version: 66.08
glider: 183
mission: 3
dive: 880
start: 2 1 111 0 45 11
data:
$ID,183
$MISSION,3
$DIVE,880
$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,-13566.68
$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,34
$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
$GPS1,010211,003806,6703.105,-5712.138,35,1.3,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.9
$GPS2,010211,004438,6703.102,-5711.974,15,1.2,15,-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,293.6,146284,-17.5,-10.000
$D_GRID,756
$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,17,-0.57,-146.0,0.0,0.0,0,170,0.00,0.00,-146.10,0.000,6,0.000,0.000,276,2792,3520,0,0,0,0,0,0
$GC,173,-0.57,-146.0,5.8,-15.5,26,187,8.30,1.95,0.00,0.000,4,0.237,0.057,2277,3931,3522,0,0,0,0,0,0
$GC,278,-0.57,-146.0,31.4,-10.7,44,285,0.00,1.85,0.00,0.000,6,0.000,0.045,2277,2775,3522,0,0,0,0,0,0
$GC,625,-0.57,-146.0,70.3,-9.7,105,632,0.00,1.98,0.00,0.000,4,0.000,0.070,2275,3921,3523,0,0,0,0,0,0
$GC,687,-0.59,-146.0,77.1,-11.5,115,694,0.00,1.83,0.00,0.000,6,0.000,0.045,2275,2783,3522,0,0,0,0,0,0
$GC,1033,-0.59,-146.0,112.0,-11.3,167,1037,0.00,1.98,0.00,0.000,4,0.000,0.070,2275,3911,3521,0,0,0,0,0,0
$GC,1137,-0.65,-146.0,122.0,-9.3,176,1141,0.00,1.77,0.00,0.000,6,0.000,0.046,2275,2820,3521,0,0,0,0,0,0
$GC,1470,-0.69,-146.0,150.0,-8.5,207,1474,0.00,2.30,0.00,0.000,4,0.000,0.047,2275,1370,3520,0,0,0,0,0,0
$GC,1545,-0.75,-146.0,156.6,-8.7,213,1550,0.12,2.40,0.00,0.000,6,0.091,0.058,2215,2801,3520,0,0,0,0,0,0
$GC,1871,-0.68,-146.0,193.2,-10.8,243,1875,0.15,1.92,0.00,0.000,4,0.167,0.067,2249,3935,3519,0,0,0,0,0,0
$GC,1899,-0.66,-146.0,195.9,-8.7,245,1906,0.00,1.83,0.00,0.000,6,0.000,0.043,2249,2803,3520,0,0,0,0,0,0
$GC,2227,-0.66,-146.0,221.8,-7.8,276,2231,0.00,2.25,0.00,0.000,4,0.000,0.044,2249,1375,3520,0,0,0,0,0,0
$GC,2314,-0.69,-146.0,228.6,-7.1,283,2318,0.00,2.38,0.00,0.000,6,0.000,0.057,2247,2810,3520,0,0,0,0,0,0
$GC,2642,-0.69,-146.0,251.5,-6.9,313,2646,0.00,2.30,0.00,0.000,4,0.000,0.044,2247,1373,3521,0,0,0,0,0,0
$GC,2677,-0.69,-146.0,254.1,-6.5,315,2684,0.00,2.35,0.00,0.000,6,0.000,0.057,2247,2799,3521,0,0,0,0,0,0
$GC,3005,-0.69,-146.0,275.5,-6.4,346,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2798,3521,0,0,0,0,0,0
$GC,3335,-0.69,-146.0,298.2,-7.6,377,3339,0.00,2.28,0.00,0.000,4,0.000,0.044,2247,1363,3522,0,0,0,0,0,0
$GC,3381,-0.71,-146.0,302.3,-8.2,380,3387,0.00,2.38,0.00,0.000,6,0.000,0.054,2247,2795,3522,0,0,0,0,0,0
$GC,3707,-0.71,-146.0,330.1,-9.0,411,3711,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1373,3523,0,0,0,0,0,0
$GC,3737,-0.71,-146.0,332.7,-8.8,413,3741,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2787,3522,0,0,0,0,0,0
$STATE,3948,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3948,begin apogee
$GC,3955,-0.14,0.0,350.6,8.0,432,4081,0.52,0.00,117.97,0.770,4,0.124,0.000,2421,2595,2922,0,0,0,0,0,0
$STATE,4082,end apogee,CONTROL_FINISHED_OK
$STATE,4082,begin climb
$GC,4085,0.57,146.0,353.8,0.0,443,4215,0.68,2.30,118.88,0.758,4,0.070,0.044,2666,1186,2326,0,0,0,0,0,0
$GC,4385,0.57,146.0,327.7,10.4,470,4390,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2602,2320,0,0,0,0,0,0
$GC,4712,0.51,146.0,288.9,12.1,500,4716,0.00,2.22,0.00,0.000,4,0.000,0.046,2666,1191,2317,0,0,0,0,0,0
$GC,4921,0.51,146.0,265.6,10.9,518,4925,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2616,2318,0,0,0,0,0,0
$GC,5253,0.46,146.0,225.7,12.6,549,5258,0.15,2.20,0.00,0.000,4,0.183,0.060,2625,3935,2316,0,0,0,0,0,0
$GC,5303,0.46,146.0,219.6,11.7,553,5310,0.00,2.12,0.00,0.000,6,0.000,0.039,2625,2599,2315,0,0,0,0,0,0
$GC,5629,0.49,146.0,186.4,10.5,584,5633,0.00,2.20,0.00,0.000,4,0.000,0.046,2625,1197,2315,0,0,0,0,0,0
$GC,5674,0.58,164.6,182.0,9.1,587,5696,0.10,2.25,14.82,0.646,6,0.106,0.049,2675,2597,2251,0,0,0,0,0,0
$GC,6024,0.53,164.6,138.2,12.5,620,6027,0.00,2.17,0.00,0.000,4,0.000,0.060,2675,3927,2249,0,0,0,0,0,0
$GC,6104,0.44,164.6,125.9,15.7,627,6109,0.22,2.10,0.00,0.000,6,0.171,0.038,2618,2608,2248,0,0,0,0,0,0
$GC,6433,0.54,205.3,96.3,8.1,661,6474,0.00,0.00,34.50,0.610,6,0.000,0.000,2618,2606,2083,0,0,0,0,0,0
$GC,6817,0.69,277.6,69.4,6.7,728,6883,0.22,2.30,58.95,0.591,4,0.070,0.060,2713,3926,1790,0,0,0,0,0,0
$GC,6937,0.64,277.6,53.2,15.2,748,6945,0.15,2.12,0.00,0.000,6,0.179,0.038,2679,2592,1784,0,0,0,0,0,0
$GC,7287,0.70,277.6,13.6,14.1,809,7293,0.00,2.25,0.00,0.000,4,0.000,0.063,2679,3926,1781,0,0,0,0,0,0
$FREEZE,8.51,1.404,-1.846,3,1,0
$FREEZE,7.65,1.402,-1.845,3,1,0
$FREEZE,6.76,1.349,-1.845,3,1,0
$FREEZE,6.00,1.342,-1.844,3,1,0
$FREEZE,5.42,1.340,-1.843,3,1,0
$FREEZE,4.75,1.354,-1.843,3,1,0
$FREEZE,4.06,1.342,-1.842,3,1,0
$FREEZE,3.41,1.348,-1.842,3,1,0
$GC,7356,0.72,277.6,3.4,13.2,821,7363,0.00,2.10,0.00,0.000,6,0.000,0.039,2679,2602,1779,0,0,0,0,0,0
$FREEZE,1.51,1.310,-1.841,3,1,0
$STATE,7368,end climb,SURFACE_DEPTH_REACHED
$STATE,7368,begin surface coast
$FREEZE,0.67,1.329,-1.839,3,1,0
$FREEZE,1.02,1.306,-1.840,3,1,0
$FREEZE,0.86,1.308,-1.839,3,1,0
$FREEZE,0.85,0.473,-0.872,3,1,0
$FREEZE,0.79,0.971,-1.778,3,1,0
$FINISH,0.8,1.026008
$STATE,7396,end surface coast,CONTROL_FINISHED_OK
$STATE,7396,begin surface
$SM_CCo,7414,187.35,0.077,0,0,440,609.08
$SM_GC,1.23,0.00,0.00,187.35,0.000,0.000,0.077,291,2780,440,-6.82,0.00,609.08
$RAFOS_CLK,313
$RAFOS,6,1296521342,0.833333,0.817222,65,46,42,42,41,40,784,1765,1378,798,1385,1901
$RAFOS_FIX,6704.651367,-5708.636230,310111,161656,2,98,1.74
$IRIDIUM_FIX,6631.12,-5701.34,310111,222243
$TT8_MAMPS,0.029211
$HUMID,45.39
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,350.6,9.9
$24V_AH,23.4,98.661
$10V_AH,9.8,66.817
$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,17.525,69.825,345.125,187.350,0.000,22.405,44.248,164.752,1.000,0.000,17.749,1961.587,3499.674,646.449,1583.142,312.646,0.000,1404.915,0.000,1362.039,360.000,8.853,0.000
$DEVICE_MAMPS,237.150,74.205,770.355,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,567.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,30087,828
$CAP_FILE_SIZE,98686,0
$CFSIZE,260165632,192593920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.1
$GPS,010211,025314,6702.996,-5714.990,30,1.9,30,-37.7