version: 66.08
glider: 183
mission: 3
dive: 875
start: 1 31 111 13 51 27
data:
$ID,183
$MISSION,3
$DIVE,875
$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,-13558.415
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,310111,134454,6702.721,-5701.783,37,1.0,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-60.7
$GPS2,310111,135056,6702.734,-5701.962,12,1.4,12,-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,294.5,153245,-17.5,-10.000
$D_GRID,688
$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,-145.27,0.000,6,0.000,0.000,279,2791,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.7,-12.5,26,186,8.32,1.95,0.00,0.000,4,0.239,0.054,2276,3937,3522,0,0,0,0,0,0
$GC,396,-0.57,-146.0,48.3,-12.7,65,402,0.00,1.85,0.00,0.000,6,0.000,0.045,2275,2780,3523,0,0,0,0,0,0
$GC,743,-0.57,-146.0,90.5,-10.8,126,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2780,3522,0,0,0,0,0,0
$GC,1080,-0.59,-146.0,125.6,-10.6,165,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2780,3521,0,0,0,0,0,0
$GC,1404,-0.63,-146.0,156.5,-9.6,195,1408,0.00,2.25,0.00,0.000,4,0.000,0.046,2275,1372,3520,0,0,0,0,0,0
$GC,1445,-0.68,-146.0,161.1,-10.1,198,1449,0.00,2.30,0.00,0.000,6,0.000,0.058,2275,2764,3520,0,0,0,0,0,0
$GC,1772,-0.73,-146.0,191.5,-9.2,228,1777,0.10,2.25,0.00,0.000,4,0.107,0.045,2222,1369,3520,0,0,0,0,0,0
$GC,1819,-0.69,-146.0,196.9,-12.2,232,1824,0.12,2.30,0.00,0.000,6,0.171,0.057,2254,2760,3520,0,0,0,0,0,0
$GC,2147,-0.69,-146.0,228.1,-8.8,262,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2760,3520,0,0,0,0,0,0
$GC,2477,-0.69,-146.0,255.4,-8.1,293,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2760,3521,0,0,0,0,0,0
$GC,2806,-0.71,-146.0,279.5,-7.1,324,2810,0.00,1.98,0.00,0.000,4,0.000,0.065,2247,3935,3521,0,0,0,0,0,0
$GC,2834,-0.71,-146.0,282.1,-7.8,326,2841,0.00,1.90,0.00,0.000,6,0.000,0.042,2247,2737,3521,0,0,0,0,0,0
$GC,3160,-0.71,-146.0,307.9,-7.6,357,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2737,3521,0,0,0,0,0,0
$GC,3481,-0.71,-146.0,333.1,-8.1,387,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2737,3522,0,0,0,0,0,0
$STATE,3680,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3680,begin apogee
$GC,3688,-0.14,0.0,350.1,8.9,406,3812,0.55,0.00,117.75,0.770,4,0.122,0.000,2428,2598,2923,0,0,0,0,0,0
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3813,begin climb
$GC,3817,0.57,146.0,353.8,0.0,417,3945,0.65,2.30,119.05,0.760,4,0.063,0.044,2669,1184,2327,0,0,0,0,0,0
$GC,4126,0.57,148.4,327.9,9.9,445,4131,0.00,2.30,0.00,0.000,6,0.000,0.050,2668,2602,2320,0,0,0,0,0,0
$GC,4453,0.52,148.4,293.6,10.7,475,4457,0.00,2.25,0.00,0.000,4,0.000,0.046,2672,1186,2318,0,0,0,0,0,0
$GC,4674,0.52,148.4,271.9,10.1,494,4679,0.12,2.30,0.00,0.000,6,0.176,0.049,2641,2620,2318,0,0,0,0,0,0
$GC,5000,0.52,148.4,240.2,10.1,524,5004,0.00,2.15,0.00,0.000,4,0.000,0.060,2641,3926,2318,0,0,0,0,0,0
$GC,5086,0.47,148.4,230.5,11.7,531,5090,0.00,2.08,0.00,0.000,6,0.000,0.039,2642,2619,2315,0,0,0,0,0,0
$GC,5417,0.47,148.4,195.8,10.5,562,5421,0.00,2.25,0.00,0.000,4,0.000,0.046,2642,1194,2316,0,0,0,0,0,0
$GC,5451,0.51,154.6,192.2,9.7,564,5462,0.00,2.30,6.82,0.597,6,0.000,0.049,2642,2628,2292,0,0,0,0,0,0
$GC,5782,0.51,154.6,153.4,12.3,595,5786,0.00,2.28,0.00,0.000,4,0.000,0.046,2643,1198,2291,0,0,0,0,0,0
$GC,5827,0.56,154.6,147.8,12.2,598,5834,0.00,2.30,0.00,0.000,6,0.000,0.049,2643,2617,2291,0,0,0,0,0,0
$GC,6153,0.56,154.6,109.1,11.7,629,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2617,2291,0,0,0,0,0,0
$GC,6486,0.59,154.6,74.5,10.0,681,6493,0.00,2.15,0.00,0.000,4,0.000,0.060,2643,3924,2291,0,0,0,0,0,0
$GC,6541,0.57,154.6,68.3,11.6,690,6547,0.00,2.10,0.00,0.000,6,0.000,0.039,2645,2600,2291,0,0,0,0,0,0
$GC,6888,0.64,208.0,38.1,7.5,751,6942,0.10,2.28,44.92,0.579,4,0.113,0.046,2697,1197,2073,0,0,0,0,0,0
$GC,7023,0.66,208.0,23.9,10.7,774,7030,0.00,2.28,0.00,0.000,6,0.000,0.048,2697,2617,2070,0,0,0,0,0,0
$FREEZE,8.98,1.196,-1.838,3,1,0
$FREEZE,8.18,1.182,-1.838,3,1,0
$FREEZE,7.57,1.186,-1.837,3,1,0
$FREEZE,7.11,1.177,-1.837,3,1,0
$FREEZE,6.68,1.191,-1.836,3,1,0
$FREEZE,6.27,1.191,-1.836,3,1,0
$FREEZE,5.73,1.197,-1.835,3,1,0
$FREEZE,5.33,1.182,-1.835,3,1,0
$FREEZE,4.96,1.179,-1.835,3,1,0
$FREEZE,4.53,1.179,-1.835,3,1,0
$FREEZE,4.20,1.177,-1.834,3,1,0
$FREEZE,3.72,1.176,-1.834,3,1,0
$FREEZE,3.30,1.179,-1.834,3,1,0
$FREEZE,3.04,1.173,-1.834,3,1,0
$FREEZE,2.57,1.180,-1.833,3,1,0
$STATE,7245,end climb,SURFACE_DEPTH_REACHED
$STATE,7245,begin surface coast
$FREEZE,2.28,1.175,-1.833,3,1,0
$FREEZE,1.88,1.190,-1.832,3,1,0
$FREEZE,1.33,1.189,-1.832,3,1,0
$FREEZE,0.77,1.191,-1.832,3,1,0
$FREEZE,0.74,1.167,-1.832,3,1,0
$FREEZE,0.60,1.231,-1.829,3,1,0
$FREEZE,0.63,1.156,-1.816,3,1,0
$FREEZE,0.55,1.140,-1.832,3,1,0
$FINISH,0.6,1.026761
$STATE,7290,end surface coast,CONTROL_FINISHED_OK
$STATE,7290,begin surface
$SM_CCo,7308,224.93,0.080,0,0,440,609.08
$SM_GC,1.18,0.00,0.00,224.93,0.000,0.000,0.080,288,2781,440,-6.81,0.03,609.08
$RAFOS_CLK,304
$RAFOS_FIX,6707.062012,-5657.797852,310111,080822,3,96,2.50
$IRIDIUM_FIX,6631.12,-5705.96,310111,111154
$TT8_MAMPS,0.028462
$HUMID,45.27
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,350.1,9.8
$24V_AH,23.4,98.230
$10V_AH,9.8,66.552
$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,16.375,48.525,288.550,224.925,0.000,24.449,39.732,140.512,1.000,0.000,15.200,1918.848,3560.705,625.725,1516.090,280.071,0.000,1336.081,0.000,1311.874,0.000,8.850,0.000
$DEVICE_MAMPS,238.680,69.615,770.355,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,30031,822
$CAP_FILE_SIZE,89379,0
$CFSIZE,260165632,192851968
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.5
$GPS,310111,155830,6702.854,-5704.838,34,1.5,39,-37.6