version: 66.08
glider: 183
mission: 3
dive: 874
start: 1 31 111 11 45 39
data:
$ID,183
$MISSION,3
$DIVE,874
$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,-13557.161
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,310111,113828,6702.239,-5658.456,8,99.0,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-52.0
$GPS2,310111,114506,6702.281,-5658.599,13,1.1,29,-37.6
$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,295.0,155458,-17.5,-10.000
$D_GRID,669
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-146.00,0.000,6,0.000,0.000,281,2786,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.3,-12.8,26,186,8.30,1.95,0.00,0.000,4,0.239,0.056,2276,3930,3523,0,0,0,0,0,0
$GC,379,-0.57,-146.0,43.8,-11.8,62,386,0.00,1.85,0.00,0.000,6,0.000,0.045,2275,2774,3524,0,0,0,0,0,0
$GC,726,-0.57,-146.0,81.0,-11.3,123,733,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1367,3523,0,0,0,0,0,0
$GC,777,-0.60,-146.0,86.4,-10.3,131,784,0.00,2.33,0.00,0.000,6,0.000,0.058,2274,2771,3523,0,0,0,0,0,0
$GC,1112,-0.63,-146.0,118.2,-8.9,174,1116,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1373,3522,0,0,0,0,0,0
$GC,1143,-0.67,-146.0,121.1,-9.0,176,1147,0.00,2.33,0.00,0.000,6,0.000,0.058,2274,2774,3521,0,0,0,0,0,0
$GC,1470,-0.71,-146.0,153.6,-10.9,206,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2774,3521,0,0,0,0,0,0
$GC,1788,-0.76,-146.0,185.4,-9.0,236,1792,0.12,2.25,0.00,0.000,4,0.094,0.045,2212,1370,3521,0,0,0,0,0,0
$GC,1822,-0.70,-146.0,189.5,-12.5,238,1829,0.15,2.33,0.00,0.000,6,0.164,0.057,2243,2778,3521,0,0,0,0,0,0
$GC,2148,-0.70,-146.0,224.0,-10.2,269,2151,0.00,1.92,0.00,0.000,4,0.000,0.066,2236,3929,3522,0,0,0,0,0,0
$GC,2175,-0.70,-146.0,227.2,-11.3,271,2182,0.00,1.85,0.00,0.000,6,0.000,0.043,2236,2767,3521,0,0,0,0,0,0
$GC,2502,-0.68,-146.0,262.8,-10.9,302,2506,0.00,2.20,0.00,0.000,4,0.000,0.044,2236,1372,3522,0,0,0,0,0,0
$GC,2529,-0.68,-146.0,266.2,-11.0,304,2536,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2766,3522,0,0,0,0,0,0
$GC,2858,-0.68,-146.0,302.5,-11.0,335,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2767,3522,0,0,0,0,0,0
$GC,3189,-0.68,-146.0,336.8,-10.1,366,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2767,3523,0,0,0,0,0,0
$STATE,3326,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3326,begin apogee
$GC,3334,-0.14,0.0,350.4,9.5,379,3459,0.57,0.00,117.78,0.772,4,0.126,0.000,2424,2591,2923,0,0,0,0,0,0
$STATE,3460,end apogee,CONTROL_FINISHED_OK
$STATE,3460,begin climb
$GC,3463,0.57,146.0,354.5,0.0,390,3594,0.65,2.30,118.88,0.759,4,0.067,0.045,2662,1178,2328,0,0,0,0,0,0
$GC,3747,0.57,146.0,330.4,10.9,415,3754,0.00,2.33,0.00,0.000,6,0.000,0.050,2662,2609,2322,0,0,0,0,0,0
$GC,4073,0.52,146.0,293.9,11.4,446,4078,0.00,2.25,0.00,0.000,4,0.000,0.046,2665,1190,2319,0,0,0,0,0,0
$GC,4332,0.52,146.0,265.2,10.8,468,4339,0.00,2.28,0.00,0.000,6,0.000,0.050,2665,2594,2319,0,0,0,0,0,0
$GC,4658,0.48,146.0,227.2,12.0,499,4660,0.12,0.00,0.00,0.000,6,0.188,0.000,2633,2594,2318,0,0,0,0,0,0
$GC,4977,0.48,146.0,194.8,11.0,529,4981,0.00,2.20,0.00,0.000,4,0.000,0.060,2633,3927,2318,0,0,0,0,0,0
$GC,5027,0.44,146.0,188.3,12.8,533,5034,0.00,2.15,0.00,0.000,6,0.000,0.039,2635,2576,2318,0,0,0,0,0,0
$GC,5354,0.44,147.9,154.4,9.9,564,5358,0.00,2.17,0.00,0.000,4,0.000,0.045,2636,1198,2318,0,0,0,0,0,0
$GC,5406,0.51,161.8,149.4,9.4,568,5429,0.00,2.25,13.05,0.627,6,0.000,0.049,2635,2585,2262,0,0,0,0,0,0
$GC,5749,0.56,200.9,118.3,8.2,600,5788,0.00,2.33,33.35,0.621,4,0.000,0.060,2636,3936,2102,0,0,0,0,0,0
$GC,5895,0.56,200.9,102.2,12.1,612,5901,0.00,2.15,0.00,0.000,6,0.000,0.038,2636,2587,2097,0,0,0,0,0,0
$GC,6239,0.64,200.9,65.2,10.2,671,6246,0.12,2.22,0.00,0.000,4,0.094,0.046,2697,1194,2097,0,0,0,0,0,0
$GC,6283,0.64,200.9,60.3,11.2,678,6290,0.00,2.25,0.00,0.000,6,0.000,0.049,2698,2584,2096,0,0,0,0,0,0
$GC,6628,0.64,200.9,20.3,13.6,739,6639,0.00,2.22,0.00,0.000,4,0.000,0.060,2697,3925,2095,0,0,0,0,0,0
$GC,6693,0.57,200.9,12.2,13.6,749,6700,0.17,2.15,0.00,0.000,6,0.170,0.040,2657,2579,2094,0,0,0,0,0,0
$FREEZE,8.42,1.171,-1.838,3,1,0
$FREEZE,7.84,1.171,-1.837,3,1,0
$FREEZE,7.19,1.169,-1.837,3,1,0
$FREEZE,6.66,1.170,-1.836,3,1,0
$FREEZE,6.24,1.169,-1.836,3,1,0
$FREEZE,5.83,1.168,-1.836,3,1,0
$FREEZE,5.33,1.170,-1.835,3,1,0
$FREEZE,4.73,1.170,-1.835,3,1,0
$FREEZE,4.20,1.169,-1.834,3,1,0
$FREEZE,3.76,1.161,-1.834,3,1,0
$FREEZE,3.27,1.156,-1.834,3,1,0
$FREEZE,2.99,1.154,-1.834,3,1,0
$STATE,6781,end climb,SURFACE_DEPTH_REACHED
$STATE,6781,begin surface coast
$FREEZE,2.74,1.150,-1.833,3,1,0
$FREEZE,2.22,1.154,-1.833,3,1,0
$FREEZE,1.85,1.153,-1.833,3,1,0
$FREEZE,1.31,1.153,-1.832,3,1,0
$FREEZE,0.85,1.156,-1.832,3,1,0
$FREEZE,0.99,1.175,-1.830,3,1,0
$FREEZE,0.76,1.202,-1.828,3,1,0
$FINISH,0.8,1.026702
$STATE,6819,end surface coast,CONTROL_FINISHED_OK
$STATE,6819,begin surface
$SM_CCo,6837,227.00,0.077,0,0,440,609.08
$SM_GC,1.26,0.00,0.00,227.00,0.000,0.000,0.077,291,2790,440,-6.81,0.31,609.08
$RAFOS_CLK,290
$RAFOS,6,1296478144,12.833333,12.817778,100,49,46,45,44,43,811,1568,545,521,804,848
$RAFOS,5,1296477662,12.700000,12.683888,55,44,44,44,41,41,916,729,1091,549,1640,1672
$RAFOS,4,1296477191,12.566667,12.553056,48,45,43,41,39,39,559,509,991,822,1533,1391
$RAFOS,3,1296476710,12.433333,12.419444,43,43,41,40,39,39,567,1310,242,1830,1157,1331
$RAFOS,2,1296476229,12.300000,12.285833,48,47,45,43,42,42,1236,1536,694,1169,620,1932
$RAFOS,1,1296475743,12.166667,12.150833,51,46,44,43,42,41,1193,959,1847,891,1661,153
$RAFOS,0,1296475267,12.033333,12.018611,55,49,46,43,43,41,1675,1423,1529,868,1302,1128
$RAFOS_FIX,6707.062012,-5657.797852,310111,080822,3,96,2.50
$IRIDIUM_FIX,6631.12,-5705.96,310111,090921
$TT8_MAMPS,0.029211
$HUMID,45.31
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,350.4,9.9
$24V_AH,23.4,98.154
$10V_AH,9.8,66.500
$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,16.575,57.650,283.050,227.000,0.000,29.615,42.164,148.194,1.000,0.000,31.545,1822.898,3232.496,646.292,1496.874,274.056,0.000,1340.881,0.000,1254.204,2520.000,10.850,0.000
$DEVICE_MAMPS,238.680,68.850,771.885,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,26728,772
$CAP_FILE_SIZE,89723,0
$CFSIZE,260165632,192905216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,310111,134454,6702.721,-5701.783,37,1.0,37,-37.6