version: 66.08
glider: 183
mission: 3
dive: 892
start: 2 2 111 10 43 31
data:
$ID,183
$MISSION,3
$DIVE,892
$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,-13583.886
$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,34
$R_STBD_OVSHOOT,20
$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
$GPS1,020211,103556,6700.960,-5742.508,26,99.0,45,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.1
$GPS2,020211,104258,6700.981,-5742.805,11,4.0,30,-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,292.9,123460,-17.5,-10.000
$D_GRID,870
$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,-146.0,0.0,0.0,0,174,0.00,0.00,-150.38,0.000,6,0.000,0.000,270,2782,3520,0,0,0,0,0,0
$GC,178,-0.57,-146.0,5.7,-15.0,27,191,8.45,2.00,0.00,0.000,4,0.242,0.057,2276,3942,3522,0,0,0,0,0,0
$GC,397,-0.59,-146.0,45.2,-10.9,65,404,0.00,1.90,0.00,0.000,6,0.000,0.047,2275,2781,3524,0,0,0,0,0,0
$GC,744,-0.59,-146.0,84.8,-11.0,126,751,0.00,2.28,0.00,0.000,4,0.000,0.048,2275,1372,3524,0,0,0,0,0,0
$GC,890,-0.64,-146.0,100.6,-10.9,150,897,0.00,2.35,0.00,0.000,6,0.000,0.060,2275,2771,3524,0,0,0,0,0,0
$GC,1217,-0.67,-146.0,131.4,-10.0,181,1221,0.00,2.28,0.00,0.000,4,0.000,0.048,2275,1364,3523,0,0,0,0,0,0
$GC,1247,-0.71,-146.0,134.3,-9.5,183,1251,0.00,2.38,0.00,0.000,6,0.000,0.060,2275,2764,3523,0,0,0,0,0,0
$GC,1579,-0.75,-146.0,161.1,-8.1,214,1581,0.12,0.00,0.00,0.000,6,0.096,0.000,2216,2764,3523,0,0,0,0,0,0
$GC,1896,-0.68,-146.0,200.2,-12.5,244,1898,0.15,0.00,0.00,0.000,6,0.164,0.000,2259,2764,3522,0,0,0,0,0,0
$GC,2215,-0.70,-146.0,228.0,-8.2,274,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2763,3522,0,0,0,0,0,0
$GC,2537,-0.73,-146.0,254.5,-8.5,304,2541,0.00,2.25,0.00,0.000,4,0.000,0.048,2259,1370,3522,0,0,0,0,0,0
$GC,2567,-0.75,-146.0,257.3,-8.1,306,2571,0.00,2.35,0.00,0.000,6,0.000,0.060,2259,2766,3522,0,0,0,0,0,0
$GC,2895,-0.77,-146.0,285.8,-8.7,336,2898,0.00,2.03,0.00,0.000,4,0.000,0.070,2252,3935,3522,0,0,0,0,0,0
$GC,2957,-0.80,-146.0,291.8,-8.9,341,2964,0.10,1.92,0.00,0.000,6,0.112,0.046,2206,2763,3523,0,0,0,0,0,0
$GC,3286,-0.72,-146.0,330.1,-12.1,372,3291,0.12,2.25,0.00,0.000,4,0.177,0.046,2238,1373,3522,0,0,0,0,0,0
$GC,3327,-0.72,-146.0,334.8,-9.8,375,3331,0.00,2.33,0.00,0.000,6,0.000,0.059,2235,2759,3523,0,0,0,0,0,0
$GC,3654,-0.72,-146.0,367.6,-10.0,405,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2759,3523,0,0,0,0,0,0
$GC,3975,-0.72,-146.0,399.8,-10.6,435,3980,0.00,2.28,0.00,0.000,4,0.000,0.047,2235,1363,3522,0,0,0,0,0,0
$GC,3997,-0.72,-146.0,402.6,-10.2,436,4001,0.00,2.35,0.00,0.000,6,0.000,0.058,2235,2761,3523,0,0,0,0,0,0
$GC,4317,-0.72,-146.0,435.7,-10.3,447,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2760,3522,0,0,0,0,0,0
$GC,4622,-0.72,-146.0,465.3,-9.4,457,4626,0.00,2.25,0.00,0.000,4,0.000,0.047,2235,1368,3522,0,0,0,0,0,0
$GC,4658,-0.72,-146.0,468.6,-9.7,458,4663,0.00,2.35,0.00,0.000,6,0.000,0.059,2235,2751,3522,0,0,0,0,0,0
$GC,4990,-0.72,-146.0,498.7,-9.1,469,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2751,3522,0,0,0,0,0,0
$STATE,5019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5019,begin apogee
$GC,5027,-0.14,0.0,501.6,9.2,470,5155,0.60,0.00,121.82,0.903,4,0.132,0.000,2425,2596,2922,0,0,0,0,0,0
$STATE,5156,end apogee,CONTROL_FINISHED_OK
$STATE,5156,begin climb
$GC,5159,0.57,146.0,505.3,0.0,474,5295,0.68,2.40,127.50,0.882,4,0.067,0.048,2665,1178,2326,0,0,0,0,0,0
$GC,5463,0.57,146.0,479.3,11.0,483,5468,0.00,2.40,0.00,0.000,6,0.000,0.054,2665,2606,2317,0,0,0,0,0,0
$GC,5789,0.52,146.0,441.6,11.5,494,5793,0.00,2.30,0.00,0.000,4,0.000,0.050,2666,1180,2314,0,0,0,0,0,0
$GC,5997,0.52,146.0,418.9,10.7,500,6002,0.00,2.35,0.00,0.000,6,0.000,0.054,2666,2610,2314,0,0,0,0,0,0
$GC,6321,0.48,146.0,383.3,11.1,519,6326,0.12,2.22,0.00,0.000,4,0.194,0.065,2634,3932,2313,0,0,0,0,0,0
$GC,6384,0.45,146.0,375.8,10.6,524,6389,0.00,2.15,0.00,0.000,6,0.000,0.043,2635,2608,2311,0,0,0,0,0,0
$GC,6710,0.46,167.9,345.0,9.0,554,6733,0.00,2.38,17.27,0.799,4,0.000,0.050,2635,1184,2238,0,0,0,0,0,0
$GC,6758,0.53,197.2,340.7,8.6,558,6792,0.00,2.35,26.65,0.793,6,0.000,0.054,2635,2621,2118,0,0,0,0,0,0
$GC,7111,0.60,228.1,308.9,8.6,591,7140,0.00,0.00,26.73,0.781,6,0.000,0.000,2635,2621,1993,0,0,0,0,0,0
$GC,7459,0.67,228.1,276.3,10.1,624,7461,0.15,0.00,0.00,0.000,6,0.091,0.000,2700,2621,1985,0,0,0,0,0,0
$GC,7777,0.61,228.1,227.0,16.5,654,7781,0.00,2.20,0.00,0.000,4,0.000,0.066,2699,3930,1984,0,0,0,0,0,0
$GC,7842,0.53,228.1,215.9,17.8,659,7847,0.20,2.12,0.00,0.000,6,0.171,0.042,2651,2615,1983,0,0,0,0,0,0
$GC,8176,0.58,228.1,176.8,10.7,690,8180,0.00,2.30,0.00,0.000,4,0.000,0.050,2650,1193,1983,0,0,0,0,0,0
$GC,8198,0.65,228.1,174.0,10.8,691,8205,0.10,2.33,0.00,0.000,6,0.106,0.052,2696,2616,1984,0,0,0,0,0,0
$GC,8524,0.63,228.1,129.7,13.6,722,8528,0.00,2.20,0.00,0.000,4,0.000,0.064,2696,3925,1984,0,0,0,0,0,0
$GC,8643,0.57,228.1,112.3,14.3,732,8650,0.15,2.10,0.00,0.000,6,0.174,0.043,2658,2637,1982,0,0,0,0,0,0
$GC,8983,0.65,263.5,80.8,8.4,782,9019,0.00,2.38,29.77,0.653,4,0.000,0.049,2658,1188,1846,0,0,0,0,0,0
$GC,9107,0.81,306.9,70.3,8.0,803,9155,0.22,2.35,37.15,0.638,6,0.075,0.053,2753,2614,1670,0,0,0,0,0,0
$FREEZE,8.78,-0.185,-1.836,3,1,0
$FREEZE,8.28,-0.198,-1.836,3,1,0
$FREEZE,7.48,-0.203,-1.836,3,1,0
$GC,9499,0.73,306.9,7.5,10.1,871,9506,0.15,2.35,0.00,0.000,4,0.183,0.054,2713,1192,1662,0,0,0,0,0,0
$FREEZE,4.52,-0.193,-1.832,3,1,0
$FREEZE,3.60,-0.236,-1.832,3,1,0
$FREEZE,2.74,-0.266,-1.831,3,1,0
$STATE,9522,end climb,SURFACE_DEPTH_REACHED
$STATE,9523,begin surface coast
$FREEZE,2.00,-0.227,-1.831,3,1,0
$FREEZE,1.19,-0.218,-1.830,3,1,0
$FREEZE,0.87,-0.218,-1.830,3,1,0
$FINISH,0.9,1.026804
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9540,begin surface
$SM_CCo,9560,177.25,0.085,0,0,440,609.08
$SM_GC,1.31,0.00,0.00,177.25,0.000,0.000,0.085,297,2777,440,-6.80,-0.08,609.08
$RAFOS_CLK,494
$RAFOS,6,1296650941,12.833333,12.816944,70,43,42,40,40,39,703,1159,521,619,1529,1848
$RAFOS,5,1296650465,12.700000,12.684722,57,55,55,45,45,41,549,549,1160,269,1274,173
$RAFOS,4,1296649991,12.566667,12.553056,51,49,40,40,39,37,699,619,1770,422,1350,886
$RAFOS,3,1296649526,12.433333,12.423889,47,43,43,43,41,41,290,904,1879,748,571,953
$RAFOS,2,1296649043,12.300000,12.289722,45,43,40,40,40,39,1549,936,580,145,841,1818
$RAFOS,1,1296648544,12.166667,12.151111,44,42,40,40,40,39,587,708,851,905,26,1919
$RAFOS,0,1296648064,12.033333,12.017777,48,45,42,41,41,40,1255,894,662,539,1428,1575
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6631.12,-5738.07,020211,070725
$TT8_MAMPS,0.028462
$HUMID,47.95
$INTERNAL_PRESSURE,8.45583
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,18.9
$ALTIM_BOTTOM_PING,501.6,11.0
$24V_AH,21.9,99.793
$10V_AH,9.7,67.543
$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,17.825,77.350,386.900,177.250,0.000,28.832,16.531,186.298,1.750,0.000,34.150,2131.148,5271.450,661.844,1746.875,357.426,0.000,1506.260,0.000,1500.269,2520.000,14.152,0.000
$DEVICE_MAMPS,241.740,69.615,902.700,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,30113,878
$CAP_FILE_SIZE,112024,0
$CFSIZE,260165632,191918080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,020211,132726,6701.452,-5747.461,24,2.8,43,-37.8