version: 66.08
glider: 183
mission: 3
dive: 856
start: 1 29 111 18 18 49
data:
$ID,183
$MISSION,3
$DIVE,856
$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,-13530.521
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,290111,181106,6651.125,-5716.850,26,1.1,26,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-56.5
$GPS2,290111,181816,6651.183,-5716.848,13,4.0,32,-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,81.0,30216,-17.5,-10.000
$D_GRID,713
$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,16,-0.57,-146.0,0.0,0.0,0,168,0.00,0.00,-145.93,0.000,2,0.000,0.000,283,2780,3487,0,0,0,0,0,0
$GC,171,-0.57,-146.0,5.0,-12.0,26,185,8.32,2.33,-0.68,0.000,4,0.239,0.060,2286,1371,3521,0,0,0,0,0,0
$GC,210,-0.17,-146.0,21.1,-32.0,32,218,0.45,2.35,0.00,0.000,6,0.138,0.060,2415,2775,3522,0,0,0,0,0,0
$GC,559,-0.58,-146.0,48.3,-8.3,93,566,0.35,1.98,0.00,0.000,4,0.099,0.067,2288,3931,3522,0,0,0,0,0,0
$GC,610,-0.79,-146.0,52.2,-7.3,101,617,0.20,1.85,0.00,0.000,6,0.073,0.047,2198,2781,3522,0,0,0,0,0,0
$GC,956,-0.65,-146.0,107.0,-15.9,158,960,0.22,2.00,0.00,0.000,4,0.160,0.067,2256,3938,3521,0,0,0,0,0,0
$GC,1007,-0.65,-146.0,113.5,-10.9,162,1011,0.00,1.85,0.00,0.000,6,0.000,0.046,2256,2787,3521,0,0,0,0,0,0
$GC,1339,-0.65,-146.0,145.1,-9.2,193,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2787,3521,0,0,0,0,0,0
$GC,1659,-0.65,-146.0,175.2,-9.0,223,1663,0.00,2.25,0.00,0.000,4,0.000,0.047,2255,1372,3521,0,0,0,0,0,0
$GC,1724,-0.69,-146.0,181.2,-9.1,228,1729,0.00,2.35,0.00,0.000,6,0.000,0.058,2248,2779,3521,0,0,0,0,0,0
$GC,2056,-0.69,-146.0,213.1,-9.2,259,2060,0.00,2.28,0.00,0.000,4,0.000,0.047,2248,1373,3521,0,0,0,0,0,0
$GC,2085,-0.69,-146.0,216.0,-9.6,261,2092,0.00,2.35,0.00,0.000,6,0.000,0.058,2247,2770,3521,0,0,0,0,0,0
$GC,2411,-0.69,-146.0,246.3,-9.3,292,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3522,0,0,0,0,0,0
$GC,2735,-0.69,-146.0,275.8,-8.7,322,2739,0.00,2.25,0.00,0.000,4,0.000,0.047,2247,1372,3522,0,0,0,0,0,0
$GC,2757,-0.69,-146.0,278.6,-9.7,323,2764,0.00,2.33,0.00,0.000,6,0.000,0.059,2247,2765,3522,0,0,0,0,0,0
$GC,3084,-0.69,-146.0,308.5,-9.2,354,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3522,0,0,0,0,0,0
$GC,3405,-0.69,-146.0,337.9,-8.6,384,3409,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1366,3522,0,0,0,0,0,0
$GC,3434,-0.69,-146.0,340.9,-9.2,386,3438,0.00,2.33,0.00,0.000,6,0.000,0.057,2247,2764,3522,0,0,0,0,0,0
$STATE,3544,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3544,begin apogee
$GC,3552,-0.14,0.0,350.0,8.4,396,3678,0.55,0.00,118.32,0.787,4,0.126,0.000,2426,2603,2923,0,0,0,0,0,0
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3682,0.57,146.0,353.6,0.0,407,3814,0.65,2.35,120.78,0.770,4,0.066,0.048,2663,1186,2327,0,0,0,0,0,0
$GC,4012,0.57,146.0,321.3,12.0,436,4018,0.00,2.33,0.00,0.000,6,0.000,0.053,2663,2602,2319,0,0,0,0,0,0
$GC,4338,0.52,146.0,279.0,12.7,467,4342,0.00,2.28,0.00,0.000,4,0.000,0.050,2666,1188,2317,0,0,0,0,0,0
$GC,4510,0.52,146.0,259.4,11.5,482,4514,0.00,2.33,0.00,0.000,6,0.000,0.053,2665,2623,2316,0,0,0,0,0,0
$GC,4836,0.49,146.0,222.1,10.9,512,4841,0.12,2.17,0.00,0.000,4,0.191,0.063,2634,3930,2316,0,0,0,0,0,0
$GC,4915,0.46,146.0,213.2,11.5,518,4922,0.00,2.08,0.00,0.000,6,0.000,0.041,2634,2621,2315,0,0,0,0,0,0
$GC,5241,0.47,166.3,183.3,9.1,549,5264,0.00,2.30,16.02,0.672,4,0.000,0.047,2635,1187,2245,0,0,0,0,0,0
$GC,5311,0.57,197.8,177.0,8.5,555,5345,0.00,2.35,27.60,0.671,6,0.000,0.053,2635,2627,2116,0,0,0,0,0,0
$GC,5664,0.63,214.2,142.6,9.2,588,5684,0.12,0.00,14.40,0.645,6,0.096,0.000,2692,2627,2048,0,0,0,0,0,0
$GC,6004,0.59,214.2,97.1,13.5,621,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2627,2044,0,0,0,0,0,0
$GC,6350,0.56,214.2,50.8,11.9,682,6358,0.12,2.33,0.00,0.000,4,0.176,0.049,2662,1191,2044,0,0,0,0,0,0
$GC,6377,0.59,214.2,47.7,11.4,686,6383,0.00,2.33,0.00,0.000,6,0.000,0.052,2662,2611,2043,0,0,0,0,0,0
$GC,6726,0.64,214.2,12.5,10.9,747,6732,0.00,2.20,0.00,0.000,4,0.000,0.063,2662,3932,2042,0,0,0,0,0,0
$FREEZE,8.46,1.701,-1.843,3,1,0
$FREEZE,7.78,1.700,-1.843,3,1,0
$FREEZE,7.24,1.699,-1.842,3,1,0
$FREEZE,6.69,1.692,-1.842,3,1,0
$FREEZE,6.07,1.692,-1.841,3,1,0
$FREEZE,5.47,1.696,-1.841,3,1,0
$FREEZE,4.90,1.685,-1.841,3,1,0
$GC,6789,0.64,214.2,4.9,11.4,758,6796,0.00,2.10,0.00,0.000,6,0.000,0.041,2662,2612,2042,0,0,0,0,0,0
$FREEZE,3.32,1.685,-1.839,3,1,0
$FREEZE,2.83,1.690,-1.839,3,1,0
$STATE,6806,end climb,SURFACE_DEPTH_REACHED
$STATE,6806,begin surface coast
$FREEZE,2.34,1.687,-1.839,3,1,0
$FREEZE,1.79,1.680,-1.838,3,1,0
$FREEZE,1.10,1.677,-1.838,3,1,0
$FREEZE,0.77,1.655,-0.189,3,1,0
$FREEZE,0.59,1.244,-0.138,3,1,0
$FINISH,0.6,1.001934
$STATE,6834,end surface coast,CONTROL_FINISHED_OK
$STATE,6834,begin surface
$SM_CCo,6852,218.05,0.079,0,0,440,609.08
$SM_GC,1.34,0.00,0.00,218.05,0.000,0.000,0.079,297,2790,440,-6.80,0.28,609.08
$RAFOS_CLK,323
$RAFOS,0,1296331262,20.033333,20.017221,54,49,47,43,42,42,1565,1439,1770,1750,555,1091
$RAFOS_FIX,6652.566406,-5720.669922,290111,161622,3,83,0.25
$IRIDIUM_FIX,6625.71,-5740.54,290111,131345
$TT8_MAMPS,0.029211
$HUMID,45.47
$INTERNAL_PRESSURE,8.54372
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$ALTIM_BOTTOM_PING,350.0,10.0
$24V_AH,22.9,96.647
$10V_AH,9.7,65.513
$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,17.425,58.425,297.125,218.050,0.000,28.204,16.876,180.084,1.000,0.000,35.714,1794.033,3293.370,635.507,1480.749,297.924,0.000,1322.093,0.000,1240.092,720.000,8.852,0.000
$DEVICE_MAMPS,238.680,77.265,787.185,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,26758,766
$CAP_FILE_SIZE,90033,0
$CFSIZE,260165632,193835008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.4
$GPS,290111,201806,6651.607,-5714.511,35,1.0,36,-37.4