version: 66.08
glider: 183
mission: 3
dive: 819
start: 1 24 111 4 15 17
data:
$ID,183
$MISSION,3
$DIVE,819
$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,-2
$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,-13322.154
$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,26
$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,5
$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
$GPS1,240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.19
$_SM_ANGLEo,-4.2
$GPS2,240111,002900,6641.039,-5929.655,0,5113.0,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,109.0,123621,-17.5,-10.000
$D_GRID,873
$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,-6.07,0.000,2,0.000,0.000,2495,1182,2823,0,0,0,0,0,0
$GC,29,-0.57,-146.0,6.5,-0.0,1,60,0.55,4.78,-21.48,0.000,4,0.079,0.073,2282,3931,3520,0,0,0,0,0,0
$GC,181,-0.54,-146.0,22.9,-11.5,27,187,0.00,1.88,0.00,0.000,6,0.000,0.048,2282,2777,3521,0,0,0,0,0,0
$GC,527,-0.51,-146.0,76.0,-10.1,88,534,0.00,2.30,0.00,0.000,4,0.000,0.052,2282,1368,3521,0,0,0,0,0,0
$GC,577,-0.51,-146.0,81.0,-9.9,96,584,0.12,2.38,0.00,0.000,6,0.177,0.063,2309,2782,3521,0,0,0,0,0,0
$GC,925,-0.56,-146.0,109.3,-8.1,147,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2782,3520,0,0,0,0,0,0
$GC,1252,-0.64,-146.0,136.8,-8.1,178,1257,0.12,2.33,0.00,0.000,4,0.100,0.053,2255,1373,3520,0,0,0,0,0,0
$GC,1326,-0.64,-146.0,145.1,-11.5,184,1330,0.00,2.38,0.00,0.000,6,0.000,0.064,2248,2779,3520,0,0,0,0,0,0
$GC,1653,-0.61,-146.0,183.0,-10.8,214,1657,0.10,2.35,0.00,0.000,4,0.194,0.053,2273,1370,3520,0,0,0,0,0,0
$GC,1670,-0.61,-146.0,185.1,-11.0,215,1675,0.00,2.35,0.00,0.000,6,0.000,0.064,2273,2761,3520,0,0,0,0,0,0
$GC,1998,-0.64,-146.0,215.3,-9.2,245,2002,0.00,2.03,0.00,0.000,4,0.000,0.075,2273,3932,3520,0,0,0,0,0,0
$GC,2036,-0.67,-146.0,218.7,-9.5,248,2040,0.00,1.95,0.00,0.000,6,0.000,0.049,2273,2757,3520,0,0,0,0,0,0
$GC,2369,-0.71,-146.0,248.8,-8.4,279,2373,0.00,2.28,0.00,0.000,4,0.000,0.053,2273,1368,3519,0,0,0,0,0,0
$GC,2433,-0.77,-146.0,254.6,-8.5,284,2437,0.12,2.35,0.00,0.000,6,0.098,0.064,2218,2756,3519,0,0,0,0,0,0
$GC,2759,-0.71,-146.0,292.1,-11.6,314,2760,0.10,0.00,0.00,0.000,6,0.189,0.000,2242,2756,3519,0,0,0,0,0,0
$GC,3077,-0.71,-146.0,326.2,-10.6,344,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2757,3519,0,0,0,0,0,0
$GC,3398,-0.71,-146.0,358.9,-10.1,374,3402,0.00,2.03,0.00,0.000,4,0.000,0.073,2235,3932,3519,0,0,0,0,0,0
$GC,3433,-0.71,-146.0,362.8,-10.9,377,3437,0.00,1.95,0.00,0.000,6,0.000,0.048,2235,2738,3519,0,0,0,0,0,0
$GC,3765,-0.71,-146.0,399.2,-10.9,408,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2737,3519,0,0,0,0,0,0
$GC,4081,-0.71,-146.0,433.4,-10.4,419,4085,0.00,2.10,0.00,0.000,4,0.000,0.074,2227,3933,3519,0,0,0,0,0,0
$GC,4104,-0.68,-146.0,435.9,-10.2,419,4108,0.00,1.92,0.00,0.000,6,0.000,0.048,2227,2756,3519,0,0,0,0,0,0
$GC,4424,-0.66,-146.0,468.6,-10.0,430,4429,0.12,2.28,0.00,0.000,4,0.171,0.051,2261,1369,3520,0,0,0,0,0,0
$GC,4452,-0.69,-146.0,471.4,-8.8,430,4459,0.00,2.35,0.00,0.000,6,0.000,0.062,2261,2764,3519,0,0,0,0,0,0
$GC,4767,-0.74,-146.0,495.2,-7.7,441,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2764,3520,0,0,0,0,0,0
$GC,5072,-0.78,-146.0,518.6,-7.7,451,5077,0.12,2.33,0.00,0.000,4,0.101,0.050,2201,1362,3520,0,0,0,0,0,0
$GC,5102,-0.75,-146.0,521.6,-10.5,452,5107,0.15,2.35,0.00,0.000,6,0.164,0.061,2230,2748,3520,0,0,0,0,0,0
$GC,5444,-0.75,-146.0,555.9,-10.2,463,5448,0.00,2.03,0.00,0.000,4,0.000,0.072,2223,3928,3520,0,0,0,0,0,0
$GC,5479,-0.72,-146.0,559.6,-11.0,464,5483,0.00,1.92,0.00,0.000,6,0.000,0.047,2223,2743,3520,0,0,0,0,0,0
$GC,5821,-0.70,-146.0,596.1,-10.5,475,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2743,3520,0,0,0,0,0,0
$STATE,5883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5883,begin apogee
$GC,5891,-0.14,0.0,602.7,10.5,477,6021,0.62,0.00,123.75,0.986,4,0.132,0.000,2422,2598,2923,0,0,0,0,0,0
$STATE,6022,end apogee,CONTROL_FINISHED_OK
$STATE,6022,begin climb
$GC,6026,0.57,146.0,608.0,0.0,481,6167,0.68,2.42,132.07,0.958,4,0.066,0.050,2660,1187,2326,0,0,0,0,0,0
$GC,6336,-1.84,146.0,584.7,22579.6,490,6348,2.65,2.47,0.00,0.000,6,0.142,0.056,1893,2603,2316,0,0,0,0,0,0
$GC,6655,-1.84,146.0,534.8,22579.6,501,6659,0.00,2.28,0.00,0.000,4,0.000,0.044,1893,1170,2309,0,0,0,0,0,0
$GC,6914,-1.84,146.0,486.2,22579.6,508,6918,0.00,2.33,0.00,0.000,6,0.000,0.059,1881,2575,2309,0,0,0,0,0,0
$GC,7233,-1.84,146.0,429.2,22579.6,519,7237,0.00,2.25,0.00,0.000,4,0.000,0.047,1881,1173,2308,0,0,0,0,0,0
$GC,7492,-1.84,146.0,381.1,22579.6,532,7499,0.00,2.38,0.00,0.000,6,0.000,0.050,1869,2633,2307,0,0,0,0,0,0
$GC,7818,-1.84,146.0,321.3,22579.6,563,7822,0.00,2.33,0.00,0.000,4,0.000,0.043,1868,1166,2306,0,0,0,0,0,0
$GC,7927,-1.84,146.0,301.2,22579.6,572,7931,0.00,2.35,0.00,0.000,6,0.000,0.057,1857,2582,2308,0,0,0,0,0,0
$GC,8258,-1.84,146.0,247.6,22579.6,603,8262,0.00,2.25,0.00,0.000,4,0.000,0.050,1856,1180,2307,0,0,0,0,0,0
$GC,8518,-1.84,146.0,205.1,22579.6,626,8523,0.17,2.30,0.00,0.000,6,0.254,0.056,1879,2575,2307,0,0,0,0,0,0
$GC,8850,-1.84,146.0,143.4,22579.6,657,8854,0.00,2.25,0.00,0.000,4,0.000,0.059,1871,3928,2306,0,0,0,0,0,0
$GC,9111,-1.84,146.0,97.8,22579.6,681,9117,0.00,2.25,0.00,0.000,6,0.000,0.045,1870,2549,2306,0,0,0,0,0,0
$GC,9459,-1.84,146.0,52.5,22579.6,742,9465,0.00,2.35,0.00,0.000,4,0.000,0.062,1859,3936,2305,0,0,0,0,0,0
$GC,9570,-1.84,146.0,33.2,22579.6,761,9577,0.00,2.15,0.00,0.000,6,0.000,0.047,1859,2625,2306,0,0,0,0,0,0
$FREEZE,8.40,-1.740,-1.775,3,37,0
$STATE,9767,end climb,FINISH_DEPTH_REACHED
$STATE,9767,begin subsurface finish
$FINISH1,8.4,1.025989,74
$GC,9774,0.05,74.1,8.4,-22579.6,796,9793,2.40,0.00,-10.75,0.000,6,0.203,0.000,2482,2624,2622,0,0,0,0,0,0
$FINISH2,5.7
$STATE,9794,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$RAFOS_CLK,569
$RAFOS,6,1295844547,4.833333,4.818611,40,40,39,39,38,37,1320,55,282,733,392,1164
$RAFOS,5,1295844070,4.700000,4.686111,47,45,43,42,42,40,728,1791,1565,795,1383,1291
$RAFOS,4,1295843584,4.566667,4.551111,121,44,44,43,42,41,607,1580,1812,1595,1194,316
$RAFOS,3,1295843106,4.433333,4.418334,116,45,44,42,42,41,669,1808,1732,226,674,273
$RAFOS,2,1295842621,4.300000,4.283611,84,46,43,42,42,42,653,1670,1674,1208,1308,26
$RAFOS,1,1295842147,4.166667,4.151945,90,44,41,40,39,39,623,760,855,923,1598,1729
$RAFOS_FIX,6640.506836,-5925.840820,240111,040456,4,103,0.21
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.029211
$HUMID,49.84
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,602.7,12.0
$24V_AH,21.2,92.509
$10V_AH,9.6,63.016
$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,8.050,83.150,255.825,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2067.496,5767.695,295.434,1527.665,203.157,0.000,1107.217,0.000,1509.891,1800.000,17.890,0.000
$DEVICE_MAMPS,253.980,74.970,986.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.655,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,30093,799
$CAP_FILE_SIZE,102046,0
$CFSIZE,260165632,196141056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.6
$GPS,240111,042256,6640.507,-5925.841,0,4102.8,0,-38.2