version: 66.08
glider: 183
mission: 3
dive: 889
start: 2 2 111 1 56 35
data:
$ID,183
$MISSION,3
$DIVE,889
$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,-13580.114
$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
$GPS1,020211,014937,6702.733,-5734.964,39,1.2,39,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.5
$GPS2,020211,015602,6702.738,-5734.870,9,1.4,9,-37.8
$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,292.3,129913,-17.5,-10.000
$D_GRID,835
$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,-146.0,0.0,0.0,0,175,0.00,0.00,-149.15,0.000,6,0.000,0.000,284,2789,3520,0,0,0,0,0,0
$GC,179,-0.57,-146.0,6.9,-16.1,27,192,8.40,1.98,0.00,0.000,4,0.243,0.057,2276,3940,3521,0,0,0,0,0,0
$GC,307,-0.57,-146.0,36.8,-10.9,49,313,0.00,1.90,0.00,0.000,6,0.000,0.047,2275,2770,3523,0,0,0,0,0,0
$GC,654,-0.57,-146.0,73.5,-9.9,110,661,0.00,2.00,0.00,0.000,4,0.000,0.073,2270,3929,3523,0,0,0,0,0,0
$GC,675,-0.57,-146.0,75.7,-10.1,113,682,0.00,1.85,0.00,0.000,6,0.000,0.047,2270,2788,3523,0,0,0,0,0,0
$GC,1016,-0.57,-146.0,109.3,-9.6,165,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2788,3522,0,0,0,0,0,0
$GC,1340,-0.59,-146.0,138.9,-8.5,195,1344,0.00,2.28,0.00,0.000,4,0.000,0.048,2270,1369,3522,0,0,0,0,0,0
$GC,1430,-0.65,-146.0,147.5,-8.5,202,1437,0.00,2.35,0.00,0.000,6,0.000,0.060,2262,2773,3521,0,0,0,0,0,0
$GC,1756,-0.65,-146.0,175.2,-8.5,233,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2773,3521,0,0,0,0,0,0
$GC,2078,-0.65,-146.0,202.4,-8.9,263,2082,0.00,2.28,0.00,0.000,4,0.000,0.047,2262,1370,3522,0,0,0,0,0,0
$GC,2152,-0.69,-146.0,209.5,-8.8,269,2157,0.00,2.33,0.00,0.000,6,0.000,0.059,2261,2761,3522,0,0,0,0,0,0
$GC,2478,-0.69,-146.0,239.6,-9.5,299,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2760,3523,0,0,0,0,0,0
$GC,2799,-0.69,-146.0,270.0,-9.5,329,2803,0.00,2.25,0.00,0.000,4,0.000,0.047,2261,1373,3522,0,0,0,0,0,0
$GC,2825,-0.71,-146.0,272.5,-9.4,331,2829,0.00,2.33,0.00,0.000,6,0.000,0.060,2261,2759,3522,0,0,0,0,0,0
$GC,3151,-0.71,-146.0,301.5,-8.6,361,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2760,3522,0,0,0,0,0,0
$GC,3473,-0.73,-146.0,330.1,-9.1,391,3477,0.00,2.00,0.00,0.000,4,0.000,0.071,2260,3928,3522,0,0,0,0,0,0
$GC,3502,-0.76,-146.0,333.2,-9.1,393,3509,0.00,1.90,0.00,0.000,6,0.000,0.046,2260,2759,3522,0,0,0,0,0,0
$GC,3828,-0.78,-146.0,361.1,-8.3,424,3833,0.10,2.25,0.00,0.000,4,0.117,0.048,2211,1371,3521,0,0,0,0,0,0
$GC,3862,-0.73,-146.0,364.7,-10.8,426,3869,0.12,2.38,0.00,0.000,6,0.173,0.061,2234,2768,3521,0,0,0,0,0,0
$GC,4188,-0.71,-146.0,395.9,-9.5,457,4192,0.00,2.03,0.00,0.000,4,0.000,0.070,2227,3934,3521,0,0,0,0,0,0
$GC,4213,-0.68,-146.0,398.3,-9.2,459,4217,0.00,1.92,0.00,0.000,6,0.000,0.046,2227,2752,3521,0,0,0,0,0,0
$GC,4544,-0.64,-146.0,430.7,-9.7,471,4549,0.15,2.08,0.00,0.000,4,0.163,0.071,2262,3928,3521,0,0,0,0,0,0
$GC,4580,-0.67,-146.0,433.8,-7.9,472,4584,0.00,1.90,0.00,0.000,6,0.000,0.047,2262,2761,3521,0,0,0,0,0,0
$GC,4923,-0.70,-146.0,458.0,-7.0,483,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2760,3521,0,0,0,0,0,0
$GC,5230,-0.74,-146.0,481.1,-7.7,493,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2760,3521,0,0,0,0,0,0
$GC,5535,-0.78,-146.0,505.3,-8.0,503,5537,0.10,0.00,0.00,0.000,6,0.112,0.000,2213,2760,3521,0,0,0,0,0,0
$GC,5841,-0.72,-146.0,539.7,-11.7,513,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2760,3521,0,0,0,0,0,0
$STATE,5932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5932,begin apogee
$GC,5941,-0.14,0.0,550.5,11.8,516,6071,0.68,0.00,122.15,0.931,4,0.135,0.000,2423,2598,2923,0,0,0,0,0,0
$STATE,6072,end apogee,CONTROL_FINISHED_OK
$STATE,6072,begin climb
$GC,6076,0.57,146.0,556.8,0.0,520,6213,0.68,2.40,129.15,0.909,4,0.067,0.049,2664,1188,2327,0,0,0,0,0,0
$GC,6370,-1.63,146.0,537.6,21033.5,529,6380,2.40,2.40,0.00,0.000,6,0.144,0.055,1955,2602,2317,0,0,0,0,0,0
$GC,6706,-1.63,146.0,495.1,21033.5,540,6710,0.00,2.30,0.00,0.000,4,0.000,0.050,1954,1185,2309,0,0,0,0,0,0
$GC,6966,-1.63,146.0,455.1,21033.5,547,6972,0.00,2.33,0.00,0.000,6,0.000,0.059,1944,2578,2307,0,0,0,0,0,0
$GC,7279,-1.63,146.0,406.3,21033.5,558,7284,0.00,2.30,0.00,0.000,4,0.000,0.070,1938,3927,2307,0,0,0,0,0,0
$GC,7538,-1.63,146.0,359.6,21033.5,577,7544,0.00,2.17,0.00,0.000,6,0.000,0.047,1938,2600,2304,0,0,0,0,0,0
$GC,7864,-1.63,146.0,306.4,21033.5,608,7868,0.00,2.25,0.00,0.000,4,0.000,0.049,1937,1192,2306,0,0,0,0,0,0
$GC,8122,-1.63,146.0,263.9,21033.5,630,8129,0.00,2.33,0.00,0.000,6,0.000,0.058,1927,2578,2304,0,0,0,0,0,0
$GC,8448,-1.63,146.0,211.4,21033.5,661,8452,0.00,2.25,0.00,0.000,4,0.000,0.050,1925,1195,2306,0,0,0,0,0,0
$GC,8708,-1.63,146.0,167.9,21033.5,683,8716,0.15,2.25,0.00,0.000,6,0.272,0.053,1941,2561,2303,0,0,0,0,0,0
$GC,9034,-1.63,146.0,113.7,21033.5,714,9038,0.00,2.22,0.00,0.000,4,0.000,0.050,1940,1196,2305,0,0,0,0,0,0
$GC,9296,-0.48,146.0,68.1,19.0,752,9303,1.62,2.28,0.00,0.000,6,0.228,0.049,2312,2589,2303,0,0,0,0,0,0
$GC,9646,0.30,239.2,45.1,5.7,813,9727,0.70,2.38,74.57,0.613,4,0.086,0.050,2568,1193,1946,0,0,0,0,0,0
$GC,9983,0.71,239.2,18.3,12.3,872,9991,0.38,2.22,0.00,0.000,6,0.090,0.055,2701,2557,1937,0,0,0,0,0,0
$FREEZE,8.47,0.713,-1.841,3,1,0
$FREEZE,7.95,0.673,-1.840,3,1,0
$FREEZE,7.48,0.638,-1.839,3,1,0
$FREEZE,7.01,0.580,-1.838,3,1,0
$FREEZE,6.05,0.616,-1.837,3,1,0
$FREEZE,5.29,0.718,-1.836,3,1,0
$FREEZE,4.65,0.690,-1.838,3,1,0
$FREEZE,3.92,0.737,-1.837,3,1,0
$FREEZE,3.33,0.695,-1.836,3,1,0
$FREEZE,2.69,0.665,-1.836,3,1,0
$STATE,10123,end climb,SURFACE_DEPTH_REACHED
$STATE,10123,begin surface coast
$FREEZE,1.93,0.616,-1.835,3,1,0
$FREEZE,1.41,0.606,-1.834,3,1,0
$FREEZE,1.01,0.587,-1.834,3,1,0
$FREEZE,0.52,0.571,-1.834,3,1,0
$FINISH,0.5,1.026821
$STATE,10146,end surface coast,CONTROL_FINISHED_OK
$STATE,10146,begin surface
$SM_CCo,10165,207.65,0.083,0,0,440,609.08
$SM_GC,1.20,0.00,0.00,207.65,0.000,0.000,0.083,294,2785,440,-6.81,0.14,609.08
$RAFOS_CLK,533
$RAFOS,4,1296621182,4.566667,4.550556,44,43,42,42,41,39,919,884,474,1034,163,759
$RAFOS,3,1296620709,4.433333,4.419167,47,44,44,43,42,42,917,1179,1309,26,873,1193
$RAFOS,2,1296620229,4.300000,4.285833,44,41,39,39,39,38,237,888,1313,1037,1422,845
$RAFOS,1,1296619741,4.166667,4.150278,44,44,42,42,42,41,409,1616,1607,1787,628,36
$RAFOS,0,1296619263,4.033333,4.017500,49,48,48,46,44,41,1803,872,421,1648,830,505
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6631.12,-5725.81,010211,232321
$TT8_MAMPS,0.029211
$HUMID,48.34
$INTERNAL_PRESSURE,8.49489
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,550.5,11.5
$24V_AH,21.8,99.504
$10V_AH,9.7,67.361
$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,21.975,70.675,325.875,207.650,0.000,27.812,16.855,172.574,2.000,0.000,12.256,2228.497,5702.533,653.432,1832.089,348.999,0.000,1534.547,0.000,1621.350,2160.000,16.127,0.000
$DEVICE_MAMPS,271.575,72.675,931.005,82.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33361,901
$CAP_FILE_SIZE,114569,0
$CFSIZE,260165632,192081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.9
$GPS,020211,045100,6702.180,-5738.609,38,1.4,38,-37.8