version: 66.08
glider: 183
mission: 3
dive: 673
start: 1 3 111 9 12 57
data:
$ID,183
$MISSION,3
$DIVE,673
$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,32
$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
$GPS1,030111,083316,6647.460,-5808.327,0,5076.0,0,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.74
$_SM_ANGLEo,0.2
$GPS2,030111,083316,6647.460,-5808.327,0,5076.0,0,-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,101.1,64754,-17.5,-10.000
$D_GRID,716
$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,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,2492,2607,2894,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.6,-0.0,1,52,0.55,2.05,-14.90,0.000,4,0.099,0.067,2296,1369,3523,0,0,0,0,0,0
$GC,60,-0.69,-146.0,11.8,-7.5,6,67,0.12,2.33,0.00,0.000,6,0.106,0.060,2240,2785,3523,0,0,0,0,0,0
$GC,407,-0.62,-146.0,66.0,-14.1,67,414,0.12,1.98,0.00,0.000,4,0.183,0.072,2267,3930,3523,0,0,0,0,0,0
$GC,485,-0.62,-146.0,75.1,-10.4,80,491,0.00,1.88,0.00,0.000,6,0.000,0.048,2266,2768,3523,0,0,0,0,0,0
$GC,825,-0.62,-146.0,112.4,-11.4,131,829,0.00,2.22,0.00,0.000,4,0.000,0.052,2267,1373,3522,0,0,0,0,0,0
$GC,869,-0.65,-146.0,117.5,-10.7,134,876,0.00,2.33,0.00,0.000,6,0.000,0.062,2265,2771,3523,0,0,0,0,0,0
$GC,1195,-0.65,-146.0,149.8,-9.3,165,1199,0.00,2.25,0.00,0.000,4,0.000,0.052,2265,1372,3523,0,0,0,0,0,0
$GC,1225,-0.68,-146.0,152.7,-10.3,167,1229,0.00,2.30,0.00,0.000,6,0.000,0.063,2262,2751,3523,0,0,0,0,0,0
$GC,1556,-0.70,-146.0,186.5,-10.0,198,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2750,3522,0,0,0,0,0,0
$GC,1877,-0.73,-146.0,216.1,-8.7,228,1881,0.00,2.00,0.00,0.000,4,0.000,0.073,2254,3932,3522,0,0,0,0,0,0
$GC,1913,-0.76,-146.0,219.7,-9.5,231,1917,0.00,1.90,0.00,0.000,6,0.000,0.048,2254,2756,3522,0,0,0,0,0,0
$GC,2244,-0.76,-146.0,251.3,-9.4,262,2248,0.00,2.22,0.00,0.000,4,0.000,0.051,2253,1360,3522,0,0,0,0,0,0
$GC,2274,-0.79,-146.0,254.1,-9.8,264,2278,0.00,2.35,0.00,0.000,6,0.000,0.062,2252,2776,3522,0,0,0,0,0,0
$GC,2600,-0.79,-146.0,284.6,-9.4,294,2604,0.00,2.28,0.00,0.000,4,0.000,0.051,2252,1360,3522,0,0,0,0,0,0
$GC,2622,-0.81,-146.0,287.0,-10.0,295,2629,0.12,2.35,0.00,0.000,6,0.103,0.061,2197,2765,3521,0,0,0,0,0,0
$GC,2947,-0.72,-146.0,327.5,-12.5,326,2952,0.15,2.28,0.00,0.000,4,0.178,0.050,2237,1362,3522,0,0,0,0,0,0
$GC,2980,-0.72,-146.0,331.4,-10.1,328,2987,0.00,2.33,0.00,0.000,6,0.000,0.061,2235,2762,3521,0,0,0,0,0,0
$GC,3306,-0.72,-146.0,362.4,-10.1,359,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2762,3522,0,0,0,0,0,0
$GC,3626,-0.72,-146.0,393.1,-9.9,389,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2763,3522,0,0,0,0,0,0
$GC,3944,-0.72,-146.0,424.8,-10.1,404,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2762,3522,0,0,0,0,0,0
$STATE,4219,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4219,begin apogee
$GC,4226,-0.14,0.0,452.5,10.2,413,4354,0.57,0.00,121.38,0.885,4,0.135,0.000,2422,2594,2923,0,0,0,0,0,0
$STATE,4355,end apogee,CONTROL_FINISHED_OK
$STATE,4355,begin climb
$GC,4357,0.57,146.0,457.5,0.0,417,4494,0.70,2.40,127.12,0.861,4,0.074,0.051,2665,1184,2327,0,0,0,0,0,0
$GC,4651,0.57,146.0,437.3,10.0,426,4655,0.00,2.45,0.00,0.000,6,0.000,0.056,2665,2607,2319,0,0,0,0,0,0
$GC,4986,0.53,146.0,403.1,10.3,437,4990,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1184,2315,0,0,0,0,0,0
$GC,5223,0.53,146.6,379.5,10.0,454,5230,0.00,2.33,0.00,0.000,6,0.000,0.057,2666,2606,2315,0,0,0,0,0,0
$GC,5548,0.49,146.6,344.8,10.6,485,5553,0.12,2.22,0.00,0.000,4,0.203,0.067,2635,3935,2314,0,0,0,0,0,0
$GC,5577,0.45,146.6,341.5,11.7,487,5582,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2594,2313,0,0,0,0,0,0
$GC,5903,0.46,163.9,311.6,9.2,517,5926,0.00,2.30,14.23,0.777,4,0.000,0.053,2635,1195,2254,0,0,0,0,0,0
$GC,5943,0.53,182.3,307.7,9.2,520,5966,0.00,2.28,17.67,0.771,6,0.000,0.056,2635,2588,2179,0,0,0,0,0,0
$GC,6286,0.58,196.0,276.5,9.4,552,6308,0.00,2.35,12.70,0.756,4,0.000,0.068,2635,3936,2121,0,0,0,0,0,0
$GC,6344,0.58,196.0,270.6,10.8,557,6348,0.00,2.17,0.00,0.000,6,0.000,0.044,2635,2589,2118,0,0,0,0,0,0
$GC,6670,0.65,216.3,240.5,9.1,587,6693,0.15,0.00,18.27,0.748,6,0.096,0.000,2696,2589,2040,0,0,0,0,0,0
$GC,7011,0.62,216.3,194.3,13.7,619,7015,0.00,2.28,0.00,0.000,4,0.000,0.069,2696,3935,2036,0,0,0,0,0,0
$GC,7040,0.55,216.3,190.1,15.1,621,7045,0.17,2.15,0.00,0.000,6,0.184,0.044,2654,2596,2034,0,0,0,0,0,0
$GC,7366,0.60,216.3,156.3,10.0,651,7370,0.00,2.25,0.00,0.000,4,0.000,0.053,2654,1180,2034,0,0,0,0,0,0
$GC,7406,0.71,234.8,152.5,9.1,654,7430,0.15,2.33,16.73,0.701,6,0.095,0.056,2717,2596,1965,0,0,0,0,0,0
$GC,7748,0.67,234.8,106.7,13.6,686,7752,0.00,2.22,0.00,0.000,4,0.000,0.067,2716,3927,1961,0,0,0,0,0,0
$GC,7805,0.60,234.8,97.9,16.4,691,7813,0.17,2.12,0.00,0.000,6,0.187,0.045,2673,2604,1959,0,0,0,0,0,0
$GC,8154,0.67,252.9,64.1,9.2,752,8178,0.00,2.33,16.10,0.659,4,0.000,0.054,2673,1198,1891,0,0,0,0,0,0
$GC,8305,0.84,323.4,52.4,6.7,778,8371,0.20,2.28,60.35,0.641,6,0.085,0.056,2753,2582,1604,0,0,0,0,0,0
$FREEZE,8.76,-1.745,-1.791,2,3,0
$STATE,8654,end climb,FINISH_DEPTH_REACHED
$STATE,8654,begin subsurface finish
$FINISH1,8.8,1.026221,63
$GC,8661,0.04,62.8,8.8,-13.6,839,8697,0.85,0.00,-32.22,0.000,6,0.149,0.000,2492,2583,2668,0,0,0,0,0,0
$FINISH2,7.0
$STATE,8698,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8698,begin surface
$RAFOS_CLK,506
$RAFOS_FIX,6647.460449,-5808.326660,030111,080816,5,76,0.32
$IRIDIUM_FIX,6614.97,-5737.16,010111,171715
$TT8_MAMPS,0.028462
$HUMID,48.42
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,452.5,9.2
$24V_AH,21.8,77.555
$10V_AH,9.7,53.516
$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,4.175,76.200,404.550,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2042.745,4678.491,419.594,1438.020,175.443,0.000,1209.573,0.000,1426.583,0.000,15.208,0.000
$DEVICE_MAMPS,203.490,73.440,885.105,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,30066,845
$CAP_FILE_SIZE,96719,0
$CFSIZE,260165632,205094912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$GPS,030111,083316,6647.460,-5808.327,0,5076.0,0,-37.5