version: 66.08
glider: 183
mission: 3
dive: 684
start: 1 4 111 11 40 16
data:
$ID,183
$MISSION,3
$DIVE,684
$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,-11349.606
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,040111,112743,6653.935,-5738.664,7,1.8,13,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.2
$GPS2,040111,113944,6653.952,-5738.836,11,1.7,11,-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,103.1,40355,-17.5,-10.000
$D_GRID,773
$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,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,161,0.00,0.00,-141.23,0.000,2,0.000,0.000,287,2782,3340,0,0,0,0,0,0
$GC,164,-0.57,-146.0,5.3,-13.0,25,184,8.55,1.98,-3.67,0.000,4,0.249,0.081,2279,3935,3521,0,0,0,0,0,0
$GC,289,-0.57,-146.0,33.0,-10.9,46,296,0.00,1.90,0.00,0.000,6,0.000,0.050,2278,2783,3523,0,0,0,0,0,0
$GC,635,-0.57,-146.0,69.9,-11.0,107,642,0.00,2.30,0.00,0.000,4,0.000,0.053,2278,1369,3523,0,0,0,0,0,0
$GC,695,-0.60,-146.0,76.3,-10.1,117,702,0.00,2.40,0.00,0.000,6,0.000,0.065,2275,2788,3523,0,0,0,0,0,0
$GC,1040,-0.60,-146.0,114.5,-10.8,167,1044,0.00,2.30,0.00,0.000,4,0.000,0.053,2275,1368,3522,0,0,0,0,0,0
$GC,1067,-0.60,-146.0,117.5,-10.6,169,1074,0.00,2.35,0.00,0.000,6,0.000,0.064,2275,2761,3522,0,0,0,0,0,0
$GC,1393,-0.63,-146.0,149.7,-9.5,200,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2761,3522,0,0,0,0,0,0
$GC,1711,-0.66,-146.0,180.6,-10.2,230,1715,0.00,2.00,0.00,0.000,4,0.000,0.076,2275,3934,3521,0,0,0,0,0,0
$GC,1773,-0.72,-146.0,187.1,-10.4,235,1780,0.00,1.92,0.00,0.000,6,0.000,0.050,2275,2766,3522,0,0,0,0,0,0
$GC,2102,-0.76,-146.0,216.7,-8.4,266,2107,0.12,2.28,0.00,0.000,4,0.101,0.052,2217,1368,3521,0,0,0,0,0,0
$GC,2193,-0.71,-146.0,227.2,-11.3,274,2198,0.00,2.35,0.00,0.000,6,0.000,0.064,2216,2760,3521,0,0,0,0,0,0
$GC,2519,-0.64,-146.0,267.9,-13.0,304,2524,0.17,2.03,0.00,0.000,4,0.172,0.073,2258,3936,3522,0,0,0,0,0,0
$GC,2548,-0.64,-146.0,271.3,-11.2,306,2551,0.00,1.92,0.00,0.000,6,0.000,0.049,2258,2760,3522,0,0,0,0,0,0
$STATE,2847,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2847,begin apogee
$GC,2855,-0.14,0.0,300.3,9.4,334,2980,0.50,0.00,119.18,0.801,4,0.135,0.000,2420,2598,2923,0,0,0,0,0,0
$STATE,2980,end apogee,CONTROL_FINISHED_OK
$STATE,2981,begin climb
$GC,2983,0.57,146.0,305.4,0.0,345,3118,0.70,2.40,123.70,0.779,4,0.080,0.052,2660,1187,2325,0,0,0,0,0,0
$GC,3315,0.58,160.7,282.1,9.3,374,3334,0.00,2.42,12.55,0.731,6,0.000,0.057,2661,2603,2267,0,0,0,0,0,0
$GC,3655,0.58,160.7,246.7,10.9,406,3659,0.00,2.30,0.00,0.000,4,0.000,0.053,2662,1183,2262,0,0,0,0,0,0
$GC,3867,0.61,168.2,225.8,9.7,424,3879,0.00,2.33,7.12,0.677,6,0.000,0.057,2662,2603,2237,0,0,0,0,0,0
$GC,4199,0.61,170.4,192.6,9.9,455,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2603,2235,0,0,0,0,0,0
$GC,4517,0.63,192.8,165.1,9.0,485,4544,0.00,2.25,22.10,0.714,4,0.000,0.067,2662,3928,2136,0,0,0,0,0,0
$GC,4597,0.59,192.8,157.0,11.5,491,4604,0.00,2.20,0.00,0.000,6,0.000,0.045,2661,2586,2132,0,0,0,0,0,0
$GC,4924,0.63,207.9,124.5,9.3,522,4947,0.00,2.35,13.75,0.688,4,0.000,0.069,2662,3929,2073,0,0,0,0,0,0
$GC,5055,0.63,207.9,109.3,12.2,533,5062,0.00,2.10,0.00,0.000,6,0.000,0.045,2662,2624,2071,0,0,0,0,0,0
$GC,5396,0.67,208.6,76.8,10.0,586,5402,0.00,2.30,0.00,0.000,4,0.000,0.052,2662,1184,2071,0,0,0,0,0,0
$GC,5427,0.75,210.8,73.9,9.9,591,5434,0.15,2.40,0.00,0.000,6,0.099,0.056,2723,2652,2071,0,0,0,0,0,0
$GC,5774,0.72,210.8,29.1,12.6,652,5780,0.00,2.15,0.00,0.000,4,0.000,0.069,2723,3935,2070,0,0,0,0,0,0
$GC,5811,0.64,210.8,24.3,12.9,658,5819,0.17,2.12,0.00,0.000,6,0.194,0.045,2680,2611,2068,0,0,0,0,0,0
$FREEZE,8.75,-1.682,-1.792,0,1,0
$FREEZE,8.30,-1.681,-1.791,0,1,0
$FREEZE,8.03,-1.679,-1.791,0,1,0
$FREEZE,7.49,-1.678,-1.791,0,1,0
$FREEZE,7.02,-1.675,-1.790,0,1,0
$FREEZE,6.69,-1.675,-1.790,0,1,0
$FREEZE,6.20,-1.673,-1.790,0,1,0
$FREEZE,5.81,-1.673,-1.790,0,1,0
$FREEZE,5.47,-1.673,-1.789,0,1,0
$FREEZE,5.16,-1.672,-1.789,0,1,0
$FREEZE,4.74,-1.668,-1.789,0,1,0
$FREEZE,4.38,-1.671,-1.788,0,1,0
$FREEZE,4.01,-1.666,-1.788,0,1,0
$FREEZE,3.64,-1.652,-1.788,0,1,0
$FREEZE,3.16,-1.652,-1.788,0,1,0
$FREEZE,2.85,-1.652,-1.787,0,1,0
$STATE,6086,end climb,SURFACE_DEPTH_REACHED
$STATE,6086,begin surface coast
$FREEZE,2.15,-1.654,-1.787,0,1,0
$FREEZE,1.70,-1.655,-1.787,0,1,0
$FREEZE,1.24,-1.657,-1.786,0,1,0
$FREEZE,0.77,-1.653,-1.786,0,1,0
$FREEZE,0.82,-1.533,-0.866,0,1,0
$FREEZE,0.83,-1.601,-1.730,0,1,0
$FREEZE,0.84,-1.621,-1.708,0,1,0
$FREEZE,0.82,-1.589,-0.893,0,1,0
$FINISH,0.8,1.013151
$STATE,6128,end surface coast,CONTROL_FINISHED_OK
$STATE,6128,begin surface
$SM_CCo,6144,249.73,0.084,0,0,440,609.08
$SM_GC,1.55,0.00,0.00,249.73,0.000,0.000,0.084,305,2786,440,-6.77,0.17,609.08
$RAFOS_CLK,324
$RAFOS,6,1294145348,12.833333,12.818889,118,47,45,44,42,41,718,383,1118,515,1331,1389
$RAFOS,5,1294144865,12.700000,12.684722,100,44,41,41,39,39,548,934,1376,558,1061,1272
$RAFOS,4,1294144383,12.566667,12.550834,82,44,41,41,41,40,756,358,1569,1724,1046,1932
$RAFOS,3,1294143901,12.433333,12.416945,95,45,44,42,41,41,888,922,311,665,688,1184
$RAFOS,2,1294143424,12.300000,12.284445,46,45,44,43,42,38,801,416,1634,608,1873,78
$RAFOS,1,1294142942,12.166667,12.150556,51,49,48,48,45,42,1584,1505,728,1719,1475,1777
$RAFOS,0,1294142468,12.033333,12.018888,53,43,43,42,38,38,442,1334,1353,1550,1073,1591
$RAFOS_FIX,6655.279785,-5742.860352,040111,121228,4,99,1.07
$IRIDIUM_FIX,6625.71,-5739.31,040111,090949
$TT8_MAMPS,0.029211
$HUMID,46.14
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,300.3,13.5
$24V_AH,22.2,78.576
$10V_AH,9.7,54.099
$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,16.725,53.600,298.400,249.725,0.000,28.353,17.238,361.104,0.750,0.000,14.002,1715.021,2785.881,658.956,1566.544,417.043,0.000,1315.392,0.000,1179.750,2520.000,7.090,0.000
$DEVICE_MAMPS,248.625,81.090,800.955,84.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151604
$DATA_FILE_SIZE,26783,715
$CAP_FILE_SIZE,86709,0
$CFSIZE,260165632,204570624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.4
$GPS,040111,132837,6655.113,-5738.609,38,1.1,39,-37.6