074,3936,2307,0,0,0,0,0,0
$GC,6182,-1.21,146.0,275.5,16933.3,552,6189,0.00,2.25,0.00,0.000,6,0.000,0.047,2073,2539,2308,0,0,0,0,0,0
$GC,6508,-1.21,146.0,235.2,16933.3,583,6512,0.00,2.35,0.00,0.000,4,0.000,0.063,2063,3939,2306,0,0,0,0,0,0
$GC,6768,-1.21,146.0,198.9,16933.3,605,6775,0.00,2.25,0.00,0.000,6,0.000,0.047,2062,2559,2308,0,0,0,0,0,0
$GC,7093,-1.21,146.0,158.2,16933.3,636,7097,0.00,2.30,0.00,0.000,4,0.000,0.063,2051,3932,2306,0,0,0,0,0,0
$GC,7326,-1.21,146.0,123.7,16933.3,656,7333,0.15,2.25,0.00,0.000,6,0.243,0.045,2081,2540,2305,0,0,0,0,0,0
$GC,7661,-1.21,146.0,81.7,16933.3,699,7668,0.00,2.15,0.00,0.000,4,0.000,0.047,2081,1177,2306,0,0,0,0,0,0
$GC,7867,-1.21,146.0,55.6,16933.3,735,7874,0.00,2.30,0.00,0.000,6,0.000,0.055,2072,2592,2308,0,0,0,0,0,0
$GC,8217,-1.21,146.0,18.2,16933.3,796,8223,0.00,2.22,0.00,0.000,4,0.000,0.062,2061,3932,2306,0,0,0,0,0,0
$FREEZE,8.46,-1.608,-1.783,2,15,0
$FREEZE,7.56,-1.679,-1.786,2,15,0
$FREEZE,6.96,-1.681,-1.786,2,15,0
$FREEZE,6.67,-1.608,-1.781,2,15,0
$FREEZE,6.09,-1.635,-1.782,2,15,0
$FREEZE,5.27,-1.660,-1.783,2,15,0
$FREEZE,4.48,-1.708,-1.786,2,15,0
$STATE,8329,end climb,FINISH_DEPTH_REACHED
$STATE,8329,begin subsurface finish
$FINISH1,4.5,1.026190,64
$GC,8338,0.04,64.2,4.5,-16933.3,816,8364,1.60,2.40,-18.60,0.000,4,0.205,0.086,2480,3934,2662,0,0,0,0,0,0
$FINISH2,1.8
$STATE,8366,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8366,begin surface
$RAFOS_CLK,482
$RAFOS,6,1294015742,0.833333,0.817222,120,48,48,47,39,38,742,402,856,1228,409,1038
$RAFOS,5,1294015267,0.700000,0.685278,119,49,49,43,42,39,628,331,1457,207,582,1787
$RAFOS_FIX,6647.108887,-5815.648926,030111,000024,5,113,5.75
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.029211
$HUMID,49.40
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,450.7,9.3
$24V_AH,21.8,77.210
$10V_AH,9.7,53.325
$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,5.775,84.575,249.250,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2071.786,4413.675,309.543,1463.184,173.709,0.000,1083.390,0.000,1448.977,360.000,15.214,0.000
$DEVICE_MAMPS,242.505,85.680,881.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30081,820
$CAP_FILE_SIZE,93493,0
$CFSIZE,260165632,205283328
$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