version: 66.08
glider: 183
mission: 3
dive: 881
start: 2 1 111 3 0 50
data:
$ID,183
$MISSION,3
$DIVE,881
$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,-13567.936
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,010211,025314,6702.996,-5714.990,30,1.9,30,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.3
$GPS2,010211,030016,6702.921,-5714.994,10,4.6,29,-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,293.6,144060,-17.5,-10.000
$D_GRID,777
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,168,0.00,0.00,-145.85,0.000,6,0.000,0.000,279,2782,3520,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.5,-14.9,26,186,8.25,1.98,0.00,0.000,4,0.236,0.056,2276,3938,3523,0,0,0,0,0,0
$GC,300,-0.57,-146.0,35.4,-13.3,48,307,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2790,3523,0,0,0,0,0,0
$GC,647,-0.57,-146.0,73.6,-11.0,109,654,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3923,3524,0,0,0,0,0,0
$GC,720,-0.60,-146.0,80.3,-8.9,121,727,0.00,1.83,0.00,0.000,6,0.000,0.045,2275,2784,3523,0,0,0,0,0,0
$GC,1062,-0.63,-146.0,109.3,-8.1,172,1066,0.00,2.22,0.00,0.000,4,0.000,0.046,2274,1373,3522,0,0,0,0,0,0
$GC,1118,-0.69,-146.0,114.6,-9.0,176,1125,0.00,2.35,0.00,0.000,6,0.000,0.058,2275,2788,3522,0,0,0,0,0,0
$GC,1446,-0.74,-146.0,143.8,-8.1,207,1450,0.10,2.28,0.00,0.000,4,0.109,0.046,2224,1372,3522,0,0,0,0,0,0
$GC,1496,-0.71,-146.0,149.5,-11.9,211,1503,0.00,2.33,0.00,0.000,6,0.000,0.057,2222,2779,3522,0,0,0,0,0,0
$GC,1823,-0.65,-146.0,187.5,-11.9,242,1827,0.15,1.98,0.00,0.000,4,0.168,0.067,2257,3928,3522,0,0,0,0,0,0
$GC,1869,-0.68,-146.0,192.5,-10.3,246,1873,0.00,1.88,0.00,0.000,6,0.000,0.043,2257,2767,3522,0,0,0,0,0,0
$GC,2203,-0.70,-146.0,221.7,-8.2,277,2206,0.00,2.20,0.00,0.000,4,0.000,0.044,2257,1370,3523,0,0,0,0,0,0
$GC,2231,-0.73,-146.0,224.3,-8.1,279,2238,0.00,2.35,0.00,0.000,6,0.000,0.056,2248,2779,3522,0,0,0,0,0,0
$GC,2558,-0.73,-146.0,253.1,-9.2,310,2562,0.00,2.25,0.00,0.000,4,0.000,0.044,2248,1371,3522,0,0,0,0,0,0
$GC,2588,-0.73,-146.0,256.0,-8.8,312,2592,0.00,2.30,0.00,0.000,6,0.000,0.056,2247,2771,3523,0,0,0,0,0,0
$GC,2915,-0.73,-146.0,285.8,-8.9,342,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2772,3524,0,0,0,0,0,0
$GC,3238,-0.73,-146.0,311.9,-7.8,372,3242,0.00,2.22,0.00,0.000,4,0.000,0.044,2248,1368,3523,0,0,0,0,0,0
$GC,3260,-0.73,-146.0,314.3,-8.3,373,3266,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2765,3523,0,0,0,0,0,0
$GC,3586,-0.73,-146.0,338.8,-7.4,404,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3524,0,0,0,0,0,0
$STATE,3757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3757,begin apogee
$GC,3764,-0.14,0.0,350.8,7.2,420,3889,0.55,0.00,117.97,0.772,4,0.124,0.000,2427,2601,2923,0,0,0,0,0,0
$STATE,3890,end apogee,CONTROL_FINISHED_OK
$STATE,3890,begin climb
$GC,3893,0.57,146.0,352.0,0.0,431,4027,0.65,2.30,118.57,0.756,4,0.060,0.044,2671,1188,2327,0,0,0,0,0,0
$GC,4197,0.54,146.0,319.0,12.8,458,4201,0.00,2.28,0.00,0.000,6,0.000,0.050,2672,2604,2321,0,0,0,0,0,0
$GC,4525,0.47,146.0,275.1,13.2,488,4530,0.15,2.28,0.00,0.000,4,0.177,0.046,2635,1191,2319,0,0,0,0,0,0
$GC,4734,0.53,177.7,256.2,8.5,506,4767,0.00,2.30,26.15,0.698,6,0.000,0.050,2636,2606,2198,0,0,0,0,0,0
$GC,5088,0.57,204.7,224.7,8.8,539,5115,0.00,0.00,23.20,0.679,6,0.000,0.000,2636,2607,2088,0,0,0,0,0,0
$GC,5436,0.63,235.3,194.0,8.6,572,5465,0.12,0.00,26.30,0.666,6,0.092,0.000,2695,2607,1963,0,0,0,0,0,0
$GC,5783,0.57,235.3,145.5,13.6,605,5785,0.12,0.00,0.00,0.000,6,0.173,0.000,2662,2607,1956,0,0,0,0,0,0
$GC,6101,0.57,235.3,109.2,11.2,635,6105,0.00,2.28,0.00,0.000,4,0.000,0.046,2663,1183,1956,0,0,0,0,0,0
$GC,6134,0.63,235.3,105.3,10.4,637,6141,0.00,2.28,0.00,0.000,6,0.000,0.049,2662,2598,1956,0,0,0,0,0,0
$GC,6477,0.67,235.3,68.1,11.0,694,6484,0.00,2.22,0.00,0.000,4,0.000,0.061,2662,3934,1955,0,0,0,0,0,0
$GC,6503,0.69,235.3,65.2,11.2,698,6510,0.10,2.12,0.00,0.000,6,0.112,0.039,2710,2597,1954,0,0,0,0,0,0
$GC,6853,0.66,235.3,18.4,15.4,759,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2597,1955,0,0,0,0,0,0
$FREEZE,8.40,1.534,-1.847,3,1,0
$FREEZE,7.63,1.530,-1.847,3,1,0
$FREEZE,6.95,1.522,-1.846,3,1,0
$FREEZE,6.11,1.525,-1.846,3,1,0
$FREEZE,5.48,1.526,-1.845,3,1,0
$FREEZE,4.60,1.527,-1.845,3,1,0
$FREEZE,3.89,1.501,-1.844,3,1,0
$FREEZE,3.30,1.506,-1.844,3,1,0
$FREEZE,2.84,1.485,-1.843,3,1,0
$STATE,6958,end climb,SURFACE_DEPTH_REACHED
$STATE,6958,begin surface coast
$FREEZE,1.70,1.503,-1.842,3,1,0
$FREEZE,0.85,1.495,-1.841,3,1,0
$FREEZE,0.80,1.523,-1.840,3,1,0
$FREEZE,0.65,0.911,-0.936,3,1,0
$FINISH,0.7,1.013823
$STATE,6981,end surface coast,CONTROL_FINISHED_OK
$STATE,6981,begin surface
$SM_CCo,6999,210.27,0.078,0,0,440,609.08
$SM_GC,1.39,0.00,0.00,210.27,0.000,0.000,0.078,288,2783,440,-6.82,0.08,609.08
$RAFOS_CLK,290
$RAFOS,6,1296535744,4.833333,4.817778,71,45,42,41,41,38,748,642,1499,716,1409,1811
$RAFOS,5,1296535263,4.700000,4.684166,135,53,47,42,42,41,595,994,1822,1129,1286,26
$RAFOS,4,1296534786,4.566667,4.551667,56,53,46,42,40,40,805,673,26,631,1303,1469
$RAFOS,3,1296534312,4.433333,4.420000,50,46,42,41,41,41,1003,1023,1812,841,158,1391
$RAFOS,2,1296533824,4.300000,4.284444,45,42,39,39,39,39,301,1125,485,771,634,1306
$RAFOS,1,1296533343,4.166667,4.150833,48,42,41,40,39,39,557,1525,1240,1405,1455,769
$RAFOS,0,1296532865,4.033333,4.018055,49,44,43,41,38,38,496,974,1793,1128,144,1437
$RAFOS_FIX,6705.815918,-5723.901855,010211,040400,2,103,1.29
$IRIDIUM_FIX,6631.12,-5741.01,010211,000026
$TT8_MAMPS,0.028462
$HUMID,45.35
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,350.8,10.0
$24V_AH,23.4,98.745
$10V_AH,9.7,66.870
$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,16.750,52.900,312.200,210.275,0.000,31.389,40.611,168.730,1.000,0.000,33.352,1862.523,3350.909,640.137,1504.510,294.184,0.000,1333.849,0.000,1254.707,2520.000,8.856,0.000
$DEVICE_MAMPS,235.620,81.090,771.885,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,26797,782
$CAP_FILE_SIZE,90950,0
$CFSIZE,260165632,192552960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.4
$GPS,010211,050237,6702.634,-5718.042,33,1.4,34,-37.7