version: 66.08
glider: 183
mission: 3
dive: 385
start: 11 23 110 23 2 8
data:
$ID,183
$MISSION,3
$DIVE,385
$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,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,-8268.6455
$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,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,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
$GPS1,231110,225600,6649.043,-5943.302,37,1.0,42,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.3
$GPS2,231110,230137,6648.983,-5943.164,14,1.4,14,-38.1
$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,291.7,32668,-17.5,-10.000
$D_GRID,897
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,138,0.00,0.00,-118.78,0.000,2,0.000,0.000,303,2781,2974,0,0,0,0,0,0
$GC,140,-0.57,-146.0,5.3,-12.0,21,166,8.48,2.38,-11.25,0.000,4,0.257,0.063,2282,1365,3521,0,0,0,0,0,0
$GC,218,-0.51,-146.0,29.6,-19.4,34,225,0.12,2.38,0.00,0.000,6,0.184,0.063,2307,2780,3525,0,0,0,0,0,0
$GC,563,-0.51,-146.0,72.1,-10.8,95,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2781,3524,0,0,0,0,0,0
$GC,905,-0.54,-146.0,105.8,-8.6,150,908,0.00,1.98,0.00,0.000,4,0.000,0.075,2304,3938,3524,0,0,0,0,0,0
$GC,951,-0.59,-146.0,109.9,-8.9,154,955,0.00,1.90,0.00,0.000,6,0.000,0.050,2304,2759,3524,0,0,0,0,0,0
$GC,1282,-0.64,-146.0,139.3,-8.5,185,1287,0.10,2.22,0.00,0.000,4,0.114,0.053,2258,1369,3524,0,0,0,0,0,0
$GC,1299,-0.64,-146.0,141.2,-9.7,186,1303,0.00,2.35,0.00,0.000,6,0.000,0.064,2252,2774,3523,0,0,0,0,0,0
$GC,1624,-0.59,-146.0,180.6,-12.2,216,1629,0.12,2.00,0.00,0.000,4,0.192,0.076,2278,3936,3524,0,0,0,0,0,0
$GC,1663,-0.59,-146.0,185.1,-10.6,219,1670,0.00,1.90,0.00,0.000,6,0.000,0.050,2278,2766,3523,0,0,0,0,0,0
$GC,1988,-0.59,-146.0,218.9,-10.3,250,1992,0.00,2.00,0.00,0.000,4,0.000,0.077,2274,3941,3523,0,0,0,0,0,0
$GC,2010,-0.59,-146.0,221.2,-10.4,252,2014,0.00,1.88,0.00,0.000,6,0.000,0.050,2275,2770,3523,0,0,0,0,0,0
$GC,2341,-0.61,-146.0,253.3,-9.3,283,2345,0.00,1.98,0.00,0.000,4,0.000,0.076,2272,3932,3522,0,0,0,0,0,0
$GC,2365,-0.63,-146.0,255.7,-10.0,285,2369,0.00,1.88,0.00,0.000,6,0.000,0.050,2273,2772,3523,0,0,0,0,0,0
$GC,2697,-0.65,-146.0,286.8,-9.3,316,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2772,3522,0,0,0,0,0,0
$GC,3017,-0.68,-146.0,315.0,-8.0,346,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2772,3522,0,0,0,0,0,0
$GC,3345,-0.71,-146.0,342.3,-8.4,377,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2772,3522,0,0,0,0,0,0
$GC,3661,-0.75,-146.0,368.8,-8.2,407,3663,0.12,0.00,0.00,0.000,6,0.107,0.000,2218,2772,3523,0,0,0,0,0,0
$STATE,3939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3939,begin apogee
$GC,3944,-0.14,0.0,400.3,11.9,433,4070,0.65,0.00,118.07,0.874,4,0.148,0.000,2423,2595,2924,0,0,0,0,0,0
$STATE,4070,end apogee,CONTROL_FINISHED_OK
$STATE,4071,begin climb
$GC,4072,0.57,146.0,405.1,0.0,444,4210,0.70,2.40,123.90,0.845,4,0.084,0.051,2660,1180,2326,0,0,0,0,0,0
$GC,4351,0.57,146.0,384.5,10.6,469,4358,0.00,2.47,0.00,0.000,6,0.000,0.056,2661,2603,2318,0,0,0,0,0,0
$GC,4676,0.52,146.0,347.9,10.9,500,4680,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1182,2314,0,0,0,0,0,0
$GC,4850,0.53,167.1,331.0,9.0,515,4874,0.00,2.40,17.08,0.797,6,0.000,0.057,2662,2624,2241,0,0,0,0,0,0
$GC,5193,0.49,167.1,293.4,11.4,547,5197,0.00,2.20,0.00,0.000,4,0.000,0.069,2662,3934,2237,0,0,0,0,0,0
$GC,5255,0.41,167.1,285.2,13.5,552,5260,0.20,2.15,0.00,0.000,6,0.199,0.045,2612,2610,2235,0,0,0,0,0,0
$GC,5580,0.51,219.7,258.7,7.6,582,5635,0.00,2.40,44.35,0.774,4,0.000,0.054,2612,1184,2025,0,0,0,0,0,0
$GC,5661,0.70,294.5,253.2,6.5,589,5730,0.25,2.40,63.22,0.757,6,0.076,0.056,2706,2620,1722,0,0,0,0,0,0
$GC,6050,0.70,294.5,199.1,15.1,625,6054,0.00,2.22,0.00,0.000,4,0.000,0.068,2706,3929,1709,0,0,0,0,0,0
$GC,6112,0.66,294.5,188.8,16.8,630,6116,0.00,2.15,0.00,0.000,6,0.000,0.046,2707,2613,1707,0,0,0,0,0,0
$GC,6437,0.66,294.5,139.0,14.6,660,6441,0.00,2.28,0.00,0.000,4,0.000,0.055,2707,1186,1705,0,0,0,0,0,0
$GC,6477,0.70,294.5,133.6,13.4,663,6481,0.00,2.33,0.00,0.000,6,0.000,0.057,2707,2617,1705,0,0,0,0,0,0
$GC,6804,0.70,294.5,92.2,12.4,698,6811,0.00,2.17,0.00,0.000,4,0.000,0.069,2708,3927,1705,0,0,0,0,0,0
$GC,6828,0.70,294.5,88.9,13.2,702,6835,0.00,2.15,0.00,0.000,6,0.000,0.046,2708,2595,1704,0,0,0,0,0,0
$GC,7173,0.73,294.5,49.6,11.9,763,7180,0.00,2.22,0.00,0.000,4,0.000,0.056,2707,1191,1703,0,0,0,0,0,0
$GC,7209,0.80,294.5,45.3,11.8,769,7216,0.00,2.28,0.00,0.000,6,0.000,0.057,2707,2583,1703,0,0,0,0,0,0
$FREEZE,8.55,-1.415,-1.686,2,1,0
$FREEZE,7.67,-1.425,-1.685,2,1,0
$FREEZE,6.79,-1.435,-1.684,2,1,0
$GC,7556,0.97,369.2,13.0,6.6,830,7627,0.22,2.38,59.22,0.647,4,0.084,0.070,2796,3927,1416,0,0,0,0,0,0
$FREEZE,4.46,-1.457,-1.682,2,1,0
$FREEZE,3.48,-1.459,-1.682,2,1,0
$FREEZE,2.91,-1.458,-1.681,2,1,0
$STATE,7645,end climb,SURFACE_DEPTH_REACHED
$STATE,7646,begin surface coast
$FREEZE,2.28,-1.462,-1.681,2,1,0
$FREEZE,1.42,-1.458,-1.680,2,1,0
$FREEZE,0.96,-1.467,-0.808,2,1,0
$FINISH,1.0,1.011890
$STATE,7663,end surface coast,FINISH_DEPTH_REACHED
$STATE,7663,begin surface
$SM_CCo,7679,176.90,0.595,1,0,439,609.08
$SM_GC,2.01,0.00,0.00,176.90,0.000,0.000,0.595,304,2779,439,-6.78,-0.03,609.08
$RAFOS_CLK,410
$RAFOS,6,1290559742,0.833333,0.817222,118,50,46,41,41,40,767,1852,1915,1162,1772,1037
$RAFOS,5,1290559269,0.700000,0.685833,68,48,46,46,44,42,845,1525,1190,859,1912,850
$RAFOS,4,1290558791,0.566667,0.553056,95,51,46,44,43,42,607,859,1750,295,1224,1051
$RAFOS,3,1290558305,0.433333,0.418056,100,48,43,42,41,41,745,1382,1861,273,1508,1911
$RAFOS,2,1290557821,0.300000,0.283611,121,46,45,43,39,37,680,681,1757,1621,1152,705
$RAFOS,1,1290557347,0.166667,0.151944,46,45,43,42,41,40,1726,343,1399,568,1527,1735
$RAFOS,0,1290556870,0.033333,0.019444,86,49,44,44,41,40,677,1100,1489,809,1649,903
$RAFOS_FIX,6649.027832,-5943.471680,241110,000013,6,98,0.05
$IRIDIUM_FIX,6625.71,-5948.16,231110,191940
$TT8_MAMPS,0.029211
$HUMID,46.10
$INTERNAL_PRESSURE,8.41676
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,400.3,7.6
$24V_AH,22.4,46.907
$10V_AH,10.0,35.816
$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,17.800,65.950,425.850,176.900,0.000,30.852,39.917,130.017,1.250,0.000,16.845,1985.804,3777.785,685.957,1593.551,176.310,0.000,1458.124,0.000,1366.776,2520.000,10.609,0.000
$DEVICE_MAMPS,257.040,77.265,874.395,595.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,30060,847
$CAP_FILE_SIZE,99401,0
$CFSIZE,260165632,222208000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1448.9
$GPS,241110,011436,6648.462,-5944.679,9,1.4,25,-38.0