version: 66.08
glider: 183
mission: 3
dive: 867
start: 1 30 111 20 27 41
data:
$ID,183
$MISSION,3
$DIVE,867
$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,-13546.392
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,300111,202036,6657.072,-5655.589,25,1.2,26,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.7
$GPS2,300111,202708,6657.130,-5655.467,14,1.3,14,-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,63.8,12135,-17.5,-10.000
$D_GRID,661
$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,-146.0,0.0,0.0,0,167,0.00,0.00,-144.02,0.000,6,0.000,0.000,289,2782,3521,0,0,0,0,0,0
$GC,171,-0.57,-146.0,5.8,-14.7,26,184,8.35,2.30,0.00,0.000,4,0.243,0.041,2284,1369,3522,0,0,0,0,0,0
$GC,426,-0.61,-146.0,46.1,-9.9,70,432,0.00,2.35,0.00,0.000,6,0.000,0.057,2277,2783,3524,0,0,0,0,0,0
$GC,772,-0.61,-146.0,84.9,-10.7,131,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2783,3523,0,0,0,0,0,0
$GC,1107,-0.64,-146.0,119.7,-9.1,174,1111,0.00,2.25,0.00,0.000,4,0.000,0.046,2277,1374,3522,0,0,0,0,0,0
$GC,1198,-0.70,-146.0,127.6,-8.2,181,1204,0.00,2.35,0.00,0.000,6,0.000,0.058,2275,2778,3521,0,0,0,0,0,0
$GC,1524,-0.74,-146.0,153.9,-8.1,212,1528,0.12,1.95,0.00,0.000,4,0.097,0.067,2208,3927,3521,0,0,0,0,0,0
$GC,1609,-0.65,-146.0,163.8,-12.6,219,1617,0.20,1.83,0.00,0.000,6,0.150,0.043,2266,2793,3521,0,0,0,0,0,0
$GC,1937,-0.69,-146.0,193.4,-9.0,250,1941,0.00,2.25,0.00,0.000,4,0.000,0.045,2266,1371,3521,0,0,0,0,0,0
$GC,1978,-0.74,-146.0,197.6,-9.7,253,1982,0.00,2.35,0.00,0.000,6,0.000,0.057,2261,2793,3521,0,0,0,0,0,0
$GC,2305,-0.77,-146.0,227.2,-8.6,283,2310,0.10,2.30,0.00,0.000,4,0.109,0.044,2209,1364,3521,0,0,0,0,0,0
$GC,2335,-0.73,-146.0,230.3,-10.5,285,2340,0.12,2.35,0.00,0.000,6,0.169,0.056,2235,2789,3521,0,0,0,0,0,0
$GC,2662,-0.73,-146.0,262.1,-9.3,315,2666,0.00,1.90,0.00,0.000,4,0.000,0.066,2228,3927,3521,0,0,0,0,0,0
$GC,2709,-0.71,-146.0,267.1,-10.3,319,2713,0.00,1.83,0.00,0.000,6,0.000,0.043,2228,2775,3521,0,0,0,0,0,0
$GC,3042,-0.67,-146.0,299.7,-9.7,350,3047,0.00,2.20,0.00,0.000,4,0.000,0.044,2228,1373,3521,0,0,0,0,0,0
$GC,3077,-0.67,-146.0,303.5,-10.2,353,3082,0.12,2.33,0.00,0.000,6,0.168,0.055,2254,2785,3522,0,0,0,0,0,0
$GC,3404,-0.70,-146.0,331.0,-8.5,383,3408,0.00,2.22,0.00,0.000,4,0.000,0.044,2254,1374,3523,0,0,0,0,0,0
$GC,3427,-0.74,-146.0,333.3,-9.0,384,3434,0.00,2.30,0.00,0.000,6,0.000,0.055,2248,2773,3522,0,0,0,0,0,0
$GC,3754,-0.74,-146.0,362.0,-8.5,415,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2773,3523,0,0,0,0,0,0
$GC,4074,-0.76,-146.0,390.9,-9.2,445,4077,0.00,1.95,0.00,0.000,4,0.000,0.065,2247,3928,3524,0,0,0,0,0,0
$GC,4121,-0.79,-146.0,395.5,-9.5,449,4125,0.00,1.85,0.00,0.000,6,0.000,0.042,2247,2760,3524,0,0,0,0,0,0
$STATE,4179,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4179,begin apogee
$GC,4188,-0.14,0.0,400.4,9.0,454,4315,0.52,0.00,118.40,0.802,4,0.122,0.000,2423,2602,2923,0,0,0,0,0,0
$STATE,4316,end apogee,CONTROL_FINISHED_OK
$STATE,4316,begin climb
$GC,4320,0.57,146.0,404.8,0.0,458,4450,0.65,2.30,119.85,0.792,4,0.064,0.044,2665,1185,2326,0,0,0,0,0,0
$GC,4659,0.57,146.0,372.4,11.9,481,4663,0.00,2.30,0.00,0.000,6,0.000,0.050,2664,2604,2319,0,0,0,0,0,0
$GC,4985,0.51,146.0,331.6,12.5,511,4989,0.00,2.22,0.00,0.000,4,0.000,0.047,2666,1194,2316,0,0,0,0,0,0
$GC,5220,0.51,146.0,303.4,11.5,531,5227,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2609,2317,0,0,0,0,0,0
$GC,5546,0.46,146.0,262.9,12.6,562,5551,0.15,2.17,0.00,0.000,4,0.183,0.060,2625,3929,2316,0,0,0,0,0,0
$GC,5577,0.43,146.0,259.1,12.7,564,5581,0.00,2.10,0.00,0.000,6,0.000,0.038,2625,2594,2315,0,0,0,0,0,0
$GC,5904,0.47,159.5,226.6,9.4,594,5916,0.00,0.00,10.68,0.658,6,0.000,0.000,2625,2593,2271,0,0,0,0,0,0
$GC,6232,0.52,182.9,197.5,8.9,625,6258,0.00,2.25,20.85,0.666,4,0.000,0.061,2625,3927,2177,0,0,0,0,0,0
$GC,6288,0.52,182.9,191.8,11.2,630,6292,0.00,2.08,0.00,0.000,6,0.000,0.039,2626,2612,2174,0,0,0,0,0,0
$GC,6614,0.57,182.9,156.1,10.9,660,6619,0.10,2.25,0.00,0.000,4,0.109,0.046,2679,1188,2173,0,0,0,0,0,0
$GC,6655,0.57,182.9,151.1,13.3,663,6659,0.00,2.33,0.00,0.000,6,0.000,0.049,2679,2637,2173,0,0,0,0,0,0
$GC,6981,0.54,182.9,108.0,12.9,693,6983,0.12,0.00,0.00,0.000,6,0.184,0.000,2646,2638,2172,0,0,0,0,0,0
$GC,7314,0.59,202.2,72.9,9.1,746,7339,0.00,2.35,16.90,0.596,4,0.000,0.046,2646,1188,2097,0,0,0,0,0,0
$GC,7382,0.72,241.8,67.3,8.2,757,7423,0.17,2.33,33.72,0.589,6,0.080,0.050,2725,2625,1936,0,0,0,0,0,0
$GC,7763,0.68,241.8,16.3,13.8,824,7771,0.12,2.17,0.00,0.000,4,0.179,0.061,2692,3932,1929,0,0,0,0,0,0
$GC,7806,0.68,241.8,10.5,13.6,831,7813,0.00,2.08,0.00,0.000,6,0.000,0.039,2691,2627,1929,0,0,0,0,0,0
$FREEZE,8.77,1.011,-1.837,3,1,0
$FREEZE,8.11,1.009,-1.836,3,1,0
$FREEZE,7.54,0.995,-1.836,3,1,0
$FREEZE,6.89,1.002,-1.835,3,1,0
$FREEZE,6.24,0.996,-1.835,3,1,0
$FREEZE,5.75,1.001,-1.834,3,1,0
$FREEZE,5.15,1.002,-1.834,3,1,0
$FREEZE,4.57,0.999,-1.833,3,1,0
$FREEZE,4.00,1.004,-1.833,3,1,0
$FREEZE,3.61,0.995,-1.833,3,1,0
$FREEZE,2.92,0.984,-1.832,3,1,0
$STATE,7870,end climb,SURFACE_DEPTH_REACHED
$STATE,7870,begin surface coast
$FREEZE,2.01,0.986,-1.832,3,1,0
$FREEZE,1.40,0.957,-1.832,3,1,0
$FREEZE,0.89,0.946,-1.831,3,1,0
$FREEZE,0.87,0.646,-1.841,3,1,0
$FREEZE,0.74,0.586,-0.894,3,1,0
$FINISH,0.7,1.013213
$STATE,7901,end surface coast,CONTROL_FINISHED_OK
$STATE,7901,begin surface
$SM_CCo,7918,214.18,0.080,0,0,440,609.08
$SM_GC,1.53,0.00,0.00,214.18,0.000,0.000,0.080,295,2782,440,-6.81,0.06,609.08
$RAFOS_CLK,338
$RAFOS,6,1296420548,20.833334,20.818890,74,45,44,43,41,41,818,172,1550,1145,1264,1695
$RAFOS,5,1296420067,20.700001,20.685278,80,45,44,44,43,42,638,409,347,650,1579,1111
$RAFOS,4,1296419587,20.566668,20.551945,52,46,45,43,41,39,1064,644,1152,1320,812,202
$RAFOS_FIX,6702.605469,-5656.393555,300111,202000,2,77,8.14
$IRIDIUM_FIX,6625.71,-5655.12,300111,181808
$TT8_MAMPS,0.028462
$HUMID,44.68
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,400.4,10.3
$24V_AH,23.3,97.576
$10V_AH,9.7,66.135
$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,17.225,70.525,320.400,214.175,0.000,28.792,39.194,166.261,1.500,0.000,17.084,2033.951,3912.112,640.835,1654.732,302.889,0.000,1423.185,0.000,1416.038,1080.000,13.443,0.000
$DEVICE_MAMPS,242.505,73.440,801.720,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,30070,848
$CAP_FILE_SIZE,102746,0
$CFSIZE,260165632,193241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$GPS,300111,224437,6658.335,-5653.323,23,1.1,24,-37.5