version: 66.08
glider: 183
mission: 3
dive: 857
start: 1 29 111 20 24 10
data:
$ID,183
$MISSION,3
$DIVE,857
$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,-13531.773
$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,38
$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,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
$GPS1,290111,201806,6651.607,-5714.511,35,1.0,36,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.5
$GPS2,290111,202337,6651.642,-5714.415,7,1.1,12,-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,79.6,28397,-17.5,-10.000
$D_GRID,704
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-144.68,0.000,6,0.000,0.000,287,2791,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,7.0,-18.1,26,186,8.32,1.95,0.00,0.000,4,0.239,0.057,2278,3932,3521,0,0,0,0,0,0
$GC,205,0.15,-146.0,22.7,-44.0,31,212,0.80,1.85,0.00,0.000,6,0.144,0.046,2519,2776,3521,0,0,0,0,0,0
$GC,554,-0.35,-146.0,47.2,-7.8,92,562,0.43,2.25,0.00,0.000,4,0.078,0.046,2356,1373,3522,0,0,0,0,0,0
$GC,819,-0.74,-146.0,66.7,-6.8,138,827,0.35,2.78,0.00,0.000,6,0.088,0.059,2233,3036,3521,0,0,0,0,0,0
$GC,1166,-0.69,-146.0,104.3,-11.5,196,1170,0.00,1.52,0.00,0.000,4,0.000,0.070,2227,3924,3520,0,0,0,0,0,0
$GC,1416,-0.65,-146.0,134.6,-11.8,218,1420,0.10,1.48,0.00,0.000,6,0.138,0.048,2260,3032,3520,0,0,0,0,0,0
$GC,1749,-0.68,-146.0,164.9,-8.1,249,1753,0.00,2.67,0.00,0.000,4,0.000,0.047,2260,1367,3520,0,0,0,0,0,0
$GC,1937,-0.72,-146.0,179.4,-7.4,265,1942,0.00,2.72,0.00,0.000,6,0.000,0.059,2260,2996,3521,0,0,0,0,0,0
$GC,2264,-0.75,-146.0,204.8,-7.7,295,2268,0.00,2.62,0.00,0.000,4,0.000,0.047,2260,1366,3521,0,0,0,0,0,0
$GC,2386,-0.79,-146.0,214.4,-8.0,305,2391,0.12,2.67,0.00,0.000,6,0.091,0.059,2199,2968,3521,0,0,0,0,0,0
$GC,2712,-0.70,-146.0,256.6,-13.2,335,2717,0.17,2.60,0.00,0.000,4,0.165,0.046,2248,1368,3521,0,0,0,0,0,0
$GC,2766,-0.73,-146.0,262.2,-9.6,339,2770,0.00,2.62,0.00,0.000,6,0.000,0.058,2247,2944,3521,0,0,0,0,0,0
$GC,3092,-0.73,-146.0,291.1,-8.6,369,3096,0.00,2.53,0.00,0.000,4,0.000,0.046,2248,1370,3521,0,0,0,0,0,0
$GC,3206,-0.76,-146.0,300.5,-8.5,378,3210,0.00,2.58,0.00,0.000,6,0.000,0.059,2248,2919,3522,0,0,0,0,0,0
$GC,3532,-0.76,-146.0,327.7,-7.9,408,3536,0.00,2.50,0.00,0.000,4,0.000,0.046,2247,1373,3521,0,0,0,0,0,0
$GC,3619,-0.79,-146.0,334.6,-8.2,415,3623,0.00,2.58,0.00,0.000,6,0.000,0.058,2247,2904,3521,0,0,0,0,0,0
$STATE,3830,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3830,begin apogee
$GC,3837,-0.14,0.0,350.6,7.5,434,3963,0.55,0.00,117.45,0.783,4,0.124,0.000,2428,2594,2924,0,0,0,0,0,0
$STATE,3964,end apogee,CONTROL_FINISHED_OK
$STATE,3964,begin climb
$GC,3967,0.57,146.0,353.5,0.0,445,4097,0.65,2.30,120.03,0.767,4,0.060,0.047,2670,1186,2328,0,0,0,0,0,0
$GC,4277,0.57,146.0,323.0,12.6,473,4284,0.00,2.33,0.00,0.000,6,0.000,0.053,2670,2605,2320,0,0,0,0,0,0
$GC,4603,0.50,146.0,281.3,12.6,504,4608,0.12,2.25,0.00,0.000,4,0.192,0.048,2642,1189,2318,0,0,0,0,0,0
$GC,4814,0.56,175.2,261.2,8.7,522,4848,0.00,2.28,24.35,0.708,6,0.000,0.052,2642,2600,2207,0,0,0,0,0,0
$GC,5167,0.56,175.2,226.1,10.1,555,5171,0.00,2.22,0.00,0.000,4,0.000,0.063,2642,3929,2203,0,0,0,0,0,0
$GC,5233,0.53,175.2,218.7,11.9,560,5237,0.00,2.12,0.00,0.000,6,0.000,0.041,2643,2598,2201,0,0,0,0,0,0
$GC,5558,0.53,175.2,182.7,11.3,590,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2598,2201,0,0,0,0,0,0
$GC,5880,0.53,175.2,148.2,10.6,620,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2598,2201,0,0,0,0,0,0
$GC,6208,0.54,192.9,115.5,9.2,651,6231,0.00,2.28,14.90,0.630,4,0.000,0.048,2643,1194,2135,0,0,0,0,0,0
$GC,6261,0.62,211.7,110.4,9.1,655,6283,0.00,2.33,17.05,0.620,6,0.000,0.051,2643,2621,2059,0,0,0,0,0,0
$GC,6617,0.70,235.4,77.5,8.9,708,6648,0.15,2.35,20.58,0.611,4,0.089,0.049,2712,1197,1961,0,0,0,0,0,0
$GC,6746,0.70,235.4,62.8,11.8,730,6752,0.00,2.25,0.00,0.000,6,0.000,0.050,2712,2597,1959,0,0,0,0,0,0
$GC,7093,0.66,235.4,19.3,11.9,791,7099,0.00,2.22,0.00,0.000,4,0.000,0.064,2712,3924,1957,0,0,0,0,0,0
$GC,7119,0.57,235.4,16.2,12.1,795,7127,0.20,2.10,0.00,0.000,6,0.169,0.041,2663,2595,1957,0,0,0,0,0,0
$FREEZE,8.77,1.832,-1.845,3,1,0
$FREEZE,8.00,1.826,-1.844,3,1,0
$FREEZE,7.51,1.824,-1.844,3,1,0
$FREEZE,6.90,1.823,-1.844,3,1,0
$FREEZE,6.38,1.825,-1.843,3,1,0
$FREEZE,6.02,1.819,-1.843,3,1,0
$FREEZE,5.71,1.810,-1.843,3,1,0
$FREEZE,5.17,1.814,-1.842,3,1,0
$FREEZE,4.72,1.815,-1.842,3,1,0
$FREEZE,4.37,1.814,-1.842,3,1,0
$FREEZE,3.89,1.812,-1.841,3,1,0
$FREEZE,3.41,1.812,-1.841,3,1,0
$FREEZE,3.13,1.808,-1.841,3,1,0
$FREEZE,2.57,1.810,-1.840,3,1,0
$STATE,7257,end climb,SURFACE_DEPTH_REACHED
$STATE,7257,begin surface coast
$FREEZE,2.11,1.813,-1.840,3,1,0
$FREEZE,1.72,1.798,-1.840,3,1,0
$FREEZE,1.32,1.797,-1.840,3,1,0
$FREEZE,1.05,1.792,-1.839,3,1,0
$FREEZE,0.83,1.873,-1.834,3,1,0
$FREEZE,0.84,1.958,-1.828,3,1,0
$FREEZE,0.78,1.772,-1.840,3,1,0
$FINISH,0.8,1.026828
$STATE,7298,end surface coast,CONTROL_FINISHED_OK
$STATE,7298,begin surface
$SM_CCo,7315,210.60,0.080,0,0,439,609.08
$SM_GC,1.46,0.00,0.00,210.60,0.000,0.000,0.080,289,2782,439,-6.82,0.06,609.08
$RAFOS_CLK,330
$RAFOS,6,1296334150,20.833334,20.819445,76,44,43,42,42,42,771,1128,628,661,724,289
$RAFOS,5,1296333662,20.700001,20.683889,114,51,47,45,42,41,626,621,724,1332,1102,636
$RAFOS,4,1296333182,20.566668,20.550556,47,45,45,43,42,41,26,404,1873,1763,145,685
$RAFOS,3,1296332701,20.433332,20.416945,49,44,42,41,40,39,1622,1530,612,102,1908,82
$RAFOS,1,1296331741,20.166666,20.150278,45,44,42,40,39,39,154,428,935,52,317,1578
$RAFOS_FIX,6646.786621,-5733.666016,290111,202000,2,95,11.43
$IRIDIUM_FIX,6620.33,-5719.17,290111,181851
$TT8_MAMPS,0.029211
$HUMID,45.86
$INTERNAL_PRESSURE,8.54372
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,350.6,9.9
$24V_AH,23.0,96.728
$10V_AH,9.7,65.568
$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,18.225,65.750,314.350,210.600,0.000,22.927,16.131,138.085,1.250,0.000,15.431,1959.637,3402.405,635.344,1588.666,292.550,0.000,1403.845,0.000,1407.562,1440.000,10.811,0.000
$DEVICE_MAMPS,238.680,69.615,782.595,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151692
$DATA_FILE_SIZE,30039,827
$CAP_FILE_SIZE,97560,0
$CFSIZE,260165632,193773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.3
$GPS,290111,223106,6652.283,-5713.058,11,1.1,28,-37.4