version: 66.08
glider: 183
mission: 3
dive: 859
start: 1 30 111 1 1 59
data:
$ID,183
$MISSION,3
$DIVE,859
$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,-13534.279
$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,29
$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
$GPS1,300111,005506,6652.648,-5711.028,9,1.5,26,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-55.1
$GPS2,300111,010128,6652.575,-5711.026,13,5.9,32,-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,78.1,25481,-17.5,-10.000
$D_GRID,710
$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,-146.0,0.0,0.0,0,165,0.00,0.00,-143.32,0.000,6,0.000,0.000,283,2787,3520,0,0,0,0,0,0
$GC,169,-0.57,-146.0,5.4,-12.2,25,183,8.27,2.33,0.00,0.000,4,0.236,0.044,2285,1372,3523,0,0,0,0,0,0
$GC,331,-0.62,-146.0,36.6,-10.0,53,338,0.00,2.33,0.00,0.000,6,0.000,0.058,2283,2781,3524,0,0,0,0,0,0
$GC,680,-0.64,-146.0,69.9,-6.7,114,686,0.00,2.28,0.00,0.000,4,0.000,0.047,2283,1376,3523,0,0,0,0,0,0
$GC,736,-0.67,-146.0,73.6,-6.6,123,743,0.00,2.35,0.00,0.000,6,0.000,0.058,2276,2782,3523,0,0,0,0,0,0
$GC,1083,-0.70,-146.0,99.6,-7.6,184,1090,0.00,2.25,0.00,0.000,4,0.000,0.047,2276,1376,3522,0,0,0,0,0,0
$GC,1149,-0.77,-146.0,104.9,-7.6,190,1156,0.12,2.30,0.00,0.000,6,0.090,0.058,2216,2751,3521,0,0,0,0,0,0
$GC,1476,-0.69,-146.0,145.4,-13.4,221,1483,0.12,0.00,0.00,0.000,6,0.174,0.000,2249,2751,3521,0,0,0,0,0,0
$GC,1802,-0.69,-146.0,179.6,-10.1,252,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2751,3521,0,0,0,0,0,0
$GC,2125,-0.69,-146.0,209.9,-8.7,282,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2751,3521,0,0,0,0,0,0
$GC,2453,-0.69,-146.0,236.9,-8.1,313,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2751,3521,0,0,0,0,0,0
$GC,2784,-0.69,-146.0,264.4,-8.5,344,2788,0.00,1.98,0.00,0.000,4,0.000,0.066,2247,3931,3522,0,0,0,0,0,0
$GC,2846,-0.71,-146.0,270.5,-9.0,349,2853,0.00,1.92,0.00,0.000,6,0.000,0.043,2247,2735,3522,0,0,0,0,0,0
$GC,3172,-0.71,-146.0,299.6,-9.6,380,3180,0.00,2.03,0.00,0.000,4,0.000,0.067,2247,3928,3523,0,0,0,0,0,0
$GC,3244,-0.73,-146.0,306.3,-9.3,386,3248,0.00,1.90,0.00,0.000,6,0.000,0.043,2247,2751,3523,0,0,0,0,0,0
$GC,3575,-0.73,-146.0,337.2,-9.3,417,3579,0.00,2.17,0.00,0.000,4,0.000,0.045,2247,1370,3523,0,0,0,0,0,0
$GC,3600,-0.73,-146.0,339.6,-9.3,419,3604,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2749,3524,0,0,0,0,0,0
$STATE,3724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3724,begin apogee
$GC,3732,-0.14,0.0,350.8,8.9,430,3857,0.55,0.00,118.22,0.776,4,0.122,0.000,2429,2602,2923,0,0,0,0,0,0
$STATE,3858,end apogee,CONTROL_FINISHED_OK
$STATE,3858,begin climb
$GC,3862,0.57,146.0,354.6,0.0,441,3992,0.62,2.33,119.20,0.765,4,0.059,0.046,2666,1186,2326,0,0,0,0,0,0
$GC,4210,0.57,146.0,322.3,11.7,472,4217,0.00,2.30,0.00,0.000,6,0.000,0.051,2666,2602,2319,0,0,0,0,0,0
$GC,4537,0.52,146.0,281.3,13.2,503,4541,0.00,2.28,0.00,0.000,4,0.000,0.048,2666,1181,2316,0,0,0,0,0,0
$GC,4746,0.52,146.0,256.5,11.2,521,4750,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2611,2316,0,0,0,0,0,0
$GC,5073,0.48,146.0,217.8,11.9,551,5078,0.12,2.17,0.00,0.000,4,0.191,0.061,2634,3929,2316,0,0,0,0,0,0
$GC,5137,0.45,146.0,210.1,12.5,556,5141,0.00,2.10,0.00,0.000,6,0.000,0.040,2635,2600,2314,0,0,0,0,0,0
$GC,5468,0.46,164.6,178.2,9.1,587,5488,0.00,0.00,14.85,0.658,6,0.000,0.000,2634,2600,2250,0,0,0,0,0,0
$GC,5807,0.49,173.4,145.8,9.6,619,5823,0.00,2.28,8.70,0.614,4,0.000,0.062,2635,3921,2216,0,0,0,0,0,0
$GC,5865,0.49,173.4,139.5,11.7,624,5869,0.00,2.08,0.00,0.000,6,0.000,0.040,2635,2613,2213,0,0,0,0,0,0
$GC,6196,0.52,178.1,105.1,9.8,655,6205,0.00,0.00,5.10,0.528,6,0.000,0.000,2635,2612,2197,0,0,0,0,0,0
$GC,6543,0.59,198.9,73.1,9.0,711,6567,0.00,0.00,18.15,0.605,6,0.000,0.000,2635,2612,2114,0,0,0,0,0,0
$GC,6910,0.70,236.7,39.8,8.3,775,6952,0.17,2.28,32.65,0.584,4,0.079,0.061,2713,3929,1956,0,0,0,0,0,0
$GC,6973,0.64,236.7,32.1,14.0,785,6980,0.15,2.08,0.00,0.000,6,0.185,0.039,2679,2630,1954,0,0,0,0,0,0
$FREEZE,8.71,1.542,-1.843,3,1,0
$FREEZE,7.93,1.534,-1.843,3,1,0
$FREEZE,7.36,1.530,-1.842,3,1,0
$FREEZE,6.80,1.535,-1.842,3,1,0
$FREEZE,6.16,1.529,-1.841,3,1,0
$FREEZE,5.47,1.530,-1.841,3,1,0
$FREEZE,4.89,1.519,-1.840,3,1,0
$FREEZE,4.48,1.516,-1.840,3,1,0
$FREEZE,3.88,1.508,-1.840,3,1,0
$FREEZE,3.33,1.514,-1.839,3,1,0
$FREEZE,2.75,1.508,-1.839,3,1,0
$STATE,7216,end climb,SURFACE_DEPTH_REACHED
$STATE,7216,begin surface coast
$FREEZE,2.47,1.496,-1.839,3,1,0
$FREEZE,1.99,1.489,-1.838,3,1,0
$FREEZE,1.21,1.493,-1.838,3,1,0
$FREEZE,0.85,1.576,-1.833,3,1,0
$FREEZE,1.04,1.492,-1.837,3,1,0
$FINISH,1.0,1.026807
$STATE,7247,end surface coast,CONTROL_FINISHED_OK
$STATE,7247,begin surface
$SM_CCo,7264,211.45,0.080,0,0,440,609.08
$SM_GC,1.56,0.00,0.00,211.45,0.000,0.000,0.080,293,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,305
$RAFOS,6,1296348543,0.833333,0.817500,45,43,43,41,41,39,554,1540,1564,1022,26,1627
$RAFOS_FIX,6646.786621,-5733.666016,290111,202000,2,95,11.43
$IRIDIUM_FIX,6620.33,-5716.21,290111,222226
$TT8_MAMPS,0.030709
$HUMID,44.76
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,350.8,9.9
$24V_AH,23.3,96.890
$10V_AH,9.7,65.678
$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,16.425,48.775,316.875,211.450,0.000,23.690,38.631,141.139,1.000,0.000,35.751,1959.174,3419.079,645.215,1560.217,282.616,0.000,1375.612,0.000,1334.556,0.000,10.988,0.000
$DEVICE_MAMPS,236.385,74.205,776.475,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151748
$DATA_FILE_SIZE,30098,834
$CAP_FILE_SIZE,90361,0
$CFSIZE,260165632,193671168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.9
$GPS,300111,030807,6652.603,-5709.507,39,1.6,39,-37.4