version: 66.08
glider: 183
mission: 3
dive: 860
start: 1 30 111 3 14 43
data:
$ID,183
$MISSION,3
$DIVE,860
$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,-13535.533
$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,39
$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
$GPS1,300111,030807,6652.603,-5709.507,39,1.6,39,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.1
$GPS2,300111,031410,6652.576,-5709.576,10,2.5,29,-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,76.3,24809,-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,-146.0,0.0,0.0,0,170,0.00,0.00,-144.15,0.000,6,0.000,0.000,282,2780,3520,0,0,0,0,0,0
$GC,173,-0.57,-146.0,6.1,-15.0,26,187,8.30,2.30,0.00,0.000,4,0.237,0.041,2282,1369,3521,0,0,0,0,0,0
$GC,386,-0.57,-146.0,41.6,-8.8,63,393,0.00,2.33,0.00,0.000,6,0.000,0.058,2283,2780,3523,0,0,0,0,0,0
$GC,734,-0.60,-146.0,75.0,-8.5,124,741,0.00,1.98,0.00,0.000,4,0.000,0.067,2276,3933,3522,0,0,0,0,0,0
$GC,813,-0.64,-146.0,81.5,-8.1,137,819,0.00,1.80,0.00,0.000,6,0.000,0.046,2276,2802,3522,0,0,0,0,0,0
$GC,1160,-0.68,-146.0,109.1,-8.3,189,1164,0.00,2.28,0.00,0.000,4,0.000,0.045,2275,1373,3520,0,0,0,0,0,0
$GC,1213,-0.74,-146.0,113.5,-8.0,193,1218,0.12,2.33,0.00,0.000,6,0.090,0.058,2213,2784,3521,0,0,0,0,0,0
$GC,1539,-0.66,-146.0,151.0,-11.7,223,1544,0.17,1.98,0.00,0.000,4,0.160,0.067,2256,3933,3520,0,0,0,0,0,0
$GC,1574,-0.66,-146.0,154.7,-10.4,226,1578,0.00,1.85,0.00,0.000,6,0.000,0.044,2256,2784,3520,0,0,0,0,0,0
$GC,1906,-0.66,-146.0,183.9,-9.3,257,1910,0.00,2.25,0.00,0.000,4,0.000,0.044,2256,1370,3520,0,0,0,0,0,0
$GC,1936,-0.68,-146.0,186.7,-9.1,259,1940,0.00,2.35,0.00,0.000,6,0.000,0.057,2248,2793,3520,0,0,0,0,0,0
$GC,2264,-0.68,-146.0,218.6,-9.7,289,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2793,3520,0,0,0,0,0,0
$GC,2592,-0.68,-146.0,250.0,-9.2,320,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2793,3521,0,0,0,0,0,0
$GC,2921,-0.68,-146.0,278.2,-8.3,351,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2793,3521,0,0,0,0,0,0
$GC,3247,-0.68,-146.0,306.4,-8.5,382,3251,0.00,2.25,0.00,0.000,4,0.000,0.045,2248,1372,3522,0,0,0,0,0,0
$GC,3282,-0.68,-146.0,309.4,-8.3,384,3288,0.00,2.35,0.00,0.000,6,0.000,0.056,2247,2784,3523,0,0,0,0,0,0
$GC,3608,-0.68,-146.0,335.0,-8.3,415,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2784,3523,0,0,0,0,0,0
$GC,3926,-0.68,-146.0,362.0,-8.7,445,3930,0.00,2.28,0.00,0.000,4,0.000,0.044,2248,1366,3523,0,0,0,0,0,0
$GC,3949,-0.68,-146.0,364.1,-8.5,446,3955,0.00,2.33,0.00,0.000,6,0.000,0.055,2248,2777,3523,0,0,0,0,0,0
$GC,4275,-0.68,-146.0,391.3,-8.1,477,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2778,3523,0,0,0,0,0,0
$GC,4597,-0.68,-146.0,418.2,-8.5,494,4601,0.00,2.22,0.00,0.000,4,0.000,0.044,2248,1372,3523,0,0,0,0,0,0
$GC,4620,-0.70,-146.0,420.4,-8.6,494,4627,0.00,2.33,0.00,0.000,6,0.000,0.056,2248,2780,3523,0,0,0,0,0,0
$GC,4934,-0.70,-146.0,447.3,-8.6,505,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2780,3523,0,0,0,0,0,0
$GC,5240,-0.70,-146.0,475.2,-9.2,515,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2780,3523,0,0,0,0,0,0
$GC,5547,-0.70,-146.0,503.2,-9.2,525,5551,0.00,2.28,0.00,0.000,4,0.000,0.047,2248,1368,3523,0,0,0,0,0,0
$GC,5579,-0.73,-146.0,506.3,-9.7,526,5583,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2765,3524,0,0,0,0,0,0
$GC,5916,-0.73,-146.0,536.1,-8.8,537,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3524,0,0,0,0,0,0
$GC,6221,-0.73,-146.0,562.4,-8.5,547,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3523,0,0,0,0,0,0
$GC,6527,-0.73,-146.0,588.5,-8.5,557,6531,0.00,1.98,0.00,0.000,4,0.000,0.069,2247,3928,3524,0,0,0,0,0,0
$GC,6555,-0.73,-146.0,591.1,-8.8,557,6561,0.00,1.88,0.00,0.000,6,0.000,0.045,2248,2758,3524,0,0,0,0,0,0
$STATE,6686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6686,begin apogee
$GC,6694,-0.14,0.0,601.9,8.4,562,6824,0.55,0.00,122.22,0.950,4,0.126,0.000,2427,2602,2923,0,0,0,0,0,0
$STATE,6825,end apogee,CONTROL_FINISHED_OK
$STATE,6825,begin climb
$GC,6829,0.57,146.0,606.0,0.0,566,6966,0.65,2.35,125.65,0.929,4,0.060,0.047,2668,1185,2327,0,0,0,0,0,0
$GC,7140,-1.83,146.0,578.8,25844.1,575,7153,2.60,2.35,0.00,0.000,6,0.152,0.054,1889,2607,2316,0,0,0,0,0,0
$GC,7459,-1.83,146.0,528.9,25844.1,586,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2608,2307,0,0,0,0,0,0
$GC,7766,-1.83,146.0,473.2,25844.1,596,7770,0.00,2.20,0.00,0.000,4,0.000,0.064,1874,3930,2308,0,0,0,0,0,0
$GC,8025,-1.83,146.0,423.3,25844.1,603,8029,0.00,2.08,0.00,0.000,6,0.000,0.048,1871,2654,2306,0,0,0,0,0,0
$GC,8355,-1.83,146.0,365.7,25844.1,626,8359,0.00,2.17,0.00,0.000,4,0.000,0.068,1860,3931,2306,0,0,0,0,0,0
$GC,8616,-1.83,146.0,315.0,25844.1,649,8620,0.00,2.05,0.00,0.000,6,0.000,0.046,1858,2665,2305,0,0,0,0,0,0
$GC,8948,-1.83,146.0,254.4,25844.1,680,8953,0.12,2.17,0.00,0.000,4,0.185,0.068,1883,3928,2306,0,0,0,0,0,0
$GC,9205,-1.83,146.0,205.3,25844.1,702,9212,0.00,2.03,0.00,0.000,6,0.000,0.041,1881,2662,2304,0,0,0,0,0,0
$GC,9531,-1.83,146.0,143.4,25844.1,733,9536,0.00,2.35,0.00,0.000,4,0.000,0.044,1880,1175,2303,0,0,0,0,0,0
$GC,9793,-1.83,146.0,92.5,25844.1,759,9800,0.00,2.53,0.00,0.000,6,0.000,0.052,1868,2719,2304,0,0,0,0,0,0
$GC,10141,-1.83,146.0,30.3,25844.1,820,10148,0.00,2.42,0.00,0.000,4,0.000,0.041,1867,1177,2305,0,0,0,0,0,0
$GC,10253,-1.83,146.0,10.4,25844.1,839,10261,0.12,2.50,0.00,0.000,6,0.201,0.054,1883,2696,2307,0,0,0,0,0,0
$FREEZE,6.90,2.074,-1.797,3,1,0
$FREEZE,6.07,2.172,-1.790,3,1,0
$FREEZE,4.69,1.610,-1.822,3,1,0
$FREEZE,3.93,1.618,-1.821,3,1,0
$FREEZE,3.33,1.730,-1.814,3,1,0
$FREEZE,2.21,1.697,-1.815,3,1,0
$STATE,10292,end climb,SURFACE_DEPTH_REACHED
$STATE,10292,begin surface coast
$FREEZE,1.24,1.343,-1.837,3,1,0
$FINISH,1.2,1.026814
$STATE,10302,end surface coast,CONTROL_FINISHED_OK
$STATE,10302,begin surface
$SM_CCo,10318,257.25,0.080,0,0,440,609.08
$SM_GC,1.63,0.00,0.00,257.25,0.000,0.000,0.080,289,2789,440,-6.81,0.28,609.08
$RAFOS_CLK,463
$RAFOS,6,1296362950,4.833333,4.819445,112,58,44,40,39,38,794,145,1162,112,1304,1774
$RAFOS,5,1296362489,4.700000,4.691389,132,53,45,44,43,42,494,494,1375,610,1778,506
$RAFOS,4,1296361999,4.566667,4.555278,59,46,45,45,39,38,761,90,1695,1821,1240,8
$RAFOS,3,1296361502,4.433333,4.417222,50,48,48,46,45,40,1825,1539,937,1413,237,1666
$RAFOS,2,1296361026,4.300000,4.285000,46,44,42,42,41,40,1789,1058,25,1534,383,1336
$RAFOS,1,1296360546,4.166667,4.151667,51,43,41,40,40,40,825,1484,933,714,1832,1733
$RAFOS,0,1296360071,4.033333,4.019722,47,44,43,42,41,41,595,627,1284,791,873,227
$RAFOS_FIX,6659.975586,-5704.072266,300111,040400,2,122,2.54
$IRIDIUM_FIX,6625.71,-5610.99,300111,000021
$TT8_MAMPS,0.028462
$HUMID,48.22
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,601.9,11.9
$24V_AH,22.4,96.972
$10V_AH,9.7,65.740
$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,16.875,71.150,247.875,257.250,0.000,29.636,16.970,139.263,2.500,0.000,33.278,2131.024,6114.283,649.428,1743.641,319.825,0.000,1478.220,0.000,1521.993,2520.000,22.484,0.000
$DEVICE_MAMPS,237.150,98.685,950.130,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,30076,847
$CAP_FILE_SIZE,109638,0
$CFSIZE,260165632,193605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$GPS,300111,061257,6652.289,-5707.556,37,2.5,56,-37.4