version: 66.08
glider: 183
mission: 3
dive: 858
start: 1 29 111 22 37 47
data:
$ID,183
$MISSION,3
$DIVE,858
$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,-13533.027
$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,40
$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
$GPS1,290111,223106,6652.283,-5713.058,11,1.1,28,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-59.0
$GPS2,290111,223714,6652.262,-5712.847,10,2.0,10,-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,79.5,26786,-17.5,-10.000
$D_GRID,707
$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,-143.25,0.000,6,0.000,0.000,277,2784,3521,0,0,0,0,0,0
$GC,171,-0.57,-146.0,6.5,-17.1,26,185,8.38,2.30,0.00,0.000,4,0.239,0.040,2285,1365,3523,0,0,0,0,0,0
$GC,379,-0.62,-146.0,41.1,-9.6,62,386,0.00,2.35,0.00,0.000,6,0.000,0.057,2283,2777,3525,0,0,0,0,0,0
$GC,726,-0.65,-146.0,74.4,-8.9,123,733,0.00,2.25,0.00,0.000,4,0.000,0.047,2283,1369,3524,0,0,0,0,0,0
$GC,788,-0.69,-146.0,79.4,-8.2,133,795,0.00,2.28,0.00,0.000,6,0.000,0.057,2275,2747,3524,0,0,0,0,0,0
$GC,1135,-0.73,-146.0,107.6,-8.3,186,1140,0.10,2.22,0.00,0.000,4,0.107,0.047,2224,1368,3523,0,0,0,0,0,0
$GC,1176,-0.68,-146.0,112.1,-11.5,189,1181,0.12,2.25,0.00,0.000,6,0.174,0.058,2253,2733,3522,0,0,0,0,0,0
$GC,1502,-0.68,-146.0,143.6,-9.5,219,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2733,3522,0,0,0,0,0,0
$GC,1824,-0.68,-146.0,175.9,-9.6,249,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2733,3522,0,0,0,0,0,0
$GC,2155,-0.68,-146.0,206.8,-9.2,280,2159,0.00,2.03,0.00,0.000,4,0.000,0.067,2247,3928,3522,0,0,0,0,0,0
$GC,2190,-0.68,-146.0,210.9,-10.4,283,2194,0.00,1.95,0.00,0.000,6,0.000,0.044,2247,2717,3523,0,0,0,0,0,0
$GC,2522,-0.68,-146.0,244.1,-10.0,314,2525,0.00,2.05,0.00,0.000,4,0.000,0.067,2247,3928,3523,0,0,0,0,0,0
$GC,2568,-0.68,-146.0,248.7,-10.2,318,2572,0.00,1.90,0.00,0.000,6,0.000,0.044,2247,2735,3523,0,0,0,0,0,0
$GC,2900,-0.68,-146.0,278.3,-8.4,349,2903,0.00,2.05,0.00,0.000,4,0.000,0.067,2247,3929,3524,0,0,0,0,0,0
$GC,2962,-0.70,-146.0,284.0,-9.1,354,2969,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2756,3524,0,0,0,0,0,0
$GC,3290,-0.70,-146.0,311.4,-8.4,385,3293,0.00,2.00,0.00,0.000,4,0.000,0.067,2240,3935,3524,0,0,0,0,0,0
$GC,3314,-0.70,-146.0,313.8,-9.2,387,3318,0.00,1.92,0.00,0.000,6,0.000,0.043,2240,2755,3525,0,0,0,0,0,0
$GC,3646,-0.70,-146.0,343.4,-9.0,418,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2755,3524,0,0,0,0,0,0
$GC,3965,-0.70,-146.0,374.6,-9.7,448,3969,0.00,2.03,0.00,0.000,4,0.000,0.067,2235,3936,3525,0,0,0,0,0,0
$GC,4004,-0.70,-146.0,379.0,-10.3,451,4011,0.00,1.90,0.00,0.000,6,0.000,0.041,2235,2756,3525,0,0,0,0,0,0
$STATE,4229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4229,begin apogee
$GC,4236,-0.14,0.0,400.2,9.8,472,4364,0.57,0.00,118.93,0.808,4,0.125,0.000,2425,2601,2923,0,0,0,0,0,0
$STATE,4365,end apogee,CONTROL_FINISHED_OK
$STATE,4365,begin climb
$GC,4368,0.57,146.0,405.0,0.0,476,4498,0.65,2.30,120.22,0.794,4,0.063,0.045,2665,1187,2327,0,0,0,0,0,0
$GC,4721,0.57,146.0,372.3,11.1,500,4725,0.00,2.30,0.00,0.000,6,0.000,0.051,2665,2603,2320,0,0,0,0,0,0
$GC,5047,0.52,146.0,331.4,12.7,530,5051,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1194,2317,0,0,0,0,0,0
$GC,5232,0.52,146.0,309.0,11.1,546,5236,0.00,2.30,0.00,0.000,6,0.000,0.051,2666,2610,2317,0,0,0,0,0,0
$GC,5560,0.47,146.0,268.8,12.1,576,5565,0.15,2.20,0.00,0.000,4,0.184,0.062,2626,3932,2316,0,0,0,0,0,0
$GC,5646,0.45,146.0,259.0,11.4,583,5650,0.00,2.08,0.00,0.000,6,0.000,0.040,2626,2615,2315,0,0,0,0,0,0
$GC,5972,0.49,161.2,229.1,9.3,613,5989,0.00,2.22,11.80,0.670,4,0.000,0.062,2626,3930,2268,0,0,0,0,0,0
$GC,6016,0.49,161.2,224.1,11.7,616,6023,0.00,2.08,0.00,0.000,6,0.000,0.041,2625,2633,2265,0,0,0,0,0,0
$GC,6343,0.52,167.5,192.1,9.7,647,6355,0.00,2.38,7.18,0.615,4,0.000,0.047,2625,1184,2239,0,0,0,0,0,0
$GC,6381,0.61,187.6,188.8,9.1,650,6406,0.12,2.33,18.30,0.661,6,0.093,0.051,2684,2634,2158,0,0,0,0,0,0
$GC,6723,0.55,187.6,141.7,14.0,682,6728,0.12,2.17,0.00,0.000,4,0.188,0.062,2652,3930,2153,0,0,0,0,0,0
$GC,6752,0.51,187.6,137.4,14.2,684,6759,0.00,2.08,0.00,0.000,6,0.000,0.040,2653,2627,2152,0,0,0,0,0,0
$GC,7078,0.51,187.6,99.1,11.6,715,7084,0.00,2.25,0.00,0.000,4,0.000,0.047,2653,1196,2152,0,0,0,0,0,0
$GC,7144,0.56,187.6,92.2,11.0,726,7150,0.00,2.30,0.00,0.000,6,0.000,0.050,2653,2626,2152,0,0,0,0,0,0
$GC,7493,0.59,187.6,53.6,10.8,787,7499,0.00,2.28,0.00,0.000,4,0.000,0.047,2653,1195,2152,0,0,0,0,0,0
$GC,7557,0.69,201.7,47.1,9.4,798,7577,0.12,2.22,12.55,0.581,6,0.094,0.050,2712,2578,2099,0,0,0,0,0,0
$FREEZE,8.69,1.648,-1.843,3,1,0
$FREEZE,8.05,1.637,-1.843,3,1,0
$FREEZE,7.30,1.644,-1.842,3,1,0
$FREEZE,6.41,1.645,-1.841,3,1,0
$FREEZE,5.71,1.639,-1.841,3,1,0
$FREEZE,4.94,1.643,-1.840,3,1,0
$FREEZE,3.91,1.647,-1.839,3,1,0
$FREEZE,3.18,1.646,-1.839,3,1,0
$FREEZE,2.49,1.643,-1.838,3,1,0
$STATE,7893,end climb,SURFACE_DEPTH_REACHED
$STATE,7893,begin surface coast
$FREEZE,1.79,1.626,-1.838,3,1,0
$FREEZE,1.25,1.624,-1.838,3,1,0
$FREEZE,1.01,1.607,-1.838,3,1,0
$FINISH,1.0,1.026808
$STATE,7911,end surface coast,CONTROL_FINISHED_OK
$STATE,7911,begin surface
$SM_CCo,7930,230.07,0.078,0,0,440,609.08
$SM_GC,1.58,0.00,0.00,230.07,0.000,0.000,0.078,294,2786,440,-6.80,0.17,609.08
$RAFOS_CLK,339
$RAFOS,5,1296348064,0.700000,0.684444,88,42,42,41,40,40,627,802,1268,1111,1381,1328
$RAFOS,4,1296347583,0.566667,0.550833,49,48,47,43,41,39,1815,821,844,713,330,1849
$RAFOS,3,1296347111,0.433333,0.419722,45,41,40,38,38,37,1245,500,490,1133,1679,555
$RAFOS,2,1296346625,0.300000,0.284722,42,42,42,41,41,39,522,821,871,852,1445,227
$RAFOS,1,1296346148,0.166667,0.152222,48,45,45,44,43,41,1632,1473,1776,641,1382,1404
$RAFOS,0,1296345671,0.033333,0.019722,45,44,44,42,41,39,1212,172,239,1822,1789,74
$RAFOS_FIX,6646.786621,-5733.666016,290111,202000,2,95,11.43
$IRIDIUM_FIX,6620.33,-5711.62,290111,202018
$TT8_MAMPS,0.031458
$HUMID,44.64
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,400.2,10.4
$24V_AH,23.1,96.808
$10V_AH,9.8,65.626
$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,16.825,69.625,288.975,230.075,0.000,24.777,25.699,157.744,1.250,0.000,12.805,2069.279,3899.549,635.467,1630.556,302.738,0.000,1412.311,0.000,1415.803,2520.000,12.779,0.000
$DEVICE_MAMPS,239.445,68.850,807.840,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,30049,860
$CAP_FILE_SIZE,100819,0
$CFSIZE,260165632,193716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$GPS,300111,005506,6652.648,-5711.028,9,1.5,26,-37.4