version: 66.08
glider: 183
mission: 3
dive: 665
start: 1 2 111 15 33 57
data:
$ID,183
$MISSION,3
$DIVE,665
$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,-11340.817
$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,23
$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,4
$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
$GPS1,020111,123512,6644.940,-5824.600,0,5107.8,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.44
$_SM_ANGLEo,0.5
$GPS2,020111,123512,6644.940,-5824.600,0,5107.8,0,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,102.0,77363,-17.5,-10.000
$D_GRID,719
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2496,1184,2897,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.7,-0.0,1,52,0.57,4.70,-14.85,0.000,4,0.119,0.070,2300,3926,3522,0,0,0,0,0,0
$GC,141,-0.61,-146.0,19.9,-10.5,20,147,0.00,1.85,0.00,0.000,6,0.000,0.047,2300,2776,3524,0,0,0,0,0,0
$GC,487,-0.66,-146.0,56.7,-9.0,81,494,0.12,2.28,0.00,0.000,4,0.105,0.051,2245,1365,3523,0,0,0,0,0,0
$GC,576,-0.66,-146.0,67.0,-12.4,96,582,0.00,2.30,0.00,0.000,6,0.000,0.061,2244,2742,3523,0,0,0,0,0,0
$GC,918,-0.62,-146.0,107.7,-11.5,151,920,0.10,0.00,0.00,0.000,6,0.198,0.000,2269,2743,3522,0,0,0,0,0,0
$GC,1236,-0.65,-146.0,137.5,-9.3,181,1240,0.00,2.00,0.00,0.000,4,0.000,0.073,2262,3928,3521,0,0,0,0,0,0
$GC,1309,-0.69,-146.0,144.9,-9.9,187,1316,0.00,1.92,0.00,0.000,6,0.000,0.050,2262,2748,3521,0,0,0,0,0,0
$GC,1639,-0.72,-146.0,174.9,-9.1,218,1643,0.00,2.20,0.00,0.000,4,0.000,0.052,2262,1371,3520,0,0,0,0,0,0
$GC,1692,-0.76,-146.0,180.0,-9.3,222,1696,0.00,2.30,0.00,0.000,6,0.000,0.062,2260,2743,3520,0,0,0,0,0,0
$GC,2019,-0.79,-146.0,210.2,-8.9,252,2023,0.12,2.03,0.00,0.000,4,0.110,0.073,2203,3927,3521,0,0,0,0,0,0
$GC,2053,-0.72,-146.0,214.4,-13.1,255,2058,0.15,1.92,0.00,0.000,6,0.172,0.047,2242,2743,3520,0,0,0,0,0,0
$GC,2385,-0.72,-146.0,247.3,-9.9,286,2389,0.00,2.20,0.00,0.000,4,0.000,0.051,2242,1368,3520,0,0,0,0,0,0
$GC,2424,-0.74,-146.0,251.4,-9.4,289,2431,0.00,2.30,0.00,0.000,6,0.000,0.062,2242,2754,3520,0,0,0,0,0,0
$GC,2751,-0.74,-146.0,283.0,-9.6,320,2755,0.00,1.98,0.00,0.000,4,0.000,0.071,2243,3928,3520,0,0,0,0,0,0
$GC,2789,-0.74,-146.0,287.2,-10.2,323,2796,0.00,1.92,0.00,0.000,6,0.000,0.047,2243,2755,3520,0,0,0,0,0,0
$GC,3116,-0.74,-146.0,318.3,-9.5,354,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2755,3520,0,0,0,0,0,0
$GC,3436,-0.74,-146.0,347.4,-9.1,384,3440,0.00,2.17,0.00,0.000,4,0.000,0.049,2242,1373,3521,0,0,0,0,0,0
$GC,3486,-0.76,-146.0,352.3,-9.1,388,3492,0.00,2.28,0.00,0.000,6,0.000,0.060,2242,2736,3521,0,0,0,0,0,0
$GC,3811,-0.76,-146.0,381.9,-9.3,419,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2736,3522,0,0,0,0,0,0
$GC,4138,-0.76,-146.0,411.8,-9.1,442,4142,0.00,2.00,0.00,0.000,4,0.000,0.071,2242,3929,3522,0,0,0,0,0,0
$GC,4160,-0.76,-146.0,414.2,-8.7,442,4163,0.00,1.92,0.00,0.000,6,0.000,0.047,2242,2728,3522,0,0,0,0,0,0
$GC,4479,-0.76,-146.0,442.4,-8.9,453,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2728,3522,0,0,0,0,0,0
$GC,4786,-0.76,-146.0,470.0,-9.0,463,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2728,3522,0,0,0,0,0,0
$GC,5091,-0.76,-146.0,497.4,-8.7,473,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2728,3523,0,0,0,0,0,0
$STATE,5154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5154,begin apogee
$GC,5160,-0.14,0.0,502.5,8.6,475,5290,0.55,0.00,121.88,0.914,4,0.132,0.000,2422,2597,2922,0,0,0,0,0,0
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5291,begin climb
$GC,5294,0.57,146.0,506.7,0.0,479,5432,0.68,2.40,128.30,0.887,4,0.070,0.049,2659,1187,2326,0,0,0,0,0,0
$GC,5563,-1.43,146.0,486.3,19640.3,487,5572,2.28,2.47,0.00,0.000,6,0.153,0.054,2022,2604,2318,0,0,0,0,0,0
$GC,5887,-1.43,146.0,445.6,19640.3,498,5891,0.00,2.30,0.00,0.000,4,0.000,0.051,2021,1184,2310,0,0,0,0,0,0
$GC,6144,-1.43,146.0,408.8,19640.3,505,6151,0.00,2.25,0.00,0.000,6,0.000,0.060,2020,2556,2311,0,0,0,0,0,0
$GC,6470,-1.43,146.0,364.4,19640.3,532,6474,0.00,2.20,0.00,0.000,4,0.000,0.049,2020,1186,2309,0,0,0,0,0,0
$GC,6728,-1.43,146.0,325.7,19640.3,554,6734,0.00,2.20,0.00,0.000,6,0.000,0.053,2010,2544,2307,0,0,0,0,0,0
$GC,7053,-1.43,146.0,278.0,19640.3,585,7057,0.00,2.17,0.00,0.000,4,0.000,0.049,2009,1179,2308,0,0,0,0,0,0
$GC,7223,-1.43,146.0,252.6,19640.3,599,7230,0.00,2.17,0.00,0.000,6,0.000,0.059,2005,2495,2309,0,0,0,0,0,0
$GC,7549,-1.43,146.0,206.4,19640.3,630,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2495,2308,0,0,0,0,0,0
$GC,7869,-1.43,146.0,159.3,19640.3,660,7873,0.00,2.08,0.00,0.000,4,0.000,0.044,2005,1174,2306,0,0,0,0,0,0
$GC,8130,-1.43,146.0,119.0,19640.3,683,8134,0.00,2.25,0.00,0.000,6,0.000,0.052,1995,2564,2307,0,0,0,0,0,0
$GC,8468,-1.43,146.0,69.4,19640.3,732,8475,0.00,2.22,0.00,0.000,4,0.000,0.050,1993,1186,2307,0,0,0,0,0,0
$GC,8680,-1.43,146.0,40.1,19640.3,769,8687,0.12,2.22,0.00,0.000,6,0.207,0.057,2011,2551,2307,0,0,0,0,0,0
$FREEZE,8.25,-1.653,-1.785,2,11,0
$FREEZE,7.70,-1.604,-1.781,2,11,0
$FREEZE,7.31,-1.549,-1.777,2,11,0
$FREEZE,6.56,-1.575,-1.778,2,11,0
$FREEZE,5.93,-1.710,-1.786,2,11,0
$STATE,8960,end climb,FINISH_DEPTH_REACHED
$STATE,8960,begin subsurface finish
$FINISH1,5.9,1.026180,65
$GC,8969,0.04,64.8,5.9,-19640.3,819,8994,1.92,2.35,-14.75,0.000,4,0.236,0.066,2481,1179,2661,0,0,0,0,0,0
$FINISH2,3.5
$STATE,8996,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8996,begin surface
$RAFOS_CLK,518
$RAFOS,6,1293986944,16.833334,16.817778,89,49,42,41,40,39,729,1289,1806,638,593,885
$RAFOS,5,1293986478,16.700001,16.688334,173,44,43,42,42,39,578,769,1907,1126,26,882
$RAFOS,4,1293985991,16.566668,16.553055,141,48,44,44,43,43,626,247,399,1910,384,1429
$RAFOS,3,1293985507,16.433332,16.418612,135,47,43,43,42,41,733,872,612,1804,26,1898
$RAFOS,2,1293985025,16.299999,16.284721,101,47,46,44,41,40,806,1205,1556,1702,107,282
$RAFOS,1,1293984543,16.166666,16.150833,50,44,43,41,41,38,848,1047,1315,1576,1868,433
$RAFOS,0,1293984069,16.033333,16.019167,54,50,44,42,41,41,681,154,496,1841,729,1805
$RAFOS_FIX,6646.410156,-5820.752441,020111,161624,5,128,0.27
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,50.07
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,502.5,9.7
$24V_AH,21.7,76.934
$10V_AH,9.7,53.135
$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,6.625,69.850,250.175,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2074.135,5044.935,290.787,1485.702,171.326,0.000,1066.746,0.000,1467.741,2520.000,19.999,0.000
$DEVICE_MAMPS,235.620,132.345,914.175,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30079,823
$CAP_FILE_SIZE,95093,0
$CFSIZE,260165632,205475840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6