version: 66.08
glider: 183
mission: 3
dive: 675
start: 1 3 111 14 17 21
data:
$ID,183
$MISSION,3
$DIVE,675
$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,-11343.325
$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,30
$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,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
$GPS1,030111,140106,6649.312,-5802.324,38,0.9,38,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.7
$GPS2,030111,141650,6649.462,-5802.393,10,1.5,10,-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,102.6,59286,-17.5,-10.000
$D_GRID,752
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,169,0.00,0.00,-145.55,0.000,2,0.000,0.000,293,2774,3465,0,0,0,0,0,0
$GC,172,-0.57,-146.0,6.6,-17.7,26,186,8.60,2.03,-1.02,0.000,4,0.249,0.080,2275,3929,3521,0,0,0,0,0,0
$GC,351,-0.57,-146.0,47.1,-12.5,57,357,0.00,1.90,0.00,0.000,6,0.000,0.051,2275,2779,3523,0,0,0,0,0,0
$GC,697,-0.57,-146.0,85.3,-10.1,118,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2779,3522,0,0,0,0,0,0
$GC,1031,-0.57,-146.0,119.8,-10.6,161,1035,0.00,2.28,0.00,0.000,4,0.000,0.054,2275,1365,3522,0,0,0,0,0,0
$GC,1116,-0.61,-146.0,128.6,-10.8,168,1120,0.00,2.38,0.00,0.000,6,0.000,0.064,2275,2773,3522,0,0,0,0,0,0
$GC,1442,-0.65,-146.0,159.8,-9.4,198,1446,0.00,2.28,0.00,0.000,4,0.000,0.052,2275,1364,3522,0,0,0,0,0,0
$GC,1464,-0.68,-146.0,162.3,-10.0,199,1471,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2756,3522,0,0,0,0,0,0
$GC,1791,-0.73,-146.0,192.5,-9.4,230,1795,0.00,2.25,0.00,0.000,4,0.000,0.052,2275,1370,3522,0,0,0,0,0,0
$GC,1825,-0.78,-146.0,195.8,-9.0,232,1832,0.15,2.33,0.00,0.000,6,0.088,0.063,2208,2752,3522,0,0,0,0,0,0
$GC,2151,-0.69,-146.0,239.2,-13.7,263,2152,0.15,0.00,0.00,0.000,6,0.177,0.000,2249,2751,3522,0,0,0,0,0,0
$GC,2469,-0.69,-146.0,271.5,-10.1,293,2473,0.00,2.22,0.00,0.000,4,0.000,0.051,2249,1370,3523,0,0,0,0,0,0
$GC,2510,-0.72,-146.0,275.6,-10.5,296,2514,0.00,2.28,0.00,0.000,6,0.000,0.063,2248,2736,3523,0,0,0,0,0,0
$GC,2836,-0.72,-146.0,308.7,-10.1,326,2840,0.00,2.03,0.00,0.000,4,0.000,0.073,2239,3931,3523,0,0,0,0,0,0
$GC,2875,-0.72,-146.0,313.1,-10.8,329,2882,0.00,1.95,0.00,0.000,6,0.000,0.049,2240,2737,3523,0,0,0,0,0,0
$GC,3201,-0.72,-146.0,344.1,-9.2,360,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2737,3524,0,0,0,0,0,0
$GC,3522,-0.72,-146.0,373.6,-9.2,390,3526,0.00,2.17,0.00,0.000,4,0.000,0.051,2240,1372,3524,0,0,0,0,0,0
$GC,3551,-0.72,-146.0,376.6,-9.5,392,3555,0.00,2.30,0.00,0.000,6,0.000,0.063,2238,2738,3524,0,0,0,0,0,0
$GC,3874,-0.72,-146.0,406.3,-9.6,418,3878,0.00,2.22,0.00,0.000,4,0.000,0.051,2237,1363,3524,0,0,0,0,0,0
$GC,3896,-0.72,-146.0,408.8,-10.4,418,3900,0.00,2.30,0.00,0.000,6,0.000,0.062,2235,2737,3524,0,0,0,0,0,0
$GC,4215,-0.72,-146.0,439.7,-9.8,429,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2737,3524,0,0,0,0,0,0
$STATE,4339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4339,begin apogee
$GC,4347,-0.14,0.0,452.1,10.1,433,4476,0.57,0.00,122.45,0.887,4,0.136,0.000,2420,2599,2923,0,0,0,0,0,0
$STATE,4477,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4480,0.57,146.0,457.4,0.0,437,4618,0.70,2.40,127.85,0.864,4,0.076,0.051,2662,1183,2327,0,0,0,0,0,0
$GC,4791,-1.22,146.0,435.1,16601.6,446,4803,2.03,2.42,0.00,0.000,6,0.153,0.056,2089,2599,2317,0,0,0,0,0,0
$GC,5110,-1.22,146.0,404.1,16601.6,457,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2599,2310,0,0,0,0,0,0
$GC,5428,-1.22,146.0,367.9,16601.6,483,5432,0.00,2.30,0.00,0.000,4,0.000,0.053,2088,1176,2310,0,0,0,0,0,0
$GC,5688,-1.22,146.0,335.4,16601.6,506,5692,0.00,2.30,0.00,0.000,6,0.000,0.055,2078,2583,2308,0,0,0,0,0,0
$GC,6014,-1.22,146.0,294.2,16601.6,536,6018,0.00,2.28,0.00,0.000,4,0.000,0.053,2077,1180,2309,0,0,0,0,0,0
$GC,6271,-1.22,146.0,258.9,16601.6,558,6278,0.00,2.28,0.00,0.000,6,0.000,0.059,2066,2556,2308,0,0,0,0,0,0
$GC,6599,-1.22,146.0,216.4,16601.6,589,6603,0.00,2.33,0.00,0.000,4,0.000,0.071,2058,3925,2308,0,0,0,0,0,0
$GC,6637,-1.22,146.0,210.2,16601.6,592,6644,0.00,2.30,0.00,0.000,6,0.000,0.044,2058,2504,2306,0,0,0,0,0,0
$GC,6964,-1.22,146.0,165.9,16601.6,623,6968,0.00,2.12,0.00,0.000,4,0.000,0.053,2058,1178,2308,0,0,0,0,0,0
$GC,6974,-1.22,146.0,164.8,16601.6,623,6982,0.12,2.25,0.00,0.000,6,0.225,0.058,2074,2538,2307,0,0,0,0,0,0
$GC,7301,-1.22,146.0,123.8,16601.6,654,7305,0.00,2.35,0.00,0.000,4,0.000,0.070,2071,3932,2308,0,0,0,0,0,0
$GC,7319,-1.22,146.0,121.7,16601.6,655,7324,0.00,2.30,0.00,0.000,6,0.000,0.047,2071,2510,2307,0,0,0,0,0,0
$GC,7656,-1.22,146.0,81.5,16601.6,698,7664,0.00,2.12,0.00,0.000,4,0.000,0.053,2071,1185,2308,0,0,0,0,0,0
$GC,7699,-1.22,146.0,76.1,16601.6,705,7706,0.00,2.30,0.00,0.000,6,0.000,0.060,2070,2569,2307,0,0,0,0,0,0
$GC,8047,-1.22,146.0,35.3,16601.6,766,8054,0.00,2.22,0.00,0.000,4,0.000,0.051,2070,1180,2307,0,0,0,0,0,0
$GC,8247,-1.22,146.0,11.0,16601.6,801,8254,0.00,2.40,0.00,0.000,6,0.000,0.058,2059,2643,2307,0,0,0,0,0,0
$FREEZE,8.73,-1.293,-1.763,2,1,0
$FREEZE,8.06,-1.398,-1.769,2,1,0
$FREEZE,7.27,-1.584,-1.780,2,1,0
$FREEZE,6.82,-1.438,-1.771,2,1,0
$FREEZE,6.30,-1.369,-1.766,2,1,0
$FREEZE,5.77,-1.468,-1.772,2,1,0
$FREEZE,4.84,-1.493,-1.773,2,1,0
$FREEZE,4.16,-1.528,-1.774,2,1,0
$FREEZE,3.78,-1.421,-1.767,2,1,0
$FREEZE,3.34,-1.479,-1.771,2,1,0
$FREEZE,2.56,-1.554,-1.775,2,1,0
$STATE,8317,end climb,SURFACE_DEPTH_REACHED
$STATE,8317,begin surface coast
$FREEZE,1.61,-1.605,-1.777,2,1,0
$FINISH,1.6,1.026092
$STATE,8323,end surface coast,CONTROL_FINISHED_OK
$STATE,8323,begin surface
$SM_CCo,8338,286.42,0.083,0,0,440,609.08
$SM_GC,1.61,0.00,0.00,286.42,0.000,0.000,0.083,301,2786,440,-6.80,0.17,609.08
$RAFOS_CLK,440
$RAFOS,3,1294071902,16.433332,16.417223,86,46,44,43,43,42,821,1747,1019,775,564,647
$RAFOS,2,1294071422,16.299999,16.283890,50,43,41,41,40,39,526,1194,1462,1733,364,1918
$RAFOS,1,1294070946,16.166666,16.151667,50,45,44,43,43,41,538,1577,429,1505,780,1852
$RAFOS,0,1294070465,16.033333,16.018055,46,44,43,43,42,41,1533,1261,415,145,711,820
$RAFOS_FIX,6647.543945,-5802.642090,030111,121212,3,93,0.29
$IRIDIUM_FIX,6625.71,-5802.00,030111,141414
$TT8_MAMPS,0.029211
$HUMID,45.43
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,452.1,9.2
$24V_AH,21.8,77.724
$10V_AH,9.7,53.630
$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,16.975,72.350,250.300,286.425,0.000,58.016,114.377,385.872,1.750,0.000,12.761,2002.055,4504.094,668.268,1942.741,463.799,0.000,1440.853,0.000,1400.528,1800.000,15.206,0.000
$DEVICE_MAMPS,249.390,82.620,886.635,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151540
$DATA_FILE_SIZE,30127,815
$CAP_FILE_SIZE,104563,0
$CFSIZE,260165632,204988416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,030111,164237,6650.508,-5800.553,38,1.2,38,-37.6