version: 66.08
glider: 183
mission: 3
dive: 864
start: 1 30 111 13 56 47
data:
$ID,183
$MISSION,3
$DIVE,864
$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,-13540.653
$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,27
$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
$GPS1,300111,134730,6655.579,-5703.216,35,1.1,41,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-63.0
$GPS2,300111,135614,6655.607,-5703.269,11,1.3,11,-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,76.2,17580,-17.5,-10.000
$D_GRID,698
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-144.38,0.000,6,0.000,0.000,281,2781,3520,0,0,0,0,0,0
$GC,171,-0.57,-146.0,5.9,-15.0,26,185,8.27,1.95,0.00,0.000,4,0.237,0.056,2276,3931,3522,0,0,0,0,0,0
$GC,363,-0.59,-146.0,42.5,-9.3,59,370,0.00,1.83,0.00,0.000,6,0.000,0.046,2275,2785,3523,0,0,0,0,0,0
$GC,710,-0.59,-146.0,79.4,-10.3,120,717,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1369,3523,0,0,0,0,0,0
$GC,748,-0.62,-146.0,83.6,-10.8,126,755,0.00,2.33,0.00,0.000,6,0.000,0.058,2274,2775,3523,0,0,0,0,0,0
$GC,1091,-0.65,-146.0,115.9,-9.5,172,1095,0.00,1.95,0.00,0.000,4,0.000,0.068,2272,3932,3522,0,0,0,0,0,0
$GC,1143,-0.70,-146.0,120.5,-8.3,176,1150,0.00,1.88,0.00,0.000,6,0.000,0.045,2272,2778,3521,0,0,0,0,0,0
$GC,1472,-0.74,-146.0,146.4,-7.8,207,1477,0.10,2.25,0.00,0.000,4,0.107,0.046,2218,1372,3521,0,0,0,0,0,0
$GC,1539,-0.70,-146.0,154.3,-11.9,212,1546,0.12,2.35,0.00,0.000,6,0.173,0.058,2247,2776,3520,0,0,0,0,0,0
$GC,1865,-0.70,-146.0,185.9,-9.9,243,1869,0.00,1.92,0.00,0.000,4,0.000,0.067,2241,3928,3520,0,0,0,0,0,0
$GC,1928,-0.70,-146.0,193.1,-11.0,248,1935,0.00,1.88,0.00,0.000,6,0.000,0.044,2241,2769,3520,0,0,0,0,0,0
$GC,2254,-0.70,-146.0,226.3,-9.7,279,2258,0.00,2.22,0.00,0.000,4,0.000,0.045,2240,1365,3521,0,0,0,0,0,0
$GC,2284,-0.70,-146.0,229.4,-10.5,281,2288,0.00,2.35,0.00,0.000,6,0.000,0.056,2235,2783,3521,0,0,0,0,0,0
$GC,2616,-0.67,-146.0,263.4,-10.9,312,2620,0.00,1.95,0.00,0.000,4,0.000,0.066,2235,3921,3521,0,0,0,0,0,0
$GC,2640,-0.65,-146.0,265.9,-9.9,314,2644,0.10,1.85,0.00,0.000,6,0.168,0.043,2261,2773,3521,0,0,0,0,0,0
$GC,2974,-0.69,-146.0,293.7,-7.8,345,2978,0.00,2.22,0.00,0.000,4,0.000,0.044,2261,1361,3522,0,0,0,0,0,0
$GC,2996,-0.73,-146.0,295.7,-7.9,346,3003,0.00,2.33,0.00,0.000,6,0.000,0.055,2261,2775,3522,0,0,0,0,0,0
$GC,3324,-0.77,-146.0,320.2,-8.0,377,3331,0.10,0.00,0.00,0.000,6,0.110,0.000,2208,2774,3522,0,0,0,0,0,0
$STATE,3601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3601,begin apogee
$GC,3608,-0.14,0.0,350.9,11.0,403,3733,0.68,0.00,117.95,0.773,4,0.132,0.000,2423,2598,2923,0,0,0,0,0,0
$STATE,3734,end apogee,CONTROL_FINISHED_OK
$STATE,3734,begin climb
$GC,3737,0.57,146.0,355.3,0.0,414,3871,0.65,2.30,119.35,0.759,4,0.067,0.044,2662,1186,2325,0,0,0,0,0,0
$GC,4097,0.57,146.0,322.9,10.7,446,4101,0.00,2.30,0.00,0.000,6,0.000,0.050,2662,2606,2319,0,0,0,0,0,0
$GC,4423,0.52,146.0,283.3,12.5,476,4427,0.00,2.25,0.00,0.000,4,0.000,0.047,2663,1181,2317,0,0,0,0,0,0
$GC,4670,0.52,146.0,253.9,11.3,497,4677,0.00,2.28,0.00,0.000,6,0.000,0.050,2662,2599,2317,0,0,0,0,0,0
$GC,4996,0.48,146.0,213.1,12.3,528,5001,0.12,2.20,0.00,0.000,4,0.190,0.061,2630,3925,2316,0,0,0,0,0,0
$GC,5044,0.46,146.0,207.2,12.5,532,5047,0.00,2.12,0.00,0.000,6,0.000,0.039,2630,2591,2315,0,0,0,0,0,0
$GC,5376,0.49,165.2,174.6,9.1,563,5399,0.00,2.28,15.30,0.645,4,0.000,0.062,2630,3928,2248,0,0,0,0,0,0
$GC,5428,0.49,165.2,169.0,11.1,567,5434,0.00,2.10,0.00,0.000,6,0.000,0.039,2632,2605,2247,0,0,0,0,0,0
$GC,5754,0.53,165.2,135.7,10.2,598,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2604,2247,0,0,0,0,0,0
$GC,6076,0.59,205.1,107.6,8.2,628,6120,0.00,2.33,33.88,0.617,4,0.000,0.047,2632,1195,2085,0,0,0,0,0,0
$GC,6145,0.68,205.1,101.1,10.2,634,6150,0.17,2.28,0.00,0.000,6,0.076,0.050,2709,2609,2084,0,0,0,0,0,0
$GC,6493,0.64,205.1,52.4,13.0,693,6500,0.00,2.17,0.00,0.000,4,0.000,0.060,2709,3925,2080,0,0,0,0,0,0
$GC,6645,0.55,205.1,29.2,16.1,719,6652,0.20,2.03,0.00,0.000,6,0.171,0.040,2657,2638,2079,0,0,0,0,0,0
$FREEZE,8.79,1.248,-1.840,3,1,0
$FREEZE,8.39,1.261,-1.840,3,1,0
$FREEZE,8.10,1.264,-1.840,3,1,0
$FREEZE,7.76,1.253,-1.840,3,1,0
$FREEZE,7.37,1.257,-1.839,3,1,0
$FREEZE,7.03,1.267,-1.839,3,1,0
$FREEZE,6.42,1.268,-1.838,3,1,0
$FREEZE,5.99,1.261,-1.838,3,1,0
$FREEZE,5.41,1.285,-1.837,3,1,0
$FREEZE,4.98,1.284,-1.837,3,1,0
$FREEZE,4.49,1.282,-1.837,3,1,0
$FREEZE,4.07,1.275,-1.837,3,1,0
$FREEZE,3.40,1.281,-1.836,3,1,0
$FREEZE,2.94,1.277,-1.836,3,1,0
$STATE,6941,end climb,SURFACE_DEPTH_REACHED
$STATE,6941,begin surface coast
$FREEZE,2.44,1.280,-1.835,3,1,0
$FREEZE,1.91,1.271,-1.835,3,1,0
$FREEZE,1.55,1.263,-1.835,3,1,0
$FREEZE,1.06,1.257,-1.835,3,1,0
$FREEZE,0.86,1.251,-1.835,3,1,0
$FREEZE,0.84,1.263,-0.985,3,1,0
$FREEZE,0.81,1.106,-0.685,3,1,0
$FINISH,0.8,1.010104
$STATE,6978,end surface coast,CONTROL_FINISHED_OK
$STATE,6979,begin surface
$SM_CCo,6996,231.05,0.078,0,0,440,609.08
$SM_GC,1.38,0.00,0.00,231.05,0.000,0.000,0.078,295,2788,440,-6.81,0.23,609.08
$RAFOS_CLK,294
$RAFOS_FIX,6700.743652,-5704.855469,300111,121244,3,94,2.51
$IRIDIUM_FIX,6631.12,-5655.12,300111,131300
$TT8_MAMPS,0.028462
$HUMID,44.99
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,350.9,9.8
$24V_AH,23.4,97.316
$10V_AH,9.7,65.972
$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,16.825,60.650,286.475,231.050,0.000,47.024,96.406,149.496,1.250,0.000,13.939,1846.664,3404.083,642.003,1572.260,296.866,0.000,1347.011,0.000,1280.528,0.000,13.806,0.000
$DEVICE_MAMPS,237.150,74.205,773.415,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.448,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,26730,779
$CAP_FILE_SIZE,91739,0
$CFSIZE,260165632,193400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,300111,155837,6655.944,-5701.287,28,1.3,29,-37.4