version: 66.08
glider: 183
mission: 3
dive: 863
start: 1 30 111 11 27 57
data:
$ID,183
$MISSION,3
$DIVE,863
$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,-13539.305
$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,33
$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
$GPS1,300111,111715,6654.506,-5705.029,37,99.0,57,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.5
$GPS2,300111,112726,6654.546,-5704.944,13,1.3,13,-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,75.4,19871,-17.5,-10.000
$D_GRID,699
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,171,0.00,0.00,-145.12,0.000,6,0.000,0.000,272,2790,3520,0,0,0,0,0,0
$GC,174,-0.57,-146.0,6.0,-15.5,26,188,8.32,2.33,0.00,0.000,4,0.238,0.042,2282,1370,3522,0,0,0,0,0,0
$GC,433,-0.61,-146.0,45.6,-10.8,71,440,0.00,2.33,0.00,0.000,6,0.000,0.057,2276,2769,3524,0,0,0,0,0,0
$GC,780,-0.61,-146.0,83.0,-10.8,132,786,0.00,2.22,0.00,0.000,4,0.000,0.047,2276,1377,3522,0,0,0,0,0,0
$GC,830,-0.64,-146.0,87.9,-9.7,140,837,0.00,2.30,0.00,0.000,6,0.000,0.058,2275,2766,3522,0,0,0,0,0,0
$GC,1166,-0.67,-146.0,117.9,-9.0,182,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2767,3522,0,0,0,0,0,0
$GC,1495,-0.72,-146.0,148.1,-9.6,213,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2767,3520,0,0,0,0,0,0
$GC,1826,-0.77,-146.0,178.5,-8.9,244,1831,0.12,2.25,0.00,0.000,4,0.096,0.046,2213,1370,3521,0,0,0,0,0,0
$GC,1848,-0.77,-146.0,181.6,-10.4,245,1855,0.00,2.35,0.00,0.000,6,0.000,0.057,2206,2780,3521,0,0,0,0,0,0
$GC,2175,-0.68,-146.0,223.1,-12.1,276,2177,0.17,0.00,0.00,0.000,6,0.168,0.000,2255,2780,3521,0,0,0,0,0,0
$GC,2493,-0.70,-146.0,250.2,-8.1,306,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2780,3521,0,0,0,0,0,0
$GC,2815,-0.73,-146.0,278.2,-9.2,336,2819,0.00,2.28,0.00,0.000,4,0.000,0.045,2255,1373,3521,0,0,0,0,0,0
$GC,2850,-0.77,-146.0,281.8,-9.3,339,2855,0.00,2.30,0.00,0.000,6,0.000,0.056,2249,2761,3521,0,0,0,0,0,0
$GC,3182,-0.77,-146.0,311.0,-7.7,370,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2761,3522,0,0,0,0,0,0
$GC,3501,-0.77,-146.0,335.4,-8.2,400,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2760,3523,0,0,0,0,0,0
$GC,3819,-0.77,-146.0,362.8,-9.4,430,3823,0.00,2.00,0.00,0.000,4,0.000,0.066,2247,3946,3524,0,0,0,0,0,0
$GC,3952,-0.80,-146.0,375.5,-10.3,441,3958,0.00,1.88,0.00,0.000,6,0.000,0.042,2247,2768,3525,0,0,0,0,0,0
$STATE,4217,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4217,begin apogee
$GC,4224,-0.14,0.0,400.8,9.2,466,4353,0.52,0.00,118.60,0.804,4,0.122,0.000,2424,2595,2923,0,0,0,0,0,0
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4354,begin climb
$GC,4356,0.57,146.0,405.7,0.0,470,4486,0.62,0.00,119.62,0.794,6,0.073,0.000,2660,2595,2326,0,0,0,0,0,0
$GC,4802,0.52,146.0,362.0,12.3,504,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2595,2318,0,0,0,0,0,0
$GC,5124,0.48,146.0,322.7,12.8,534,5129,0.12,2.22,0.00,0.000,4,0.190,0.061,2628,3936,2317,0,0,0,0,0,0
$GC,5213,0.45,146.0,311.2,11.9,541,5220,0.00,2.10,0.00,0.000,6,0.000,0.039,2628,2612,2316,0,0,0,0,0,0
$GC,5539,0.45,146.0,278.4,10.1,572,5543,0.00,2.25,0.00,0.000,4,0.000,0.046,2628,1190,2316,0,0,0,0,0,0
$GC,5584,0.51,153.4,273.8,9.7,575,5595,0.00,2.33,5.90,0.610,6,0.000,0.050,2628,2623,2296,0,0,0,0,0,0
$GC,5916,0.53,153.4,239.9,10.4,606,5919,0.00,2.15,0.00,0.000,4,0.000,0.061,2628,3928,2295,0,0,0,0,0,0
$GC,5945,0.53,153.4,236.5,11.4,608,5949,0.00,2.08,0.00,0.000,6,0.000,0.039,2628,2606,2294,0,0,0,0,0,0
$GC,6277,0.57,173.8,204.9,9.1,639,6301,0.00,2.33,18.50,0.669,4,0.000,0.047,2629,1189,2214,0,0,0,0,0,0
$GC,6337,0.66,189.3,199.4,9.3,644,6360,0.15,2.28,14.07,0.648,6,0.085,0.050,2697,2606,2150,0,0,0,0,0,0
$GC,6679,0.58,189.3,148.7,15.7,676,6684,0.12,2.20,0.00,0.000,4,0.187,0.060,2665,3932,2147,0,0,0,0,0,0
$GC,6723,0.53,189.3,141.5,15.3,679,6730,0.00,2.10,0.00,0.000,6,0.000,0.039,2666,2612,2146,0,0,0,0,0,0
$GC,7049,0.53,189.3,100.0,13.0,710,7056,0.00,2.22,0.00,0.000,4,0.000,0.047,2666,1198,2145,0,0,0,0,0,0
$GC,7091,0.57,189.3,94.8,12.6,717,7098,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2616,2145,0,0,0,0,0,0
$GC,7438,0.58,204.2,56.7,9.3,778,7457,0.00,2.25,13.20,0.583,4,0.000,0.060,2666,3929,2090,0,0,0,0,0,0
$GC,7533,0.58,204.2,46.3,11.9,794,7540,0.00,2.08,0.00,0.000,6,0.000,0.040,2666,2621,2087,0,0,0,0,0,0
$GC,7880,0.62,204.2,14.7,10.5,855,7887,0.00,2.28,0.00,0.000,4,0.000,0.047,2666,1188,2087,0,0,0,0,0,0
$FREEZE,8.62,1.215,-1.840,3,1,0
$GC,7935,0.70,204.2,8.6,11.1,864,7942,0.10,2.33,0.00,0.000,6,0.112,0.050,2714,2616,2087,0,0,0,0,0,0
$FREEZE,7.05,1.223,-1.839,3,1,0
$FREEZE,6.49,1.221,-1.839,3,1,0
$FREEZE,5.95,1.226,-1.838,3,1,0
$FREEZE,5.36,1.224,-1.838,3,1,0
$FREEZE,4.87,1.223,-1.837,3,1,0
$FREEZE,4.29,1.207,-1.837,3,1,0
$FREEZE,3.80,1.195,-1.837,3,1,0
$FREEZE,3.40,1.182,-1.837,3,1,0
$FREEZE,2.77,1.194,-1.835,3,1,0
$STATE,7988,end climb,SURFACE_DEPTH_REACHED
$STATE,7988,begin surface coast
$FREEZE,2.01,1.160,-1.836,3,1,0
$FREEZE,1.46,1.172,-1.835,3,1,0
$FREEZE,0.97,1.189,-1.834,3,1,0
$FREEZE,0.86,1.175,-0.993,3,1,0
$FREEZE,0.80,1.082,-1.839,3,1,0
$FINISH,0.8,1.026866
$STATE,8019,end surface coast,CONTROL_FINISHED_OK
$STATE,8019,begin surface
$SM_CCo,8037,234.12,0.080,0,0,440,609.08
$SM_GC,1.49,0.00,0.00,234.12,0.000,0.000,0.080,291,2781,440,-6.81,0.03,609.08
$RAFOS_CLK,341
$RAFOS,6,1296391750,12.833333,12.819445,89,51,50,40,40,39,782,1144,1281,1926,1938,1914
$RAFOS,5,1296391264,12.700000,12.684444,99,46,43,42,42,42,632,938,1131,347,1816,26
$RAFOS,4,1296390785,12.566667,12.551389,94,56,48,45,41,40,848,1748,629,1526,149,1725
$RAFOS,3,1296390311,12.433333,12.419723,48,43,43,42,42,38,912,1675,679,894,26,1693
$RAFOS,2,1296389822,12.300000,12.283889,46,44,43,41,41,41,1187,1408,1777,310,153,966
$RAFOS,1,1296389346,12.166667,12.151667,51,49,46,45,44,41,265,288,1222,1240,1252,713
$RAFOS,0,1296388867,12.033333,12.018611,43,41,41,41,41,40,1233,371,1431,1826,1458,446
$RAFOS_FIX,6700.743652,-5704.855469,300111,121244,3,94,2.51
$IRIDIUM_FIX,6625.71,-5707.31,300111,111143
$TT8_MAMPS,0.029211
$HUMID,44.56
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.0
$ALTIM_BOTTOM_PING,400.8,10.2
$24V_AH,23.2,97.235
$10V_AH,9.8,65.919
$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,16.750,58.200,289.900,234.125,0.000,54.871,80.285,218.905,1.500,0.000,15.789,2097.141,4064.943,650.749,1767.805,314.802,0.000,1416.200,0.000,1388.251,2520.000,15.488,0.000
$DEVICE_MAMPS,237.915,71.145,804.015,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30033,879
$CAP_FILE_SIZE,102251,0
$CFSIZE,260165632,193445888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$GPS,300111,134730,6655.579,-5703.216,35,1.1,41,-37.4