version: 66.08
glider: 183
mission: 3
dive: 868
start: 1 30 111 22 51 18
data:
$ID,183
$MISSION,3
$DIVE,868
$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,-13547.646
$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,25
$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
$GPS1,300111,224437,6658.335,-5653.323,23,1.1,24,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.3
$GPS2,300111,225044,6658.365,-5653.286,10,1.2,10,-37.5
$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,61.5,9395,-17.5,-10.000
$D_GRID,637
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,167,0.00,0.00,-143.55,0.000,6,0.000,0.000,292,2782,3520,0,0,0,0,0,0
$GC,170,-0.57,-146.0,6.0,-15.5,26,184,8.35,2.30,0.00,0.000,4,0.242,0.041,2285,1370,3522,0,0,0,0,0,0
$GC,373,-0.61,-146.0,41.3,-10.4,61,380,0.00,2.35,0.00,0.000,6,0.000,0.058,2286,2782,3523,0,0,0,0,0,0
$GC,720,-0.64,-146.0,75.4,-9.8,122,726,0.00,2.25,0.00,0.000,4,0.000,0.047,2286,1370,3523,0,0,0,0,0,0
$GC,764,-0.70,-146.0,79.7,-10.3,129,772,0.12,2.33,0.00,0.000,6,0.090,0.057,2230,2766,3523,0,0,0,0,0,0
$GC,1108,-0.63,-146.0,124.5,-13.4,174,1112,0.15,2.25,0.00,0.000,4,0.160,0.047,2273,1377,3521,0,0,0,0,0,0
$GC,1124,-0.61,-146.0,126.8,-12.8,175,1131,0.00,2.28,0.00,0.000,6,0.000,0.057,2273,2742,3521,0,0,0,0,0,0
$GC,1452,-0.65,-146.0,155.2,-7.9,206,1455,0.00,2.00,0.00,0.000,4,0.000,0.067,2273,3931,3520,0,0,0,0,0,0
$GC,1521,-0.72,-146.0,160.7,-7.8,212,1524,0.00,1.88,0.00,0.000,6,0.000,0.044,2273,2755,3520,0,0,0,0,0,0
$GC,1854,-0.77,-146.0,187.9,-7.9,243,1859,0.15,2.20,0.00,0.000,4,0.086,0.045,2201,1370,3520,0,0,0,0,0,0
$GC,1894,-0.70,-146.0,192.2,-11.1,246,1899,0.20,2.25,0.00,0.000,6,0.151,0.056,2246,2741,3520,0,0,0,0,0,0
$GC,2221,-0.70,-146.0,221.0,-8.4,276,2225,0.00,2.00,0.00,0.000,4,0.000,0.066,2239,3935,3521,0,0,0,0,0,0
$GC,2249,-0.70,-146.0,223.8,-8.9,278,2256,0.00,1.92,0.00,0.000,6,0.000,0.041,2239,2726,3521,0,0,0,0,0,0
$GC,2577,-0.70,-146.0,253.7,-9.4,309,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2726,3521,0,0,0,0,0,0
$GC,2896,-0.70,-146.0,284.1,-9.5,339,2900,0.00,2.05,0.00,0.000,4,0.000,0.066,2235,3933,3521,0,0,0,0,0,0
$GC,2931,-0.70,-146.0,287.9,-9.9,342,2935,0.00,1.92,0.00,0.000,6,0.000,0.041,2235,2750,3521,0,0,0,0,0,0
$GC,3265,-0.70,-146.0,318.5,-9.4,373,3268,0.00,2.00,0.00,0.000,4,0.000,0.066,2235,3933,3522,0,0,0,0,0,0
$GC,3300,-0.70,-146.0,322.1,-9.9,376,3304,0.00,1.88,0.00,0.000,6,0.000,0.041,2234,2751,3522,0,0,0,0,0,0
$STATE,3615,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3615,begin apogee
$GC,3622,-0.14,0.0,350.8,9.2,405,3747,0.57,0.00,117.72,0.772,4,0.124,0.000,2424,2596,2923,0,0,0,0,0,0
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3748,begin climb
$GC,3751,0.57,146.0,355.0,0.0,416,3883,0.65,2.28,118.80,0.758,4,0.066,0.044,2663,1187,2327,0,0,0,0,0,0
$GC,4009,0.57,146.0,334.0,10.5,439,4014,0.00,2.30,0.00,0.000,6,0.000,0.050,2663,2602,2321,0,0,0,0,0,0
$GC,4335,0.52,146.0,294.8,12.1,469,4339,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1191,2318,0,0,0,0,0,0
$GC,4471,0.52,146.0,279.9,10.6,480,4478,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2622,2318,0,0,0,0,0,0
$GC,4798,0.48,146.0,242.0,11.7,511,4803,0.12,2.17,0.00,0.000,4,0.189,0.060,2634,3925,2317,0,0,0,0,0,0
$GC,4867,0.44,146.0,234.2,11.1,517,4871,0.00,2.08,0.00,0.000,6,0.000,0.039,2635,2606,2316,0,0,0,0,0,0
$GC,5193,0.45,157.9,203.3,9.5,547,5208,0.00,2.25,9.57,0.636,4,0.000,0.060,2635,3918,2279,0,0,0,0,0,0
$GC,5227,0.45,157.9,199.6,10.5,550,5230,0.00,2.03,0.00,0.000,6,0.000,0.039,2636,2629,2278,0,0,0,0,0,0
$GC,5558,0.47,184.4,167.8,8.8,581,5592,0.00,2.35,23.48,0.649,4,0.000,0.045,2636,1194,2170,0,0,0,0,0,0
$GC,5631,0.58,232.7,162.0,7.8,587,5678,0.00,2.28,40.78,0.642,6,0.000,0.049,2636,2616,1974,0,0,0,0,0,0
$GC,6007,0.65,232.7,126.3,11.5,622,6012,0.12,2.15,0.00,0.000,4,0.093,0.060,2694,3929,1965,0,0,0,0,0,0
$GC,6040,0.59,232.7,120.8,17.4,624,6048,0.00,2.05,0.00,0.000,6,0.000,0.039,2694,2622,1963,0,0,0,0,0,0
$GC,6379,0.57,232.7,71.4,14.4,673,6386,0.12,2.25,0.00,0.000,4,0.181,0.046,2662,1186,1963,0,0,0,0,0,0
$GC,6451,0.67,232.7,63.3,10.5,685,6458,0.00,2.30,0.00,0.000,6,0.000,0.049,2662,2622,1964,0,0,0,0,0,0
$GC,6797,0.73,232.7,26.6,10.1,746,6804,0.12,2.17,0.00,0.000,4,0.097,0.060,2722,3925,1963,0,0,0,0,0,0
$GC,6835,0.65,232.7,21.5,15.3,752,6842,0.15,2.08,0.00,0.000,6,0.186,0.040,2687,2608,1963,0,0,0,0,0,0
$FREEZE,8.59,1.136,-1.837,3,1,0
$FREEZE,8.10,1.172,-1.836,3,1,0
$FREEZE,7.35,1.201,-1.835,3,1,0
$FREEZE,6.79,1.215,-1.835,3,1,0
$FREEZE,6.05,1.211,-1.834,3,1,0
$FREEZE,5.50,1.212,-1.834,3,1,0
$FREEZE,4.97,1.209,-1.834,3,1,0
$FREEZE,4.50,1.213,-1.833,3,1,0
$FREEZE,3.78,1.213,-1.833,3,1,0
$FREEZE,3.31,1.215,-1.832,3,1,0
$FREEZE,2.67,1.215,-1.832,3,1,0
$STATE,6991,end climb,SURFACE_DEPTH_REACHED
$STATE,6992,begin surface coast
$FREEZE,2.21,1.201,-1.832,3,1,0
$FREEZE,1.72,1.175,-1.832,3,1,0
$FREEZE,1.09,1.181,-1.831,3,1,0
$FREEZE,0.82,0.972,-1.017,3,1,0
$FREEZE,0.80,0.910,-1.821,3,1,0
$FINISH,0.8,1.026614
$STATE,7022,end surface coast,CONTROL_FINISHED_OK
$STATE,7022,begin surface
$SM_CCo,7040,216.02,0.078,0,0,440,609.08
$SM_GC,1.54,0.00,0.00,216.02,0.000,0.000,0.078,300,2794,440,-6.80,0.40,609.08
$RAFOS_CLK,300
$RAFOS,5,1296434464,0.700000,0.684444,142,51,45,42,40,38,661,1286,148,847,1428,455
$RAFOS,4,1296433986,0.566667,0.551667,65,45,43,41,40,40,879,26,1580,554,1107,1774
$RAFOS,3,1296433503,0.433333,0.417500,47,43,42,40,40,38,26,811,1003,822,1936,1320
$RAFOS,2,1296433025,0.300000,0.284722,44,44,42,42,40,38,153,1080,862,1929,1633,1246
$RAFOS,1,1296432544,0.166667,0.151111,48,45,44,44,43,41,460,899,1088,148,530,25
$RAFOS,0,1296432062,0.033333,0.017222,50,43,40,40,40,39,1106,280,245,709,1803,236
$RAFOS_FIX,6700.733398,-5652.853027,310111,000028,2,104,0.67
$IRIDIUM_FIX,6625.71,-5650.52,300111,202054
$TT8_MAMPS,0.028462
$HUMID,45.58
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.8
$ALTIM_BOTTOM_PING,350.8,9.9
$24V_AH,23.4,97.657
$10V_AH,9.7,66.188
$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,17.150,69.650,310.350,216.025,0.000,28.189,17.521,153.719,1.250,0.000,13.331,1881.196,3374.492,640.651,1467.511,298.256,0.000,1353.247,0.000,1269.354,2160.000,11.674,0.000
$DEVICE_MAMPS,241.740,67.320,771.885,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26747,785
$CAP_FILE_SIZE,94933,0
$CFSIZE,260165632,193191936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.3
$GPS,310111,005406,6659.592,-5652.373,29,1.0,30,-37.5