version: 66.08
glider: 183
mission: 3
dive: 888
start: 2 1 111 23 10 48
data:
$ID,183
$MISSION,3
$DIVE,888
$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,-13578.862
$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,26
$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
$GPS1,010211,230357,6702.670,-5732.501,33,2.1,52,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.3
$GPS2,010211,231014,6702.716,-5732.492,14,1.2,14,-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,292.4,131579,-17.5,-10.000
$D_GRID,827
$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,-146.0,0.0,0.0,0,172,0.00,0.00,-149.62,0.000,6,0.000,0.000,291,2790,3520,0,0,0,0,0,0
$GC,175,-0.57,-146.0,5.7,-12.9,27,189,8.35,1.98,0.00,0.000,4,0.241,0.060,2278,3928,3522,0,0,0,0,0,0
$GC,445,-0.59,-146.0,51.6,-11.1,74,452,0.00,1.90,0.00,0.000,6,0.000,0.047,2277,2771,3524,0,0,0,0,0,0
$GC,792,-0.59,-146.0,85.5,-8.7,135,799,0.00,2.25,0.00,0.000,4,0.000,0.048,2277,1368,3523,0,0,0,0,0,0
$GC,870,-0.64,-146.0,92.6,-8.7,148,877,0.00,2.40,0.00,0.000,6,0.000,0.060,2275,2783,3523,0,0,0,0,0,0
$GC,1208,-0.66,-146.0,120.8,-9.3,187,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2783,3523,0,0,0,0,0,0
$GC,1529,-0.70,-146.0,150.1,-9.4,217,1533,0.00,2.28,0.00,0.000,4,0.000,0.047,2275,1368,3522,0,0,0,0,0,0
$GC,1575,-0.76,-146.0,154.7,-8.8,220,1582,0.12,2.38,0.00,0.000,6,0.090,0.059,2216,2785,3522,0,0,0,0,0,0
$GC,1901,-0.69,-146.0,196.7,-13.1,251,1905,0.12,2.00,0.00,0.000,4,0.176,0.070,2243,3928,3523,0,0,0,0,0,0
$GC,1971,-0.69,-146.0,205.0,-11.6,257,1975,0.00,1.88,0.00,0.000,6,0.000,0.046,2243,2781,3522,0,0,0,0,0,0
$GC,2302,-0.66,-146.0,241.1,-10.8,288,2307,0.00,2.28,0.00,0.000,4,0.000,0.047,2242,1373,3523,0,0,0,0,0,0
$GC,2344,-0.66,-146.0,245.8,-11.4,291,2348,0.00,2.40,0.00,0.000,6,0.000,0.060,2235,2788,3523,0,0,0,0,0,0
$GC,2670,-0.63,-146.0,283.4,-11.2,321,2672,0.12,0.00,0.00,0.000,6,0.168,0.000,2269,2788,3523,0,0,0,0,0,0
$GC,2989,-0.67,-146.0,311.7,-8.7,351,2993,0.00,2.30,0.00,0.000,4,0.000,0.048,2269,1365,3523,0,0,0,0,0,0
$GC,3033,-0.73,-146.0,315.9,-9.7,354,3041,0.00,2.40,0.00,0.000,6,0.000,0.059,2264,2780,3523,0,0,0,0,0,0
$GC,3360,-0.76,-146.0,343.9,-8.7,385,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2781,3523,0,0,0,0,0,0
$GC,3678,-0.79,-146.0,369.2,-8.0,415,3680,0.12,0.00,0.00,0.000,6,0.099,0.000,2202,2781,3524,0,0,0,0,0,0
$GC,4014,-0.70,-146.0,408.0,-11.8,443,4016,0.17,0.00,0.00,0.000,6,0.164,0.000,2251,2781,3523,0,0,0,0,0,0
$GC,4322,-0.70,-146.0,434.9,-8.7,453,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2780,3523,0,0,0,0,0,0
$GC,4627,-0.70,-146.0,461.2,-8.6,463,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2780,3523,0,0,0,0,0,0
$GC,4933,-0.70,-146.0,487.9,-8.8,473,4938,0.00,2.28,0.00,0.000,4,0.000,0.049,2252,1369,3523,0,0,0,0,0,0
$GC,4963,-0.72,-146.0,490.5,-9.0,473,4969,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2776,3523,0,0,0,0,0,0
$STATE,5094,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5094,begin apogee
$GC,5101,-0.14,0.0,502.3,9.1,478,5232,0.55,0.00,121.85,0.901,4,0.129,0.000,2425,2607,2923,0,0,0,0,0,0
$STATE,5233,end apogee,CONTROL_FINISHED_OK
$STATE,5233,begin climb
$GC,5236,0.57,146.0,507.3,0.0,482,5371,0.68,2.42,127.60,0.877,4,0.065,0.049,2667,1177,2327,0,0,0,0,0,0
$GC,5534,-1.43,146.0,484.2,19395.8,491,5543,2.17,2.42,0.00,0.000,6,0.144,0.054,2020,2606,2317,0,0,0,0,0,0
$GC,5861,-1.43,146.0,443.3,19395.8,502,5864,0.00,2.22,0.00,0.000,4,0.000,0.062,2009,3936,2308,0,0,0,0,0,0
$GC,6119,-1.43,146.0,400.9,19395.8,509,6124,0.00,2.15,0.00,0.000,6,0.000,0.046,2008,2626,2308,0,0,0,0,0,0
$GC,6445,-1.43,146.0,352.9,19395.8,537,6449,0.00,2.33,0.00,0.000,4,0.000,0.050,2007,1187,2308,0,0,0,0,0,0
$GC,6704,-1.43,146.0,312.2,19395.8,559,6711,0.00,2.38,0.00,0.000,6,0.000,0.057,1997,2607,2308,0,0,0,0,0,0
$GC,7032,-1.43,146.0,262.5,19395.8,590,7036,0.00,2.28,0.00,0.000,4,0.000,0.048,1994,1191,2307,0,0,0,0,0,0
$GC,7289,-1.43,146.0,221.7,19395.8,612,7297,0.12,2.28,0.00,0.000,6,0.219,0.052,2009,2581,2307,0,0,0,0,0,0
$GC,7616,-1.43,146.0,173.6,19395.8,643,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2582,2304,0,0,0,0,0,0
$GC,7937,-1.43,146.0,126.1,19395.8,673,7941,0.00,2.25,0.00,0.000,4,0.000,0.047,2009,1189,2305,0,0,0,0,0,0
$GC,8197,-0.22,146.0,88.7,14.4,703,8204,1.40,2.40,0.00,0.000,6,0.158,0.059,2395,2615,2306,0,0,0,0,0,0
$GC,8548,0.35,222.8,70.7,6.5,764,8621,0.52,2.33,61.65,0.630,4,0.102,0.068,2582,3928,2012,0,0,0,0,0,0
$GC,8799,0.69,295.7,54.1,6.6,807,8870,0.32,2.50,60.38,0.610,6,0.061,0.045,2717,2405,1715,0,0,0,0,0,0
$FREEZE,8.54,1.542,-1.846,3,1,0
$FREEZE,7.69,1.537,-1.845,3,1,0
$FREEZE,6.92,1.536,-1.845,3,1,0
$FREEZE,6.31,1.530,-1.844,3,1,0
$FREEZE,5.57,1.522,-1.844,3,1,0
$FREEZE,4.90,1.523,-1.843,3,1,0
$FREEZE,4.40,1.505,-1.843,3,1,0
$FREEZE,3.81,1.500,-1.842,3,1,0
$FREEZE,3.33,1.499,-1.842,3,1,0
$FREEZE,2.63,1.503,-1.841,3,1,0
$STATE,9199,end climb,SURFACE_DEPTH_REACHED
$STATE,9199,begin surface coast
$FREEZE,1.84,1.495,-1.841,3,1,0
$FREEZE,1.01,1.489,-1.840,3,1,0
$FREEZE,0.67,1.471,-1.840,3,1,0
$FREEZE,0.54,1.073,-1.866,3,1,0
$FREEZE,0.52,1.436,-1.825,3,1,0
$FINISH,0.5,1.026645
$STATE,9230,end surface coast,CONTROL_FINISHED_OK
$STATE,9230,begin surface
$SM_CCo,9247,176.82,0.081,0,0,440,609.08
$SM_GC,1.25,0.00,0.00,176.82,0.000,0.000,0.081,296,2788,440,-6.80,0.23,609.08
$RAFOS_CLK,477
$RAFOS,6,1296607741,0.833333,0.816944,92,44,44,40,40,39,732,145,1662,648,1699,870
$RAFOS,5,1296607263,0.700000,0.684167,113,58,51,45,44,42,564,564,882,1487,1094,1147
$RAFOS,4,1296606785,0.566667,0.551389,108,44,42,42,42,42,763,1408,177,1135,353,597
$RAFOS,3,1296606319,0.433333,0.421944,46,44,43,42,40,39,237,558,1417,399,145,1215
$RAFOS,2,1296605829,0.300000,0.285833,49,48,45,44,42,40,1142,1407,273,26,339,1493
$RAFOS,1,1296605342,0.166667,0.150556,55,47,46,42,41,39,1274,144,387,1579,230,26
$RAFOS,0,1296604863,0.033333,0.017500,49,43,43,43,40,39,1075,639,884,1398,940,1384
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6631.12,-5745.67,010211,202050
$TT8_MAMPS,0.028462
$HUMID,49.01
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,502.3,11.0
$24V_AH,22.0,99.408
$10V_AH,9.7,67.298
$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,21.225,59.975,371.475,176.825,0.000,27.962,18.023,168.766,1.750,0.000,16.540,2142.712,4942.753,643.296,1765.504,327.743,0.000,1493.653,0.000,1550.306,2520.000,14.158,0.000
$DEVICE_MAMPS,240.975,69.615,901.170,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.541,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,33437,883
$CAP_FILE_SIZE,106349,0
$CFSIZE,260165632,192147456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,020211,014937,6702.733,-5734.964,39,1.2,39,-37.8