version: 66.08
glider: 183
mission: 3
dive: 376
start: 11 22 110 7 28 52
data:
$ID,183
$MISSION,3
$DIVE,376
$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,-2
$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,-8257.3564
$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,24
$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
$GPS1,221110,072100,6653.457,-5912.690,36,0.9,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.2
$GPS2,221110,072819,6653.510,-5912.520,13,1.0,30,-38.0
$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,289.9,56567,-17.5,-10.000
$D_GRID,1041
$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,15,-0.57,-146.0,0.0,0.0,0,98,0.00,0.00,-80.60,0.000,2,0.000,0.000,276,2789,3161,0,0,0,0,0,0
$GC,100,-0.57,-146.0,6.1,-15.5,14,126,8.62,2.35,-7.12,0.000,4,0.260,0.064,2282,1373,3523,0,0,0,0,0,0
$GC,279,-0.53,-146.0,43.8,-13.2,45,286,0.00,2.35,0.00,0.000,6,0.000,0.063,2277,2781,3524,0,0,0,0,0,0
$GC,624,-0.48,-146.0,88.7,-12.6,106,632,0.15,2.30,0.00,0.000,4,0.180,0.052,2317,1373,3524,0,0,0,0,0,0
$GC,713,-0.55,-146.0,97.8,-8.9,121,720,0.00,2.30,0.00,0.000,6,0.000,0.063,2317,2750,3524,0,0,0,0,0,0
$GC,1041,-0.62,-146.0,125.7,-8.3,154,1046,0.12,2.03,0.00,0.000,4,0.103,0.075,2259,3929,3524,0,0,0,0,0,0
$GC,1080,-0.58,-146.0,130.2,-12.2,157,1087,0.00,1.92,0.00,0.000,6,0.000,0.049,2259,2740,3523,0,0,0,0,0,0
$GC,1406,-0.54,-146.0,170.0,-11.7,188,1407,0.15,0.00,0.00,0.000,6,0.173,0.000,2301,2740,3523,0,0,0,0,0,0
$GC,1725,-0.60,-146.0,196.3,-7.8,218,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2740,3522,0,0,0,0,0,0
$GC,2045,-0.67,-146.0,221.8,-7.7,248,2047,0.12,0.00,0.00,0.000,6,0.102,0.000,2247,2740,3522,0,0,0,0,0,0
$GC,2362,-0.64,-146.0,256.0,-10.9,278,2365,0.00,2.03,0.00,0.000,4,0.000,0.075,2238,3933,3522,0,0,0,0,0,0
$GC,2389,-0.58,-146.0,259.3,-11.4,280,2397,0.17,1.90,0.00,0.000,6,0.166,0.049,2287,2758,3521,0,0,0,0,0,0
$GC,2715,-0.64,-146.0,285.3,-7.4,311,2719,0.00,2.22,0.00,0.000,4,0.000,0.053,2287,1366,3521,0,0,0,0,0,0
$GC,2767,-0.72,-146.0,289.2,-8.0,315,2772,0.12,2.30,0.00,0.000,6,0.099,0.063,2231,2760,3521,0,0,0,0,0,0
$STATE,2881,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2881,begin apogee
$GC,2886,-0.14,0.0,300.9,11.0,325,3009,0.62,0.00,115.82,0.821,4,0.148,0.000,2427,2601,2923,0,0,0,0,0,0
$STATE,3010,end apogee,CONTROL_FINISHED_OK
$STATE,3010,begin climb
$GC,3012,0.57,146.0,305.4,0.0,336,3142,0.68,2.40,120.97,0.793,4,0.086,0.051,2657,1181,2327,0,0,0,0,0,0
$GC,3333,0.57,146.0,281.5,10.1,365,3338,0.00,2.45,0.00,0.000,6,0.000,0.057,2657,2603,2317,0,0,0,0,0,0
$GC,3658,0.54,146.0,246.3,10.5,395,3662,0.00,2.33,0.00,0.000,4,0.000,0.053,2662,1186,2316,0,0,0,0,0,0
$GC,3831,0.54,148.8,229.5,9.9,410,3839,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2613,2315,0,0,0,0,0,0
$GC,4158,0.51,153.9,197.8,9.8,441,4170,0.00,2.20,5.55,0.644,4,0.000,0.068,2662,3925,2297,0,0,0,0,0,0
$GC,4230,0.42,153.9,189.6,13.1,447,4234,0.20,2.15,0.00,0.000,6,0.197,0.046,2611,2597,2295,0,0,0,0,0,0
$GC,4555,0.56,236.7,166.8,6.2,477,4632,0.12,2.35,69.50,0.721,4,0.104,0.067,2666,3934,1956,0,0,0,0,0,0
$GC,4685,0.56,236.7,154.1,11.7,488,4692,0.00,2.17,0.00,0.000,6,0.000,0.044,2666,2616,1950,0,0,0,0,0,0
$GC,5011,0.60,236.7,119.8,10.5,519,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2616,1946,0,0,0,0,0,0
$GC,5335,0.65,240.4,88.0,9.8,560,5342,0.00,2.22,0.00,0.000,4,0.000,0.070,2666,3933,1944,0,0,0,0,0,0
$GC,5383,0.67,240.4,83.1,11.2,568,5390,0.00,2.15,0.00,0.000,6,0.000,0.046,2666,2602,1944,0,0,0,0,0,0
$GC,5728,0.77,286.2,53.5,7.9,629,5776,0.17,2.30,39.90,0.670,4,0.096,0.054,2738,1187,1754,0,0,0,0,0,0
$GC,5912,0.81,286.2,31.9,11.0,661,5919,0.00,2.33,0.00,0.000,6,0.000,0.058,2738,2583,1747,0,0,0,0,0,0
$FREEZE,8.41,-1.105,-1.749,2,1,0
$FREEZE,7.66,-1.105,-1.749,2,1,0
$FREEZE,7.23,-1.104,-1.748,2,1,0
$FREEZE,6.60,-1.103,-1.748,2,1,0
$FREEZE,6.04,-1.106,-1.747,2,1,0
$FREEZE,5.50,-1.106,-1.747,2,1,0
$FREEZE,5.32,-1.104,-1.747,2,1,0
$FREEZE,4.83,-1.103,-1.747,2,1,0
$FREEZE,4.52,-1.102,-1.746,2,1,0
$FREEZE,4.03,-1.103,-1.746,2,1,0
$FREEZE,3.78,-1.102,-1.746,2,1,0
$FREEZE,3.39,-1.103,-1.746,2,1,0
$FREEZE,2.68,-1.102,-1.745,2,1,0
$STATE,6196,end climb,SURFACE_DEPTH_REACHED
$STATE,6197,begin surface coast
$FREEZE,1.92,-1.103,-1.744,2,1,0
$FREEZE,1.09,-1.100,-1.744,2,1,0
$FREEZE,0.71,-1.042,-0.975,2,1,0
$FINISH,0.7,1.014394
$STATE,6214,end surface coast,FINISH_DEPTH_REACHED
$STATE,6214,begin surface
$SM_CCo,6229,35.33,0.092,0,0,1496,350.04
$SM_GC,2.41,0.00,0.00,35.33,0.000,0.000,0.092,300,2784,1496,-6.80,0.14,350.04
$RAFOS_CLK,322
$RAFOS,6,1290415749,8.833333,8.819167,52,48,47,44,43,38,656,771,1260,1273,295,1319
$RAFOS,5,1290415261,8.700000,8.683611,44,44,43,39,39,37,741,619,1191,398,1324,1721
$RAFOS,4,1290414790,8.566667,8.552778,61,50,43,42,41,41,526,279,857,162,527,1571
$RAFOS,3,1290414301,8.433333,8.416945,45,44,42,42,40,39,778,1720,315,1878,413,1531
$RAFOS,2,1290413822,8.300000,8.283889,47,46,45,43,41,40,1812,793,1897,866,726,786
$RAFOS,1,1290413347,8.166667,8.151944,46,46,44,42,39,38,1679,1422,144,652,1850,996
$RAFOS,0,1290412867,8.033334,8.018611,41,41,40,40,40,38,1118,1835,1860,1494,1555,121
$RAFOS_FIX,6654.171387,-5910.228516,221110,040428,2,79,0.36
$IRIDIUM_FIX,6625.71,-5910.64,211110,202000
$TT8_MAMPS,0.028462
$HUMID,49.44
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,300.9,11.0
$24V_AH,22.7,45.495
$10V_AH,10.0,35.118
$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,17.975,49.700,351.750,35.325,0.000,31.121,20.837,213.013,0.750,0.000,33.449,1703.260,2936.227,440.992,1451.980,176.297,0.000,1084.177,0.000,1157.051,2520.000,7.085,0.000
$DEVICE_MAMPS,260.100,86.445,820.845,91.800,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,496.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,26748,715
$CAP_FILE_SIZE,84238,0
$CFSIZE,260165632,222867456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.1
$GPS,221110,091414,6653.213,-5912.920,8,1.9,8,-38.0