version: 66.08
glider: 183
mission: 3
dive: 370
start: 11 21 110 5 8 53
data:
$ID,183
$MISSION,3
$DIVE,370
$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,350
$N_FILEKB,8
$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,-8252.3301
$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,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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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,49
$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
$GPS1,211110,003336,6658.795,-5842.806,0,4081.2,0,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,5.13
$_SM_ANGLEo,-2.3
$GPS2,211110,003336,6658.795,-5842.806,0,4081.2,0,-37.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,288.0,80312,-17.5,-10.000
$D_GRID,1069
$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,16,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.93,0.000,2,0.000,0.000,2500,1180,2805,0,0,0,0,0,0
$GC,27,-0.57,-146.0,5.8,-0.0,1,58,0.57,4.70,-21.80,0.000,4,0.096,0.071,2284,3927,3522,0,0,0,0,0,0
$GC,290,-0.54,-146.0,41.3,-13.9,47,297,0.00,1.85,0.00,0.000,6,0.000,0.046,2284,2768,3523,0,0,0,0,0,0
$GC,635,-0.54,-146.0,80.3,-10.6,108,642,0.00,2.22,0.00,0.000,4,0.000,0.050,2284,1374,3522,0,0,0,0,0,0
$GC,683,-0.58,-146.0,85.2,-10.4,116,690,0.00,2.35,0.00,0.000,6,0.000,0.061,2279,2784,3522,0,0,0,0,0,0
$GC,1022,-0.58,-146.0,119.7,-10.3,160,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2784,3522,0,0,0,0,0,0
$GC,1342,-0.60,-146.0,153.0,-10.1,190,1346,0.00,2.25,0.00,0.000,4,0.000,0.050,2279,1370,3522,0,0,0,0,0,0
$GC,1395,-0.66,-146.0,158.4,-10.0,194,1399,0.00,2.35,0.00,0.000,6,0.000,0.062,2279,2782,3522,0,0,0,0,0,0
$GC,1720,-0.69,-146.0,189.7,-9.2,224,1724,0.00,2.25,0.00,0.000,4,0.000,0.050,2279,1367,3522,0,0,0,0,0,0
$GC,1750,-0.73,-146.0,192.4,-9.0,226,1755,0.12,2.33,0.00,0.000,6,0.104,0.061,2224,2779,3522,0,0,0,0,0,0
$GC,2077,-0.67,-146.0,230.7,-11.8,256,2081,0.12,1.98,0.00,0.000,4,0.179,0.072,2252,3938,3521,0,0,0,0,0,0
$GC,2126,-0.67,-146.0,236.3,-9.7,260,2133,0.00,1.88,0.00,0.000,6,0.000,0.048,2251,2777,3521,0,0,0,0,0,0
$GC,2451,-0.67,-146.0,268.1,-10.2,291,2455,0.00,2.25,0.00,0.000,4,0.000,0.050,2251,1365,3521,0,0,0,0,0,0
$GC,2472,-0.67,-146.0,270.4,-10.1,292,2479,0.00,2.35,0.00,0.000,6,0.000,0.062,2248,2790,3521,0,0,0,0,0,0
$GC,2798,-0.67,-146.0,301.3,-9.3,323,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2789,3521,0,0,0,0,0,0
$GC,3118,-0.67,-146.0,330.7,-9.3,353,3122,0.00,2.28,0.00,0.000,4,0.000,0.049,2248,1366,3521,0,0,0,0,0,0
$GC,3194,-0.67,-146.0,338.5,-10.0,359,3202,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2769,3522,0,0,0,0,0,0
$GC,3520,-0.67,-146.0,368.5,-9.0,390,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3522,0,0,0,0,0,0
$GC,3842,-0.67,-146.0,396.3,-8.8,420,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3522,0,0,0,0,0,0
$GC,4168,-0.67,-146.0,424.1,-8.2,451,4172,0.00,2.25,0.00,0.000,4,0.000,0.049,2248,1359,3523,0,0,0,0,0,0
$GC,4195,-0.67,-146.0,426.6,-8.4,453,4202,0.00,2.33,0.00,0.000,6,0.000,0.061,2247,2779,3522,0,0,0,0,0,0
$STATE,4482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4482,begin apogee
$GC,4487,-0.14,0.0,451.0,8.8,480,4611,0.55,0.00,117.90,0.883,4,0.138,0.000,2425,2602,2923,0,0,0,0,0,0
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,0.57,146.0,454.7,0.0,491,4745,0.68,2.38,122.78,0.860,4,0.080,0.049,2658,1185,2327,0,0,0,0,0,0
$GC,4937,0.57,146.0,426.4,12.0,520,4941,0.00,2.42,0.00,0.000,6,0.000,0.054,2657,2602,2319,0,0,0,0,0,0
$GC,5262,0.52,146.0,387.7,11.8,550,5266,0.00,2.30,0.00,0.000,4,0.000,0.052,2662,1188,2316,0,0,0,0,0,0
$GC,5465,0.52,146.0,365.1,10.4,568,5469,0.00,2.35,0.00,0.000,6,0.000,0.056,2662,2608,2316,0,0,0,0,0,0
$GC,5790,0.46,146.0,326.9,11.5,598,5795,0.15,2.20,0.00,0.000,4,0.196,0.067,2624,3930,2315,0,0,0,0,0,0
$GC,5841,0.43,146.0,321.0,11.5,602,5845,0.00,2.15,0.00,0.000,6,0.000,0.044,2624,2596,2314,0,0,0,0,0,0
$GC,6172,0.44,157.0,288.6,9.5,633,6182,0.00,0.00,8.52,0.728,6,0.000,0.000,2624,2596,2282,0,0,0,0,0,0
$GC,6500,0.46,191.2,259.8,8.4,664,6535,0.00,2.33,29.55,0.759,4,0.000,0.067,2624,3926,2142,0,0,0,0,0,0
$GC,6586,0.46,191.2,251.5,10.8,671,6593,0.00,2.15,0.00,0.000,6,0.000,0.043,2624,2602,2138,0,0,0,0,0,0
$GC,6912,0.52,208.4,221.8,9.2,702,6932,0.00,0.00,14.98,0.727,6,0.000,0.000,2624,2602,2072,0,0,0,0,0,0
$GC,7251,0.59,233.2,191.5,8.9,734,7278,0.12,2.25,21.77,0.718,4,0.104,0.065,2681,3932,1971,0,0,0,0,0,0
$GC,7314,0.52,233.2,183.2,14.9,739,7318,0.15,2.12,0.00,0.000,6,0.189,0.044,2646,2622,1967,0,0,0,0,0,0
$GC,7639,0.57,233.2,148.2,10.2,769,7643,0.00,2.28,0.00,0.000,4,0.000,0.052,2646,1184,1966,0,0,0,0,0,0
$GC,7713,0.69,256.5,141.4,8.9,775,7740,0.15,2.30,20.12,0.690,6,0.094,0.054,2705,2610,1877,0,0,0,0,0,0
$GC,8062,0.67,256.5,94.9,13.5,810,8069,0.00,2.20,0.00,0.000,4,0.000,0.066,2706,3936,1870,0,0,0,0,0,0
$GC,8149,0.60,256.5,82.0,14.9,825,8157,0.15,2.12,0.00,0.000,6,0.196,0.044,2670,2616,1869,0,0,0,0,0,0
$GC,8497,0.69,283.8,47.3,8.7,886,8528,0.00,2.22,23.20,0.652,4,0.000,0.067,2670,3932,1763,0,0,0,0,0,0
$GC,8546,0.77,283.8,42.3,10.8,894,8553,0.15,2.10,0.00,0.000,6,0.099,0.044,2729,2633,1761,0,0,0,0,0,0
$FREEZE,8.55,-0.618,-1.761,2,2,0
$FREEZE,7.84,-0.619,-1.761,2,2,0
$FREEZE,7.35,-0.619,-1.760,2,2,0
$FREEZE,6.81,-0.622,-1.760,2,2,0
$FREEZE,6.37,-0.620,-1.759,2,2,0
$FREEZE,5.57,-0.622,-1.759,2,2,0
$FREEZE,5.02,-0.622,-1.758,2,2,0
$FREEZE,4.54,-0.621,-1.758,2,2,0
$FREEZE,3.91,-0.624,-1.757,2,2,0
$GC,8890,0.77,283.8,3.9,11.3,955,8897,0.00,2.33,0.00,0.000,4,0.000,0.053,2732,1184,1757,0,0,0,0,0,0
$FREEZE,2.26,-0.626,-1.756,2,2,0
$STATE,8903,end climb,SURFACE_DEPTH_REACHED
$STATE,8903,begin surface coast
$FREEZE,1.68,-0.622,-1.755,2,2,0
$FREEZE,1.18,-0.622,-1.755,2,2,0
$FREEZE,0.87,-0.615,-1.754,2,2,0
$FINISH,0.9,1.025748
$STATE,8920,end surface coast,CONTROL_FINISHED_OK
$STATE,8920,begin surface
$SM_CCo,8937,37.70,0.503,1,0,1495,350.04
$SM_GC,1.55,0.00,0.00,37.70,0.000,0.000,0.503,296,2780,1495,-6.81,0.00,350.04
$RAFOS_CLK,513
$RAFOS_FIX,6658.795410,-5842.806152,211110,000036,4,81,1.49
$IRIDIUM_FIX,6631.12,-5837.62,201110,181846
$TT8_MAMPS,0.028462
$HUMID,48.46
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,451.0,9.3
$24V_AH,22.5,44.769
$10V_AH,10.1,34.689
$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,9.525,79.100,358.825,37.700,0.000,0.000,0.000,0.000,1.500,0.000,0.000,2310.652,4606.422,433.571,1552.812,136.694,0.000,1255.013,0.000,1546.418,0.000,14.008,0.000
$DEVICE_MAMPS,195.840,71.910,882.810,502.605,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,33386,960
$CAP_FILE_SIZE,102159,0
$CFSIZE,260165632,223260672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.8
$GPS,211110,073954,6655.154,-5849.105,36,1.4,36,-37.9