version: 66.08
glider: 183
mission: 3
dive: 830
start: 1 26 111 1 21 45
data:
$ID,183
$MISSION,3
$DIVE,830
$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,-13324.667
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.50
$_SM_ANGLEo,3.3
$GPS2,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6
$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,101.7,85535,-17.5,-10.000
$D_GRID,747
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2494,3922,2926,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.2,-0.0,1,53,0.57,4.30,-15.60,0.000,4,0.109,0.055,2296,1362,3523,0,0,0,0,0,0
$GC,169,-0.61,-146.0,22.5,-8.4,25,176,0.00,2.38,0.00,0.000,6,0.000,0.062,2293,2773,3524,0,0,0,0,0,0
$GC,517,-0.64,-146.0,56.7,-9.5,86,524,0.00,2.00,0.00,0.000,4,0.000,0.073,2286,3936,3523,0,0,0,0,0,0
$GC,560,-0.67,-146.0,61.6,-10.2,93,567,0.00,1.90,0.00,0.000,6,0.000,0.047,2286,2781,3523,0,0,0,0,0,0
$GC,908,-0.71,-146.0,97.0,-9.7,154,916,0.12,2.33,0.00,0.000,4,0.103,0.051,2231,1362,3522,0,0,0,0,0,0
$GC,1014,-0.69,-146.0,111.2,-13.6,165,1018,0.00,2.38,0.00,0.000,6,0.000,0.063,2230,2770,3522,0,0,0,0,0,0
$GC,1340,-0.62,-146.0,159.1,-15.5,195,1345,0.15,2.33,0.00,0.000,4,0.177,0.052,2271,1373,3521,0,0,0,0,0,0
$GC,1392,-0.68,-146.0,166.4,-12.6,199,1396,0.00,2.33,0.00,0.000,6,0.000,0.064,2271,2750,3521,0,0,0,0,0,0
$GC,1718,-0.71,-146.0,205.7,-11.5,229,1722,0.00,2.05,0.00,0.000,4,0.000,0.074,2271,3936,3521,0,0,0,0,0,0
$GC,1765,-0.77,-146.0,210.6,-10.1,233,1769,0.15,1.98,0.00,0.000,6,0.094,0.049,2207,2738,3521,0,0,0,0,0,0
$GC,2096,-0.69,-146.0,255.5,-12.8,264,2101,0.15,2.10,0.00,0.000,4,0.176,0.074,2241,3927,3521,0,0,0,0,0,0
$GC,2125,-0.65,-146.0,258.9,-11.4,266,2129,0.00,1.95,0.00,0.000,6,0.000,0.048,2241,2749,3521,0,0,0,0,0,0
$GC,2457,-0.65,-146.0,293.9,-10.8,297,2461,0.00,2.22,0.00,0.000,4,0.000,0.051,2241,1370,3520,0,0,0,0,0,0
$GC,2498,-0.65,-146.0,297.8,-9.1,300,2503,0.12,2.33,0.00,0.000,6,0.171,0.063,2267,2747,3521,0,0,0,0,0,0
$GC,2824,-0.69,-146.0,321.3,-6.9,330,2828,0.00,2.05,0.00,0.000,4,0.000,0.073,2260,3935,3521,0,0,0,0,0,0
$GC,2864,-0.74,-146.0,324.4,-7.8,333,2871,0.00,1.98,0.00,0.000,6,0.000,0.047,2260,2738,3521,0,0,0,0,0,0
$GC,3191,-0.77,-146.0,348.9,-8.2,364,3192,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2738,3521,0,0,0,0,0,0
$GC,3512,-0.81,-146.0,376.4,-9.1,394,3516,0.12,2.10,0.00,0.000,4,0.104,0.074,2194,3929,3521,0,0,0,0,0,0
$GC,3536,-0.77,-146.0,379.5,-10.8,396,3541,0.12,1.92,0.00,0.000,6,0.172,0.047,2223,2759,3521,0,0,0,0,0,0
$GC,3875,-0.74,-146.0,417.1,-10.8,418,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2759,3521,0,0,0,0,0,0
$GC,4178,-0.71,-146.0,448.5,-10.3,428,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2759,3522,0,0,0,0,0,0
$GC,4484,-0.68,-146.0,480.1,-10.2,438,4489,0.10,2.30,0.00,0.000,4,0.186,0.050,2252,1362,3522,0,0,0,0,0,0
$GC,4507,-0.68,-146.0,482.4,-9.8,438,4514,0.00,2.40,0.00,0.000,6,0.000,0.061,2248,2773,3522,0,0,0,0,0,0
$GC,4821,-0.68,-146.0,509.3,-8.6,449,4825,0.00,2.00,0.00,0.000,4,0.000,0.072,2241,3929,3522,0,0,0,0,0,0
$GC,4877,-0.71,-146.0,514.6,-9.6,450,4881,0.00,1.92,0.00,0.000,6,0.000,0.047,2241,2761,3522,0,0,0,0,0,0
$GC,5197,-0.71,-146.0,543.6,-9.0,461,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2761,3522,0,0,0,0,0,0
$GC,5502,-0.71,-146.0,572.6,-9.3,471,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2761,3522,0,0,0,0,0,0
$STATE,5810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5810,begin apogee
$GC,5818,-0.14,0.0,600.7,9.3,481,5948,0.57,0.00,123.65,0.976,4,0.129,0.000,2427,2598,2923,0,0,0,0,0,0
$STATE,5949,end apogee,CONTROL_FINISHED_OK
$STATE,5949,begin climb
$GC,5952,0.57,146.0,605.7,0.0,485,6095,0.68,2.42,131.52,0.950,4,0.060,0.049,2671,1187,2325,0,0,0,0,0,0
$GC,6226,-1.85,146.0,586.0,22202.5,493,6236,2.75,2.47,0.00,0.000,6,0.149,0.054,1893,2608,2318,0,0,0,0,0,0
$GC,6552,-1.85,146.0,538.4,22202.5,504,6556,0.00,2.25,0.00,0.000,4,0.000,0.067,1882,3929,2309,0,0,0,0,0,0
$GC,6597,-1.85,146.0,529.6,22202.5,505,6601,0.00,2.17,0.00,0.000,6,0.000,0.045,1882,2602,2308,0,0,0,0,0,0
$GC,6923,-1.85,146.0,476.3,22202.5,516,6926,0.00,2.22,0.00,0.000,4,0.000,0.057,1869,3944,2306,0,0,0,0,0,0
$GC,7026,-1.85,146.0,458.0,22202.5,519,7030,0.00,2.20,0.00,0.000,6,0.000,0.045,1869,2594,2305,0,0,0,0,0,0
$GC,7362,-1.85,146.0,405.9,22202.5,530,7366,0.00,2.25,0.00,0.000,4,0.000,0.049,1868,1191,2308,0,0,0,0,0,0
$GC,7619,-1.85,146.0,359.3,22202.5,549,7626,0.00,2.35,0.00,0.000,6,0.000,0.050,1856,2638,2307,0,0,0,0,0,0
$GC,7946,-1.85,146.0,300.7,22202.5,580,7950,0.00,2.20,0.00,0.000,4,0.000,0.070,1845,3929,2307,0,0,0,0,0,0
$GC,8207,-1.85,146.0,249.1,22202.5,603,8211,0.15,2.03,0.00,0.000,6,0.218,0.046,1877,2676,2306,0,0,0,0,0,0
$GC,8538,-1.85,146.0,189.3,22202.5,634,8542,0.00,2.12,0.00,0.000,4,0.000,0.071,1870,3919,2307,0,0,0,0,0,0
$GC,8800,-1.85,146.0,139.6,22202.5,657,8804,0.00,1.98,0.00,0.000,6,0.000,0.047,1869,2705,2306,0,0,0,0,0,0
$GC,9131,-1.85,146.0,81.4,22202.5,696,9138,0.00,2.10,0.00,0.000,4,0.000,0.070,1859,3922,2305,0,0,0,0,0,0
$GC,9272,-1.85,146.0,57.0,22202.5,720,9279,0.00,2.03,0.00,0.000,6,0.000,0.047,1859,2690,2306,0,0,0,0,0,0
$FREEZE,8.13,-1.520,-1.801,3,8,0
$FREEZE,7.35,-1.497,-1.799,3,8,0
$FREEZE,6.55,-1.444,-1.795,3,8,0
$FREEZE,5.46,-1.509,-1.799,3,8,0
$GC,9622,-1.85,146.0,5.5,22202.5,781,9628,0.00,2.12,0.00,0.000,4,0.000,0.066,1848,3933,2304,0,0,0,0,0,0
$FREEZE,3.14,-1.596,-1.801,3,8,0
$FREEZE,2.36,-1.618,-1.802,3,8,0
$STATE,9639,end climb,FINISH_DEPTH_REACHED
$STATE,9639,begin subsurface finish
$FINISH1,2.4,1.026438,52
$GC,9650,0.03,52.1,2.4,-22202.5,784,9686,2.40,2.40,-23.15,0.000,4,0.207,0.087,2476,3918,2712,0,0,0,0,0,0
$FINISH2,1.6
$STATE,9687,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$RAFOS_CLK,568
$RAFOS_FIX,6642.805664,-5834.522949,260111,000041,3,71,0.27
$IRIDIUM_FIX,6614.97,-5826.75,250111,171751
$TT8_MAMPS,0.031458
$HUMID,50.23
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,600.7,11.9
$24V_AH,21.3,93.782
$10V_AH,9.7,63.761
$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,8.175,87.025,255.175,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2032.712,5743.430,305.336,1454.699,207.457,0.000,1087.415,0.000,1443.405,360.000,17.894,0.000
$DEVICE_MAMPS,218.025,87.210,976.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151744
$DATA_FILE_SIZE,30072,790
$CAP_FILE_SIZE,99526,0
$CFSIZE,260165632,195305472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$GPS,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6