version: 66.08
glider: 183
mission: 3
dive: 834
start: 1 26 111 12 37 41
data:
$ID,183
$MISSION,3
$DIVE,834
$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,36
$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,1.83
$_SM_ANGLEo,-2.8
$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,-146.0,0.0,0.0,0,47,0.00,0.00,-27.55,0.000,2,0.000,0.000,2483,1187,3454,0,0,0,0,0,0
$GC,51,-0.57,-146.0,5.4,-7.5,5,64,0.52,4.78,-2.05,0.000,4,0.097,0.067,2297,3924,3521,0,0,0,0,0,0
$GC,165,-0.64,-146.0,18.6,-9.9,24,171,0.00,1.85,0.00,0.000,6,0.000,0.047,2297,2783,3522,0,0,0,0,0,0
$GC,512,-0.67,-146.0,53.7,-10.5,85,519,0.10,2.30,0.00,0.000,4,0.115,0.048,2250,1363,3522,0,0,0,0,0,0
$GC,643,-0.65,-146.0,68.3,-11.8,107,650,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2762,3521,0,0,0,0,0,0
$GC,993,-0.61,-146.0,109.7,-13.0,162,998,0.12,2.05,0.00,0.000,4,0.184,0.072,2274,3929,3521,0,0,0,0,0,0
$GC,1169,-0.63,-146.0,129.9,-12.1,177,1173,0.00,1.85,0.00,0.000,6,0.000,0.047,2273,2793,3520,0,0,0,0,0,0
$GC,1501,-0.66,-146.0,164.4,-9.1,208,1505,0.00,2.30,0.00,0.000,4,0.000,0.050,2273,1369,3520,0,0,0,0,0,0
$GC,1566,-0.72,-146.0,170.1,-8.4,213,1570,0.00,2.38,0.00,0.000,6,0.000,0.063,2273,2780,3520,0,0,0,0,0,0
$GC,1892,-0.76,-146.0,201.8,-10.0,243,1894,0.12,0.00,0.00,0.000,6,0.103,0.000,2218,2780,3520,0,0,0,0,0,0
$GC,2210,-0.69,-146.0,244.7,-13.0,273,2212,0.12,0.00,0.00,0.000,6,0.179,0.000,2250,2780,3520,0,0,0,0,0,0
$GC,2528,-0.69,-146.0,279.7,-11.1,303,2532,0.00,2.33,0.00,0.000,4,0.000,0.050,2250,1374,3520,0,0,0,0,0,0
$GC,2551,-0.69,-146.0,282.4,-11.6,305,2555,0.00,2.35,0.00,0.000,6,0.000,0.062,2248,2766,3520,0,0,0,0,0,0
$GC,2878,-0.69,-146.0,316.8,-9.9,335,2882,0.00,2.00,0.00,0.000,4,0.000,0.073,2248,3928,3520,0,0,0,0,0,0
$GC,2962,-0.71,-146.0,325.8,-10.3,342,2969,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2764,3520,0,0,0,0,0,0
$GC,3290,-0.71,-146.0,355.1,-8.6,373,3293,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3929,3520,0,0,0,0,0,0
$GC,3336,-0.71,-146.0,359.4,-9.1,377,3340,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2777,3520,0,0,0,0,0,0
$GC,3667,-0.71,-146.0,389.4,-9.5,408,3671,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1370,3520,0,0,0,0,0,0
$GC,3692,-0.71,-146.0,391.6,-9.2,410,3696,0.00,2.38,0.00,0.000,6,0.000,0.062,2247,2779,3520,0,0,0,0,0,0
$GC,4029,-0.71,-146.0,423.2,-9.1,426,4033,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3936,3520,0,0,0,0,0,0
$GC,4075,-0.74,-146.0,427.4,-9.0,427,4079,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2771,3520,0,0,0,0,0,0
$GC,4405,-0.74,-146.0,455.6,-8.6,438,4409,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3928,3520,0,0,0,0,0,0
$GC,4433,-0.74,-146.0,458.3,-8.7,438,4440,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2777,3520,0,0,0,0,0,0
$GC,4747,-0.74,-146.0,486.1,-9.1,449,4751,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1364,3521,0,0,0,0,0,0
$GC,4769,-0.74,-146.0,488.4,-9.6,449,4776,0.00,2.42,0.00,0.000,6,0.000,0.060,2247,2790,3521,0,0,0,0,0,0
$GC,5082,-0.74,-146.0,516.6,-8.9,460,5086,0.00,1.98,0.00,0.000,4,0.000,0.072,2246,3935,3521,0,0,0,0,0,0
$GC,5123,-0.76,-146.0,520.5,-9.5,461,5127,0.00,1.90,0.00,0.000,6,0.000,0.046,2247,2795,3521,0,0,0,0,0,0
$GC,5459,-0.76,-146.0,549.3,-8.8,472,5463,0.00,2.30,0.00,0.000,4,0.000,0.048,2246,1366,3521,0,0,0,0,0,0
$GC,5508,-0.80,-146.0,553.7,-8.6,473,5513,0.00,2.40,0.00,0.000,6,0.000,0.061,2243,2790,3522,0,0,0,0,0,0
$GC,5823,-0.80,-146.0,580.3,-8.8,483,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2790,3522,0,0,0,0,0,0
$STATE,6067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6067,begin apogee
$GC,6074,-0.14,0.0,602.3,8.9,491,6205,0.57,0.00,123.28,0.974,4,0.135,0.000,2425,2602,2925,0,0,0,0,0,0
$STATE,6206,end apogee,CONTROL_FINISHED_OK
$STATE,6206,begin climb
$GC,6208,0.57,146.0,605.8,0.0,495,6351,0.68,2.42,132.70,0.949,4,0.065,0.049,2666,1186,2326,0,0,0,0,0,0
$GC,6503,-1.83,146.0,581.6,23240.0,504,6513,2.67,2.45,0.00,0.000,6,0.146,0.054,1896,2605,2316,0,0,0,0,0,0
$GC,6839,-1.83,146.0,528.8,23240.0,515,6843,0.00,2.22,0.00,0.000,4,0.000,0.065,1884,3929,2308,0,0,0,0,0,0
$GC,6850,-1.83,146.0,527.2,23240.0,515,6854,0.00,2.17,0.00,0.000,6,0.000,0.042,1884,2593,2307,0,0,0,0,0,0
$GC,7174,-1.83,146.0,469.9,23240.0,526,7178,0.00,2.22,0.00,0.000,4,0.000,0.044,1881,1172,2305,0,0,0,0,0,0
$GC,7428,-1.83,146.0,422.8,23240.0,533,7433,0.00,2.47,0.00,0.000,6,0.000,0.058,1870,2669,2308,0,0,0,0,0,0
$GC,7758,-1.83,146.0,361.3,23240.0,556,7762,0.00,2.15,0.00,0.000,4,0.000,0.069,1861,3929,2307,0,0,0,0,0,0
$GC,8018,-1.83,146.0,308.8,23240.0,579,8022,0.00,2.00,0.00,0.000,6,0.000,0.047,1859,2710,2306,0,0,0,0,0,0
$GC,8350,-1.83,146.0,247.0,23240.0,610,8354,0.00,2.08,0.00,0.000,4,0.000,0.063,1849,3940,2305,0,0,0,0,0,0
$GC,8612,-1.83,146.0,197.4,23240.0,633,8616,0.15,2.00,0.00,0.000,6,0.223,0.045,1881,2707,2305,0,0,0,0,0,0
$GC,8940,-1.83,146.0,143.9,23240.0,663,8945,0.00,2.42,0.00,0.000,4,0.000,0.044,1880,1184,2304,0,0,0,0,0,0
$GC,9202,-1.83,146.0,95.6,23240.0,687,9208,0.00,2.47,0.00,0.000,6,0.000,0.057,1870,2668,2305,0,0,0,0,0,0
$GC,9549,-1.83,146.0,38.0,23240.0,748,9556,0.00,2.40,0.00,0.000,4,0.000,0.047,1870,1184,2304,0,0,0,0,0,0
$FREEZE,8.01,-1.606,-1.810,3,12,0
$FREEZE,7.40,-1.603,-1.810,3,12,0
$FREEZE,6.89,-1.598,-1.809,3,12,0
$FREEZE,6.09,-1.584,-1.807,3,12,0
$FREEZE,5.13,-1.634,-1.810,3,12,0
$STATE,9751,end climb,FINISH_DEPTH_REACHED
$STATE,9751,begin subsurface finish
$FINISH1,5.1,1.026523,48
$GC,9761,0.03,47.9,5.1,-23240.0,784,9792,2.55,2.42,-23.27,0.000,4,0.233,0.063,2475,1179,2729,0,0,0,0,0,0
$FINISH2,1.6
$STATE,9793,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9793,begin surface
$RAFOS_CLK,568
$RAFOS,6,1296046144,12.833333,12.817778,52,46,42,41,40,39,1133,759,685,26,974,783
$RAFOS,5,1296045665,12.700000,12.684722,62,46,45,44,43,43,666,695,790,466,1796,1861
$RAFOS,4,1296045182,12.566667,12.550555,50,46,43,41,40,40,696,638,716,976,1000,1046
$RAFOS_FIX,6642.805664,-5834.522949,260111,000041,3,71,0.27
$IRIDIUM_FIX,6614.97,-5826.75,250111,171751
$TT8_MAMPS,0.028462
$HUMID,50.19
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,602.3,11.9
$24V_AH,21.3,94.085
$10V_AH,9.7,63.972
$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,7.625,92.800,255.975,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2020.201,5791.136,304.406,1527.150,204.962,0.000,1119.522,0.000,1507.871,720.000,17.894,0.000
$DEVICE_MAMPS,232.560,73.440,973.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151768
$DATA_FILE_SIZE,30116,789
$CAP_FILE_SIZE,101267,0
$CFSIZE,260165632,195088384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$GPS,260111,003741,6642.806,-5834.523,0,3070.7,0,-37.6