version: 66.08
glider: 183
mission: 3
dive: 871
start: 1 31 111 5 16 55
data:
$ID,183
$MISSION,3
$DIVE,871
$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,-13551.409
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,310111,050922,6700.722,-5651.871,12,99.0,31,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-61.9
$GPS2,310111,051622,6700.739,-5652.027,15,3.0,34,-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,72.3,5098,-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,-143.80,0.000,6,0.000,0.000,294,2782,3520,0,0,0,0,0,0
$GC,173,-0.57,-146.0,6.5,-14.6,26,187,8.32,2.30,0.00,0.000,4,0.241,0.040,2282,1367,3521,0,0,0,0,0,0
$GC,298,-0.61,-146.0,34.7,-9.9,47,305,0.00,2.33,0.00,0.000,6,0.000,0.056,2276,2784,3522,0,0,0,0,0,0
$GC,645,-0.61,-146.0,73.6,-10.4,108,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2784,3522,0,0,0,0,0,0
$GC,993,-0.61,-146.0,110.6,-10.9,161,996,0.00,1.92,0.00,0.000,4,0.000,0.067,2269,3934,3521,0,0,0,0,0,0
$GC,1118,-0.64,-146.0,124.3,-10.1,172,1122,0.00,1.77,0.00,0.000,6,0.000,0.044,2269,2821,3520,0,0,0,0,0,0
$GC,1450,-0.67,-146.0,154.4,-8.9,203,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2821,3520,0,0,0,0,0,0
$GC,1773,-0.71,-146.0,184.9,-8.8,233,1777,0.00,2.30,0.00,0.000,4,0.000,0.045,2269,1367,3520,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,191.7,-8.3,239,1853,0.00,2.38,0.00,0.000,6,0.000,0.057,2261,2795,3520,0,0,0,0,0,0
$GC,2181,-0.78,-146.0,216.9,-8.2,270,2183,0.12,0.00,0.00,0.000,6,0.097,0.000,2196,2795,3520,0,0,0,0,0,0
$GC,2499,-0.68,-146.0,259.3,-13.5,300,2503,0.20,1.92,0.00,0.000,4,0.158,0.062,2246,3936,3521,0,0,0,0,0,0
$GC,2579,-0.68,-146.0,267.9,-10.3,307,2583,0.00,1.80,0.00,0.000,6,0.000,0.043,2246,2799,3521,0,0,0,0,0,0
$GC,2911,-0.68,-146.0,299.0,-9.2,338,2915,0.00,2.25,0.00,0.000,4,0.000,0.044,2246,1367,3521,0,0,0,0,0,0
$GC,2969,-0.70,-146.0,304.1,-8.6,342,2976,0.00,2.38,0.00,0.000,6,0.000,0.055,2243,2797,3520,0,0,0,0,0,0
$GC,3295,-0.70,-146.0,333.4,-9.4,373,3299,0.00,1.90,0.00,0.000,4,0.000,0.064,2241,3936,3521,0,0,0,0,0,0
$GC,3332,-0.70,-146.0,336.8,-9.4,376,3336,0.00,1.80,0.00,0.000,6,0.000,0.041,2241,2809,3521,0,0,0,0,0,0
$STATE,3472,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3472,begin apogee
$GC,3479,-0.14,0.0,350.2,9.6,389,3605,0.55,0.00,117.25,0.770,4,0.122,0.000,2424,2593,2925,0,0,0,0,0,0
$STATE,3606,end apogee,CONTROL_FINISHED_OK
$STATE,3606,begin climb
$GC,3609,0.57,146.0,354.3,0.0,400,3738,0.65,2.28,119.45,0.760,4,0.063,0.044,2664,1181,2326,0,0,0,0,0,0
$GC,3935,0.57,146.0,325.1,11.0,429,3942,0.00,2.30,0.00,0.000,6,0.000,0.050,2664,2603,2320,0,0,0,0,0,0
$GC,4262,0.52,146.0,286.9,11.7,460,4266,0.00,2.25,0.00,0.000,4,0.000,0.046,2666,1188,2318,0,0,0,0,0,0
$GC,4460,0.52,146.0,264.9,10.5,477,4464,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2621,2318,0,0,0,0,0,0
$GC,4786,0.47,146.0,227.9,11.5,507,4791,0.15,2.17,0.00,0.000,4,0.181,0.060,2625,3935,2317,0,0,0,0,0,0
$GC,4841,0.47,146.0,221.4,11.1,511,4848,0.00,2.12,0.00,0.000,6,0.000,0.039,2625,2597,2315,0,0,0,0,0,0
$GC,5168,0.52,175.2,192.4,8.7,542,5201,0.00,2.30,23.77,0.662,4,0.000,0.060,2625,3924,2207,0,0,0,0,0,0
$GC,5241,0.52,175.2,184.7,11.7,548,5247,0.00,2.05,0.00,0.000,6,0.000,0.039,2625,2621,2204,0,0,0,0,0,0
$GC,5567,0.58,175.2,152.9,10.2,579,5572,0.10,2.28,0.00,0.000,4,0.108,0.046,2679,1191,2204,0,0,0,0,0,0
$GC,5611,0.58,175.2,147.1,12.6,582,5618,0.00,2.30,0.00,0.000,6,0.000,0.049,2679,2625,2204,0,0,0,0,0,0
$GC,5937,0.54,175.2,107.7,10.5,613,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2625,2203,0,0,0,0,0,0
$GC,6270,0.54,175.2,73.3,10.5,665,6276,0.00,2.17,0.00,0.000,4,0.000,0.060,2679,3933,2203,0,0,0,0,0,0
$GC,6482,0.48,175.2,48.8,11.8,702,6490,0.17,2.12,0.00,0.000,6,0.173,0.038,2632,2597,2202,0,0,0,0,0,0
$GC,6833,0.62,252.9,24.4,6.4,763,6901,0.12,0.00,63.40,0.571,6,0.094,0.000,2693,2597,1891,0,0,0,0,0,0
$FREEZE,8.94,1.941,-1.838,3,1,0
$FREEZE,8.26,1.948,-1.837,3,1,0
$FREEZE,7.73,1.942,-1.837,3,1,0
$FREEZE,7.12,1.943,-1.836,3,1,0
$FREEZE,6.55,1.928,-1.836,3,1,0
$FREEZE,5.99,1.901,-1.836,3,1,0
$FREEZE,5.51,1.889,-1.835,3,1,0
$FREEZE,5.00,1.884,-1.835,3,1,0
$FREEZE,4.54,1.871,-1.834,3,1,0
$FREEZE,3.96,1.891,-1.834,3,1,0
$FREEZE,3.38,1.898,-1.833,3,1,0
$FREEZE,2.75,1.895,-1.833,3,1,0
$STATE,7030,end climb,SURFACE_DEPTH_REACHED
$STATE,7030,begin surface coast
$FREEZE,2.18,1.881,-1.833,3,1,0
$FREEZE,1.52,1.868,-1.832,3,1,0
$FREEZE,0.66,1.887,-1.831,3,1,0
$FREEZE,0.66,0.986,-1.886,3,1,0
$FREEZE,0.67,1.573,-1.665,3,1,0
$FINISH,0.7,1.024377
$STATE,7061,end surface coast,CONTROL_FINISHED_OK
$STATE,7061,begin surface
$SM_CCo,7078,202.98,0.080,0,0,440,609.08
$SM_GC,1.43,0.00,0.00,202.98,0.000,0.000,0.080,292,2786,440,-6.82,0.20,609.08
$RAFOS_CLK,293
$RAFOS_FIX,6707.161621,-5656.104004,310111,040400,2,71,2.16
$IRIDIUM_FIX,6636.54,-5658.34,310111,030331
$TT8_MAMPS,0.028462
$HUMID,45.58
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,350.2,9.9
$24V_AH,23.4,97.906
$10V_AH,9.7,66.343
$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,16.675,52.325,323.875,202.975,0.000,29.803,55.188,150.150,1.000,0.000,37.880,1891.265,3327.816,628.695,1578.216,284.542,0.000,1348.953,0.000,1317.532,0.000,10.816,0.000
$DEVICE_MAMPS,240.975,67.320,770.355,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,26772,803
$CAP_FILE_SIZE,89343,0
$CFSIZE,260165632,193052672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.2
$GPS,310111,071937,6701.142,-5651.768,29,1.4,30,-37.5