version: 66.08
glider: 183
mission: 3
dive: 672
start: 1 3 111 7 30 17
data:
$ID,183
$MISSION,3
$DIVE,672
$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,-11342.072
$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,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
$GPS1,030111,055055,6645.754,-5808.129,12,1.7,29,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.09
$_SM_ANGLEo,1.1
$GPS2,030111,055055,6645.754,-5808.129,12,1.7,29,-37.5
$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,98.6,66095,-17.5,-10.000
$D_GRID,692
$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,-5.57,0.000,2,0.000,0.000,2498,3933,2873,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.1,-0.0,1,52,0.60,4.25,-16.75,0.000,4,0.110,0.054,2293,1371,3521,0,0,0,0,0,0
$GC,147,-0.60,-146.0,19.2,-10.2,21,153,0.00,2.35,0.00,0.000,6,0.000,0.060,2290,2785,3522,0,0,0,0,0,0
$GC,492,-0.63,-146.0,56.7,-10.8,82,499,0.00,2.28,0.00,0.000,4,0.000,0.051,2290,1372,3522,0,0,0,0,0,0
$GC,531,-0.68,-146.0,60.6,-10.6,88,537,0.00,2.33,0.00,0.000,6,0.000,0.062,2287,2761,3522,0,0,0,0,0,0
$GC,878,-0.73,-146.0,93.4,-8.9,149,885,0.15,2.25,0.00,0.000,4,0.100,0.052,2225,1375,3522,0,0,0,0,0,0
$GC,903,-0.73,-146.0,96.7,-11.8,153,910,0.00,2.28,0.00,0.000,6,0.000,0.062,2222,2746,3522,0,0,0,0,0,0
$GC,1237,-0.66,-146.0,141.9,-12.9,186,1242,0.15,2.25,0.00,0.000,4,0.180,0.052,2263,1364,3521,0,0,0,0,0,0
$GC,1266,-0.66,-146.0,145.4,-11.0,188,1270,0.00,2.28,0.00,0.000,6,0.000,0.063,2259,2724,3521,0,0,0,0,0,0
$GC,1592,-0.66,-146.0,178.2,-9.7,218,1596,0.00,2.05,0.00,0.000,4,0.000,0.073,2252,3935,3521,0,0,0,0,0,0
$GC,1639,-0.66,-146.0,182.8,-9.6,222,1642,0.00,1.95,0.00,0.000,6,0.000,0.049,2252,2741,3521,0,0,0,0,0,0
$GC,1971,-0.66,-146.0,214.4,-9.8,253,1975,0.00,2.17,0.00,0.000,4,0.000,0.051,2252,1374,3521,0,0,0,0,0,0
$GC,2003,-0.66,-146.0,217.7,-10.1,255,2010,0.00,2.28,0.00,0.000,6,0.000,0.063,2252,2745,3520,0,0,0,0,0,0
$GC,2333,-0.66,-146.0,246.4,-9.0,286,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2745,3520,0,0,0,0,0,0
$GC,2661,-0.66,-146.0,276.0,-8.8,317,2665,0.00,2.20,0.00,0.000,4,0.000,0.051,2252,1373,3520,0,0,0,0,0,0
$GC,2745,-0.69,-146.0,284.3,-9.9,324,2752,0.00,2.25,0.00,0.000,6,0.000,0.062,2252,2731,3520,0,0,0,0,0,0
$STATE,2922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2923,begin apogee
$GC,2931,-0.14,0.0,300.2,8.9,341,3056,0.52,0.00,118.72,0.796,4,0.132,0.000,2423,2608,2923,0,0,0,0,0,0
$STATE,3057,end apogee,CONTROL_FINISHED_OK
$STATE,3057,begin climb
$GC,3060,0.57,146.0,304.6,0.0,352,3193,0.68,2.42,123.65,0.773,4,0.076,0.051,2659,1176,2326,0,0,0,0,0,0
$GC,3364,0.59,175.0,284.0,8.7,379,3397,0.00,2.42,25.35,0.744,6,0.000,0.056,2659,2599,2208,0,0,0,0,0,0
$GC,3716,0.59,176.6,248.4,9.9,412,3720,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1181,2201,0,0,0,0,0,0
$GC,3902,0.63,180.3,230.6,9.8,428,3914,0.00,2.35,4.75,0.594,6,0.000,0.057,2662,2602,2187,0,0,0,0,0,0
$GC,4232,0.63,180.3,196.5,10.9,459,4236,0.00,2.22,0.00,0.000,4,0.000,0.068,2662,3932,2185,0,0,0,0,0,0
$GC,4254,0.60,180.3,193.8,11.8,460,4261,0.00,2.17,0.00,0.000,6,0.000,0.046,2661,2592,2184,0,0,0,0,0,0
$GC,4580,0.60,180.3,159.2,10.2,491,4584,0.00,2.28,0.00,0.000,4,0.000,0.069,2662,3927,2184,0,0,0,0,0,0
$GC,4615,0.56,180.3,155.3,11.7,494,4619,0.00,2.12,0.00,0.000,6,0.000,0.045,2662,2606,2184,0,0,0,0,0,0
$GC,4947,0.58,212.5,124.5,8.5,525,4982,0.00,2.30,28.20,0.688,4,0.000,0.053,2662,1187,2056,0,0,0,0,0,0
$GC,5006,0.66,237.6,119.2,8.8,530,5039,0.00,2.35,22.65,0.668,6,0.000,0.056,2662,2620,1953,0,0,0,0,0,0
$GC,5366,0.75,265.9,85.5,8.7,576,5397,0.15,2.42,24.50,0.659,4,0.098,0.054,2724,1183,1837,0,0,0,0,0,0
$GC,5434,0.77,265.9,77.7,11.9,587,5441,0.00,2.33,0.00,0.000,6,0.000,0.057,2724,2593,1835,0,0,0,0,0,0
$GC,5779,0.77,265.9,34.9,10.7,648,5786,0.00,2.28,0.00,0.000,4,0.000,0.070,2724,3935,1831,0,0,0,0,0,0
$GC,5816,0.72,265.9,30.4,13.0,654,5823,0.00,2.22,0.00,0.000,6,0.000,0.046,2725,2568,1829,0,0,0,0,0,0
$FREEZE,8.98,-1.759,-1.791,2,2,0
$STATE,5999,end climb,FINISH_DEPTH_REACHED
$STATE,5999,begin subsurface finish
$FINISH1,9.0,1.026216,63
$GC,6006,0.04,63.0,9.0,-11.5,686,6036,0.75,0.00,-24.27,0.000,6,0.148,0.000,2492,2608,2669,0,0,0,0,0,0
$FINISH2,7.3
$STATE,6037,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6037,begin surface
$RAFOS_CLK,355
$RAFOS,6,1294044547,8.833333,8.818611,77,46,43,43,41,39,723,1846,1715,26,711,783
$RAFOS,5,1294044065,8.700000,8.684722,68,52,50,44,43,40,625,553,198,1721,1890,1362
$RAFOS,4,1294043582,8.566667,8.550555,77,45,45,43,43,42,708,961,1502,1593,1779,650
$RAFOS,3,1294043104,8.433333,8.417778,84,44,42,41,41,40,767,145,368,314,1766,282
$RAFOS,2,1294042630,8.300000,8.286111,49,45,43,43,43,41,1197,1437,349,1068,1539,1847
$RAFOS,1,1294042144,8.166667,8.151111,74,48,46,46,44,44,856,1857,1016,1726,1306,1430
$RAFOS,0,1294041668,8.033334,8.018888,52,51,48,46,45,43,871,711,272,334,1320,652
$RAFOS_FIX,6647.460449,-5808.326660,030111,080816,5,76,0.32
$IRIDIUM_FIX,6614.97,-5737.16,010111,171715
$TT8_MAMPS,0.029211
$HUMID,48.46
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,300.2,13.4
$24V_AH,22.2,77.463
$10V_AH,9.7,53.467
$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,3.000,65.625,347.825,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1648.717,2808.432,374.168,1132.231,140.210,0.000,1009.528,0.000,1130.373,2520.000,7.091,0.000
$DEVICE_MAMPS,179.775,129.285,795.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,23459,691
$CAP_FILE_SIZE,75677,0
$CFSIZE,260165632,205164544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$GPS,030111,083316,6647.460,-5808.327,0,5076.0,0,-37.5