version: 66.08
glider: 183
mission: 3
dive: 838
start: 1 27 111 1 32 13
data:
$ID,183
$MISSION,3
$DIVE,838
$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,-13327.273
$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,35
$R_STBD_OVSHOOT,28
$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,5
$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
$GPS1,270111,004240,6645.492,-5804.612,0,2063.5,0,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.62
$_SM_ANGLEo,-0.0
$GPS2,270111,004240,6645.492,-5804.612,0,2063.5,0,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,97.1,64127,-17.5,-10.000
$D_GRID,671
$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,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2487,1185,2942,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.2,-0.0,1,53,0.55,4.78,-14.98,0.000,4,0.103,0.073,2290,3918,3521,0,0,0,0,0,0
$GC,247,-0.62,-146.0,30.5,-11.1,39,254,0.00,1.88,0.00,0.000,6,0.000,0.047,2290,2777,3522,0,0,0,0,0,0
$GC,595,-0.64,-146.0,66.3,-9.6,100,602,0.00,2.28,0.00,0.000,4,0.000,0.050,2290,1365,3521,0,0,0,0,0,0
$GC,701,-0.70,-146.0,76.6,-8.8,118,709,0.12,2.38,0.00,0.000,6,0.100,0.061,2236,2777,3521,0,0,0,0,0,0
$GC,1042,-0.65,-146.0,119.0,-12.6,165,1047,0.10,2.03,0.00,0.000,4,0.181,0.073,2253,3931,3520,0,0,0,0,0,0
$GC,1149,-0.65,-146.0,131.3,-10.5,174,1156,0.00,1.88,0.00,0.000,6,0.000,0.047,2253,2792,3520,0,0,0,0,0,0
$GC,1475,-0.65,-146.0,163.5,-9.3,205,1479,0.00,2.30,0.00,0.000,4,0.000,0.050,2253,1373,3520,0,0,0,0,0,0
$GC,1496,-0.65,-146.0,166.0,-10.2,206,1503,0.00,2.45,0.00,0.000,6,0.000,0.063,2249,2806,3520,0,0,0,0,0,0
$GC,1822,-0.65,-146.0,200.7,-11.5,237,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2805,3520,0,0,0,0,0,0
$GC,2143,-0.65,-146.0,235.6,-11.2,267,2147,0.00,2.35,0.00,0.000,4,0.000,0.050,2249,1365,3520,0,0,0,0,0,0
$GC,2185,-0.68,-146.0,240.2,-10.3,270,2189,0.00,2.42,0.00,0.000,6,0.000,0.063,2247,2798,3520,0,0,0,0,0,0
$GC,2511,-0.68,-146.0,276.0,-10.7,300,2514,0.00,1.95,0.00,0.000,4,0.000,0.073,2247,3932,3520,0,0,0,0,0,0
$GC,2575,-0.70,-146.0,282.7,-10.0,305,2582,0.00,1.85,0.00,0.000,6,0.000,0.048,2248,2796,3519,0,0,0,0,0,0
$GC,2901,-0.70,-146.0,315.7,-10.0,336,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2796,3520,0,0,0,0,0,0
$GC,3224,-0.70,-146.0,348.9,-10.8,366,3228,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1369,3520,0,0,0,0,0,0
$GC,3291,-0.73,-146.0,356.6,-10.4,371,3297,0.00,2.47,0.00,0.000,6,0.000,0.062,2247,2821,3519,0,0,0,0,0,0
$GC,3617,-0.73,-146.0,389.1,-9.9,402,3621,0.00,2.38,0.00,0.000,4,0.000,0.049,2247,1365,3520,0,0,0,0,0,0
$GC,3663,-0.77,-146.0,393.7,-10.2,406,3667,0.00,2.45,0.00,0.000,6,0.000,0.061,2247,2803,3520,0,0,0,0,0,0
$GC,3980,-0.77,-146.0,422.7,-9.1,420,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2803,3520,0,0,0,0,0,0
$GC,4286,-0.77,-146.0,450.9,-9.1,430,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2803,3520,0,0,0,0,0,0
$GC,4592,-0.77,-146.0,478.8,-9.0,440,4596,0.00,2.35,0.00,0.000,4,0.000,0.050,2247,1369,3520,0,0,0,0,0,0
$GC,4615,-0.79,-146.0,481.0,-9.2,440,4622,0.00,2.45,0.00,0.000,6,0.000,0.061,2247,2805,3520,0,0,0,0,0,0
$GC,4929,-0.81,-146.0,507.6,-8.6,451,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2805,3521,0,0,0,0,0,0
$GC,5235,-0.81,-146.0,534.5,-9.1,461,5239,0.00,2.35,0.00,0.000,4,0.000,0.049,2247,1362,3521,0,0,0,0,0,0
$GC,5331,-0.84,-146.0,543.5,-8.8,463,5339,0.12,2.42,0.00,0.000,6,0.095,0.060,2190,2787,3521,0,0,0,0,0,0
$GC,5645,-0.75,-146.0,582.7,-12.7,474,5647,0.15,0.00,0.00,0.000,6,0.182,0.000,2229,2788,3521,0,0,0,0,0,0
$STATE,5829,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5829,begin apogee
$GC,5837,-0.14,0.0,601.1,9.7,480,5967,0.60,0.00,123.07,0.977,4,0.133,0.000,2422,2600,2924,0,0,0,0,0,0
$STATE,5968,end apogee,CONTROL_FINISHED_OK
$STATE,5968,begin climb
$GC,5970,0.57,146.0,603.1,0.0,484,6113,0.70,2.42,131.48,0.948,4,0.081,0.070,2659,3930,2325,0,0,0,0,0,0
$GC,6240,-1.87,146.0,574.7,22384.0,492,6249,2.83,2.30,0.00,0.000,6,0.161,0.043,1887,2592,2317,0,0,0,0,0,0
$GC,6570,-1.87,146.0,524.8,22384.0,503,6574,0.00,2.33,0.00,0.000,4,0.000,0.071,1880,3935,2311,0,0,0,0,0,0
$GC,6829,-1.87,146.0,476.2,22384.0,510,6836,0.00,2.17,0.00,0.000,6,0.000,0.047,1879,2606,2309,0,0,0,0,0,0
$GC,7143,-1.87,146.0,422.2,22384.0,521,7147,0.00,2.28,0.00,0.000,4,0.000,0.068,1869,3931,2308,0,0,0,0,0,0
$GC,7402,-1.87,146.0,374.4,22384.0,536,7409,0.00,2.08,0.00,0.000,6,0.000,0.044,1867,2653,2307,0,0,0,0,0,0
$GC,7729,-1.87,146.0,317.0,22384.0,567,7733,0.00,2.20,0.00,0.000,4,0.000,0.070,1857,3937,2307,0,0,0,0,0,0
$GC,7989,-1.87,146.0,264.7,22384.0,590,7993,0.00,2.10,0.00,0.000,6,0.000,0.045,1855,2649,2306,0,0,0,0,0,0
$GC,8320,-1.87,146.0,202.4,22384.0,621,8324,0.00,2.20,0.00,0.000,4,0.000,0.070,1846,3932,2308,0,0,0,0,0,0
$GC,8580,-1.87,146.0,148.8,22384.0,643,8588,0.12,2.12,0.00,0.000,6,0.282,0.042,1866,2619,2307,0,0,0,0,0,0
$GC,8908,-1.87,146.0,93.8,22384.0,677,8915,0.00,2.25,0.00,0.000,4,0.000,0.069,1858,3935,2307,0,0,0,0,0,0
$GC,9170,-1.87,146.0,48.9,22384.0,723,9177,0.00,2.15,0.00,0.000,6,0.000,0.044,1858,2619,2307,0,0,0,0,0,0
$FREEZE,8.36,-1.261,-1.794,3,2,0
$FREEZE,7.30,-1.464,-1.804,3,2,0
$FREEZE,6.66,-1.261,-1.791,3,2,0
$FREEZE,5.97,-1.292,-1.793,3,2,0
$FREEZE,4.98,-1.459,-1.802,3,2,0
$FREEZE,4.01,-1.547,-1.807,3,2,0
$FREEZE,3.36,-1.322,-1.792,3,2,0
$FREEZE,2.72,-1.354,-1.793,3,2,0
$STATE,9470,end climb,SURFACE_DEPTH_REACHED
$STATE,9470,begin surface coast
$FREEZE,1.64,-1.548,-1.805,3,2,0
$FINISH,1.6,1.026483
$STATE,9477,end surface coast,CONTROL_FINISHED_OK
$STATE,9477,begin surface
$SM_CCo,9493,273.02,0.085,0,0,440,609.08
$SM_GC,1.55,0.00,0.00,273.02,0.000,0.000,0.085,301,2798,440,-6.80,0.51,609.08
$RAFOS_CLK,564
$RAFOS,0,1296100864,4.033333,4.017778,53,47,46,45,44,38,569,1372,848,1140,1342,1394
$RAFOS_FIX,6645.491699,-5804.612305,270111,000040,2,64,0.78
$IRIDIUM_FIX,6614.97,-5807.17,260111,181819
$TT8_MAMPS,0.02996
$HUMID,45.66
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,18.2
$ALTIM_BOTTOM_PING,601.1,11.9
$24V_AH,21.3,94.499
$10V_AH,9.6,64.227
$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,9.425,74.900,254.550,273.025,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2004.546,5587.729,565.483,1471.990,202.098,0.000,1338.038,0.000,1454.712,720.000,20.524,0.000
$DEVICE_MAMPS,281.520,72.675,976.905,84.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,30069,777
$CAP_FILE_SIZE,96472,0
$CFSIZE,260165632,194875392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,270111,041651,6640.422,-5805.001,40,99.0,59,-37.4