version: 66.08
glider: 183
mission: 3
dive: 862
start: 1 30 111 8 52 5
data:
$ID,183
$MISSION,3
$DIVE,862
$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,-13538.048
$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,25
$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
$GPS1,300111,084526,6653.195,-5706.083,33,99.0,53,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-54.1
$GPS2,300111,085132,6653.253,-5705.995,11,1.2,11,-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,73.1,22243,-17.5,-10.000
$D_GRID,693
$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,-144.25,0.000,6,0.000,0.000,287,2781,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.9,-15.3,26,186,8.32,2.30,0.00,0.000,4,0.239,0.041,2285,1370,3523,0,0,0,0,0,0
$GC,375,-0.62,-146.0,39.6,-10.1,61,382,0.00,2.33,0.00,0.000,6,0.000,0.058,2285,2778,3524,0,0,0,0,0,0
$GC,723,-0.64,-146.0,72.4,-8.5,122,729,0.00,2.25,0.00,0.000,4,0.000,0.047,2285,1370,3523,0,0,0,0,0,0
$GC,761,-0.70,-146.0,76.0,-8.4,128,768,0.00,2.30,0.00,0.000,6,0.000,0.058,2279,2763,3522,0,0,0,0,0,0
$GC,1110,-0.74,-146.0,107.8,-8.9,182,1115,0.12,2.25,0.00,0.000,4,0.094,0.047,2220,1376,3521,0,0,0,0,0,0
$GC,1132,-0.74,-146.0,110.4,-10.3,183,1138,0.00,2.33,0.00,0.000,6,0.000,0.058,2215,2770,3521,0,0,0,0,0,0
$GC,1458,-0.66,-146.0,150.8,-11.8,214,1462,0.17,1.98,0.00,0.000,4,0.164,0.067,2257,3928,3520,0,0,0,0,0,0
$GC,1585,-0.69,-146.0,162.6,-8.6,225,1589,0.00,1.80,0.00,0.000,6,0.000,0.045,2257,2799,3520,0,0,0,0,0,0
$GC,1917,-0.69,-146.0,190.7,-8.3,256,1921,0.00,2.28,0.00,0.000,4,0.000,0.046,2257,1365,3521,0,0,0,0,0,0
$GC,1948,-0.72,-146.0,193.2,-8.3,258,1952,0.00,2.38,0.00,0.000,6,0.000,0.057,2249,2794,3521,0,0,0,0,0,0
$GC,2281,-0.72,-146.0,220.4,-8.0,289,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2794,3521,0,0,0,0,0,0
$GC,2609,-0.72,-146.0,246.5,-7.8,320,2613,0.00,2.28,0.00,0.000,4,0.000,0.044,2248,1366,3521,0,0,0,0,0,0
$GC,2684,-0.75,-146.0,252.6,-8.2,326,2691,0.00,2.38,0.00,0.000,6,0.000,0.056,2247,2791,3521,0,0,0,0,0,0
$GC,3010,-0.75,-146.0,278.1,-8.0,357,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2791,3522,0,0,0,0,0,0
$GC,3332,-0.75,-146.0,305.4,-9.1,387,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2792,3523,0,0,0,0,0,0
$GC,3662,-0.75,-146.0,334.0,-8.3,418,3666,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1371,3523,0,0,0,0,0,0
$GC,3692,-0.75,-146.0,337.0,-8.8,420,3696,0.00,2.35,0.00,0.000,6,0.000,0.056,2247,2790,3524,0,0,0,0,0,0
$GC,4023,-0.75,-146.0,364.0,-7.9,451,4027,0.00,1.90,0.00,0.000,4,0.000,0.067,2247,3928,3524,0,0,0,0,0,0
$GC,4094,-0.78,-146.0,370.0,-8.8,457,4098,0.00,1.80,0.00,0.000,6,0.000,0.043,2247,2803,3524,0,0,0,0,0,0
$GC,4426,-0.78,-146.0,399.2,-8.6,488,4433,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1374,3524,0,0,0,0,0,0
$STATE,4438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4438,begin apogee
$GC,4448,-0.14,0.0,400.7,9.3,489,4573,0.52,0.00,118.57,0.807,4,0.126,0.000,2423,2605,2923,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4577,0.57,146.0,405.2,0.0,493,4708,0.65,2.33,120.25,0.793,4,0.067,0.045,2661,1189,2326,0,0,0,0,0,0
$GC,4872,0.57,146.0,380.5,10.9,511,4879,0.00,2.30,0.00,0.000,6,0.000,0.050,2661,2603,2319,0,0,0,0,0,0
$GC,5198,0.52,146.0,342.5,11.7,542,5202,0.00,2.25,0.00,0.000,4,0.000,0.047,2662,1195,2316,0,0,0,0,0,0
$GC,5407,0.52,146.0,319.4,11.9,560,5411,0.00,2.28,0.00,0.000,6,0.000,0.050,2662,2603,2316,0,0,0,0,0,0
$GC,5739,0.48,146.0,278.8,12.3,591,5744,0.12,2.20,0.00,0.000,4,0.190,0.062,2630,3926,2316,0,0,0,0,0,0
$GC,5797,0.46,146.0,271.2,13.1,596,5801,0.00,2.08,0.00,0.000,6,0.000,0.041,2629,2605,2314,0,0,0,0,0,0
$GC,6129,0.46,146.0,236.9,10.3,627,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2604,2314,0,0,0,0,0,0
$GC,6451,0.48,155.1,206.0,9.6,657,6463,0.00,2.33,7.00,0.618,4,0.000,0.047,2630,1187,2290,0,0,0,0,0,0
$GC,6489,0.55,180.1,202.2,8.8,660,6517,0.00,2.30,22.58,0.672,6,0.000,0.050,2630,2604,2187,0,0,0,0,0,0
$GC,6837,0.60,180.1,167.5,10.3,692,6842,0.10,2.20,0.00,0.000,4,0.110,0.061,2681,3926,2182,0,0,0,0,0,0
$GC,6871,0.50,180.1,162.8,15.1,694,6878,0.17,2.10,0.00,0.000,6,0.178,0.040,2641,2595,2181,0,0,0,0,0,0
$GC,7197,0.53,190.2,128.0,9.5,725,7213,0.00,2.28,8.88,0.604,4,0.000,0.047,2642,1193,2146,0,0,0,0,0,0
$GC,7245,0.62,207.2,123.6,9.2,729,7268,0.00,2.28,15.73,0.620,6,0.000,0.050,2642,2614,2077,0,0,0,0,0,0
$GC,7593,0.67,212.8,90.6,9.7,769,7607,0.12,2.17,5.70,0.535,4,0.097,0.060,2699,3932,2054,0,0,0,0,0,0
$GC,7671,0.58,212.8,79.8,15.2,782,7678,0.15,2.08,0.00,0.000,6,0.179,0.039,2666,2621,2052,0,0,0,0,0,0
$GC,8021,0.63,242.8,46.5,8.6,843,8057,0.00,2.35,26.05,0.590,4,0.000,0.047,2666,1190,1932,0,0,0,0,0,0
$GC,8106,0.74,255.7,38.5,9.4,857,8125,0.12,2.28,12.23,0.568,6,0.096,0.049,2724,2609,1879,0,0,0,0,0,0
$FREEZE,8.32,1.180,-1.842,3,1,0
$FREEZE,7.52,1.174,-1.841,3,1,0
$FREEZE,6.79,1.171,-1.841,3,1,0
$FREEZE,6.10,1.168,-1.840,3,1,0
$FREEZE,5.22,1.169,-1.840,3,1,0
$FREEZE,4.43,1.167,-1.839,3,1,0
$FREEZE,3.68,1.172,-1.838,3,1,0
$FREEZE,2.82,1.170,-1.838,3,1,0
$STATE,8357,end climb,SURFACE_DEPTH_REACHED
$STATE,8357,begin surface coast
$FREEZE,1.55,1.165,-1.837,3,1,0
$FREEZE,0.93,1.154,-1.837,3,1,0
$FREEZE,0.91,1.059,-1.337,3,1,0
$FINISH,0.9,1.019690
$STATE,8377,end surface coast,CONTROL_FINISHED_OK
$STATE,8378,begin surface
$SM_CCo,8395,205.30,0.079,0,0,440,609.08
$SM_GC,1.46,0.00,0.00,205.30,0.000,0.000,0.079,284,2789,440,-6.84,0.25,609.08
$RAFOS_CLK,348
$RAFOS_FIX,6659.975586,-5704.072266,300111,040400,2,122,2.54
$IRIDIUM_FIX,6631.12,-5719.52,300111,060603
$TT8_MAMPS,0.02996
$HUMID,44.72
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,400.1,9.9
$24V_AH,23.2,97.148
$10V_AH,9.8,65.859
$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,16.875,75.500,336.975,205.300,0.000,29.450,17.512,151.261,1.500,0.000,13.979,2165.079,4133.131,658.503,1691.969,324.734,0.000,1485.523,0.000,1490.836,0.000,13.438,0.000
$DEVICE_MAMPS,239.445,71.145,807.075,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,33395,905
$CAP_FILE_SIZE,105940,0
$CFSIZE,260165632,193490944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.4
$GPS,300111,111715,6654.506,-5705.029,37,99.0,57,-37.4