version: 66.08
glider: 183
mission: 3
dive: 677
start: 1 3 111 18 42 25
data:
$ID,183
$MISSION,3
$DIVE,677
$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,-11344.579
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,030111,165855,6650.562,-5800.413,9,1.3,15,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.75
$_SM_ANGLEo,0.2
$GPS2,030111,165855,6650.562,-5800.413,9,1.3,15,-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,103.8,57142,-17.5,-10.000
$D_GRID,770
$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,-6.12,0.000,2,0.000,0.000,2493,3929,2909,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.9,-0.0,1,53,0.57,4.25,-15.00,0.000,4,0.114,0.054,2297,1362,3521,0,0,0,0,0,0
$GC,125,-0.60,-146.0,17.4,-10.6,17,131,0.00,2.35,0.00,0.000,6,0.000,0.060,2293,2783,3523,0,0,0,0,0,0
$GC,471,-0.64,-146.0,54.8,-9.0,78,478,0.00,2.30,0.00,0.000,4,0.000,0.050,2293,1364,3523,0,0,0,0,0,0
$GC,538,-0.70,-146.0,61.2,-8.9,89,545,0.12,2.33,0.00,0.000,6,0.104,0.061,2240,2756,3523,0,0,0,0,0,0
$GC,888,-0.66,-146.0,105.3,-12.1,147,892,0.00,1.98,0.00,0.000,4,0.000,0.072,2232,3929,3522,0,0,0,0,0,0
$GC,927,-0.62,-146.0,110.5,-12.4,150,935,0.15,1.90,0.00,0.000,6,0.164,0.047,2273,2760,3523,0,0,0,0,0,0
$GC,1254,-0.67,-146.0,139.2,-8.7,181,1258,0.00,2.22,0.00,0.000,4,0.000,0.051,2273,1365,3522,0,0,0,0,0,0
$GC,1355,-0.74,-146.0,147.9,-8.6,189,1362,0.10,2.33,0.00,0.000,6,0.113,0.061,2230,2756,3522,0,0,0,0,0,0
$GC,1681,-0.70,-146.0,183.7,-11.1,220,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2756,3522,0,0,0,0,0,0
$GC,2001,-0.67,-146.0,218.1,-10.5,250,2005,0.00,2.22,0.00,0.000,4,0.000,0.050,2230,1369,3523,0,0,0,0,0,0
$GC,2029,-0.65,-146.0,221.4,-10.7,252,2036,0.12,2.33,0.00,0.000,6,0.180,0.061,2262,2760,3523,0,0,0,0,0,0
$GC,2355,-0.68,-146.0,249.5,-8.7,283,2359,0.00,2.25,0.00,0.000,4,0.000,0.050,2262,1368,3523,0,0,0,0,0,0
$GC,2400,-0.73,-146.0,253.7,-8.9,286,2407,0.00,2.30,0.00,0.000,6,0.000,0.060,2259,2745,3523,0,0,0,0,0,0
$GC,2726,-0.77,-146.0,282.6,-9.0,317,2730,0.00,2.20,0.00,0.000,4,0.000,0.050,2259,1366,3523,0,0,0,0,0,0
$GC,2750,-0.80,-146.0,284.8,-8.9,318,2757,0.12,2.30,0.00,0.000,6,0.102,0.060,2203,2745,3523,0,0,0,0,0,0
$GC,3076,-0.73,-146.0,324.2,-12.0,349,3080,0.12,2.03,0.00,0.000,4,0.184,0.071,2228,3935,3523,0,0,0,0,0,0
$GC,3121,-0.73,-146.0,329.3,-11.1,353,3125,0.00,1.92,0.00,0.000,6,0.000,0.047,2228,2750,3523,0,0,0,0,0,0
$GC,3452,-0.70,-146.0,363.7,-10.6,384,3456,0.00,2.22,0.00,0.000,4,0.000,0.050,2228,1361,3523,0,0,0,0,0,0
$GC,3482,-0.70,-146.0,366.9,-11.4,386,3486,0.00,2.30,0.00,0.000,6,0.000,0.060,2222,2753,3523,0,0,0,0,0,0
$GC,3817,-0.67,-146.0,403.6,-11.0,415,3819,0.12,0.00,0.00,0.000,6,0.181,0.000,2255,2753,3523,0,0,0,0,0,0
$GC,4124,-0.71,-146.0,429.9,-8.3,425,4128,0.00,1.98,0.00,0.000,4,0.000,0.071,2249,3928,3523,0,0,0,0,0,0
$GC,4152,-0.74,-146.0,432.6,-9.0,425,4159,0.00,1.92,0.00,0.000,6,0.000,0.047,2249,2746,3523,0,0,0,0,0,0
$GC,4466,-0.76,-146.0,460.8,-9.1,436,4470,0.00,2.20,0.00,0.000,4,0.000,0.049,2249,1370,3523,0,0,0,0,0,0
$GC,4496,-0.80,-146.0,463.6,-9.3,437,4500,0.00,2.30,0.00,0.000,6,0.000,0.060,2247,2760,3523,0,0,0,0,0,0
$GC,4833,-0.82,-146.0,493.8,-8.9,448,4834,0.10,0.00,0.00,0.000,6,0.121,0.000,2201,2760,3523,0,0,0,0,0,0
$GC,5139,-0.76,-146.0,529.5,-11.9,458,5141,0.12,0.00,0.00,0.000,6,0.178,0.000,2233,2760,3523,0,0,0,0,0,0
$GC,5444,-0.76,-146.0,559.2,-9.4,468,5448,0.00,2.22,0.00,0.000,4,0.000,0.051,2233,1372,3523,0,0,0,0,0,0
$GC,5474,-0.76,-146.0,562.0,-9.2,469,5478,0.00,2.30,0.00,0.000,6,0.000,0.061,2233,2758,3523,0,0,0,0,0,0
$GC,5810,-0.76,-146.0,593.7,-9.6,480,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2757,3522,0,0,0,0,0,0
$GC,6115,-0.76,-146.0,623.6,-9.7,490,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2758,3523,0,0,0,0,0,0
$STATE,6391,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6391,begin apogee
$GC,6398,-0.14,0.0,650.2,9.7,499,6529,0.57,0.00,124.62,1.003,4,0.134,0.000,2421,2601,2923,0,0,0,0,0,0
$STATE,6530,end apogee,CONTROL_FINISHED_OK
$STATE,6530,begin climb
$GC,6533,0.57,146.0,655.3,0.0,503,6672,0.68,2.45,131.90,0.977,4,0.066,0.050,2660,1183,2327,0,0,0,0,0,0
$GC,6813,0.57,152.7,635.0,9.7,511,6824,0.00,2.50,6.30,0.778,6,0.000,0.055,2660,2607,2300,0,0,0,0,0,0
$GC,7148,0.54,152.7,599.0,11.0,522,7152,0.00,2.33,0.00,0.000,4,0.000,0.052,2661,1187,2295,0,0,0,0,0,0
$GC,7383,0.54,152.7,573.5,10.1,529,7387,0.00,2.33,0.00,0.000,6,0.000,0.057,2661,2606,2295,0,0,0,0,0,0
$GC,7719,0.50,152.7,536.2,11.2,540,7723,0.00,2.20,0.00,0.000,4,0.000,0.067,2662,3926,2293,0,0,0,0,0,0
$GC,7765,0.40,152.7,530.2,13.5,541,7770,0.20,2.12,0.00,0.000,6,0.194,0.045,2611,2601,2292,0,0,0,0,0,0
$GC,8085,0.49,197.3,504.0,7.9,552,8131,0.00,2.38,39.05,0.904,4,0.000,0.068,2610,3935,2117,0,0,0,0,0,0
$GC,8150,0.56,224.6,498.5,8.7,554,8181,0.15,2.17,25.25,0.877,6,0.092,0.044,2675,2611,2007,0,0,0,0,0,0
$GC,8511,0.56,224.6,454.9,12.1,566,8515,0.00,2.28,0.00,0.000,4,0.000,0.053,2676,1191,1998,0,0,0,0,0,0
$GC,8540,0.56,224.6,451.4,12.3,567,8544,0.00,2.33,0.00,0.000,6,0.000,0.056,2676,2618,1998,0,0,0,0,0,0
$GC,8875,0.56,224.6,408.0,13.2,578,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2618,1996,0,0,0,0,0,0
$GC,9191,0.56,224.6,366.1,13.1,604,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2618,1996,0,0,0,0,0,0
$GC,9512,0.56,224.6,322.8,13.4,634,9517,0.00,2.30,0.00,0.000,4,0.000,0.054,2676,1188,1996,0,0,0,0,0,0
$GC,9542,0.59,224.6,318.7,12.7,636,9546,0.00,2.33,0.00,0.000,6,0.000,0.057,2676,2615,1996,0,0,0,0,0,0
$GC,9867,0.59,224.6,277.1,12.3,666,9871,0.00,2.17,0.00,0.000,4,0.000,0.067,2675,3925,1995,0,0,0,0,0,0
$GC,9891,0.57,224.6,273.9,14.2,667,9898,0.00,2.12,0.00,0.000,6,0.000,0.044,2677,2611,1993,0,0,0,0,0,0
$GC,10216,0.57,224.6,233.2,12.0,698,10220,0.00,2.30,0.00,0.000,4,0.000,0.053,2677,1180,1994,0,0,0,0,0,0
$GC,10255,0.61,224.6,228.8,11.4,701,10262,0.00,2.33,0.00,0.000,6,0.000,0.056,2677,2614,1993,0,0,0,0,0,0
$GC,10581,0.61,224.6,192.4,11.5,732,10585,0.00,2.20,0.00,0.000,4,0.000,0.067,2677,3927,1994,0,0,0,0,0,0
$GC,10630,0.58,224.6,185.7,13.2,736,10637,0.00,2.12,0.00,0.000,6,0.000,0.045,2679,2614,1993,0,0,0,0,0,0
$GC,10957,0.58,224.6,146.8,12.1,767,10961,0.00,2.28,0.00,0.000,4,0.000,0.052,2679,1186,1993,0,0,0,0,0,0
$GC,10997,0.63,224.6,142.1,11.0,770,11001,0.00,2.33,0.00,0.000,6,0.000,0.056,2679,2616,1993,0,0,0,0,0,0
$GC,11323,0.63,224.6,105.9,10.5,800,11327,0.00,2.30,0.00,0.000,4,0.000,0.053,2679,1188,1993,0,0,0,0,0,0
$GC,11363,0.69,224.6,101.7,10.2,803,11367,0.00,2.38,0.00,0.000,6,0.000,0.056,2679,2634,1993,0,0,0,0,0,0
$GC,11707,0.72,224.6,66.6,10.4,861,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2634,1993,0,0,0,0,0,0
$GC,12053,0.81,259.0,35.7,8.4,922,12089,0.15,2.38,28.10,0.636,4,0.100,0.052,2745,1182,1867,0,0,0,0,0,0
$GC,12143,0.81,259.0,25.8,12.4,937,12150,0.00,2.35,0.00,0.000,6,0.000,0.056,2744,2603,1864,0,0,0,0,0,0
$FREEZE,8.81,-1.750,-1.791,2,2,0
$STATE,12282,end climb,FINISH_DEPTH_REACHED
$STATE,12282,begin subsurface finish
$FINISH1,8.8,1.026224,63
$GC,12289,0.04,62.6,8.8,-12.2,961,12320,0.82,2.33,-24.65,0.000,4,0.155,0.083,2494,3925,2670,0,0,0,0,0,0
$FINISH2,6.7
$STATE,12321,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12321,begin surface
$RAFOS_CLK,702
$RAFOS,6,1294087770,20.833334,20.825001,116,50,45,45,44,41,589,1718,707,1380,1686,293
$RAFOS,5,1294087285,20.700001,20.690277,130,50,44,43,43,42,478,1723,1506,481,1451,307
$RAFOS,4,1294086784,20.566668,20.551111,60,46,44,43,41,41,711,1884,739,1897,276,359
$RAFOS,3,1294086319,20.433332,20.421944,90,45,45,44,42,41,744,744,912,71,1733,1188
$RAFOS,2,1294085829,20.299999,20.285833,48,45,45,43,43,42,1392,724,145,672,1448,1603
$RAFOS,1,1294085342,20.166666,20.150555,51,42,42,40,40,39,1609,162,481,601,873,1533
$RAFOS,0,1294084882,20.033333,20.022778,51,44,44,42,42,42,26,182,1408,799,1206,148
$RAFOS_FIX,6651.930664,-5758.999023,030111,202028,4,99,0.21
$IRIDIUM_FIX,6631.12,-6110.63,030111,161639
$TT8_MAMPS,0.029211
$HUMID,47.91
$INTERNAL_PRESSURE,8.65115
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.6
$ALTIM_BOTTOM_PING,650.2,11.9
$24V_AH,21.4,77.930
$10V_AH,9.7,53.743
$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,4.250,112.175,355.225,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2425.608,7615.900,404.493,1713.123,230.299,0.000,1336.009,0.000,1692.465,2520.000,22.296,0.000
$DEVICE_MAMPS,193.545,82.620,1002.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,36653,966
$CAP_FILE_SIZE,125007,0
$CFSIZE,260165632,204869632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,030111,203928,6651.931,-5758.999,0,4099.0,0,-37.6