version: 66.08
glider: 183
mission: 3
dive: 674
start: 1 3 111 11 39 45
data:
$ID,183
$MISSION,3
$DIVE,674
$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,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
$GPS1,030111,083316,6647.460,-5808.327,0,5076.0,0,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.23
$_SM_ANGLEo,-1.1
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.10,0.000,2,0.000,0.000,2492,2582,2914,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.5,-0.0,1,53,0.55,2.38,-14.45,0.000,4,0.093,0.086,2290,3931,3522,0,0,0,0,0,0
$GC,72,-0.65,-146.0,13.2,-9.2,8,79,0.00,1.85,0.00,0.000,6,0.000,0.047,2291,2776,3522,0,0,0,0,0,0
$GC,418,-0.65,-146.0,53.7,-11.1,69,425,0.00,2.28,0.00,0.000,4,0.000,0.052,2291,1368,3523,0,0,0,0,0,0
$GC,518,-0.68,-146.0,64.6,-10.0,86,525,0.00,2.33,0.00,0.000,6,0.000,0.062,2287,2770,3524,0,0,0,0,0,0
$GC,866,-0.73,-146.0,96.1,-9.4,147,873,0.12,2.28,0.00,0.000,4,0.109,0.053,2234,1372,3523,0,0,0,0,0,0
$GC,903,-0.69,-146.0,100.3,-12.5,153,907,0.00,2.28,0.00,0.000,6,0.000,0.062,2230,2747,3523,0,0,0,0,0,0
$GC,1229,-0.63,-146.0,140.8,-12.5,183,1233,0.15,2.03,0.00,0.000,4,0.181,0.073,2264,3931,3523,0,0,0,0,0,0
$GC,1275,-0.66,-146.0,145.7,-9.9,187,1280,0.00,1.95,0.00,0.000,6,0.000,0.049,2265,2736,3523,0,0,0,0,0,0
$GC,1606,-0.69,-146.0,177.6,-9.3,218,1610,0.00,2.20,0.00,0.000,4,0.000,0.052,2265,1371,3522,0,0,0,0,0,0
$GC,1647,-0.73,-146.0,181.5,-9.2,221,1652,0.00,2.28,0.00,0.000,6,0.000,0.063,2263,2736,3522,0,0,0,0,0,0
$GC,1980,-0.75,-146.0,213.6,-9.3,252,1984,0.00,2.03,0.00,0.000,4,0.000,0.073,2254,3932,3522,0,0,0,0,0,0
$GC,2072,-0.79,-146.0,222.8,-10.4,260,2075,0.00,1.90,0.00,0.000,6,0.000,0.049,2254,2756,3521,0,0,0,0,0,0
$GC,2403,-0.79,-146.0,256.1,-9.8,291,2407,0.00,2.25,0.00,0.000,4,0.000,0.051,2254,1360,3521,0,0,0,0,0,0
$GC,2443,-0.82,-146.0,260.4,-10.5,294,2448,0.12,2.33,0.00,0.000,6,0.103,0.061,2198,2763,3521,0,0,0,0,0,0
$GC,2769,-0.74,-146.0,303.3,-13.0,324,2773,0.15,2.03,0.00,0.000,4,0.179,0.072,2231,3936,3521,0,0,0,0,0,0
$GC,2842,-0.74,-146.0,311.6,-11.3,330,2846,0.00,1.90,0.00,0.000,6,0.000,0.049,2230,2758,3521,0,0,0,0,0,0
$GC,3173,-0.74,-146.0,345.6,-10.0,361,3177,0.00,2.22,0.00,0.000,4,0.000,0.051,2231,1365,3521,0,0,0,0,0,0
$GC,3206,-0.74,-146.0,349.2,-10.1,363,3213,0.00,2.33,0.00,0.000,6,0.000,0.063,2230,2754,3521,0,0,0,0,0,0
$GC,3531,-0.74,-146.0,383.8,-11.0,394,3535,0.00,2.25,0.00,0.000,4,0.000,0.051,2230,1366,3521,0,0,0,0,0,0
$GC,3575,-0.74,-146.0,388.9,-10.7,397,3582,0.00,2.28,0.00,0.000,6,0.000,0.061,2230,2743,3521,0,0,0,0,0,0
$GC,3903,-0.74,-146.0,424.7,-10.8,415,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2743,3521,0,0,0,0,0,0
$STATE,4182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4182,begin apogee
$GC,4188,-0.14,0.0,453.0,10.3,424,4318,0.60,0.00,121.05,0.887,4,0.136,0.000,2423,2600,2923,0,0,0,0,0,0
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4319,begin climb
$GC,4322,0.57,146.0,458.6,0.0,428,4458,0.68,2.40,126.88,0.865,4,0.073,0.051,2659,1185,2327,0,0,0,0,0,0
$GC,4616,-1.23,146.0,438.5,16218.7,437,4625,2.03,2.45,0.00,0.000,6,0.151,0.056,2085,2600,2318,0,0,0,0,0,0
$GC,4946,-1.23,146.0,405.2,16218.7,448,4950,0.00,2.33,0.00,0.000,4,0.000,0.053,2085,1179,2311,0,0,0,0,0,0
$GC,5204,-1.23,146.0,372.9,16218.7,467,5210,0.00,2.33,0.00,0.000,6,0.000,0.058,2074,2581,2310,0,0,0,0,0,0
$GC,5529,-1.23,146.0,333.0,16218.7,498,5534,0.00,2.25,0.00,0.000,4,0.000,0.052,2074,1184,2308,0,0,0,0,0,0
$GC,5790,-1.23,146.0,297.4,16218.7,521,5795,0.00,2.28,0.00,0.000,6,0.000,0.058,2063,2564,2310,0,0,0,0,0,0
$GC,6116,-1.23,146.0,257.2,16218.7,551,6120,0.00,2.22,0.00,0.000,4,0.000,0.051,2063,1188,2310,0,0,0,0,0,0
$GC,6146,-1.23,146.0,253.0,16218.7,553,6150,0.00,2.22,0.00,0.000,6,0.000,0.060,2058,2542,2310,0,0,0,0,0,0
$GC,6472,-1.23,146.0,210.8,16218.7,583,6476,0.00,2.35,0.00,0.000,4,0.000,0.069,2047,3927,2309,0,0,0,0,0,0
$GC,6728,-1.23,146.0,171.3,16218.7,605,6736,0.12,2.28,0.00,0.000,6,0.174,0.049,2079,2524,2309,0,0,0,0,0,0
$GC,7054,-1.23,146.0,129.4,16218.7,636,7058,0.00,2.35,0.00,0.000,4,0.000,0.063,2068,3929,2307,0,0,0,0,0,0
$GC,7314,-1.23,146.0,94.5,16218.7,662,7321,0.00,2.33,0.00,0.000,6,0.000,0.048,2068,2507,2309,0,0,0,0,0,0
$GC,7661,-1.23,146.0,52.5,16218.7,723,7667,0.00,2.40,0.00,0.000,4,0.000,0.065,2057,3928,2306,0,0,0,0,0,0
$GC,7675,-1.23,146.0,50.8,16218.7,725,7682,0.00,2.28,0.00,0.000,6,0.000,0.047,2057,2536,2308,0,0,0,0,0,0
$FREEZE,8.97,-1.175,-1.760,2,4,0
$GC,8024,-1.23,146.0,9.0,16218.7,786,8030,0.00,2.38,0.00,0.000,4,0.000,0.068,2045,3926,2307,0,0,0,0,0,0
$FREEZE,6.65,-1.223,-1.761,2,4,0
$FREEZE,6.07,-0.987,-1.746,2,4,0
$FREEZE,5.41,-0.975,-1.745,2,4,0
$FREEZE,4.53,-1.465,-1.774,2,4,0
$FREEZE,3.91,-1.610,-1.783,2,4,0
$FREEZE,3.43,-1.391,-1.769,2,4,0
$FREEZE,2.77,-1.400,-1.769,2,4,0
$STATE,8066,end climb,SURFACE_DEPTH_REACHED
$STATE,8067,begin surface coast
$FREEZE,1.98,-1.495,-1.774,2,4,0
$FINISH,2.0,1.026042
$STATE,8073,end surface coast,CONTROL_FINISHED_OK
$STATE,8075,begin surface
$SM_CCo,8092,288.92,0.083,0,0,440,609.08
$SM_GC,1.53,0.00,0.00,288.92,0.000,0.000,0.083,296,2773,440,-6.81,-0.20,609.08
$RAFOS_CLK,485
$RAFOS,6,1294058964,12.833333,12.823334,56,45,45,43,43,41,1714,267,1175,1006,1583,1727
$RAFOS,5,1294058472,12.700000,12.686666,112,48,45,45,41,41,565,1334,399,1051,1807,362
$RAFOS,4,1294057985,12.566667,12.551389,99,50,48,40,39,39,691,1528,543,1777,183,1289
$RAFOS,3,1294057508,12.433333,12.418889,68,45,44,44,43,42,774,1335,77,1046,251,596
$RAFOS,2,1294057026,12.300000,12.285000,57,51,45,44,44,42,1630,1682,551,589,1255,790
$RAFOS,1,1294056548,12.166667,12.152223,50,47,45,42,42,42,840,1912,1416,449,548,1688
$RAFOS,0,1294056064,12.033333,12.017777,51,44,43,42,41,41,914,377,827,26,1211,1507
$RAFOS_FIX,6647.543945,-5802.642090,030111,121212,3,93,0.29
$IRIDIUM_FIX,6614.97,-5737.16,010111,171715
$TT8_MAMPS,0.028462
$HUMID,46.65
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,453.0,9.2
$24V_AH,21.8,77.624
$10V_AH,9.8,53.568
$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,9.150,80.300,247.925,288.925,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2026.591,4227.397,573.613,1450.869,175.522,0.000,1338.624,0.000,1439.151,2520.000,12.378,0.000
$DEVICE_MAMPS,181.305,85.680,886.635,82.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30123,795
$CAP_FILE_SIZE,96763,0
$CFSIZE,260165632,205045760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$GPS,030111,140106,6649.312,-5802.324,38,0.9,38,-37.6