version: 66.08
glider: 183
mission: 3
dive: 833
start: 1 26 111 10 3 37
data:
$ID,183
$MISSION,3
$DIVE,833
$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,33
$R_STBD_OVSHOOT,22
$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,3.22
$_SM_ANGLEo,-3.2
$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,-146.0,0.0,0.0,0,54,0.00,2.75,-30.90,0.000,6,0.000,0.069,2490,2782,3520,0,0,0,0,0,0
$GC,57,-0.57,-146.0,4.8,-4.6,6,65,0.52,1.98,0.00,0.000,4,0.080,0.069,2292,3931,3521,0,0,0,0,0,0
$GC,169,-0.61,-146.0,14.9,-9.3,25,176,0.00,1.88,0.00,0.000,6,0.000,0.047,2292,2775,3521,0,0,0,0,0,0
$GC,517,-0.64,-146.0,54.4,-11.4,86,523,0.00,2.30,0.00,0.000,4,0.000,0.052,2292,1367,3521,0,0,0,0,0,0
$GC,617,-0.72,-146.0,63.9,-8.4,103,624,0.15,2.38,0.00,0.000,6,0.091,0.062,2226,2780,3520,0,0,0,0,0,0
$GC,961,-0.64,-146.0,111.1,-13.9,157,965,0.15,2.03,0.00,0.000,4,0.169,0.073,2261,3928,3520,0,0,0,0,0,0
$GC,999,-0.64,-146.0,116.1,-10.6,160,1006,0.00,1.85,0.00,0.000,6,0.000,0.048,2261,2786,3520,0,0,0,0,0,0
$GC,1325,-0.64,-146.0,150.3,-9.5,191,1329,0.00,2.28,0.00,0.000,4,0.000,0.051,2261,1374,3520,0,0,0,0,0,0
$GC,1365,-0.68,-146.0,154.6,-10.8,194,1370,0.00,2.40,0.00,0.000,6,0.000,0.063,2261,2791,3520,0,0,0,0,0,0
$GC,1691,-0.68,-146.0,186.5,-10.5,224,1695,0.00,1.98,0.00,0.000,4,0.000,0.074,2261,3930,3520,0,0,0,0,0,0
$GC,1798,-0.71,-146.0,198.0,-10.7,233,1805,0.00,1.88,0.00,0.000,6,0.000,0.048,2261,2797,3519,0,0,0,0,0,0
$GC,2124,-0.73,-146.0,227.7,-8.7,264,2128,0.00,2.33,0.00,0.000,4,0.000,0.050,2261,1371,3519,0,0,0,0,0,0
$GC,2209,-0.78,-146.0,234.8,-8.4,271,2217,0.10,2.42,0.00,0.000,6,0.112,0.063,2216,2787,3519,0,0,0,0,0,0
$GC,2535,-0.72,-146.0,272.8,-12.6,302,2539,0.00,1.95,0.00,0.000,4,0.000,0.072,2209,3931,3519,0,0,0,0,0,0
$GC,2594,-0.64,-146.0,280.4,-13.3,307,2598,0.20,1.85,0.00,0.000,6,0.154,0.047,2264,2790,3518,0,0,0,0,0,0
$GC,2925,-0.68,-146.0,312.5,-9.6,338,2929,0.00,2.30,0.00,0.000,4,0.000,0.050,2264,1367,3519,0,0,0,0,0,0
$GC,2966,-0.75,-146.0,316.4,-9.2,341,2970,0.00,2.40,0.00,0.000,6,0.000,0.062,2262,2789,3518,0,0,0,0,0,0
$GC,3293,-0.78,-146.0,344.8,-8.2,371,3295,0.12,0.00,0.00,0.000,6,0.101,0.000,2205,2790,3519,0,0,0,0,0,0
$GC,3610,-0.71,-146.0,383.3,-12.4,401,3615,0.15,2.00,0.00,0.000,4,0.171,0.072,2239,3937,3519,0,0,0,0,0,0
$GC,3645,-0.71,-146.0,387.3,-11.1,404,3648,0.00,1.90,0.00,0.000,6,0.000,0.047,2239,2781,3519,0,0,0,0,0,0
$GC,3990,-0.71,-146.0,421.1,-9.6,423,3994,0.00,2.28,0.00,0.000,4,0.000,0.050,2239,1371,3519,0,0,0,0,0,0
$GC,4017,-0.71,-146.0,424.1,-9.7,423,4024,0.00,2.42,0.00,0.000,6,0.000,0.063,2238,2790,3519,0,0,0,0,0,0
$GC,4334,-0.71,-146.0,452.2,-8.9,434,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2790,3519,0,0,0,0,0,0
$GC,4638,-0.71,-146.0,479.2,-8.6,444,4642,0.00,2.30,0.00,0.000,4,0.000,0.049,2238,1371,3519,0,0,0,0,0,0
$GC,4682,-0.73,-146.0,483.4,-8.6,445,4686,0.00,2.38,0.00,0.000,6,0.000,0.062,2236,2777,3519,0,0,0,0,0,0
$GC,5002,-0.73,-146.0,511.5,-9.0,456,5006,0.00,1.98,0.00,0.000,4,0.000,0.071,2228,3929,3519,0,0,0,0,0,0
$GC,5041,-0.73,-146.0,515.8,-10.3,457,5045,0.00,1.90,0.00,0.000,6,0.000,0.047,2228,2788,3519,0,0,0,0,0,0
$GC,5377,-0.73,-146.0,547.3,-9.6,468,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2788,3519,0,0,0,0,0,0
$STATE,5409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5410,begin apogee
$GC,5417,-0.14,0.0,550.3,9.6,469,5548,0.62,0.00,121.93,0.946,4,0.132,0.000,2426,2598,2924,0,0,0,0,0,0
$STATE,5548,end apogee,CONTROL_FINISHED_OK
$STATE,5548,begin climb
$GC,5551,0.57,146.0,554.5,0.0,473,5694,0.68,2.42,130.25,0.916,4,0.065,0.050,2667,1177,2325,0,0,0,0,0,0
$GC,5863,-1.62,146.0,528.1,20544.3,482,5875,2.45,2.42,0.00,0.000,6,0.147,0.054,1957,2601,2315,0,0,0,0,0,0
$GC,6183,-1.62,146.0,482.0,20544.3,493,6187,0.00,2.30,0.00,0.000,4,0.000,0.052,1956,1188,2310,0,0,0,0,0,0
$GC,6441,-1.62,146.0,437.8,20544.3,500,6445,0.00,2.40,0.00,0.000,6,0.000,0.060,1948,2636,2309,0,0,0,0,0,0
$GC,6758,-1.62,146.0,386.3,20544.3,514,6762,0.00,2.38,0.00,0.000,4,0.000,0.051,1948,1180,2309,0,0,0,0,0,0
$GC,7018,-1.62,146.0,342.2,20544.3,536,7025,0.00,2.30,0.00,0.000,6,0.000,0.048,1937,2598,2307,0,0,0,0,0,0
$GC,7344,-1.62,146.0,288.3,20544.3,567,7348,0.00,2.28,0.00,0.000,4,0.000,0.071,1934,3920,2308,0,0,0,0,0,0
$GC,7603,-1.62,146.0,241.4,20544.3,590,7607,0.00,2.12,0.00,0.000,6,0.000,0.044,1933,2617,2306,0,0,0,0,0,0
$GC,7930,-1.62,146.0,188.6,20544.3,620,7934,0.00,2.28,0.00,0.000,4,0.000,0.071,1926,3926,2308,0,0,0,0,0,0
$GC,8188,-1.62,146.0,142.4,20544.3,642,8195,0.00,2.12,0.00,0.000,6,0.000,0.042,1924,2619,2305,0,0,0,0,0,0
$GC,8515,-1.62,146.0,95.9,20544.3,675,8522,0.00,2.22,0.00,0.000,4,0.000,0.065,1914,3926,2305,0,0,0,0,0,0
$GC,8778,-1.62,146.0,52.2,20544.3,721,8785,0.17,2.15,0.00,0.000,6,0.290,0.043,1944,2599,2305,0,0,0,0,0,0
$FREEZE,8.32,-1.569,-1.806,3,11,0
$FREEZE,7.22,-1.584,-1.806,3,11,0
$FREEZE,6.24,-1.543,-1.803,3,11,0
$FREEZE,5.34,-1.561,-1.803,3,11,0
$FREEZE,4.30,-1.583,-1.804,3,11,0
$FREEZE,3.14,-1.638,-1.806,3,11,0
$STATE,9084,end climb,FINISH_DEPTH_REACHED
$STATE,9084,begin subsurface finish
$FINISH1,3.1,1.026493,49
$GC,9091,0.03,49.4,3.1,-20544.3,775,9127,1.73,2.30,-27.30,0.000,4,0.138,0.061,2482,1188,2718,0,0,0,0,0,0
$FINISH2,0.9
$STATE,9129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9129,begin surface
$RAFOS_CLK,531
$RAFOS,3,1296044707,12.433333,12.418612,46,46,42,41,39,38,154,707,1768,1331,403,1827
$RAFOS,2,1296044223,12.300000,12.284166,48,45,45,42,42,39,465,387,1310,919,1083,744
$RAFOS,1,1296043744,12.166667,12.151111,55,47,44,41,41,40,1343,1531,872,26,145,1289
$RAFOS,0,1296043271,12.033333,12.019722,46,44,43,42,42,41,1321,300,1356,1914,712,1287
$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,50.98
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,550.3,11.7
$24V_AH,21.5,94.014
$10V_AH,9.6,63.921
$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,7.050,84.075,252.175,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,1988.266,5197.941,314.932,1486.960,196.566,0.000,1108.908,0.000,1471.945,1800.000,16.124,0.000
$DEVICE_MAMPS,289.935,74.205,945.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30097,781
$CAP_FILE_SIZE,97645,0
$CFSIZE,260165632,195141632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.1
$GPS,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6