version: 66.08
glider: 183
mission: 3
dive: 872
start: 1 31 111 7 25 54
data:
$ID,183
$MISSION,3
$DIVE,872
$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,-13552.663
$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,41
$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
$GPS1,310111,071937,6701.142,-5651.768,29,1.4,30,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.4
$GPS2,310111,072520,6701.175,-5651.835,11,1.7,11,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,296.0,159870,-17.5,-10.000
$D_GRID,620
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-143.43,0.000,6,0.000,0.000,290,2787,3520,0,0,0,0,0,0
$GC,171,-0.57,-146.0,6.1,-16.2,26,185,8.30,1.92,0.00,0.000,4,0.240,0.054,2278,3926,3522,0,0,0,0,0,0
$GC,299,-0.57,-146.0,36.3,-11.0,48,306,0.00,1.83,0.00,0.000,6,0.000,0.044,2277,2776,3522,0,0,0,0,0,0
$GC,646,-0.57,-146.0,73.0,-11.0,109,653,0.00,2.25,0.00,0.000,4,0.000,0.046,2277,1367,3522,0,0,0,0,0,0
$GC,679,-0.57,-146.0,76.6,-10.3,114,685,0.00,2.30,0.00,0.000,6,0.000,0.058,2275,2765,3522,0,0,0,0,0,0
$GC,1025,-0.57,-146.0,111.7,-10.1,165,1029,0.00,2.22,0.00,0.000,4,0.000,0.045,2275,1365,3522,0,0,0,0,0,0
$GC,1078,-0.61,-146.0,116.6,-9.2,169,1082,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2756,3522,0,0,0,0,0,0
$GC,1411,-0.65,-146.0,148.4,-9.8,200,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2756,3521,0,0,0,0,0,0
$GC,1732,-0.69,-146.0,175.2,-7.6,230,1736,0.00,2.20,0.00,0.000,4,0.000,0.045,2275,1369,3520,0,0,0,0,0,0
$GC,1755,-0.74,-146.0,177.4,-7.7,231,1763,0.12,2.28,0.00,0.000,6,0.091,0.057,2212,2747,3520,0,0,0,0,0,0
$GC,2083,-0.66,-146.0,216.0,-12.3,262,2088,0.17,2.00,0.00,0.000,4,0.161,0.065,2255,3928,3520,0,0,0,0,0,0
$GC,2108,-0.63,-146.0,219.1,-11.8,264,2113,0.00,1.95,0.00,0.000,6,0.000,0.042,2255,2732,3520,0,0,0,0,0,0
$GC,2439,-0.63,-146.0,250.8,-8.9,295,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2732,3520,0,0,0,0,0,0
$GC,2760,-0.65,-146.0,278.4,-8.3,325,2763,0.00,2.12,0.00,0.000,4,0.000,0.044,2255,1373,3520,0,0,0,0,0,0
$GC,2794,-0.68,-146.0,281.6,-8.4,327,2800,0.00,2.22,0.00,0.000,6,0.000,0.056,2248,2728,3520,0,0,0,0,0,0
$GC,3121,-0.68,-146.0,311.0,-9.2,358,3124,0.00,2.03,0.00,0.000,4,0.000,0.066,2247,3928,3521,0,0,0,0,0,0
$GC,3171,-0.68,-146.0,316.2,-10.1,362,3177,0.00,1.92,0.00,0.000,6,0.000,0.041,2247,2730,3521,0,0,0,0,0,0
$GC,3497,-0.68,-146.0,347.2,-9.7,393,3501,0.00,2.12,0.00,0.000,4,0.000,0.044,2247,1373,3521,0,0,0,0,0,0
$STATE,3526,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3526,begin apogee
$GC,3535,-0.14,0.0,350.1,9.5,395,3664,0.55,0.00,117.75,0.773,4,0.120,0.000,2428,2605,2922,0,0,0,0,0,0
$STATE,3665,end apogee,CONTROL_FINISHED_OK
$STATE,3665,begin climb
$GC,3668,0.57,146.0,355.2,0.0,407,3800,0.62,2.30,118.78,0.761,4,0.059,0.044,2666,1188,2327,0,0,0,0,0,0
$GC,3962,0.57,146.0,330.7,10.9,433,3966,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2602,2321,0,0,0,0,0,0
$GC,4288,0.52,146.0,290.6,12.1,463,4292,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1189,2319,0,0,0,0,0,0
$GC,4520,0.52,146.0,264.5,10.9,483,4525,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2607,2319,0,0,0,0,0,0
$GC,4847,0.47,146.0,225.2,12.1,513,4851,0.15,2.20,0.00,0.000,4,0.181,0.060,2625,3930,2318,0,0,0,0,0,0
$GC,4926,0.47,146.0,215.8,11.6,520,4930,0.00,2.08,0.00,0.000,6,0.000,0.038,2625,2610,2317,0,0,0,0,0,0
$GC,5258,0.51,170.1,184.3,8.9,551,5283,0.00,2.30,19.58,0.659,4,0.000,0.045,2625,1196,2229,0,0,0,0,0,0
$GC,5314,0.62,196.6,179.5,8.8,556,5348,0.15,2.30,23.30,0.649,6,0.083,0.049,2695,2615,2120,0,0,0,0,0,0
$GC,5666,0.56,196.6,132.7,12.7,589,5671,0.12,2.20,0.00,0.000,4,0.181,0.060,2661,3930,2115,0,0,0,0,0,0
$GC,5712,0.54,196.6,127.0,12.4,592,5719,0.00,2.12,0.00,0.000,6,0.000,0.039,2662,2592,2114,0,0,0,0,0,0
$GC,6041,0.57,207.9,94.0,9.5,628,6060,0.00,2.25,10.02,0.588,4,0.000,0.046,2662,1203,2074,0,0,0,0,0,0
$GC,6098,0.66,241.3,89.3,8.5,637,6134,0.00,2.20,28.92,0.603,6,0.000,0.049,2662,2582,1938,0,0,0,0,0,0
$GC,6475,0.74,260.7,55.4,9.1,703,6500,0.15,0.00,16.83,0.584,6,0.086,0.000,2731,2582,1859,0,0,0,0,0,0
$FREEZE,8.92,1.426,-1.837,3,1,0
$FREEZE,8.14,1.422,-1.836,3,1,0
$FREEZE,7.48,1.428,-1.836,3,1,0
$FREEZE,6.25,1.421,-1.835,3,1,0
$FREEZE,5.33,1.422,-1.834,3,1,0
$FREEZE,4.66,1.420,-1.833,3,1,0
$FREEZE,3.87,1.420,-1.833,3,1,0
$GC,6838,0.70,260.7,3.9,15.8,767,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2582,1854,0,0,0,0,0,0
$FREEZE,1.62,1.407,-1.831,3,1,0
$STATE,6850,end climb,SURFACE_DEPTH_REACHED
$STATE,6850,begin surface coast
$FREEZE,0.84,1.385,-1.831,3,1,0
$FREEZE,0.72,1.179,-1.840,3,1,0
$FREEZE,0.80,1.095,-1.635,3,1,0
$FINISH,0.8,1.023968
$STATE,6867,end surface coast,CONTROL_FINISHED_OK
$STATE,6867,begin surface
$SM_CCo,6886,198.07,0.079,0,0,440,609.08
$SM_GC,1.40,0.00,0.00,198.07,0.000,0.000,0.079,292,2786,440,-6.82,0.17,609.08
$RAFOS_CLK,291
$RAFOS,6,1296463743,8.833333,8.817500,98,47,42,42,39,39,826,1031,1404,1439,739,1716
$RAFOS,5,1296463265,8.700000,8.684722,121,45,44,43,43,41,638,968,1286,403,1584,1196
$RAFOS,4,1296462784,8.566667,8.551111,69,45,45,41,39,39,888,239,1245,1122,726,1764
$RAFOS,3,1296462306,8.433333,8.418333,47,46,44,42,40,40,918,1367,1397,1683,1462,1549
$RAFOS,2,1296461828,8.300000,8.285556,44,43,42,42,41,40,540,1859,145,461,1116,1821
$RAFOS,1,1296461350,8.166667,8.152778,44,43,43,42,41,40,1267,1082,162,1442,1817,283
$RAFOS,0,1296460866,8.033334,8.018333,45,44,43,41,41,41,149,1022,1498,1869,480,1717
$RAFOS_FIX,6707.062012,-5657.797852,310111,080822,3,96,2.50
$IRIDIUM_FIX,6631.12,-5653.72,310111,050552
$TT8_MAMPS,0.028462
$HUMID,45.74
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.1
$ALTIM_BOTTOM_PING,350.1,9.7
$24V_AH,23.4,97.990
$10V_AH,9.8,66.395
$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,16.825,60.850,335.175,198.075,0.000,31.150,19.308,135.672,1.000,0.000,13.991,1826.713,3252.682,645.861,1445.646,278.390,0.000,1356.361,0.000,1259.534,2520.000,8.851,0.000
$DEVICE_MAMPS,240.210,72.675,773.415,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,26781,772
$CAP_FILE_SIZE,92447,0
$CFSIZE,260165632,192999424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.4
$GPS,310111,092533,6701.456,-5654.915,30,1.4,31,-37.5