version: 66.08
glider: 183
mission: 3
dive: 870
start: 1 31 111 3 8 34
data:
$ID,183
$MISSION,3
$DIVE,870
$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,-13550.153
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,310111,030210,6700.322,-5652.021,40,1.9,56,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.1
$GPS2,310111,030801,6700.329,-5652.105,10,1.7,15,-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,68.4,5767,-17.5,-10.000
$D_GRID,599
$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,-146.0,0.0,0.0,0,170,0.00,0.00,-143.40,0.000,6,0.000,0.000,294,2788,3519,0,0,0,0,0,0
$GC,173,-0.57,-146.0,6.7,-15.2,26,187,8.32,2.33,0.00,0.000,4,0.241,0.040,2282,1364,3521,0,0,0,0,0,0
$GC,315,-0.61,-146.0,36.3,-10.1,50,322,0.00,2.30,0.00,0.000,6,0.000,0.055,2275,2769,3523,0,0,0,0,0,0
$GC,663,-0.61,-146.0,76.1,-12.6,111,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2769,3522,0,0,0,0,0,0
$GC,1012,-0.63,-146.0,106.7,-9.4,166,1016,0.00,1.98,0.00,0.000,4,0.000,0.067,2273,3935,3521,0,0,0,0,0,0
$GC,1063,-0.67,-146.0,112.4,-10.8,170,1069,0.00,1.90,0.00,0.000,6,0.000,0.043,2273,2758,3520,0,0,0,0,0,0
$GC,1389,-0.71,-146.0,146.6,-9.6,201,1393,0.00,2.00,0.00,0.000,4,0.000,0.068,2273,3929,3520,0,0,0,0,0,0
$GC,1418,-0.75,-146.0,149.4,-9.4,203,1425,0.12,1.88,0.00,0.000,6,0.095,0.043,2213,2761,3520,0,0,0,0,0,0
$GC,1744,-0.67,-146.0,191.9,-12.8,234,1746,0.15,0.00,0.00,0.000,6,0.164,0.000,2254,2761,3520,0,0,0,0,0,0
$GC,2063,-0.67,-146.0,219.2,-8.1,264,2066,0.00,2.17,0.00,0.000,4,0.000,0.044,2255,1374,3520,0,0,0,0,0,0
$GC,2087,-0.67,-146.0,221.3,-8.4,266,2091,0.00,2.30,0.00,0.000,6,0.000,0.056,2248,2768,3520,0,0,0,0,0,0
$GC,2419,-0.67,-146.0,252.8,-9.5,297,2423,0.00,1.98,0.00,0.000,4,0.000,0.065,2240,3926,3520,0,0,0,0,0,0
$GC,2470,-0.67,-146.0,258.3,-10.2,301,2477,0.00,1.85,0.00,0.000,6,0.000,0.041,2240,2772,3520,0,0,0,0,0,0
$GC,2796,-0.67,-146.0,292.2,-9.7,332,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2772,3520,0,0,0,0,0,0
$GC,3118,-0.67,-146.0,322.1,-9.7,362,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2772,3521,0,0,0,0,0,0
$STATE,3427,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3427,begin apogee
$GC,3434,-0.14,0.0,350.6,8.7,391,3558,0.55,0.00,117.28,0.771,4,0.122,0.000,2422,2599,2923,0,0,0,0,0,0
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3562,0.57,146.0,354.8,0.0,402,3692,0.65,2.28,118.80,0.757,4,0.068,0.044,2661,1188,2327,0,0,0,0,0,0
$GC,3890,0.57,147.9,326.5,9.9,431,3897,0.00,2.30,0.00,0.000,6,0.000,0.050,2661,2610,2320,0,0,0,0,0,0
$GC,4217,0.52,147.9,289.6,11.5,462,4221,0.00,2.25,0.00,0.000,4,0.000,0.047,2661,1194,2318,0,0,0,0,0,0
$GC,4425,0.52,147.9,266.3,10.8,480,4430,0.00,2.28,0.00,0.000,6,0.000,0.050,2662,2612,2318,0,0,0,0,0,0
$GC,4753,0.48,147.9,227.8,11.7,510,4757,0.12,2.17,0.00,0.000,4,0.185,0.060,2629,3924,2317,0,0,0,0,0,0
$GC,4816,0.46,147.9,219.9,12.1,515,4820,0.00,2.08,0.00,0.000,6,0.000,0.039,2629,2613,2316,0,0,0,0,0,0
$GC,5149,0.49,163.3,187.4,9.3,546,5172,0.00,2.30,13.80,0.644,4,0.000,0.046,2629,1193,2257,0,0,0,0,0,0
$GC,5197,0.58,192.2,183.0,8.7,550,5230,0.00,2.28,24.90,0.648,6,0.000,0.049,2629,2616,2141,0,0,0,0,0,0
$GC,5549,0.65,203.3,148.7,9.5,583,5565,0.15,2.15,10.68,0.610,4,0.085,0.058,2697,3925,2093,0,0,0,0,0,0
$GC,5590,0.55,203.3,143.1,15.9,586,5595,0.20,2.08,0.00,0.000,6,0.171,0.039,2650,2613,2090,0,0,0,0,0,0
$GC,5916,0.58,203.3,107.5,10.6,616,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2613,2090,0,0,0,0,0,0
$GC,6250,0.65,211.8,76.3,9.6,668,6263,0.00,2.28,8.10,0.564,4,0.000,0.061,2650,3931,2058,0,0,0,0,0,0
$GC,6374,0.68,211.8,63.9,10.0,689,6382,0.12,2.08,0.00,0.000,6,0.093,0.038,2706,2612,2056,0,0,0,0,0,0
$GC,6724,0.65,211.8,22.8,11.8,750,6731,0.00,2.22,0.00,0.000,4,0.000,0.046,2707,1192,2057,0,0,0,0,0,0
$GC,6750,0.65,211.8,19.0,12.6,754,6757,0.00,2.30,0.00,0.000,6,0.000,0.048,2707,2628,2056,0,0,0,0,0,0
$FREEZE,8.69,1.757,-1.836,3,1,0
$FREEZE,8.02,1.766,-1.836,3,1,0
$FREEZE,7.47,1.764,-1.835,3,1,0
$FREEZE,6.82,1.764,-1.835,3,1,0
$FREEZE,6.31,1.763,-1.835,3,1,0
$FREEZE,5.46,1.766,-1.834,3,1,0
$FREEZE,5.04,1.760,-1.834,3,1,0
$FREEZE,4.45,1.754,-1.833,3,1,0
$FREEZE,3.61,1.741,-1.833,3,1,0
$FREEZE,2.97,1.739,-1.832,3,1,0
$STATE,6883,end climb,SURFACE_DEPTH_REACHED
$STATE,6883,begin surface coast
$FREEZE,2.32,1.756,-1.831,3,1,0
$FREEZE,1.62,1.747,-1.831,3,1,0
$FREEZE,1.00,1.742,-1.830,3,1,0
$FREEZE,0.68,1.417,-0.264,3,1,0
$FREEZE,0.74,0.502,-1.312,3,1,0
$FINISH,0.7,1.019348
$STATE,6911,end surface coast,CONTROL_FINISHED_OK
$STATE,6911,begin surface
$SM_CCo,6930,224.43,0.077,0,0,440,609.08
$SM_GC,1.55,0.00,0.00,224.43,0.000,0.000,0.077,295,2782,440,-6.81,0.03,609.08
$RAFOS_CLK,285
$RAFOS,6,1296449346,4.833333,4.818333,69,58,46,46,42,38,815,516,1351,1589,958,967
$RAFOS,5,1296448867,4.700000,4.685278,73,43,41,40,39,37,646,162,1820,883,1520,1091
$RAFOS,4,1296448384,4.566667,4.551111,58,52,47,43,41,38,145,1070,1899,1416,1219,1440
$RAFOS,3,1296447903,4.433333,4.417500,46,45,43,42,41,41,1211,1834,1434,1661,144,1883
$RAFOS,2,1296447421,4.300000,4.283611,45,42,42,41,41,41,736,856,1871,124,614,825
$RAFOS,1,1296446946,4.166667,4.151667,55,42,40,38,37,37,1677,172,1483,26,734,1840
$RAFOS,0,1296446468,4.033333,4.018889,54,46,44,43,38,38,138,1499,603,1781,77,1000
$RAFOS_FIX,6707.161621,-5656.104004,310111,040400,2,71,2.16
$IRIDIUM_FIX,6631.12,-5606.37,310111,000042
$TT8_MAMPS,0.029211
$HUMID,45.43
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,350.6,9.9
$24V_AH,23.4,97.823
$10V_AH,9.7,66.291
$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,16.925,52.200,293.550,224.425,0.000,29.046,19.218,141.030,1.000,0.000,18.419,1862.192,3295.773,632.036,1457.629,276.026,0.000,1329.863,0.000,1261.681,2520.000,13.956,0.000
$DEVICE_MAMPS,240.975,77.265,771.120,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.039,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,26688,783
$CAP_FILE_SIZE,89406,0
$CFSIZE,260165632,193101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.1
$GPS,310111,050922,6700.722,-5651.871,12,99.0,31,-37.5