version: 66.08
glider: 183
mission: 3
dive: 866
start: 1 30 111 18 15 31
data:
$ID,183
$MISSION,3
$DIVE,866
$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,-13545.137
$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,39
$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
$GPS1,300111,180607,6656.286,-5658.741,29,1.4,30,-37.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-61.4
$GPS2,300111,181458,6656.366,-5658.658,13,3.0,32,-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,69.5,14499,-17.5,-10.000
$D_GRID,683
$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,-145.00,0.000,6,0.000,0.000,286,2783,3519,0,0,0,0,0,0
$GC,171,-0.57,-146.0,5.5,-13.9,26,185,8.32,2.33,0.00,0.000,4,0.239,0.044,2285,1370,3522,0,0,0,0,0,0
$GC,396,-0.61,-146.0,41.9,-8.4,65,403,0.00,2.33,0.00,0.000,6,0.000,0.057,2278,2782,3523,0,0,0,0,0,0
$GC,743,-0.61,-146.0,77.8,-10.6,126,750,0.00,1.95,0.00,0.000,4,0.000,0.067,2272,3932,3522,0,0,0,0,0,0
$GC,838,-0.63,-146.0,87.6,-11.2,142,844,0.00,1.83,0.00,0.000,6,0.000,0.045,2272,2803,3522,0,0,0,0,0,0
$GC,1172,-0.66,-146.0,121.2,-9.1,183,1176,0.00,2.28,0.00,0.000,4,0.000,0.045,2272,1368,3520,0,0,0,0,0,0
$GC,1235,-0.72,-146.0,126.7,-8.1,188,1239,0.00,2.40,0.00,0.000,6,0.000,0.058,2272,2805,3520,0,0,0,0,0,0
$GC,1567,-0.76,-146.0,155.0,-9.1,219,1572,0.12,1.95,0.00,0.000,4,0.098,0.068,2204,3946,3520,0,0,0,0,0,0
$GC,1606,-0.66,-146.0,160.3,-14.3,222,1614,0.20,1.88,0.00,0.000,6,0.154,0.043,2260,2784,3520,0,0,0,0,0,0
$GC,1933,-0.69,-146.0,192.2,-8.5,253,1937,0.00,2.25,0.00,0.000,4,0.000,0.046,2260,1366,3520,0,0,0,0,0,0
$GC,1972,-0.73,-146.0,195.6,-8.3,256,1979,0.00,2.33,0.00,0.000,6,0.000,0.057,2260,2774,3520,0,0,0,0,0,0
$GC,2300,-0.75,-146.0,221.4,-7.9,287,2304,0.00,1.92,0.00,0.000,4,0.000,0.066,2252,3929,3520,0,0,0,0,0,0
$GC,2324,-0.75,-146.0,223.7,-8.6,289,2329,0.00,1.90,0.00,0.000,6,0.000,0.043,2252,2767,3520,0,0,0,0,0,0
$GC,2656,-0.75,-146.0,254.8,-9.5,320,2660,0.00,2.00,0.00,0.000,4,0.000,0.067,2248,3925,3521,0,0,0,0,0,0
$GC,2684,-0.75,-146.0,257.6,-9.6,322,2691,0.00,1.85,0.00,0.000,6,0.000,0.043,2247,2763,3521,0,0,0,0,0,0
$GC,3010,-0.75,-146.0,285.9,-8.2,353,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3521,0,0,0,0,0,0
$GC,3333,-0.75,-146.0,313.3,-9.2,383,3337,0.00,2.20,0.00,0.000,4,0.000,0.045,2247,1366,3522,0,0,0,0,0,0
$GC,3375,-0.78,-146.0,317.5,-9.0,386,3379,0.00,2.35,0.00,0.000,6,0.000,0.055,2247,2782,3521,0,0,0,0,0,0
$GC,3701,-0.78,-146.0,348.1,-9.4,416,3706,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1368,3523,0,0,0,0,0,0
$STATE,3727,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3727,begin apogee
$GC,3737,-0.14,0.0,350.5,9.6,418,3861,0.52,0.00,117.88,0.775,4,0.122,0.000,2422,2602,2923,0,0,0,0,0,0
$STATE,3862,end apogee,CONTROL_FINISHED_OK
$STATE,3862,begin climb
$GC,3865,0.57,146.0,355.5,0.0,429,3996,0.65,2.30,119.12,0.763,4,0.066,0.044,2661,1190,2326,0,0,0,0,0,0
$GC,4210,0.57,146.0,323.1,11.5,460,4217,0.00,2.30,0.00,0.000,6,0.000,0.050,2662,2606,2319,0,0,0,0,0,0
$GC,4537,0.52,146.0,282.4,12.7,491,4541,0.00,2.25,0.00,0.000,4,0.000,0.046,2662,1194,2317,0,0,0,0,0,0
$GC,4700,0.52,146.0,263.3,11.0,505,4705,0.00,2.28,0.00,0.000,6,0.000,0.049,2662,2613,2317,0,0,0,0,0,0
$GC,5027,0.48,146.0,224.4,11.5,535,5031,0.12,2.17,0.00,0.000,4,0.188,0.060,2629,3932,2317,0,0,0,0,0,0
$GC,5096,0.45,146.0,216.8,11.3,541,5100,0.00,2.08,0.00,0.000,6,0.000,0.038,2629,2612,2315,0,0,0,0,0,0
$GC,5428,0.50,189.1,189.3,8.0,572,5473,0.00,2.33,34.85,0.663,4,0.000,0.046,2629,1192,2151,0,0,0,0,0,0
$GC,5499,0.59,202.0,183.2,9.4,578,5521,0.12,2.30,12.12,0.627,6,0.092,0.049,2688,2622,2098,0,0,0,0,0,0
$GC,5841,0.55,202.0,134.9,13.8,610,5845,0.12,2.15,0.00,0.000,4,0.185,0.060,2654,3924,2093,0,0,0,0,0,0
$GC,5930,0.55,202.0,123.2,11.9,617,5936,0.00,2.05,0.00,0.000,6,0.000,0.040,2655,2615,2092,0,0,0,0,0,0
$GC,6262,0.58,204.4,91.4,9.9,655,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2615,2093,0,0,0,0,0,0
$GC,6608,0.64,239.4,60.9,8.4,716,6644,0.00,0.00,30.92,0.592,6,0.000,0.000,2655,2615,1947,0,0,0,0,0,0
$GC,6986,0.74,256.9,27.8,9.2,782,7011,0.15,2.30,15.45,0.571,4,0.090,0.047,2725,1201,1874,0,0,0,0,0,0
$GC,7041,0.74,256.9,20.9,13.4,791,7048,0.00,2.30,0.00,0.000,6,0.000,0.049,2725,2635,1873,0,0,0,0,0,0
$FREEZE,8.77,1.152,-1.838,3,1,0
$FREEZE,7.98,1.147,-1.837,3,1,0
$FREEZE,7.28,1.147,-1.837,3,1,0
$FREEZE,6.61,1.151,-1.836,3,1,0
$FREEZE,5.93,1.131,-1.836,3,1,0
$FREEZE,5.03,1.126,-1.835,3,1,0
$FREEZE,4.51,1.117,-1.835,3,1,0
$FREEZE,3.80,1.106,-1.835,3,1,0
$FREEZE,3.18,1.119,-1.834,3,1,0
$FREEZE,2.29,1.101,-1.834,3,1,0
$STATE,7181,end climb,SURFACE_DEPTH_REACHED
$STATE,7181,begin surface coast
$FREEZE,1.46,1.098,-1.832,3,1,0
$FREEZE,0.84,1.041,-1.832,3,1,0
$FREEZE,0.86,0.868,-1.816,3,1,0
$FREEZE,0.74,0.655,-1.649,3,1,0
$FINISH,0.7,1.024199
$STATE,7202,end surface coast,CONTROL_FINISHED_OK
$STATE,7203,begin surface
$SM_CCo,7220,205.07,0.079,0,0,440,609.08
$SM_GC,1.44,0.00,0.00,205.07,0.000,0.000,0.079,294,2781,440,-6.81,0.06,609.08
$RAFOS_CLK,309
$RAFOS,1,1296418142,20.166666,20.150555,54,51,50,44,43,42,1678,516,1453,1165,1584,590
$RAFOS,0,1296417665,20.033333,20.018055,46,46,46,46,43,42,644,145,517,984,1906,1162
$RAFOS_FIX,6703.076660,-5700.713867,300111,161656,2,103,5.23
$IRIDIUM_FIX,6625.71,-5658.11,300111,181823
$TT8_MAMPS,0.028462
$HUMID,44.88
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.0
$ALTIM_BOTTOM_PING,350.5,9.7
$24V_AH,23.3,97.489
$10V_AH,9.7,66.079
$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,16.800,65.075,330.350,205.075,0.000,51.066,92.079,147.080,1.000,0.000,37.655,1910.055,3474.292,647.616,1644.692,291.164,0.000,1391.324,0.000,1335.637,720.000,8.850,0.000
$DEVICE_MAMPS,239.445,75.735,774.945,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30071,820
$CAP_FILE_SIZE,95579,0
$CFSIZE,260165632,193294336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.7
$GPS,300111,202036,6657.072,-5655.589,25,1.2,26,-37.4