version: 66.08
glider: 183
mission: 3
dive: 853
start: 1 29 111 7 13 53
data:
$ID,183
$MISSION,3
$DIVE,853
$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,-13526.66
$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,19
$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
$GPS1,290111,065515,6649.363,-5725.992,35,3.1,54,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.0
$GPS2,290111,071319,6649.546,-5725.437,12,1.5,12,-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,84.7,36765,-17.5,-10.000
$D_GRID,727
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,175,0.00,0.00,-151.07,0.000,6,0.000,0.000,283,2778,3521,0,0,0,0,0,0
$GC,178,-0.57,-146.0,6.1,-15.7,27,192,8.45,2.35,0.00,0.000,4,0.243,0.045,2286,1364,3523,0,0,0,0,0,0
$GC,359,-0.61,-146.0,40.2,-11.1,58,365,0.00,2.38,0.00,0.000,6,0.000,0.060,2283,2789,3524,0,0,0,0,0,0
$GC,705,-0.64,-146.0,75.3,-8.1,119,712,0.00,1.98,0.00,0.000,4,0.000,0.070,2275,3939,3524,0,0,0,0,0,0
$GC,876,-0.68,-146.0,90.6,-8.6,148,883,0.00,1.83,0.00,0.000,6,0.000,0.047,2275,2825,3524,0,0,0,0,0,0
$GC,1211,-0.70,-146.0,118.6,-8.9,188,1215,0.00,2.35,0.00,0.000,4,0.000,0.049,2275,1361,3524,0,0,0,0,0,0
$GC,1267,-0.75,-146.0,124.0,-9.1,192,1274,0.12,2.45,0.00,0.000,6,0.092,0.060,2219,2813,3523,0,0,0,0,0,0
$GC,1593,-0.67,-146.0,167.4,-14.4,223,1598,0.15,2.35,0.00,0.000,4,0.169,0.048,2261,1372,3523,0,0,0,0,0,0
$GC,1626,-0.67,-146.0,172.3,-12.6,225,1633,0.00,2.45,0.00,0.000,6,0.000,0.060,2261,2819,3523,0,0,0,0,0,0
$GC,1952,-0.67,-146.0,208.6,-10.7,256,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2818,3523,0,0,0,0,0,0
$GC,2275,-0.69,-146.0,238.7,-8.6,286,2279,0.00,2.35,0.00,0.000,4,0.000,0.049,2261,1364,3523,0,0,0,0,0,0
$GC,2340,-0.73,-146.0,244.9,-9.0,291,2345,0.00,2.42,0.00,0.000,6,0.000,0.060,2261,2799,3523,0,0,0,0,0,0
$GC,2667,-0.75,-146.0,273.6,-9.1,321,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2799,3523,0,0,0,0,0,0
$GC,2988,-0.78,-146.0,301.8,-8.4,351,2993,0.12,2.33,0.00,0.000,4,0.101,0.048,2199,1370,3523,0,0,0,0,0,0
$GC,3021,-0.71,-146.0,305.9,-11.7,353,3030,0.20,2.42,0.00,0.000,6,0.158,0.059,2244,2806,3523,0,0,0,0,0,0
$GC,3347,-0.71,-146.0,336.5,-9.5,384,3351,0.00,2.33,0.00,0.000,4,0.000,0.047,2244,1361,3523,0,0,0,0,0,0
$GC,3381,-0.71,-146.0,340.0,-9.9,386,3388,0.00,2.38,0.00,0.000,6,0.000,0.058,2243,2783,3523,0,0,0,0,0,0
$GC,3707,-0.71,-146.0,372.2,-10.1,417,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2784,3523,0,0,0,0,0,0
$GC,4027,-0.71,-146.0,403.3,-9.6,445,4032,0.00,2.28,0.00,0.000,4,0.000,0.047,2244,1369,3524,0,0,0,0,0,0
$GC,4078,-0.73,-146.0,408.8,-10.2,446,4082,0.00,2.38,0.00,0.000,6,0.000,0.059,2243,2789,3525,0,0,0,0,0,0
$GC,4391,-0.73,-146.0,439.9,-10.2,456,4396,0.00,2.30,0.00,0.000,4,0.000,0.047,2243,1371,3524,0,0,0,0,0,0
$GC,4414,-0.73,-146.0,442.5,-11.1,456,4421,0.00,2.35,0.00,0.000,6,0.000,0.059,2243,2777,3524,0,0,0,0,0,0
$GC,4728,-0.73,-146.0,473.4,-9.7,467,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2777,3524,0,0,0,0,0,0
$GC,5035,-0.73,-146.0,503.0,-9.5,477,5039,0.00,2.28,0.00,0.000,4,0.000,0.049,2243,1372,3524,0,0,0,0,0,0
$GC,5064,-0.73,-146.0,506.0,-10.1,477,5071,0.00,2.38,0.00,0.000,6,0.000,0.060,2243,2777,3524,0,0,0,0,0,0
$GC,5378,-0.73,-146.0,534.4,-9.2,488,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2777,3524,0,0,0,0,0,0
$GC,5684,-0.73,-146.0,562.2,-9.0,498,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2777,3524,0,0,0,0,0,0
$GC,5991,-0.73,-146.0,589.8,-9.0,508,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2777,3524,0,0,0,0,0,0
$STATE,6114,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6114,begin apogee
$GC,6121,-0.14,0.0,600.8,9.0,512,6252,0.55,0.00,123.82,0.967,4,0.131,0.000,2421,2593,2924,0,0,0,0,0,0
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6256,0.57,146.0,605.4,0.0,516,6398,0.68,2.40,130.43,0.939,4,0.070,0.049,2659,1181,2326,0,0,0,0,0,0
$GC,6566,-1.82,146.0,581.3,22174.7,525,6579,2.60,2.42,0.00,0.000,6,0.150,0.054,1900,2603,2316,0,0,0,0,0,0
$GC,6886,-1.82,146.0,533.6,22174.7,536,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,2603,2307,0,0,0,0,0,0
$GC,7191,-1.82,146.0,481.8,22174.7,546,7195,0.00,2.28,0.00,0.000,4,0.000,0.070,1893,3933,2308,0,0,0,0,0,0
$GC,7451,-1.82,146.0,432.4,22174.7,553,7455,0.00,2.15,0.00,0.000,6,0.000,0.049,1892,2618,2305,0,0,0,0,0,0
$GC,7775,-1.82,146.0,375.5,22174.7,572,7779,0.00,2.20,0.00,0.000,4,0.000,0.058,1879,3940,2304,0,0,0,0,0,0
$GC,8032,-1.82,146.0,326.1,22174.7,594,8039,0.00,2.17,0.00,0.000,6,0.000,0.048,1878,2620,2305,0,0,0,0,0,0
$GC,8360,-1.82,146.0,267.8,22174.7,625,8364,0.00,2.25,0.00,0.000,4,0.000,0.067,1867,3929,2304,0,0,0,0,0,0
$GC,8620,-1.82,146.0,216.7,22174.7,648,8624,0.00,2.12,0.00,0.000,6,0.000,0.044,1867,2616,2303,0,0,0,0,0,0
$GC,8952,-1.82,146.0,154.3,22174.7,679,8956,0.00,2.28,0.00,0.000,4,0.000,0.070,1857,3926,2305,0,0,0,0,0,0
$GC,9211,-1.82,146.0,101.0,22174.7,701,9218,0.15,2.08,0.00,0.000,6,0.239,0.045,1888,2653,2305,0,0,0,0,0,0
$GC,9560,-1.82,146.0,42.0,22174.7,762,9567,0.00,2.17,0.00,0.000,4,0.000,0.063,1879,3938,2304,0,0,0,0,0,0
$FREEZE,8.24,1.661,-1.816,3,1,0
$FREEZE,6.93,1.502,-1.824,3,1,0
$FREEZE,5.84,1.340,-1.833,3,1,0
$FREEZE,5.04,1.726,-1.809,3,1,0
$FREEZE,4.06,1.656,-1.813,3,1,0
$FREEZE,2.83,1.384,-1.828,3,1,0
$STATE,9762,end climb,SURFACE_DEPTH_REACHED
$STATE,9762,begin surface coast
$FREEZE,1.93,1.389,-1.827,3,1,0
$FINISH,1.9,1.026662
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9787,251.80,0.082,0,0,441,609.08
$SM_GC,1.54,0.00,0.00,251.80,0.000,0.000,0.082,292,2777,441,-6.82,-0.08,609.08
$RAFOS_CLK,507
$RAFOS,6,1296290944,8.833333,8.817778,105,51,46,43,41,40,787,1872,1361,1703,1634,1570
$RAFOS,5,1296290485,8.700000,8.690278,77,45,44,44,43,41,489,1622,499,1609,501,1721
$RAFOS,4,1296289989,8.566667,8.552500,149,43,43,42,41,41,771,642,282,368,1758,1922
$RAFOS,3,1296289530,8.433333,8.425000,52,50,50,47,44,38,335,743,1103,145,557,1557
$RAFOS,2,1296289022,8.300000,8.283889,46,42,41,40,40,40,325,26,991,1234,148,315
$RAFOS,1,1296288545,8.166667,8.151389,45,44,44,41,41,40,475,1029,780,1255,1771,1322
$RAFOS,0,1296288066,8.033334,8.018333,45,45,44,44,43,42,1252,799,182,26,1934,737
$RAFOS_FIX,6651.690430,-5725.683105,290111,080822,3,110,0.74
$IRIDIUM_FIX,6620.33,-5728.37,290111,070710
$TT8_MAMPS,0.028462
$HUMID,47.59
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,999.0
$ALTIM_BOTTOM_PING,600.8,12.0
$24V_AH,21.5,96.353
$10V_AH,9.7,65.313
$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,17.200,73.075,254.250,251.800,0.000,57.903,52.242,570.704,2.250,0.000,14.909,2016.305,5823.795,643.383,2123.573,529.995,0.000,1449.458,0.000,1467.014,2520.000,17.898,0.000
$DEVICE_MAMPS,242.505,70.380,966.960,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151620
$DATA_FILE_SIZE,30049,799
$CAP_FILE_SIZE,113762,0
$CFSIZE,260165632,194002944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.8
$GPS,290111,100236,6650.307,-5724.454,24,1.2,24,-37.4