version: 66.08
glider: 183
mission: 3
dive: 861
start: 1 30 111 6 24 6
data:
$ID,183
$MISSION,3
$DIVE,861
$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,-13536.791
$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,34
$R_STBD_OVSHOOT,34
$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
$GPS1,300111,061257,6652.289,-5707.556,37,2.5,56,-37.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-58.1
$GPS2,300111,062337,6652.410,-5707.526,11,2.0,15,-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,73.1,24156,-17.5,-10.000
$D_GRID,696
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.57,-146.0,0.0,0.0,0,172,0.00,0.00,-146.88,0.000,6,0.000,0.000,274,2791,3521,0,0,0,0,0,0
$GC,175,-0.57,-146.0,5.5,-13.6,26,189,8.40,1.95,0.00,0.000,4,0.239,0.057,2275,3931,3522,0,0,0,0,0,0
$GC,323,-0.57,-146.0,36.0,-10.3,51,330,0.00,1.85,0.00,0.000,6,0.000,0.046,2275,2776,3523,0,0,0,0,0,0
$GC,670,-0.57,-146.0,73.1,-9.9,112,677,0.00,1.98,0.00,0.000,4,0.000,0.070,2275,3922,3523,0,0,0,0,0,0
$GC,742,-0.60,-146.0,80.6,-10.4,124,749,0.00,1.83,0.00,0.000,6,0.000,0.047,2274,2800,3523,0,0,0,0,0,0
$GC,1084,-0.64,-146.0,112.4,-9.3,173,1088,0.00,2.28,0.00,0.000,4,0.000,0.047,2275,1370,3522,0,0,0,0,0,0
$GC,1118,-0.68,-146.0,116.1,-9.9,175,1125,0.00,2.38,0.00,0.000,6,0.000,0.059,2275,2797,3522,0,0,0,0,0,0
$GC,1444,-0.73,-146.0,142.4,-7.5,206,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2797,3522,0,0,0,0,0,0
$GC,1765,-0.78,-146.0,167.3,-7.9,236,1770,0.15,2.33,0.00,0.000,4,0.086,0.046,2200,1369,3522,0,0,0,0,0,0
$GC,1807,-0.70,-146.0,172.1,-12.3,239,1812,0.20,2.38,0.00,0.000,6,0.160,0.057,2244,2803,3522,0,0,0,0,0,0
$GC,2133,-0.70,-146.0,207.0,-10.5,269,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2803,3523,0,0,0,0,0,0
$GC,2457,-0.70,-146.0,239.3,-9.9,299,2461,0.00,2.30,0.00,0.000,4,0.000,0.045,2245,1372,3523,0,0,0,0,0,0
$GC,2492,-0.70,-146.0,243.2,-9.3,301,2499,0.00,2.35,0.00,0.000,6,0.000,0.057,2245,2791,3523,0,0,0,0,0,0
$GC,2820,-0.70,-146.0,274.6,-9.2,332,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2791,3524,0,0,0,0,0,0
$GC,3148,-0.70,-146.0,304.6,-8.7,363,3152,0.00,2.28,0.00,0.000,4,0.000,0.045,2245,1367,3525,0,0,0,0,0,0
$GC,3197,-0.72,-146.0,308.9,-8.5,367,3201,0.00,2.35,0.00,0.000,6,0.000,0.056,2244,2791,3525,0,0,0,0,0,0
$GC,3523,-0.72,-146.0,337.2,-9.0,397,3528,0.00,2.28,0.00,0.000,4,0.000,0.045,2245,1366,3526,0,0,0,0,0,0
$GC,3549,-0.72,-146.0,339.5,-9.2,399,3553,0.00,2.33,0.00,0.000,6,0.000,0.056,2245,2777,3526,0,0,0,0,0,0
$GC,3875,-0.72,-146.0,368.8,-8.6,429,3879,0.00,2.22,0.00,0.000,4,0.000,0.044,2245,1373,3526,0,0,0,0,0,0
$GC,3910,-0.74,-146.0,372.0,-8.8,431,3916,0.00,2.30,0.00,0.000,6,0.000,0.057,2245,2768,3526,0,0,0,0,0,0
$GC,4236,-0.74,-146.0,398.7,-8.3,462,4239,0.00,1.95,0.00,0.000,4,0.000,0.067,2240,3931,3527,0,0,0,0,0,0
$STATE,4254,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4254,begin apogee
$GC,4264,-0.14,0.0,400.4,9.0,463,4390,0.57,0.00,118.85,0.811,4,0.124,0.000,2427,2593,2925,0,0,0,0,0,0
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4394,0.57,146.0,404.5,0.0,468,4529,0.65,2.30,120.93,0.795,4,0.063,0.045,2667,1191,2325,0,0,0,0,0,0
$GC,4770,0.57,146.0,369.9,10.6,495,4777,0.00,2.30,0.00,0.000,6,0.000,0.051,2667,2604,2318,0,0,0,0,0,0
$GC,5096,0.51,146.0,331.2,11.7,526,5100,0.00,2.25,0.00,0.000,4,0.000,0.047,2671,1187,2316,0,0,0,0,0,0
$GC,5301,0.51,146.0,308.3,11.5,544,5305,0.00,2.30,0.00,0.000,6,0.000,0.051,2671,2613,2316,0,0,0,0,0,0
$GC,5627,0.46,146.0,269.2,11.9,574,5632,0.17,2.17,0.00,0.000,4,0.177,0.061,2623,3925,2316,0,0,0,0,0,0
$GC,5679,0.46,146.0,263.3,10.8,578,5683,0.00,2.08,0.00,0.000,6,0.000,0.041,2623,2612,2314,0,0,0,0,0,0
$GC,6011,0.49,162.2,233.4,9.3,609,6030,0.00,0.00,12.38,0.676,6,0.000,0.000,2623,2610,2262,0,0,0,0,0,0
$GC,6350,0.54,169.4,202.2,9.7,641,6362,0.00,2.33,7.72,0.627,4,0.000,0.047,2623,1192,2232,0,0,0,0,0,0
$GC,6388,0.63,185.2,198.7,9.3,644,6412,0.15,2.33,14.90,0.661,6,0.083,0.050,2694,2626,2168,0,0,0,0,0,0
$GC,6731,0.55,185.2,149.5,14.5,676,6736,0.15,2.17,0.00,0.000,4,0.178,0.062,2653,3931,2164,0,0,0,0,0,0
$GC,6753,0.49,185.2,145.8,15.1,677,6760,0.00,2.10,0.00,0.000,6,0.000,0.040,2653,2611,2163,0,0,0,0,0,0
$GC,7079,0.49,185.2,109.1,10.9,708,7083,0.00,2.22,0.00,0.000,4,0.000,0.062,2653,3931,2162,0,0,0,0,0,0
$GC,7147,0.46,185.2,100.3,13.8,713,7155,0.12,2.08,0.00,0.000,6,0.183,0.039,2621,2626,2163,0,0,0,0,0,0
$GC,7500,0.56,220.7,71.0,8.4,774,7536,0.10,2.35,29.77,0.602,4,0.105,0.047,2677,1198,2022,0,0,0,0,0,0
$GC,7566,0.60,220.7,63.8,11.4,785,7573,0.00,2.33,0.00,0.000,6,0.000,0.050,2677,2628,2020,0,0,0,0,0,0
$GC,7914,0.62,220.7,25.4,10.9,846,7921,0.00,2.17,0.00,0.000,4,0.000,0.062,2677,3934,2017,0,0,0,0,0,0
$GC,7946,0.62,220.7,21.4,14.1,851,7953,0.00,2.05,0.00,0.000,6,0.000,0.040,2679,2646,2017,0,0,0,0,0,0
$FREEZE,8.87,1.185,-1.842,3,1,0
$FREEZE,8.43,1.170,-1.842,3,1,0
$FREEZE,7.90,1.174,-1.841,3,1,0
$FREEZE,7.22,1.161,-1.841,3,1,0
$FREEZE,6.63,1.162,-1.840,3,1,0
$FREEZE,6.07,1.166,-1.840,3,1,0
$FREEZE,5.52,1.164,-1.839,3,1,0
$FREEZE,5.06,1.170,-1.839,3,1,0
$FREEZE,4.58,1.175,-1.838,3,1,0
$FREEZE,3.79,1.173,-1.838,3,1,0
$FREEZE,3.23,1.171,-1.838,3,1,0
$FREEZE,2.67,1.168,-1.837,3,1,0
$STATE,8108,end climb,SURFACE_DEPTH_REACHED
$STATE,8108,begin surface coast
$FREEZE,1.98,1.175,-1.836,3,1,0
$FREEZE,1.51,1.176,-1.836,3,1,0
$FREEZE,1.10,1.171,-1.836,3,1,0
$FREEZE,0.92,0.793,-1.858,3,1,0
$FINISH,0.9,1.027149
$STATE,8130,end surface coast,CONTROL_FINISHED_OK
$STATE,8133,begin surface
$SM_CCo,8150,223.90,0.079,0,0,440,609.08
$SM_GC,1.56,0.00,0.00,223.90,0.000,0.000,0.079,295,2781,440,-6.80,0.03,609.08
$RAFOS_CLK,341
$RAFOS,4,1296376383,8.566667,8.550834,49,49,44,44,41,40,1329,854,422,1002,1688,1283
$RAFOS,3,1296375901,8.433333,8.416945,52,51,46,43,43,42,945,716,1195,195,1424,180
$RAFOS,2,1296375425,8.300000,8.284722,45,45,44,41,41,41,1348,628,1591,81,26,262
$RAFOS,1,1296374950,8.166667,8.152778,52,48,41,37,37,37,372,172,1473,197,291,846
$RAFOS,0,1296374462,8.033334,8.017222,43,41,41,41,39,38,145,200,881,1011,1709,369
$RAFOS_FIX,6659.975586,-5704.072266,300111,040400,2,122,2.54
$IRIDIUM_FIX,6620.33,-5648.94,300111,060654
$TT8_MAMPS,0.028462
$HUMID,44.36
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.3
$ALTIM_BOTTOM_PING,400.4,10.2
$24V_AH,23.1,97.061
$10V_AH,9.7,65.801
$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,17.050,75.250,304.550,223.900,0.000,83.927,107.523,151.252,1.250,0.000,17.703,2129.272,4097.908,662.856,1799.520,326.940,0.000,1459.293,0.000,1447.429,1800.000,10.627,0.000
$DEVICE_MAMPS,239.445,78.030,810.900,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,30141,884
$CAP_FILE_SIZE,105845,0
$CFSIZE,260165632,193552384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.6
$GPS,300111,084526,6653.195,-5706.083,33,99.0,53,-37.4