version: 66.08
glider: 183
mission: 3
dive: 865
start: 1 30 111 16 5 22
data:
$ID,183
$MISSION,3
$DIVE,865
$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,-13541.907
$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,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
$GPS1,300111,155837,6655.944,-5701.287,28,1.3,29,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-60.4
$GPS2,300111,160449,6655.959,-5701.321,9,1.3,13,-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,73.8,16204,-17.5,-10.000
$D_GRID,689
$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,-142.90,0.000,6,0.000,0.000,287,2788,3520,0,0,0,0,0,0
$GC,171,-0.57,-146.0,6.5,-17.3,26,185,8.30,2.33,0.00,0.000,4,0.239,0.042,2282,1370,3522,0,0,0,0,0,0
$GC,430,-0.62,-146.0,49.4,-10.1,71,437,0.00,2.35,0.00,0.000,6,0.000,0.057,2275,2784,3524,0,0,0,0,0,0
$GC,778,-0.62,-146.0,84.2,-9.2,132,785,0.00,1.92,0.00,0.000,4,0.000,0.067,2270,3934,3522,0,0,0,0,0,0
$GC,856,-0.65,-146.0,91.6,-9.4,145,863,0.00,1.85,0.00,0.000,6,0.000,0.044,2269,2790,3522,0,0,0,0,0,0
$GC,1194,-0.67,-146.0,123.5,-9.7,184,1198,0.00,2.25,0.00,0.000,4,0.000,0.046,2270,1368,3520,0,0,0,0,0,0
$GC,1235,-0.72,-146.0,127.6,-10.5,187,1239,0.00,2.35,0.00,0.000,6,0.000,0.057,2261,2793,3520,0,0,0,0,0,0
$GC,1562,-0.72,-146.0,162.0,-10.2,217,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2793,3521,0,0,0,0,0,0
$GC,1884,-0.74,-146.0,191.8,-9.3,247,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2793,3521,0,0,0,0,0,0
$GC,2212,-0.77,-146.0,220.8,-8.3,278,2218,0.10,0.00,0.00,0.000,6,0.112,0.000,2209,2793,3520,0,0,0,0,0,0
$GC,2539,-0.70,-146.0,257.2,-11.1,309,2541,0.15,0.00,0.00,0.000,6,0.161,0.000,2250,2793,3521,0,0,0,0,0,0
$GC,2857,-0.70,-146.0,285.0,-8.8,339,2861,0.00,2.25,0.00,0.000,4,0.000,0.044,2251,1372,3521,0,0,0,0,0,0
$GC,2882,-0.72,-146.0,287.2,-9.8,340,2889,0.00,2.38,0.00,0.000,6,0.000,0.056,2247,2810,3521,0,0,0,0,0,0
$GC,3208,-0.72,-146.0,317.4,-8.8,371,3212,0.00,1.90,0.00,0.000,4,0.000,0.066,2247,3936,3522,0,0,0,0,0,0
$GC,3248,-0.72,-146.0,321.2,-9.3,374,3255,0.00,1.80,0.00,0.000,6,0.000,0.042,2246,2798,3522,0,0,0,0,0,0
$STATE,3564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3564,begin apogee
$GC,3571,-0.14,0.0,350.6,9.1,404,3696,0.52,0.00,117.78,0.770,4,0.122,0.000,2422,2596,2923,0,0,0,0,0,0
$STATE,3697,end apogee,CONTROL_FINISHED_OK
$STATE,3697,begin climb
$GC,3700,0.57,146.0,355.5,0.0,415,3833,0.68,2.28,118.93,0.760,4,0.069,0.044,2668,1186,2326,0,0,0,0,0,0
$GC,4063,0.57,146.0,323.4,11.2,447,4072,0.00,2.30,0.00,0.000,6,0.000,0.050,2669,2605,2318,0,0,0,0,0,0
$GC,4390,0.51,146.0,283.3,12.4,478,4394,0.00,2.17,0.00,0.000,4,0.000,0.060,2668,3932,2317,0,0,0,0,0,0
$GC,4650,0.40,146.0,244.7,14.3,500,4657,0.25,2.15,0.00,0.000,6,0.171,0.039,2605,2581,2315,0,0,0,0,0,0
$GC,4976,0.49,179.5,216.1,8.5,531,5010,0.00,2.28,27.05,0.678,4,0.000,0.060,2605,3931,2190,0,0,0,0,0,0
$GC,5047,0.53,179.9,209.6,10.0,537,5052,0.12,2.10,0.00,0.000,6,0.095,0.039,2665,2598,2187,0,0,0,0,0,0
$GC,5373,0.51,179.9,169.9,12.6,567,5377,0.00,2.20,0.00,0.000,4,0.000,0.047,2666,1194,2186,0,0,0,0,0,0
$GC,5408,0.51,179.9,165.5,12.0,569,5414,0.00,2.30,0.00,0.000,6,0.000,0.049,2666,2614,2186,0,0,0,0,0,0
$GC,5733,0.51,179.9,125.1,12.2,600,5737,0.00,2.15,0.00,0.000,4,0.000,0.060,2666,3925,2185,0,0,0,0,0,0
$GC,5815,0.44,179.9,114.4,13.4,606,5822,0.17,2.08,0.00,0.000,6,0.176,0.040,2619,2618,2184,0,0,0,0,0,0
$GC,6150,0.58,271.2,90.1,5.8,651,6232,0.12,2.30,74.97,0.605,4,0.091,0.061,2682,3932,1816,0,0,0,0,0,0
$GC,6281,0.58,271.2,75.7,13.6,673,6288,0.00,2.05,0.00,0.000,6,0.000,0.039,2683,2637,1810,0,0,0,0,0,0
$GC,6628,0.62,271.2,34.9,11.6,734,6635,0.00,2.30,0.00,0.000,4,0.000,0.047,2683,1186,1805,0,0,0,0,0,0
$GC,6683,0.71,271.2,29.0,11.0,743,6690,0.00,2.33,0.00,0.000,6,0.000,0.050,2684,2634,1806,0,0,0,0,0,0
$FREEZE,8.99,1.186,-1.839,3,1,0
$FREEZE,8.58,1.185,-1.839,3,1,0
$FREEZE,7.99,1.185,-1.838,3,1,0
$FREEZE,7.55,1.181,-1.838,3,1,0
$FREEZE,7.03,1.181,-1.838,3,1,0
$FREEZE,6.44,1.175,-1.837,3,1,0
$FREEZE,5.89,1.173,-1.837,3,1,0
$FREEZE,5.29,1.174,-1.836,3,1,0
$FREEZE,4.72,1.173,-1.836,3,1,0
$FREEZE,4.23,1.183,-1.835,3,1,0
$FREEZE,3.65,1.169,-1.835,3,1,0
$FREEZE,3.24,1.159,-1.835,3,1,0
$FREEZE,2.59,1.161,-1.834,3,1,0
$STATE,6909,end climb,SURFACE_DEPTH_REACHED
$STATE,6909,begin surface coast
$FREEZE,2.05,1.145,-1.834,3,1,0
$FREEZE,1.58,1.148,-1.833,3,1,0
$FREEZE,1.01,1.134,-1.833,3,1,0
$FREEZE,0.84,0.576,-0.907,3,1,0
$FREEZE,0.75,0.968,-0.869,3,1,0
$FINISH,0.8,1.012837
$STATE,6940,end surface coast,CONTROL_FINISHED_OK
$STATE,6940,begin surface
$SM_CCo,6957,197.23,0.080,0,0,440,609.08
$SM_GC,1.50,0.00,0.00,197.23,0.000,0.000,0.080,294,2782,440,-6.81,0.06,609.08
$RAFOS_CLK,290
$RAFOS,6,1296406142,16.833334,16.817223,80,44,44,43,43,41,841,706,639,1328,621,180
$RAFOS,5,1296405665,16.700001,16.684723,126,48,41,40,40,38,642,1938,1297,977,1172,1471
$RAFOS,4,1296405186,16.566668,16.551666,57,50,46,44,43,42,858,1271,1416,497,165,1687
$RAFOS,3,1296404702,16.433332,16.417223,49,44,43,43,42,41,939,1573,304,144,970,670
$RAFOS,2,1296404223,16.299999,16.284166,46,41,41,41,41,40,486,90,831,1427,897,826
$RAFOS,1,1296403746,16.166666,16.151667,46,43,43,43,42,40,1201,876,1938,145,1188,1076
$RAFOS_FIX,6703.076660,-5700.713867,300111,161656,2,103,5.23
$IRIDIUM_FIX,6625.71,-5714.90,300111,131321
$TT8_MAMPS,0.029211
$HUMID,45.82
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,350.6,9.9
$24V_AH,23.4,97.402
$10V_AH,9.7,66.024
$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,16.875,52.875,338.725,197.225,0.000,30.384,39.079,143.739,1.000,0.000,16.116,1835.215,3296.284,646.927,1488.960,277.341,0.000,1351.978,0.000,1275.798,2160.000,11.012,0.000
$DEVICE_MAMPS,238.680,72.675,770.355,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151748
$DATA_FILE_SIZE,26691,789
$CAP_FILE_SIZE,89269,0
$CFSIZE,260165632,193355776
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.4
$GPS,300111,180607,6656.286,-5658.741,29,1.4,30,-37.4