version: 66.08
glider: 183
mission: 3
dive: 685
start: 1 4 111 13 43 27
data:
$ID,183
$MISSION,3
$DIVE,685
$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,-11350.861
$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,36
$R_STBD_OVSHOOT,20
$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
$GPS1,040111,132837,6655.113,-5738.609,38,1.1,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.9
$GPS2,040111,134256,6655.255,-5738.878,14,1.1,14,-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,106.3,39442,-17.5,-10.000
$D_GRID,802
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,164,0.00,0.00,-140.70,0.000,2,0.000,0.000,299,2786,3301,0,0,0,0,0,0
$GC,167,-0.57,-146.0,5.0,-9.3,25,187,8.48,1.95,-4.53,0.000,4,0.248,0.081,2276,3931,3522,0,0,0,0,0,0
$GC,346,-0.57,-146.0,40.6,-12.1,56,353,0.00,1.90,0.00,0.000,6,0.000,0.050,2276,2777,3523,0,0,0,0,0,0
$GC,692,-0.57,-146.0,77.8,-10.0,117,699,0.00,2.28,0.00,0.000,4,0.000,0.053,2276,1372,3523,0,0,0,0,0,0
$GC,770,-0.60,-146.0,84.8,-8.5,130,777,0.00,2.33,0.00,0.000,6,0.000,0.064,2275,2762,3523,0,0,0,0,0,0
$GC,1106,-0.60,-146.0,115.3,-9.0,175,1110,0.00,2.25,0.00,0.000,4,0.000,0.053,2275,1369,3523,0,0,0,0,0,0
$GC,1140,-0.63,-146.0,118.4,-8.8,177,1148,0.00,2.33,0.00,0.000,6,0.000,0.064,2275,2761,3523,0,0,0,0,0,0
$GC,1466,-0.65,-146.0,150.6,-10.9,208,1470,0.00,2.00,0.00,0.000,4,0.000,0.075,2275,3933,3523,0,0,0,0,0,0
$GC,1562,-0.70,-146.0,161.3,-10.9,216,1569,0.00,1.92,0.00,0.000,6,0.000,0.050,2274,2763,3522,0,0,0,0,0,0
$GC,1889,-0.74,-146.0,194.2,-9.9,247,1894,0.10,2.25,0.00,0.000,4,0.114,0.051,2226,1372,3522,0,0,0,0,0,0
$GC,1945,-0.71,-146.0,201.2,-12.2,251,1952,0.00,2.35,0.00,0.000,6,0.000,0.064,2223,2765,3522,0,0,0,0,0,0
$GC,2272,-0.65,-146.0,242.3,-12.7,282,2274,0.15,0.00,0.00,0.000,6,0.177,0.000,2264,2765,3522,0,0,0,0,0,0
$GC,2589,-0.68,-146.0,271.3,-8.6,312,2593,0.00,2.25,0.00,0.000,4,0.000,0.052,2264,1370,3523,0,0,0,0,0,0
$GC,2665,-0.73,-146.0,277.6,-7.9,318,2669,0.00,2.35,0.00,0.000,6,0.000,0.063,2263,2771,3523,0,0,0,0,0,0
$GC,2996,-0.75,-146.0,304.3,-7.2,349,3000,0.00,2.28,0.00,0.000,4,0.000,0.051,2263,1369,3523,0,0,0,0,0,0
$GC,3036,-0.80,-146.0,307.3,-7.4,352,3044,0.12,2.35,0.00,0.000,6,0.097,0.063,2203,2763,3523,0,0,0,0,0,0
$GC,3362,-0.71,-146.0,342.6,-11.4,383,3366,0.15,2.03,0.00,0.000,4,0.183,0.072,2236,3935,3524,0,0,0,0,0,0
$GC,3445,-0.71,-146.0,350.2,-8.9,390,3448,0.00,1.92,0.00,0.000,6,0.000,0.048,2236,2758,3524,0,0,0,0,0,0
$GC,3776,-0.71,-146.0,381.5,-9.7,421,3780,0.00,2.22,0.00,0.000,4,0.000,0.050,2235,1363,3525,0,0,0,0,0,0
$GC,3799,-0.71,-146.0,383.7,-8.9,422,3806,0.00,2.35,0.00,0.000,6,0.000,0.061,2235,2765,3524,0,0,0,0,0,0
$GC,4131,-0.71,-146.0,414.5,-9.2,444,4135,0.00,2.03,0.00,0.000,4,0.000,0.072,2231,3933,3525,0,0,0,0,0,0
$GC,4183,-0.71,-146.0,419.8,-9.6,445,4186,0.00,1.90,0.00,0.000,6,0.000,0.048,2231,2770,3525,0,0,0,0,0,0
$STATE,4509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4509,begin apogee
$GC,4516,-0.14,0.0,450.9,9.6,456,4647,0.60,0.00,122.05,0.887,4,0.138,0.000,2423,2593,2922,0,0,0,0,0,0
$STATE,4647,end apogee,CONTROL_FINISHED_OK
$STATE,4647,begin climb
$GC,4650,0.57,146.0,454.9,0.0,460,4786,0.68,2.40,127.05,0.866,4,0.075,0.050,2657,1184,2327,0,0,0,0,0,0
$GC,4937,-1.21,146.0,432.3,17557.5,469,4947,2.00,2.45,0.00,0.000,6,0.155,0.056,2097,2600,2318,0,0,0,0,0,0
$GC,5273,-1.21,146.0,397.4,17557.5,480,5277,0.00,2.30,0.00,0.000,4,0.000,0.052,2097,1186,2311,0,0,0,0,0,0
$GC,5533,-1.21,146.0,366.4,17557.5,503,5537,0.00,2.30,0.00,0.000,6,0.000,0.054,2086,2595,2309,0,0,0,0,0,0
$GC,5859,-1.21,146.0,329.3,17557.5,533,5863,0.00,2.28,0.00,0.000,4,0.000,0.050,2085,1184,2309,0,0,0,0,0,0
$GC,6118,-1.21,146.0,298.1,17557.5,555,6125,0.00,2.30,0.00,0.000,6,0.000,0.060,2085,2569,2310,0,0,0,0,0,0
$GC,6444,-1.21,146.0,261.2,17557.5,586,6448,0.00,2.28,0.00,0.000,4,0.000,0.063,2073,3932,2307,0,0,0,0,0,0
$GC,6704,-1.21,146.0,225.9,17557.5,609,6708,0.00,2.28,0.00,0.000,6,0.000,0.046,2073,2530,2306,0,0,0,0,0,0
$GC,7030,-1.21,146.0,183.1,17557.5,639,7034,0.00,2.38,0.00,0.000,4,0.000,0.071,2071,3926,2309,0,0,0,0,0,0
$GC,7288,-1.21,146.0,148.4,17557.5,661,7295,0.00,2.25,0.00,0.000,6,0.000,0.047,2071,2533,2307,0,0,0,0,0,0
$GC,7614,-1.21,146.0,105.7,17557.5,692,7619,0.00,2.40,0.00,0.000,4,0.000,0.069,2062,3932,2309,0,0,0,0,0,0
$GC,7847,0.02,146.0,69.8,14.7,729,7855,1.38,2.25,0.00,0.000,6,0.139,0.047,2481,2538,2308,0,0,0,0,0,0
$GC,8196,0.52,256.1,51.5,4.9,790,8299,0.43,2.47,89.32,0.646,4,0.090,0.069,2641,3918,1877,0,0,0,0,0,0
$GC,8392,0.65,293.3,38.0,8.3,823,8433,0.12,2.28,31.35,0.634,6,0.106,0.045,2691,2539,1725,0,0,0,0,0,0
$FREEZE,8.96,-1.706,-1.792,0,1,0
$FREEZE,8.43,-1.704,-1.792,0,1,0
$FREEZE,7.90,-1.695,-1.791,0,1,0
$FREEZE,7.49,-1.692,-1.791,0,1,0
$FREEZE,6.92,-1.695,-1.790,0,1,0
$FREEZE,6.33,-1.696,-1.790,0,1,0
$FREEZE,6.00,-1.694,-1.790,0,1,0
$FREEZE,5.52,-1.686,-1.789,0,1,0
$FREEZE,4.89,-1.688,-1.789,0,1,0
$FREEZE,4.23,-1.690,-1.788,0,1,0
$FREEZE,3.89,-1.689,-1.788,0,1,0
$FREEZE,3.61,-1.689,-1.788,0,1,0
$FREEZE,3.15,-1.691,-1.787,0,1,0
$FREEZE,2.64,-1.688,-1.787,0,1,0
$STATE,8765,end climb,SURFACE_DEPTH_REACHED
$STATE,8765,begin surface coast
$FREEZE,2.20,-1.688,-1.787,0,1,0
$FREEZE,1.72,-1.690,-1.786,0,1,0
$FREEZE,1.13,-1.688,-1.786,0,1,0
$FREEZE,0.91,-1.534,-1.559,0,1,0
$FREEZE,1.14,-1.609,-1.781,0,1,0
$FREEZE,0.99,-1.683,-1.785,0,1,0
$FREEZE,0.84,-1.651,-0.963,0,1,0
$FINISH,0.8,1.014199
$STATE,8804,end surface coast,CONTROL_FINISHED_OK
$STATE,8805,begin surface
$SM_CCo,8823,208.57,0.086,0,0,441,609.08
$SM_GC,1.69,0.00,0.00,208.57,0.000,0.000,0.086,301,2789,441,-6.79,0.25,609.08
$RAFOS_CLK,467
$RAFOS,0,1294156866,16.033333,16.018333,45,44,42,41,40,39,26,1900,394,145,1176,1596
$RAFOS_FIX,6655.279785,-5742.860352,040111,121228,4,99,1.07
$IRIDIUM_FIX,6631.12,-5711.93,040111,111139
$TT8_MAMPS,0.031458
$HUMID,45.62
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.7
$ALTIM_BOTTOM_PING,450.9,9.4
$24V_AH,21.8,78.695
$10V_AH,9.7,54.166
$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,20.750,76.525,369.775,208.575,0.000,31.751,42.267,428.974,1.750,0.000,16.778,2165.300,4445.292,683.588,2080.971,526.242,0.000,1560.754,0.000,1599.362,720.000,16.950,0.000
$DEVICE_MAMPS,247.860,81.090,887.400,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,33393,897
$CAP_FILE_SIZE,112870,0
$CFSIZE,260165632,204488704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,040111,161525,6656.679,-5738.396,36,1.9,36,-37.6