version: 66.08
glider: 183
mission: 3
dive: 851
start: 1 29 111 0 53 38
data:
$ID,183
$MISSION,3
$DIVE,851
$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,1
$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,-13524.141
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,290111,003954,6649.666,-5728.902,23,1.1,40,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.4
$GPS2,290111,005307,6649.484,-5729.044,8,1.9,8,-37.4
$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,87.2,38796,-17.5,-10.000
$D_GRID,732
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.57,-146.0,0.0,0.0,0,175,0.00,0.00,-152.55,0.000,6,0.000,0.000,279,2780,3520,0,0,0,0,0,0
$GC,178,-0.57,-146.0,4.9,-11.2,26,192,8.40,2.35,0.00,0.000,4,0.242,0.047,2282,1366,3522,0,0,0,0,0,0
$GC,431,-0.60,-146.0,44.0,-10.5,70,438,0.00,2.40,0.00,0.000,6,0.000,0.061,2276,2786,3524,0,0,0,0,0,0
$GC,779,-0.60,-146.0,79.4,-9.7,131,786,0.00,2.33,0.00,0.000,4,0.000,0.050,2275,1364,3523,0,0,0,0,0,0
$GC,823,-0.62,-146.0,83.9,-9.9,138,830,0.00,2.40,0.00,0.000,6,0.000,0.061,2275,2781,3523,0,0,0,0,0,0
$GC,1166,-0.65,-146.0,116.8,-9.5,184,1170,0.00,1.98,0.00,0.000,4,0.000,0.072,2272,3933,3522,0,0,0,0,0,0
$GC,1262,-0.69,-146.0,126.4,-9.2,192,1269,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2783,3522,0,0,0,0,0,0
$GC,1589,-0.72,-146.0,157.2,-9.8,223,1593,0.00,2.28,0.00,0.000,4,0.000,0.049,2272,1370,3522,0,0,0,0,0,0
$GC,1651,-0.78,-146.0,163.7,-9.5,228,1658,0.15,2.40,0.00,0.000,6,0.086,0.061,2204,2782,3522,0,0,0,0,0,0
$GC,1977,-0.67,-146.0,208.2,-13.5,259,1981,0.17,2.03,0.00,0.000,4,0.173,0.070,2245,3934,3521,0,0,0,0,0,0
$GC,2015,-0.67,-146.0,213.1,-11.3,262,2021,0.00,1.90,0.00,0.000,6,0.000,0.047,2245,2777,3522,0,0,0,0,0,0
$GC,2340,-0.67,-146.0,245.0,-10.2,293,2344,0.00,2.25,0.00,0.000,4,0.000,0.048,2245,1372,3522,0,0,0,0,0,0
$GC,2373,-0.67,-146.0,248.7,-10.4,295,2380,0.00,2.40,0.00,0.000,6,0.000,0.060,2243,2785,3522,0,0,0,0,0,0
$GC,2699,-0.67,-146.0,282.9,-10.7,326,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2785,3522,0,0,0,0,0,0
$GC,3022,-0.67,-146.0,315.7,-10.0,356,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2784,3523,0,0,0,0,0,0
$GC,3350,-0.67,-146.0,349.0,-10.4,387,3356,0.00,2.30,0.00,0.000,4,0.000,0.048,2243,1372,3524,0,0,0,0,0,0
$GC,3390,-0.67,-146.0,353.6,-10.8,390,3397,0.00,2.38,0.00,0.000,6,0.000,0.060,2244,2775,3523,0,0,0,0,0,0
$GC,3717,-0.67,-146.0,386.3,-10.2,421,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2775,3524,0,0,0,0,0,0
$GC,4037,-0.67,-146.0,418.0,-9.8,440,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2775,3524,0,0,0,0,0,0
$GC,4343,-0.67,-146.0,446.5,-9.2,450,4347,0.00,1.98,0.00,0.000,4,0.000,0.070,2239,3931,3525,0,0,0,0,0,0
$GC,4380,-0.67,-146.0,449.9,-9.9,451,4387,0.00,1.88,0.00,0.000,6,0.000,0.047,2238,2774,3525,0,0,0,0,0,0
$GC,4724,-0.67,-146.0,481.8,-9.2,462,4728,0.00,2.25,0.00,0.000,4,0.000,0.049,2238,1370,3525,0,0,0,0,0,0
$GC,4774,-0.67,-146.0,486.7,-9.4,463,4778,0.00,2.38,0.00,0.000,6,0.000,0.060,2235,2773,3525,0,0,0,0,0,0
$GC,5089,-0.67,-146.0,515.8,-9.3,473,5093,0.00,2.00,0.00,0.000,4,0.000,0.070,2235,3931,3525,0,0,0,0,0,0
$GC,5124,-0.67,-146.0,519.5,-10.4,474,5128,0.00,1.90,0.00,0.000,6,0.000,0.047,2235,2774,3525,0,0,0,0,0,0
$GC,5471,-0.67,-146.0,551.4,-9.2,485,5475,0.00,2.28,0.00,0.000,4,0.000,0.049,2235,1362,3525,0,0,0,0,0,0
$GC,5494,-0.67,-146.0,554.2,-9.2,485,5501,0.00,2.42,0.00,0.000,6,0.000,0.060,2235,2789,3525,0,0,0,0,0,0
$GC,5807,-0.67,-146.0,582.7,-9.3,496,5811,0.00,1.98,0.00,0.000,4,0.000,0.071,2233,3928,3525,0,0,0,0,0,0
$GC,5831,-0.67,-146.0,585.1,-9.7,496,5835,0.00,1.90,0.00,0.000,6,0.000,0.047,2233,2773,3525,0,0,0,0,0,0
$STATE,5997,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5997,begin apogee
$GC,6006,-0.14,0.0,601.1,9.7,502,6136,0.60,0.00,123.72,0.969,4,0.132,0.000,2424,2597,2923,0,0,0,0,0,0
$STATE,6137,end apogee,CONTROL_FINISHED_OK
$STATE,6137,begin climb
$GC,6141,0.57,146.0,606.1,0.0,506,6282,0.68,2.40,130.60,0.943,4,0.069,0.049,2661,1184,2325,0,0,0,0,0,0
$GC,6434,-1.83,146.0,584.7,22958.9,515,6443,2.67,2.45,0.00,0.000,6,0.152,0.054,1889,2602,2317,0,0,0,0,0,0
$GC,6769,-1.83,146.0,534.4,22958.9,526,6773,0.00,2.25,0.00,0.000,4,0.000,0.044,1887,1173,2307,0,0,0,0,0,0
$GC,7028,-1.83,146.0,489.4,22958.9,533,7032,0.00,2.40,0.00,0.000,6,0.000,0.058,1880,2619,2309,0,0,0,0,0,0
$GC,7347,-1.83,146.0,434.7,22958.9,544,7351,0.00,2.17,0.00,0.000,4,0.000,0.056,1869,3943,2305,0,0,0,0,0,0
$GC,7608,-1.83,146.0,384.7,22958.9,555,7612,0.00,2.10,0.00,0.000,6,0.000,0.045,1867,2650,2305,0,0,0,0,0,0
$GC,7939,-1.83,146.0,325.7,22958.9,586,7943,0.00,2.15,0.00,0.000,4,0.000,0.056,1857,3940,2304,0,0,0,0,0,0
$GC,8200,-1.83,146.0,274.6,22958.9,609,8205,0.15,2.08,0.00,0.000,6,0.272,0.044,1883,2663,2303,0,0,0,0,0,0
$GC,8526,-1.83,146.0,217.6,22958.9,639,8531,0.00,2.35,0.00,0.000,4,0.000,0.043,1882,1171,2304,0,0,0,0,0,0
$GC,8788,-1.83,146.0,171.4,22958.9,662,8792,0.00,2.42,0.00,0.000,6,0.000,0.052,1869,2652,2304,0,0,0,0,0,0
$GC,9114,-1.83,146.0,114.8,22958.9,692,9118,0.00,2.15,0.00,0.000,4,0.000,0.061,1857,3933,2304,0,0,0,0,0,0
$GC,9336,-1.83,146.0,74.2,22958.9,723,9343,0.15,2.10,0.00,0.000,6,0.286,0.043,1883,2635,2304,0,0,0,0,0,0
$GC,9687,-1.83,146.0,18.5,22958.9,784,9694,0.00,2.17,0.00,0.000,4,0.000,0.058,1874,3935,2306,0,0,0,0,0,0
$FREEZE,8.71,1.237,-1.834,2,1,0
$FREEZE,7.85,1.393,-1.824,2,1,0
$FREEZE,7.16,1.337,-1.827,2,1,0
$FREEZE,6.12,1.307,-1.828,2,1,0
$FREEZE,4.75,1.259,-1.830,2,1,0
$FREEZE,3.75,1.189,-1.833,2,1,0
$FREEZE,3.08,1.217,-1.831,2,1,0
$FREEZE,1.99,1.165,-1.833,2,1,0
$STATE,9777,end climb,SURFACE_DEPTH_REACHED
$STATE,9778,begin surface coast
$FREEZE,0.82,0.817,-0.183,2,1,0
$FINISH,0.8,1.002583
$STATE,9784,end surface coast,CONTROL_FINISHED_OK
$STATE,9784,begin surface
$SM_CCo,9801,254.45,0.082,0,0,440,609.08
$SM_GC,1.65,0.00,0.00,254.45,0.000,0.000,0.082,291,2773,440,-6.81,-0.20,609.08
$RAFOS_CLK,517
$RAFOS,4,1296261181,0.566667,0.550278,44,43,43,43,41,40,1225,1740,335,1199,846,790
$RAFOS_FIX,6648.625977,-5735.714355,280111,202013,3,75,0.08
$IRIDIUM_FIX,6620.33,-5716.21,280111,212153
$TT8_MAMPS,0.028462
$HUMID,47.32
$INTERNAL_PRESSURE,8.49489
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.7
$ALTIM_BOTTOM_PING,601.1,12.0
$24V_AH,21.5,96.128
$10V_AH,9.7,65.177
$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,17.150,83.625,254.325,254.450,0.000,28.799,39.736,424.908,2.500,0.000,10.804,2041.318,5671.382,646.744,1985.060,507.365,0.000,1489.639,0.000,1530.168,0.000,20.508,0.000
$DEVICE_MAMPS,286.110,71.910,969.255,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,30034,801
$CAP_FILE_SIZE,111492,0
$CFSIZE,260165632,194088960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.4
$GPS,290111,034235,6649.148,-5727.402,10,99.0,29,-37.4