version: 66.08
glider: 183
mission: 3
dive: 878
start: 1 31 111 20 29 34
data:
$ID,183
$MISSION,3
$DIVE,878
$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,-13564.168
$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,43
$R_STBD_OVSHOOT,32
$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
$GPS1,310111,202134,6702.583,-5708.745,8,99.0,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.8
$GPS2,310111,202901,6702.696,-5708.625,14,1.4,31,-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,294.1,148485,-17.5,-10.000
$D_GRID,736
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-145.88,0.000,6,0.000,0.000,275,2796,3519,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.4,-11.8,26,185,8.40,2.33,0.00,0.000,4,0.240,0.040,2285,1369,3521,0,0,0,0,0,0
$GC,249,-0.61,-146.0,27.8,-11.0,39,256,0.00,2.33,0.00,0.000,6,0.000,0.058,2283,2776,3522,0,0,0,0,0,0
$GC,595,-0.61,-146.0,63.7,-10.8,100,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2776,3523,0,0,0,0,0,0
$GC,943,-0.64,-146.0,99.4,-11.0,161,949,0.00,2.25,0.00,0.000,4,0.000,0.047,2283,1380,3522,0,0,0,0,0,0
$GC,1008,-0.70,-146.0,106.3,-9.7,167,1014,0.00,2.35,0.00,0.000,6,0.000,0.058,2276,2783,3521,0,0,0,0,0,0
$GC,1334,-0.74,-146.0,136.4,-9.8,198,1338,0.12,1.98,0.00,0.000,4,0.095,0.067,2209,3930,3520,0,0,0,0,0,0
$GC,1431,-0.65,-146.0,150.5,-15.6,206,1438,0.20,1.83,0.00,0.000,6,0.151,0.044,2266,2785,3520,0,0,0,0,0,0
$GC,1758,-0.68,-146.0,181.6,-8.1,237,1762,0.00,2.22,0.00,0.000,4,0.000,0.045,2266,1375,3520,0,0,0,0,0,0
$GC,1823,-0.73,-146.0,186.7,-7.6,242,1827,0.00,2.35,0.00,0.000,6,0.000,0.057,2262,2787,3520,0,0,0,0,0,0
$GC,2155,-0.76,-146.0,210.6,-6.3,273,2159,0.00,2.25,0.00,0.000,4,0.000,0.044,2262,1374,3520,0,0,0,0,0,0
$GC,2191,-0.79,-146.0,212.9,-6.5,276,2196,0.12,2.33,0.00,0.000,6,0.090,0.057,2201,2776,3520,0,0,0,0,0,0
$GC,2522,-0.70,-146.0,245.9,-10.2,307,2527,0.17,1.98,0.00,0.000,4,0.164,0.065,2242,3935,3520,0,0,0,0,0,0
$GC,2562,-0.70,-146.0,249.8,-8.7,310,2569,0.00,1.85,0.00,0.000,6,0.000,0.042,2242,2774,3520,0,0,0,0,0,0
$GC,2888,-0.70,-146.0,275.0,-8.1,341,2892,0.00,2.22,0.00,0.000,4,0.000,0.044,2242,1366,3521,0,0,0,0,0,0
$GC,2925,-0.70,-146.0,278.0,-8.5,344,2929,0.00,2.33,0.00,0.000,6,0.000,0.055,2235,2776,3521,0,0,0,0,0,0
$GC,3256,-0.70,-146.0,304.9,-7.5,375,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2776,3521,0,0,0,0,0,0
$GC,3578,-0.70,-146.0,332.7,-9.3,405,3582,0.00,2.25,0.00,0.000,4,0.000,0.043,2235,1367,3522,0,0,0,0,0,0
$GC,3608,-0.70,-146.0,336.0,-9.7,407,3612,0.00,2.33,0.00,0.000,6,0.000,0.055,2235,2781,3522,0,0,0,0,0,0
$STATE,3766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3766,begin apogee
$GC,3774,-0.14,0.0,350.7,9.6,421,3898,0.57,0.00,117.97,0.771,4,0.125,0.000,2423,2591,2924,0,0,0,0,0,0
$STATE,3899,end apogee,CONTROL_FINISHED_OK
$STATE,3899,begin climb
$GC,3902,0.57,146.0,355.2,0.0,432,4035,0.65,2.30,119.10,0.760,4,0.070,0.044,2660,1174,2327,0,0,0,0,0,0
$GC,4195,0.57,146.0,331.9,11.0,458,4200,0.00,2.30,0.00,0.000,6,0.000,0.050,2660,2603,2322,0,0,0,0,0,0
$GC,4522,0.53,146.0,294.4,12.1,488,4526,0.00,2.22,0.00,0.000,4,0.000,0.046,2662,1188,2318,0,0,0,0,0,0
$GC,4754,0.53,146.0,268.8,11.3,508,4758,0.00,2.30,0.00,0.000,6,0.000,0.050,2663,2622,2319,0,0,0,0,0,0
$GC,5081,0.48,146.0,226.6,13.0,538,5085,0.00,2.17,0.00,0.000,4,0.000,0.060,2663,3928,2318,0,0,0,0,0,0
$GC,5125,0.39,146.0,219.6,15.5,541,5133,0.22,2.12,0.00,0.000,6,0.175,0.038,2606,2593,2316,0,0,0,0,0,0
$GC,5453,0.46,146.0,185.8,10.4,572,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2593,2317,0,0,0,0,0,0
$GC,5773,0.54,157.1,154.2,9.5,602,5789,0.12,2.28,9.05,0.609,4,0.094,0.060,2666,3917,2281,0,0,0,0,0,0
$GC,5821,0.45,157.1,148.0,15.1,606,5825,0.17,2.05,0.00,0.000,6,0.181,0.038,2620,2612,2280,0,0,0,0,0,0
$GC,6147,0.52,190.1,117.5,8.5,636,6181,0.00,2.33,28.40,0.621,4,0.000,0.045,2620,1196,2146,0,0,0,0,0,0
$GC,6219,0.67,224.5,111.5,8.4,642,6256,0.20,2.30,29.55,0.609,6,0.069,0.049,2708,2628,2006,0,0,0,0,0,0
$GC,6594,0.63,224.5,56.2,13.6,701,6602,0.12,2.12,0.00,0.000,4,0.181,0.060,2674,3925,1999,0,0,0,0,0,0
$GC,6687,0.63,224.5,42.4,17.1,717,6694,0.00,2.08,0.00,0.000,6,0.000,0.040,2677,2615,1997,0,0,0,0,0,0
$FREEZE,8.62,1.096,-1.841,3,1,0
$FREEZE,7.85,1.092,-1.840,3,1,0
$FREEZE,7.23,1.084,-1.840,3,1,0
$FREEZE,6.59,1.089,-1.839,3,1,0
$FREEZE,5.97,1.081,-1.839,3,1,0
$FREEZE,5.28,1.079,-1.838,3,1,0
$FREEZE,4.81,1.086,-1.838,3,1,0
$FREEZE,4.29,1.101,-1.837,3,1,0
$FREEZE,3.71,1.086,-1.837,3,1,0
$FREEZE,3.01,1.085,-1.836,3,1,0
$FREEZE,2.47,1.083,-1.836,3,1,0
$STATE,7019,end climb,SURFACE_DEPTH_REACHED
$STATE,7019,begin surface coast
$FREEZE,1.96,1.083,-1.835,3,1,0
$FREEZE,1.26,1.088,-1.835,3,1,0
$FREEZE,0.75,1.051,-1.835,3,1,0
$FREEZE,0.72,0.619,-0.978,3,1,0
$FREEZE,0.69,0.744,-0.971,3,1,0
$FINISH,0.7,1.014348
$STATE,7047,end surface coast,CONTROL_FINISHED_OK
$STATE,7047,begin surface
$SM_CCo,7065,216.68,0.077,0,0,440,609.08
$SM_GC,1.49,0.00,0.00,216.68,0.000,0.000,0.077,285,2786,440,-6.83,0.20,609.08
$RAFOS_CLK,299
$RAFOS,6,1296506945,20.833334,20.818056,50,48,48,47,44,42,932,1630,1699,1815,1187,1866
$RAFOS,5,1296506465,20.700001,20.684723,121,51,45,45,43,42,609,610,26,331,377,1048
$RAFOS,4,1296505987,20.566668,20.551945,52,46,43,43,43,42,1638,1142,572,316,1522,407
$RAFOS_FIX,6704.651367,-5708.636230,310111,161656,2,98,1.74
$IRIDIUM_FIX,6631.12,-5708.95,310111,181819
$TT8_MAMPS,0.028462
$HUMID,45.03
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,350.7,10.0
$24V_AH,23.4,98.486
$10V_AH,9.7,66.712
$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,17.475,62.300,304.075,216.675,0.000,30.480,45.309,189.283,1.000,0.000,33.833,1848.398,3398.519,627.766,1581.659,283.188,0.000,1344.889,0.000,1290.064,1080.000,8.852,0.000
$DEVICE_MAMPS,240.210,68.085,771.120,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,26738,781
$CAP_FILE_SIZE,93271,0
$CFSIZE,260165632,192704512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,310111,223222,6702.869,-5709.971,12,3.4,32,-37.6