version: 66.08
glider: 183
mission: 3
dive: 831
start: 1 26 111 4 5 6
data:
$ID,183
$MISSION,3
$DIVE,831
$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,31
$R_STBD_OVSHOOT,28
$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,4.86
$_SM_ANGLEo,-4.0
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-5.53,0.000,2,0.000,0.000,2475,3920,2900,0,0,0,0,0,0
$GC,28,-0.57,-146.0,7.4,-0.0,1,52,0.50,0.00,-16.60,0.000,4,0.094,0.000,2297,3920,3520,0,0,0,0,0,0
$GC,88,-0.60,-146.0,14.0,-12.1,11,94,0.00,1.85,0.00,0.000,6,0.000,0.047,2297,2776,3522,0,0,0,0,0,0
$GC,433,-0.60,-146.0,52.9,-11.6,72,440,0.00,2.28,0.00,0.000,4,0.000,0.049,2297,1364,3522,0,0,0,0,0,0
$GC,466,-0.65,-146.0,56.3,-10.0,77,473,0.00,2.38,0.00,0.000,6,0.000,0.062,2294,2765,3522,0,0,0,0,0,0
$GC,815,-0.69,-146.0,89.0,-9.1,138,822,0.12,2.03,0.00,0.000,4,0.100,0.073,2230,3929,3521,0,0,0,0,0,0
$GC,847,-0.63,-146.0,92.7,-11.6,143,854,0.15,1.92,0.00,0.000,6,0.165,0.047,2270,2761,3521,0,0,0,0,0,0
$GC,1184,-0.63,-146.0,126.3,-8.7,180,1188,0.00,2.25,0.00,0.000,4,0.000,0.050,2270,1367,3521,0,0,0,0,0,0
$GC,1228,-0.67,-146.0,130.6,-9.1,183,1235,0.00,2.40,0.00,0.000,6,0.000,0.063,2270,2776,3521,0,0,0,0,0,0
$GC,1554,-0.67,-146.0,162.3,-10.4,214,1558,0.00,2.00,0.00,0.000,4,0.000,0.073,2266,3938,3521,0,0,0,0,0,0
$GC,1589,-0.67,-146.0,166.0,-11.0,217,1593,0.00,1.90,0.00,0.000,6,0.000,0.049,2267,2774,3520,0,0,0,0,0,0
$GC,1921,-0.67,-146.0,199.4,-9.7,248,1925,0.00,2.28,0.00,0.000,4,0.000,0.050,2266,1365,3520,0,0,0,0,0,0
$GC,2011,-0.71,-146.0,208.0,-9.7,255,2017,0.00,2.40,0.00,0.000,6,0.000,0.063,2264,2770,3521,0,0,0,0,0,0
$GC,2337,-0.73,-146.0,235.7,-7.7,286,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2770,3520,0,0,0,0,0,0
$GC,2656,-0.76,-146.0,262.9,-9.6,316,2657,0.10,0.00,0.00,0.000,6,0.117,0.000,2220,2770,3520,0,0,0,0,0,0
$GC,2975,-0.70,-146.0,306.0,-13.5,346,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2771,3520,0,0,0,0,0,0
$GC,3301,-0.64,-146.0,347.8,-12.2,377,3303,0.15,0.00,0.00,0.000,6,0.168,0.000,2261,2770,3520,0,0,0,0,0,0
$GC,3619,-0.68,-146.0,374.7,-8.1,407,3624,0.00,2.28,0.00,0.000,4,0.000,0.050,2261,1370,3520,0,0,0,0,0,0
$GC,3654,-0.72,-146.0,377.9,-8.6,409,3661,0.00,2.35,0.00,0.000,6,0.000,0.063,2261,2759,3520,0,0,0,0,0,0
$GC,3989,-0.76,-146.0,405.8,-8.4,437,3993,0.00,2.03,0.00,0.000,4,0.000,0.073,2256,3935,3520,0,0,0,0,0,0
$GC,4026,-0.79,-146.0,408.9,-9.2,438,4030,0.10,1.95,0.00,0.000,6,0.116,0.048,2211,2756,3520,0,0,0,0,0,0
$GC,4367,-0.72,-146.0,447.3,-11.4,449,4372,0.10,2.28,0.00,0.000,4,0.190,0.050,2236,1365,3520,0,0,0,0,0,0
$GC,4406,-0.72,-146.0,451.5,-9.4,450,4411,0.00,2.35,0.00,0.000,6,0.000,0.062,2235,2758,3520,0,0,0,0,0,0
$GC,4738,-0.72,-146.0,480.3,-8.8,461,4742,0.00,2.03,0.00,0.000,4,0.000,0.072,2231,3927,3521,0,0,0,0,0,0
$GC,4833,-0.72,-146.0,489.8,-9.9,463,4840,0.00,1.92,0.00,0.000,6,0.000,0.047,2231,2762,3521,0,0,0,0,0,0
$GC,5147,-0.72,-146.0,520.8,-10.2,474,5151,0.00,2.03,0.00,0.000,4,0.000,0.073,2223,3928,3521,0,0,0,0,0,0
$GC,5192,-0.69,-146.0,526.0,-11.1,475,5196,0.00,1.90,0.00,0.000,6,0.000,0.047,2223,2776,3521,0,0,0,0,0,0
$GC,5523,-0.66,-146.0,561.6,-10.8,486,5528,0.15,2.33,0.00,0.000,4,0.168,0.050,2265,1368,3522,0,0,0,0,0,0
$GC,5554,-0.70,-146.0,564.5,-9.0,487,5558,0.00,2.40,0.00,0.000,6,0.000,0.062,2262,2779,3522,0,0,0,0,0,0
$GC,5896,-0.75,-146.0,592.5,-8.1,498,5900,0.00,2.00,0.00,0.000,4,0.000,0.072,2254,3931,3522,0,0,0,0,0,0
$GC,5925,-0.78,-146.0,595.0,-7.9,498,5932,0.00,1.88,0.00,0.000,6,0.000,0.047,2253,2777,3522,0,0,0,0,0,0
$STATE,5994,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5994,begin apogee
$GC,6000,-0.14,0.0,601.0,8.7,501,6131,0.52,0.00,123.32,0.975,4,0.129,0.000,2424,2600,2925,0,0,0,0,0,0
$STATE,6132,end apogee,CONTROL_FINISHED_OK
$STATE,6132,begin climb
$GC,6135,0.57,146.0,606.4,0.0,505,6276,0.68,2.42,132.07,0.949,4,0.067,0.050,2660,1181,2327,0,0,0,0,0,0
$GC,6428,-1.83,146.0,585.2,23027.0,514,6437,2.65,2.45,0.00,0.000,6,0.148,0.055,1899,2599,2318,0,0,0,0,0,0
$GC,6763,-1.83,146.0,533.6,23027.0,525,6767,0.00,2.30,0.00,0.000,4,0.000,0.071,1893,3936,2310,0,0,0,0,0,0
$GC,7021,-1.83,146.0,484.7,23027.0,532,7025,0.00,2.10,0.00,0.000,6,0.000,0.045,1892,2641,2306,0,0,0,0,0,0
$GC,7340,-1.83,146.0,427.6,23027.0,543,7344,0.00,2.35,0.00,0.000,4,0.000,0.051,1892,1184,2309,0,0,0,0,0,0
$GC,7599,-1.83,146.0,380.5,23027.0,556,7606,0.00,2.35,0.00,0.000,6,0.000,0.050,1880,2626,2308,0,0,0,0,0,0
$GC,7925,-1.83,146.0,322.6,23027.0,587,7929,0.00,2.35,0.00,0.000,4,0.000,0.050,1879,1183,2307,0,0,0,0,0,0
$GC,8184,-1.83,146.0,275.9,23027.0,609,8193,0.00,2.25,0.00,0.000,6,0.000,0.047,1868,2583,2307,0,0,0,0,0,0
$GC,8510,-1.83,146.0,217.8,23027.0,640,8514,0.00,2.22,0.00,0.000,4,0.000,0.044,1868,1179,2306,0,0,0,0,0,0
$GC,8645,-1.83,146.0,194.1,23027.0,651,8650,0.12,2.33,0.00,0.000,6,0.247,0.057,1880,2589,2308,0,0,0,0,0,0
$GC,8974,-1.83,146.0,136.4,23027.0,681,8978,0.00,2.22,0.00,0.000,4,0.000,0.057,1871,3936,2306,0,0,0,0,0,0
$GC,9233,-1.83,146.0,87.9,23027.0,709,9240,0.00,2.20,0.00,0.000,6,0.000,0.045,1870,2594,2307,0,0,0,0,0,0
$GC,9581,-1.83,146.0,32.2,23027.0,770,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,2594,2305,0,0,0,0,0,0
$FREEZE,7.95,-1.609,-1.807,3,9,0
$STATE,9715,end climb,FINISH_DEPTH_REACHED
$STATE,9715,begin subsurface finish
$FINISH1,7.9,1.026449,52
$GC,9725,0.03,51.5,7.9,-23027.0,794,9751,2.35,2.35,-15.85,0.000,4,0.205,0.082,2477,3935,2713,0,0,0,0,0,0
$FINISH2,4.1
$STATE,9752,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9752,begin surface
$RAFOS_CLK,562
$RAFOS,6,1296017350,4.833333,4.819445,63,45,43,42,40,39,714,1671,1863,1151,450,426
$RAFOS,5,1296016870,4.700000,4.686111,50,46,46,43,41,39,1889,654,920,511,1499,1304
$RAFOS,4,1296016390,4.566667,4.552778,51,46,44,42,40,39,608,1085,626,81,823,170
$RAFOS,3,1296015905,4.433333,4.418056,44,43,43,42,42,41,1391,963,1412,74,709,26
$RAFOS,2,1296015425,4.300000,4.284722,44,42,41,40,40,39,1896,1938,1787,868,1103,1064
$RAFOS,1,1296014945,4.166667,4.151389,48,46,43,41,39,39,1209,541,1236,636,144,1657
$RAFOS,0,1296014466,4.033333,4.018333,46,44,43,40,38,37,864,26,1740,943,1514,1862
$RAFOS_FIX,6642.805664,-5834.522949,260111,000041,3,71,0.27
$IRIDIUM_FIX,6614.97,-5826.75,250111,171751
$TT8_MAMPS,0.029211
$HUMID,50.39
$INTERNAL_PRESSURE,8.65115
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,601.0,11.9
$24V_AH,21.2,93.852
$10V_AH,9.7,63.813
$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,7.700,83.550,255.400,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2059.141,5669.808,311.635,1559.558,207.379,0.000,1138.803,0.000,1540.270,2160.000,17.894,0.000
$DEVICE_MAMPS,247.095,81.855,974.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,30035,798
$CAP_FILE_SIZE,104134,0
$CFSIZE,260165632,195252224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6