version: 66.08
glider: 183
mission: 3
dive: 876
start: 1 31 111 16 7 5
data:
$ID,183
$MISSION,3
$DIVE,876
$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,-13561.659
$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,28
$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
$GPS1,310111,155830,6702.854,-5704.838,34,1.5,39,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.5
$GPS2,310111,160632,6702.874,-5704.999,12,1.4,12,-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,294.2,151142,-17.5,-10.000
$D_GRID,693
$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,-146.48,0.000,6,0.000,0.000,273,2782,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.4,-12.9,26,186,8.38,1.95,0.00,0.000,4,0.239,0.055,2276,3931,3522,0,0,0,0,0,0
$GC,419,-0.57,-146.0,47.4,-11.4,69,426,0.00,1.83,0.00,0.000,6,0.000,0.045,2276,2784,3522,0,0,0,0,0,0
$GC,765,-0.57,-146.0,85.3,-11.1,130,772,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1365,3523,0,0,0,0,0,0
$GC,848,-0.60,-146.0,95.1,-11.3,144,855,0.00,2.33,0.00,0.000,6,0.000,0.059,2275,2769,3523,0,0,0,0,0,0
$GC,1178,-0.63,-146.0,129.2,-9.1,178,1182,0.00,1.98,0.00,0.000,4,0.000,0.068,2275,3927,3522,0,0,0,0,0,0
$GC,1240,-0.68,-146.0,135.1,-8.8,183,1247,0.00,1.88,0.00,0.000,6,0.000,0.045,2275,2757,3521,0,0,0,0,0,0
$GC,1570,-0.72,-146.0,156.9,-5.7,214,1574,0.00,2.20,0.00,0.000,4,0.000,0.046,2275,1366,3520,0,0,0,0,0,0
$GC,1605,-0.77,-146.0,159.2,-6.3,216,1612,0.15,2.33,0.00,0.000,6,0.082,0.057,2205,2769,3520,0,0,0,0,0,0
$GC,1931,-0.68,-146.0,192.5,-10.8,247,1933,0.17,0.00,0.00,0.000,6,0.165,0.000,2253,2769,3520,0,0,0,0,0,0
$GC,2250,-0.68,-146.0,218.3,-8.0,277,2254,0.00,2.00,0.00,0.000,4,0.000,0.066,2247,3949,3521,0,0,0,0,0,0
$GC,2277,-0.68,-146.0,220.7,-8.6,279,2284,0.00,1.92,0.00,0.000,6,0.000,0.043,2247,2758,3521,0,0,0,0,0,0
$GC,2604,-0.68,-146.0,250.4,-9.6,310,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3521,0,0,0,0,0,0
$GC,2922,-0.68,-146.0,281.1,-9.5,340,2926,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1372,3521,0,0,0,0,0,0
$GC,2963,-0.68,-146.0,285.1,-9.7,343,2967,0.00,2.30,0.00,0.000,6,0.000,0.056,2246,2757,3521,0,0,0,0,0,0
$GC,3289,-0.68,-146.0,315.5,-9.3,373,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3522,0,0,0,0,0,0
$GC,3612,-0.68,-146.0,345.6,-9.0,403,3616,0.00,2.20,0.00,0.000,4,0.000,0.044,2246,1363,3523,0,0,0,0,0,0
$GC,3653,-0.70,-146.0,349.8,-9.2,406,3659,0.00,2.30,0.00,0.000,6,0.000,0.054,2246,2751,3523,0,0,0,0,0,0
$STATE,3664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3664,begin apogee
$GC,3672,-0.14,0.0,351.1,9.0,407,3797,0.52,0.00,117.82,0.771,4,0.123,0.000,2420,2602,2924,0,0,0,0,0,0
$STATE,3798,end apogee,CONTROL_FINISHED_OK
$STATE,3798,begin climb
$GC,3800,0.57,146.0,355.4,0.0,418,3934,0.68,2.30,119.72,0.758,4,0.069,0.044,2666,1186,2326,0,0,0,0,0,0
$GC,4086,0.57,146.0,330.8,11.2,443,4093,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2602,2320,0,0,0,0,0,0
$GC,4414,0.52,146.0,288.5,13.8,474,4418,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1184,2317,0,0,0,0,0,0
$GC,4627,0.52,146.0,262.0,12.6,492,4634,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2616,2317,0,0,0,0,0,0
$GC,4954,0.47,146.0,222.2,12.3,523,4955,0.15,0.00,0.00,0.000,6,0.183,0.000,2625,2616,2316,0,0,0,0,0,0
$GC,5273,0.51,154.7,191.0,9.6,553,5286,0.00,2.25,6.82,0.594,4,0.000,0.060,2625,3931,2292,0,0,0,0,0,0
$GC,5322,0.51,154.7,185.6,11.1,557,5325,0.00,2.10,0.00,0.000,6,0.000,0.039,2625,2607,2290,0,0,0,0,0,0
$GC,5654,0.54,155.3,153.4,10.0,588,5658,0.00,2.22,0.00,0.000,4,0.000,0.046,2625,1198,2291,0,0,0,0,0,0
$GC,5684,0.62,175.9,150.5,9.0,590,5710,0.15,2.28,19.35,0.633,6,0.083,0.049,2694,2616,2204,0,0,0,0,0,0
$GC,6037,0.56,175.9,102.2,12.6,623,6041,0.15,2.17,0.00,0.000,4,0.176,0.060,2653,3926,2201,0,0,0,0,0,0
$GC,6100,0.52,175.9,94.9,11.3,632,6107,0.00,2.10,0.00,0.000,6,0.000,0.038,2653,2598,2200,0,0,0,0,0,0
$GC,6448,0.60,261.8,71.3,6.0,693,6523,0.00,0.00,70.50,0.590,6,0.000,0.000,2653,2598,1854,0,0,0,0,0,0
$GC,6863,0.70,276.8,37.8,9.3,766,6883,0.12,2.22,12.40,0.561,4,0.095,0.046,2710,1196,1792,0,0,0,0,0,0
$GC,6978,0.75,276.8,25.3,11.0,785,6985,0.00,2.30,0.00,0.000,6,0.000,0.050,2711,2618,1790,0,0,0,0,0,0
$FREEZE,8.92,1.012,-1.838,3,1,0
$FREEZE,8.15,1.013,-1.838,3,1,0
$FREEZE,7.44,1.014,-1.837,3,1,0
$FREEZE,6.81,1.013,-1.837,3,1,0
$FREEZE,6.10,1.008,-1.836,3,1,0
$FREEZE,5.33,1.011,-1.836,3,1,0
$FREEZE,4.74,1.024,-1.835,3,1,0
$FREEZE,4.00,1.017,-1.835,3,1,0
$FREEZE,3.17,1.012,-1.834,3,1,0
$FREEZE,2.43,1.017,-1.833,3,1,0
$STATE,7162,end climb,SURFACE_DEPTH_REACHED
$STATE,7162,begin surface coast
$FREEZE,1.70,1.027,-1.833,3,1,0
$FREEZE,1.09,1.032,-1.833,3,1,0
$FREEZE,0.71,1.005,-1.745,3,1,0
$FREEZE,0.76,1.076,-1.828,3,1,0
$FINISH,0.8,1.026704
$STATE,7185,end surface coast,CONTROL_FINISHED_OK
$STATE,7185,begin surface
$SM_CCo,7203,190.35,0.079,0,0,440,609.08
$SM_GC,1.15,0.00,0.00,190.35,0.000,0.000,0.079,285,2788,440,-6.83,0.23,609.08
$RAFOS_CLK,308
$RAFOS,6,1296492551,16.833334,16.819723,71,50,48,43,43,41,754,275,249,645,1674,342
$RAFOS,5,1296492069,16.700001,16.685833,124,49,47,44,43,43,592,1217,418,961,329,1724
$RAFOS,4,1296491588,16.566668,16.552221,48,46,41,41,41,40,1365,759,1113,1834,163,596
$RAFOS,3,1296491104,16.433332,16.417778,49,46,43,41,40,40,509,1866,1826,154,1743,1011
$RAFOS,2,1296490624,16.299999,16.284445,48,46,43,43,41,40,480,144,426,1757,734,1849
$RAFOS,1,1296490143,16.166666,16.150833,45,43,42,42,40,40,1554,303,1748,538,764,1883
$RAFOS_FIX,6704.651367,-5708.636230,310111,161656,2,98,1.74
$IRIDIUM_FIX,6636.54,-5704.59,310111,161653
$TT8_MAMPS,0.028462
$HUMID,46.02
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,350.5,9.9
$24V_AH,23.4,98.318
$10V_AH,9.7,66.607
$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,16.925,56.900,346.625,190.350,0.000,57.912,59.338,142.719,1.000,0.000,16.747,1916.644,3473.730,638.194,1577.826,287.840,0.000,1372.440,0.000,1313.583,2160.000,8.843,0.000
$DEVICE_MAMPS,239.445,68.085,771.120,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30009,822
$CAP_FILE_SIZE,94739,0
$CFSIZE,260165632,192794624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.7
$GPS,310111,181201,6702.608,-5707.046,40,1.3,41,-37.6