version: 66.08
glider: 183
mission: 3
dive: 887
start: 2 1 111 20 13 16
data:
$ID,183
$MISSION,3
$DIVE,887
$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,-13577.604
$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,30
$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
$GPS1,010211,200626,6702.917,-5730.799,21,3.0,40,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.6
$GPS2,010211,201243,6702.897,-5730.884,8,1.8,13,-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,292.4,132803,-17.5,-10.000
$D_GRID,822
$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,-150.05,0.000,6,0.000,0.000,287,2783,3520,0,0,0,0,0,0
$GC,176,-0.57,-146.0,5.7,-14.9,27,190,8.38,2.00,0.00,0.000,4,0.241,0.060,2279,3935,3523,0,0,0,0,0,0
$GC,287,-0.57,-146.0,32.3,-11.1,46,294,0.00,1.88,0.00,0.000,6,0.000,0.047,2279,2778,3524,0,0,0,0,0,0
$GC,634,-0.57,-146.0,72.4,-11.1,107,641,0.00,2.25,0.00,0.000,4,0.000,0.048,2279,1371,3523,0,0,0,0,0,0
$GC,684,-0.59,-146.0,78.1,-10.3,115,691,0.00,2.38,0.00,0.000,6,0.000,0.061,2275,2772,3523,0,0,0,0,0,0
$GC,1026,-0.62,-146.0,108.2,-8.3,167,1030,0.00,2.28,0.00,0.000,4,0.000,0.048,2274,1368,3523,0,0,0,0,0,0
$GC,1111,-0.67,-146.0,115.9,-9.1,174,1118,0.00,2.38,0.00,0.000,6,0.000,0.060,2275,2769,3523,0,0,0,0,0,0
$GC,1438,-0.70,-146.0,144.6,-8.4,205,1442,0.00,2.25,0.00,0.000,4,0.000,0.047,2274,1370,3523,0,0,0,0,0,0
$GC,1460,-0.74,-146.0,146.8,-8.9,206,1468,0.12,2.35,0.00,0.000,6,0.090,0.060,2217,2770,3523,0,0,0,0,0,0
$GC,1788,-0.66,-146.0,186.6,-12.1,237,1789,0.15,0.00,0.00,0.000,6,0.170,0.000,2258,2770,3523,0,0,0,0,0,0
$GC,2105,-0.66,-146.0,215.2,-8.2,267,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2770,3523,0,0,0,0,0,0
$GC,2427,-0.66,-146.0,241.3,-8.1,297,2431,0.00,1.98,0.00,0.000,4,0.000,0.070,2251,3927,3524,0,0,0,0,0,0
$GC,2463,-0.66,-146.0,244.8,-9.0,300,2466,0.00,1.92,0.00,0.000,6,0.000,0.046,2251,2753,3524,0,0,0,0,0,0
$GC,2794,-0.66,-146.0,275.1,-8.8,331,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2752,3524,0,0,0,0,0,0
$GC,3115,-0.66,-146.0,304.8,-9.7,361,3119,0.00,2.22,0.00,0.000,4,0.000,0.047,2251,1362,3524,0,0,0,0,0,0
$GC,3157,-0.68,-146.0,309.0,-9.0,364,3161,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2776,3524,0,0,0,0,0,0
$GC,3483,-0.68,-146.0,340.9,-9.8,394,3487,0.00,1.98,0.00,0.000,4,0.000,0.071,2247,3928,3524,0,0,0,0,0,0
$GC,3512,-0.68,-146.0,343.9,-9.7,396,3519,0.00,1.88,0.00,0.000,6,0.000,0.046,2247,2771,3523,0,0,0,0,0,0
$GC,3838,-0.68,-146.0,375.9,-10.1,427,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3524,0,0,0,0,0,0
$GC,4178,-0.68,-146.0,409.7,-9.9,453,4182,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1366,3523,0,0,0,0,0,0
$GC,4239,-0.71,-146.0,416.5,-9.5,454,4246,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2776,3523,0,0,0,0,0,0
$GC,4554,-0.71,-146.0,446.7,-9.7,465,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2776,3523,0,0,0,0,0,0
$GC,4859,-0.71,-146.0,477.0,-9.9,475,4863,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1371,3523,0,0,0,0,0,0
$GC,4887,-0.71,-146.0,480.0,-10.1,475,4894,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2761,3523,0,0,0,0,0,0
$GC,5202,-0.71,-146.0,510.0,-9.5,486,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3523,0,0,0,0,0,0
$GC,5507,-0.71,-146.0,538.3,-9.3,496,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2761,3523,0,0,0,0,0,0
$GC,5813,-0.71,-146.0,565.6,-8.7,506,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3523,0,0,0,0,0,0
$GC,6120,-0.71,-146.0,592.1,-8.6,516,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2761,3522,0,0,0,0,0,0
$STATE,6211,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6211,begin apogee
$GC,6218,-0.14,0.0,600.1,8.6,519,6348,0.55,0.00,123.47,0.963,4,0.130,0.000,2424,2602,2923,0,0,0,0,0,0
$STATE,6349,end apogee,CONTROL_FINISHED_OK
$STATE,6349,begin climb
$GC,6353,0.57,146.0,604.4,0.0,523,6492,0.68,2.40,130.70,0.936,4,0.067,0.049,2663,1188,2327,0,0,0,0,0,0
$GC,6643,-1.82,146.0,581.3,23809.8,532,6653,2.62,2.45,0.00,0.000,6,0.146,0.055,1899,2608,2317,0,0,0,0,0,0
$GC,6979,-1.82,146.0,529.6,23809.8,543,6983,0.00,2.25,0.00,0.000,4,0.000,0.070,1890,3931,2309,0,0,0,0,0,0
$GC,7238,-1.82,146.0,481.7,23809.8,550,7242,0.00,2.10,0.00,0.000,6,0.000,0.047,1887,2649,2306,0,0,0,0,0,0
$GC,7558,-1.82,146.0,425.8,23809.8,561,7562,0.00,2.17,0.00,0.000,4,0.000,0.070,1874,3927,2307,0,0,0,0,0,0
$GC,7817,-1.82,146.0,375.7,23809.8,574,7824,0.00,2.05,0.00,0.000,6,0.000,0.044,1870,2665,2305,0,0,0,0,0,0
$GC,8143,-1.82,146.0,314.0,23809.8,605,8147,0.00,2.15,0.00,0.000,4,0.000,0.061,1859,3941,2304,0,0,0,0,0,0
$GC,8402,-1.82,146.0,258.6,23809.8,627,8410,0.15,2.05,0.00,0.000,6,0.272,0.043,1885,2681,2304,0,0,0,0,0,0
$GC,8729,-1.82,146.0,197.0,23809.8,658,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,1884,2680,2303,0,0,0,0,0,0
$GC,9050,-1.82,146.0,141.8,23809.8,688,9054,0.00,2.40,0.00,0.000,4,0.000,0.047,1883,1184,2304,0,0,0,0,0,0
$GC,9311,-1.82,146.0,98.0,23809.8,711,9318,0.00,2.50,0.00,0.000,6,0.000,0.059,1870,2680,2305,0,0,0,0,0,0
$GC,9660,-1.82,146.0,38.3,23809.8,772,9667,0.00,2.05,0.00,0.000,4,0.000,0.053,1859,3937,2304,0,0,0,0,0,0
$GC,9731,-1.82,146.0,24.8,23809.8,784,9738,0.12,2.08,0.00,0.000,6,0.194,0.045,1888,2670,2305,0,0,0,0,0,0
$FREEZE,8.91,1.450,-1.837,3,1,0
$FREEZE,7.75,1.452,-1.835,3,1,0
$FREEZE,7.35,1.484,-1.833,3,1,0
$FREEZE,6.71,1.442,-1.835,3,1,0
$FREEZE,5.17,1.427,-1.835,3,1,0
$FREEZE,4.44,1.532,-1.828,3,1,0
$FREEZE,3.71,1.419,-1.834,3,1,0
$FREEZE,2.50,1.513,-1.827,3,1,0
$STATE,9850,end climb,SURFACE_DEPTH_REACHED
$STATE,9850,begin surface coast
$FREEZE,1.15,1.375,-1.835,3,1,0
$FINISH,1.1,1.026776
$STATE,9858,end surface coast,CONTROL_FINISHED_OK
$STATE,9858,begin surface
$SM_CCo,9874,249.90,0.082,0,0,440,609.08
$SM_GC,1.33,0.00,0.00,249.90,0.000,0.000,0.082,298,2789,440,-6.80,0.25,609.08
$RAFOS_CLK,518
$RAFOS,6,1296593351,20.833334,20.819723,93,51,46,41,40,39,686,144,819,1441,968,1561
$RAFOS,5,1296592863,20.700001,20.684166,58,44,42,41,40,39,574,957,1028,1313,1028,681
$RAFOS,4,1296592386,20.566668,20.551666,79,53,46,42,42,40,772,440,783,532,1819,886
$RAFOS,3,1296591903,20.433332,20.417500,62,44,44,42,40,40,924,1394,418,1041,1196,1614
$RAFOS,2,1296591425,20.299999,20.284721,48,42,42,41,40,39,144,1045,1288,1626,1322,250
$RAFOS_FIX,6705.297363,-5736.626465,010211,202002,3,78,4.01
$IRIDIUM_FIX,6636.54,-5718.20,010211,171717
$TT8_MAMPS,0.029211
$HUMID,49.17
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.6
$ALTIM_BOTTOM_PING,600.1,11.9
$24V_AH,21.6,99.307
$10V_AH,9.7,67.236
$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,16.975,66.475,254.175,249.900,0.000,28.864,16.966,169.558,2.500,0.000,16.121,2004.732,5858.230,632.201,1697.189,327.284,0.000,1442.334,0.000,1481.781,1800.000,20.529,0.000
$DEVICE_MAMPS,271.575,87.210,963.135,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,30095,806
$CAP_FILE_SIZE,106242,0
$CFSIZE,260165632,192204800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.4
$GPS,010211,230357,6702.670,-5732.501,33,2.1,52,-37.7