version: 66.08
glider: 183
mission: 3
dive: 886
start: 2 1 111 17 20 40
data:
$ID,183
$MISSION,3
$DIVE,886
$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,-13576.351
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,010211,171246,6703.693,-5729.848,10,99.0,29,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-63.5
$GPS2,010211,172007,6703.612,-5729.870,37,1.0,37,-37.7
$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,292.0,133871,-17.5,-10.000
$D_GRID,813
$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,-146.0,0.0,0.0,0,173,0.00,0.00,-149.27,0.000,6,0.000,0.000,277,2779,3520,0,0,0,0,0,0
$GC,177,-0.57,-146.0,5.8,-15.6,27,190,8.38,1.98,0.00,0.000,4,0.240,0.058,2278,3932,3522,0,0,0,0,0,0
$GC,221,-0.25,-146.0,24.4,-28.3,34,228,0.38,1.88,0.00,0.000,6,0.137,0.046,2391,2779,3523,0,0,0,0,0,0
$GC,569,-0.67,-146.0,49.7,-8.2,95,576,0.35,2.28,0.00,0.000,4,0.096,0.046,2261,1369,3523,0,0,0,0,0,0
$GC,604,-0.84,-146.0,52.8,-9.0,100,611,0.15,2.40,0.00,0.000,6,0.083,0.060,2193,2793,3523,0,0,0,0,0,0
$GC,951,-0.69,-146.0,103.5,-15.3,159,955,0.20,1.95,0.00,0.000,4,0.169,0.067,2241,3929,3522,0,0,0,0,0,0
$GC,1208,-0.69,-146.0,133.3,-11.8,181,1215,0.00,1.80,0.00,0.000,6,0.000,0.046,2241,2818,3522,0,0,0,0,0,0
$GC,1534,-0.67,-146.0,168.9,-10.4,212,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2818,3522,0,0,0,0,0,0
$GC,1856,-0.67,-146.0,201.1,-9.9,242,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2818,3522,0,0,0,0,0,0
$GC,2184,-0.64,-146.0,235.5,-10.9,273,2188,0.00,2.35,0.00,0.000,4,0.000,0.047,2241,1362,3522,0,0,0,0,0,0
$GC,2241,-0.64,-146.0,242.3,-11.1,277,2249,0.12,2.45,0.00,0.000,6,0.165,0.058,2267,2819,3523,0,0,0,0,0,0
$GC,2568,-0.68,-146.0,271.5,-8.8,308,2572,0.00,2.38,0.00,0.000,4,0.000,0.047,2267,1361,3523,0,0,0,0,0,0
$GC,2617,-0.73,-146.0,275.6,-8.3,312,2621,0.00,2.40,0.00,0.000,6,0.000,0.058,2261,2794,3523,0,0,0,0,0,0
$GC,2944,-0.76,-146.0,306.1,-9.1,342,2948,0.00,2.30,0.00,0.000,4,0.000,0.047,2261,1369,3523,0,0,0,0,0,0
$GC,2980,-0.79,-146.0,309.4,-9.9,345,2985,0.12,2.40,0.00,0.000,6,0.092,0.060,2202,2793,3523,0,0,0,0,0,0
$GC,3307,-0.70,-146.0,351.7,-12.8,375,3311,0.17,1.98,0.00,0.000,4,0.166,0.070,2244,3929,3522,0,0,0,0,0,0
$GC,3342,-0.70,-146.0,355.9,-11.9,378,3346,0.00,1.85,0.00,0.000,6,0.000,0.046,2244,2786,3522,0,0,0,0,0,0
$GC,3674,-0.70,-146.0,391.1,-10.8,409,3678,0.00,2.30,0.00,0.000,4,0.000,0.047,2243,1367,3522,0,0,0,0,0,0
$GC,3749,-0.72,-146.0,399.0,-10.4,415,3753,0.00,2.40,0.00,0.000,6,0.000,0.060,2243,2782,3522,0,0,0,0,0,0
$GC,4068,-0.72,-146.0,432.1,-10.6,426,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2782,3522,0,0,0,0,0,0
$GC,4375,-0.72,-146.0,463.0,-9.9,436,4379,0.00,2.30,0.00,0.000,4,0.000,0.048,2243,1373,3521,0,0,0,0,0,0
$GC,4426,-0.74,-146.0,468.3,-9.7,437,4430,0.00,2.38,0.00,0.000,6,0.000,0.060,2243,2775,3522,0,0,0,0,0,0
$GC,4745,-0.74,-146.0,498.4,-9.3,448,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2774,3522,0,0,0,0,0,0
$GC,5052,-0.74,-146.0,526.3,-8.9,458,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2775,3522,0,0,0,0,0,0
$GC,5359,-0.74,-146.0,553.4,-8.6,468,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2775,3521,0,0,0,0,0,0
$GC,5664,-0.74,-146.0,580.9,-9.0,478,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2775,3521,0,0,0,0,0,0
$STATE,5878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5878,begin apogee
$GC,5887,-0.14,0.0,600.6,9.2,485,6016,0.55,0.00,122.60,0.965,4,0.130,0.000,2421,2607,2926,0,0,0,0,0,0
$STATE,6017,end apogee,CONTROL_FINISHED_OK
$STATE,6017,begin climb
$GC,6020,0.57,146.0,605.4,0.0,489,6160,0.70,2.40,130.62,0.937,4,0.069,0.048,2667,1184,2327,0,0,0,0,0,0
$GC,6309,-1.83,146.0,583.6,22470.0,498,6319,2.65,2.42,0.00,0.000,6,0.147,0.054,1893,2612,2317,0,0,0,0,0,0
$GC,6651,-1.83,146.0,530.9,22470.0,509,6655,0.00,2.28,0.00,0.000,4,0.000,0.043,1892,1166,2308,0,0,0,0,0,0
$GC,6910,-1.83,146.0,483.1,22470.0,516,6914,0.00,2.38,0.00,0.000,6,0.000,0.059,1880,2597,2309,0,0,0,0,0,0
$GC,7229,-1.83,146.0,426.6,22470.0,527,7233,0.00,2.25,0.00,0.000,4,0.000,0.046,1880,1180,2307,0,0,0,0,0,0
$GC,7319,-1.83,146.0,409.6,22470.0,529,7327,0.00,2.28,0.00,0.000,6,0.000,0.056,1869,2564,2305,0,0,0,0,0,0
$GC,7645,-1.83,146.0,354.1,22470.0,556,7649,0.00,2.25,0.00,0.000,4,0.000,0.050,1868,1180,2307,0,0,0,0,0,0
$GC,7905,-1.83,146.0,307.9,22470.0,578,7913,0.12,2.35,0.00,0.000,6,0.195,0.057,1885,2586,2306,0,0,0,0,0,0
$GC,8233,-1.83,146.0,251.8,22470.0,609,8237,0.00,2.28,0.00,0.000,4,0.000,0.068,1875,3928,2306,0,0,0,0,0,0
$GC,8491,-1.83,146.0,199.7,22470.0,631,8498,0.00,2.12,0.00,0.000,6,0.000,0.046,1872,2632,2306,0,0,0,0,0,0
$GC,8819,-1.83,146.0,137.4,22470.0,662,8823,0.00,2.35,0.00,0.000,4,0.000,0.050,1871,1180,2306,0,0,0,0,0,0
$GC,9079,-1.83,146.0,89.4,22470.0,689,9086,0.00,2.38,0.00,0.000,6,0.000,0.051,1859,2634,2306,0,0,0,0,0,0
$GC,9427,-1.83,146.0,30.6,22470.0,750,9433,0.00,2.20,0.00,0.000,4,0.000,0.067,1848,3932,2304,0,0,0,0,0,0
$GC,9441,-1.83,146.0,27.8,22470.0,752,9449,0.15,2.08,0.00,0.000,6,0.227,0.042,1880,2651,2305,0,0,0,0,0,0
$FREEZE,8.53,1.534,-1.834,3,1,0
$FREEZE,7.73,1.678,-1.824,3,1,0
$FREEZE,7.08,1.628,-1.827,3,1,0
$FREEZE,5.30,1.485,-1.834,3,1,0
$FREEZE,4.27,1.595,-1.827,3,1,0
$FREEZE,3.75,1.626,-1.825,3,1,0
$FREEZE,2.98,1.635,-1.823,3,1,0
$STATE,9582,end climb,SURFACE_DEPTH_REACHED
$STATE,9582,begin surface coast
$FREEZE,1.76,1.416,-1.835,3,1,0
$FINISH,1.8,1.026776
$STATE,9588,end surface coast,CONTROL_FINISHED_OK
$STATE,9588,begin surface
$SM_CCo,9604,248.65,0.080,0,0,441,609.08
$SM_GC,1.43,0.00,0.00,248.65,0.000,0.000,0.080,294,2782,441,-6.81,0.06,609.08
$RAFOS_CLK,498
$RAFOS_FIX,6704.509766,-5733.379883,010211,161628,4,83,0.61
$IRIDIUM_FIX,6636.54,-5715.22,010211,141447
$TT8_MAMPS,0.028462
$HUMID,49.76
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,600.6,11.9
$24V_AH,21.7,99.220
$10V_AH,9.7,67.177
$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,18.250,72.250,253.225,248.650,0.000,23.733,43.423,177.774,2.500,0.000,41.858,1940.427,5650.713,630.838,1743.177,333.392,0.000,1442.793,0.000,1474.074,0.000,22.747,0.000
$DEVICE_MAMPS,240.210,84.915,964.665,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,30100,778
$CAP_FILE_SIZE,106271,0
$CFSIZE,260165632,192258048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.9
$GPS,010211,200626,6702.917,-5730.799,21,3.0,40,-37.7