version: 66.08
glider: 183
mission: 3
dive: 877
start: 1 31 111 18 18 34
data:
$ID,183
$MISSION,3
$DIVE,877
$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,-13562.912
$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,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
$GPS1,310111,181201,6702.608,-5707.046,40,1.3,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-55.6
$GPS2,310111,181801,6702.642,-5707.169,9,1.1,14,-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,294.2,149498,-17.5,-10.000
$D_GRID,727
$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,-147.02,0.000,6,0.000,0.000,270,2789,3520,0,0,0,0,0,0
$GC,177,-0.57,-146.0,6.7,-19.6,27,190,8.35,1.92,0.00,0.000,4,0.238,0.054,2276,3924,3522,0,0,0,0,0,0
$GC,435,-0.57,-146.0,50.1,-9.2,72,442,0.00,1.83,0.00,0.000,6,0.000,0.045,2276,2780,3522,0,0,0,0,0,0
$GC,783,-0.57,-146.0,84.2,-9.4,133,789,0.00,2.28,0.00,0.000,4,0.000,0.047,2276,1373,3522,0,0,0,0,0,0
$GC,911,-0.60,-146.0,95.3,-8.4,155,918,0.00,2.30,0.00,0.000,6,0.000,0.059,2274,2746,3521,0,0,0,0,0,0
$GC,1244,-0.64,-146.0,120.1,-7.3,191,1248,0.00,2.03,0.00,0.000,4,0.000,0.068,2274,3930,3520,0,0,0,0,0,0
$GC,1317,-0.69,-146.0,125.6,-6.5,197,1324,0.00,1.92,0.00,0.000,6,0.000,0.044,2275,2743,3520,0,0,0,0,0,0
$GC,1644,-0.74,-146.0,150.4,-8.3,228,1649,0.10,2.20,0.00,0.000,4,0.107,0.046,2224,1374,3519,0,0,0,0,0,0
$GC,1672,-0.72,-146.0,153.3,-10.3,230,1679,0.00,2.28,0.00,0.000,6,0.000,0.057,2222,2748,3519,0,0,0,0,0,0
$GC,1998,-0.66,-146.0,190.4,-11.8,261,2000,0.15,0.00,0.00,0.000,6,0.168,0.000,2264,2747,3519,0,0,0,0,0,0
$GC,2316,-0.70,-146.0,218.5,-9.0,291,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2747,3520,0,0,0,0,0,0
$GC,2638,-0.73,-146.0,247.3,-9.1,321,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2747,3520,0,0,0,0,0,0
$GC,2968,-0.78,-146.0,275.7,-8.4,352,2974,0.12,0.00,0.00,0.000,6,0.097,0.000,2204,2747,3521,0,0,0,0,0,0
$GC,3294,-0.70,-146.0,315.7,-12.2,383,3298,0.15,2.20,0.00,0.000,4,0.165,0.044,2246,1371,3521,0,0,0,0,0,0
$GC,3317,-0.67,-146.0,318.4,-11.0,384,3323,0.00,2.28,0.00,0.000,6,0.000,0.055,2246,2737,3521,0,0,0,0,0,0
$GC,3643,-0.67,-146.0,348.4,-9.1,415,3647,0.00,2.03,0.00,0.000,4,0.000,0.065,2246,3932,3522,0,0,0,0,0,0
$STATE,3661,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3661,begin apogee
$GC,3671,-0.14,0.0,350.0,8.5,416,3798,0.55,0.00,117.57,0.770,4,0.124,0.000,2427,2590,2923,0,0,0,0,0,0
$STATE,3799,end apogee,CONTROL_FINISHED_OK
$STATE,3799,begin climb
$GC,3802,0.57,146.0,353.6,0.0,428,3936,0.65,2.28,118.82,0.756,4,0.064,0.044,2667,1184,2330,0,0,0,0,0,0
$GC,4106,0.57,146.0,322.9,13.1,455,4110,0.00,2.28,0.00,0.000,6,0.000,0.050,2667,2602,2323,0,0,0,0,0,0
$GC,4432,0.51,146.0,280.1,13.1,485,4436,0.00,2.22,0.00,0.000,4,0.000,0.046,2667,1190,2321,0,0,0,0,0,0
$GC,4653,0.51,146.0,255.5,10.9,504,4657,0.00,2.30,0.00,0.000,6,0.000,0.050,2667,2620,2321,0,0,0,0,0,0
$GC,4979,0.47,146.0,219.8,10.3,534,4984,0.15,2.20,0.00,0.000,4,0.181,0.060,2626,3928,2320,0,0,0,0,0,0
$GC,5026,0.48,171.1,215.5,8.8,538,5053,0.00,2.10,21.00,0.669,6,0.000,0.038,2626,2605,2225,0,0,0,0,0,0
$GC,5381,0.58,257.6,191.7,6.0,571,5461,0.10,2.33,71.95,0.660,4,0.107,0.046,2679,1198,1870,0,0,0,0,0,0
$GC,5497,0.61,264.5,180.8,9.7,581,5509,0.00,2.30,6.68,0.563,6,0.000,0.048,2679,2624,1844,0,0,0,0,0,0
$GC,5829,0.61,264.5,143.8,11.5,612,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2624,1837,0,0,0,0,0,0
$GC,6151,0.61,264.5,107.6,11.3,642,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2624,1837,0,0,0,0,0,0
$GC,6494,0.65,264.5,71.9,11.5,697,6500,0.00,2.25,0.00,0.000,4,0.000,0.047,2679,1201,1836,0,0,0,0,0,0
$GC,6570,0.73,264.5,64.0,10.4,710,6577,0.00,2.25,0.00,0.000,6,0.000,0.049,2679,2602,1836,0,0,0,0,0,0
$GC,6917,0.78,264.5,25.3,11.6,771,6925,0.12,2.25,0.00,0.000,4,0.100,0.047,2738,1202,1835,0,0,0,0,0,0
$GC,6955,0.78,264.5,20.5,13.0,777,6962,0.00,2.28,0.00,0.000,6,0.000,0.050,2738,2598,1835,0,0,0,0,0,0
$FREEZE,8.39,1.109,-1.840,3,1,0
$FREEZE,7.72,1.079,-1.839,3,1,0
$FREEZE,6.93,1.079,-1.838,3,1,0
$FREEZE,5.93,1.079,-1.838,3,1,0
$FREEZE,4.98,1.090,-1.837,3,1,0
$FREEZE,3.90,1.083,-1.836,3,1,0
$FREEZE,3.37,1.084,-1.836,3,1,0
$FREEZE,1.93,1.093,-1.834,3,1,0
$STATE,7068,end climb,SURFACE_DEPTH_REACHED
$STATE,7068,begin surface coast
$FREEZE,0.60,1.123,-1.832,3,1,0
$FREEZE,0.65,0.845,-0.868,3,1,0
$FREEZE,0.73,1.099,-1.833,3,1,0
$FINISH,0.7,1.026773
$STATE,7085,end surface coast,CONTROL_FINISHED_OK
$STATE,7085,begin surface
$SM_CCo,7103,195.85,0.079,0,0,440,609.08
$SM_GC,1.34,0.00,0.00,195.85,0.000,0.000,0.079,288,2795,440,-6.83,0.42,609.08
$RAFOS_CLK,301
$RAFOS,1,1296504546,20.166666,20.151667,42,41,41,40,40,38,1018,443,1067,1829,1544,1841
$RAFOS,0,1296504070,20.033333,20.019444,48,43,42,41,39,38,1915,716,881,434,1928,26
$RAFOS_FIX,6704.651367,-5708.636230,310111,161656,2,98,1.74
$IRIDIUM_FIX,6636.54,-5659.96,310111,161606
$TT8_MAMPS,0.028462
$HUMID,46.06
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,350.0,9.9
$24V_AH,23.4,98.403
$10V_AH,9.7,66.659
$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,17.075,52.775,336.025,195.850,0.000,25.719,18.678,155.402,1.000,0.000,17.381,1845.461,3413.578,645.898,1484.259,279.931,0.000,1365.910,0.000,1282.852,720.000,8.844,0.000
$DEVICE_MAMPS,237.915,68.085,769.590,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,26804,800
$CAP_FILE_SIZE,89831,0
$CFSIZE,260165632,192757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.3
$GPS,310111,202134,6702.583,-5708.745,8,99.0,28,-37.6