version: 66.08
glider: 183
mission: 3
dive: 893
start: 2 2 111 13 34 35
data:
$ID,183
$MISSION,3
$DIVE,893
$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,-13585.145
$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,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
$GPS1,020211,132726,6701.452,-5747.461,24,2.8,43,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-59.3
$GPS2,020211,133402,6701.516,-5747.540,13,1.4,13,-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,292.2,120377,-17.5,-10.000
$D_GRID,883
$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,-146.0,0.0,0.0,0,169,0.00,0.00,-146.80,0.000,2,0.000,0.000,281,2777,3396,0,0,0,0,0,0
$GC,172,-0.57,-146.0,5.1,-10.0,26,192,8.43,2.00,-2.60,0.000,4,0.244,0.080,2277,3930,3521,0,0,0,0,0,0
$GC,403,-0.57,-146.0,43.1,-11.7,66,410,0.00,1.90,0.00,0.000,6,0.000,0.049,2277,2779,3524,0,0,0,0,0,0
$GC,749,-0.57,-146.0,79.0,-10.4,127,756,0.00,2.30,0.00,0.000,4,0.000,0.050,2277,1363,3523,0,0,0,0,0,0
$GC,811,-0.61,-146.0,85.6,-10.6,137,818,0.00,2.38,0.00,0.000,6,0.000,0.061,2275,2779,3523,0,0,0,0,0,0
$GC,1151,-0.61,-146.0,120.1,-9.6,180,1155,0.00,2.30,0.00,0.000,4,0.000,0.050,2274,1361,3523,0,0,0,0,0,0
$GC,1181,-0.65,-146.0,122.9,-9.8,182,1185,0.00,2.38,0.00,0.000,6,0.000,0.061,2275,2770,3522,0,0,0,0,0,0
$GC,1509,-0.68,-146.0,153.0,-9.8,212,1512,0.00,2.00,0.00,0.000,4,0.000,0.072,2275,3931,3522,0,0,0,0,0,0
$GC,1548,-0.72,-146.0,157.1,-9.7,215,1555,0.00,1.90,0.00,0.000,6,0.000,0.047,2275,2770,3522,0,0,0,0,0,0
$GC,1875,-0.77,-146.0,186.7,-9.1,246,1877,0.12,0.00,0.00,0.000,6,0.097,0.000,2216,2770,3521,0,0,0,0,0,0
$GC,2193,-0.69,-146.0,227.1,-12.3,276,2195,0.12,0.00,0.00,0.000,6,0.177,0.000,2249,2770,3521,0,0,0,0,0,0
$GC,2511,-0.69,-146.0,258.1,-9.6,306,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2770,3521,0,0,0,0,0,0
$GC,2832,-0.69,-146.0,288.3,-9.6,336,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2770,3521,0,0,0,0,0,0
$GC,3162,-0.69,-146.0,318.3,-9.5,367,3166,0.00,2.28,0.00,0.000,4,0.000,0.047,2249,1366,3521,0,0,0,0,0,0
$GC,3214,-0.73,-146.0,323.4,-9.4,371,3218,0.00,2.40,0.00,0.000,6,0.000,0.059,2247,2786,3521,0,0,0,0,0,0
$GC,3545,-0.73,-146.0,356.2,-10.3,402,3549,0.00,2.30,0.00,0.000,4,0.000,0.047,2247,1367,3522,0,0,0,0,0,0
$GC,3580,-0.73,-146.0,359.8,-10.6,405,3584,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2777,3521,0,0,0,0,0,0
$GC,3911,-0.73,-146.0,394.2,-10.4,436,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2777,3522,0,0,0,0,0,0
$GC,4220,-0.73,-146.0,423.4,-9.0,450,4224,0.00,2.28,0.00,0.000,4,0.000,0.047,2247,1368,3522,0,0,0,0,0,0
$GC,4250,-0.73,-146.0,426.2,-9.2,451,4254,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2767,3522,0,0,0,0,0,0
$GC,4587,-0.73,-146.0,455.8,-8.8,462,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2768,3522,0,0,0,0,0,0
$GC,4892,-0.73,-146.0,482.7,-8.8,472,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3522,0,0,0,0,0,0
$GC,5198,-0.73,-146.0,507.9,-8.0,482,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3522,0,0,0,0,0,0
$GC,5505,-0.73,-146.0,532.6,-8.3,492,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2768,3522,0,0,0,0,0,0
$STATE,5718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5718,begin apogee
$GC,5726,-0.14,0.0,550.5,8.3,499,5857,0.55,0.00,122.38,0.938,4,0.131,0.000,2423,2597,2925,0,0,0,0,0,0
$STATE,5858,end apogee,CONTROL_FINISHED_OK
$STATE,5858,begin climb
$GC,5861,0.57,146.0,554.4,0.0,503,6000,0.68,2.42,129.98,0.913,4,0.067,0.048,2661,1177,2326,0,0,0,0,0,0
$GC,6129,-1.61,146.0,533.2,22027.8,511,6138,2.45,2.45,0.00,0.000,6,0.148,0.053,1960,2601,2318,0,0,0,0,0,0
$GC,6454,-1.61,146.0,487.5,22027.8,522,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2601,2311,0,0,0,0,0,0
$GC,6761,-1.61,146.0,441.1,22027.8,532,6765,0.00,2.28,0.00,0.000,4,0.000,0.044,1959,1168,2306,0,0,0,0,0,0
$GC,7020,-1.61,146.0,398.5,22027.8,539,7027,0.00,2.40,0.00,0.000,6,0.000,0.049,1947,2646,2306,0,0,0,0,0,0
$GC,7347,-1.61,146.0,345.0,22027.8,570,7351,0.00,2.38,0.00,0.000,4,0.000,0.050,1944,1189,2307,0,0,0,0,0,0
$GC,7606,-1.61,146.0,300.2,22027.8,592,7613,0.00,2.33,0.00,0.000,6,0.000,0.057,1937,2596,2306,0,0,0,0,0,0
$GC,7933,-1.61,146.0,247.1,22027.8,623,7937,0.00,2.25,0.00,0.000,4,0.000,0.062,1926,3935,2305,0,0,0,0,0,0
$GC,8194,-1.61,146.0,200.5,22027.8,646,8199,0.12,2.20,0.00,0.000,6,0.178,0.046,1955,2595,2306,0,0,0,0,0,0
$GC,8520,-1.61,146.0,147.8,22027.8,676,8524,0.00,2.28,0.00,0.000,4,0.000,0.050,1955,1191,2306,0,0,0,0,0,0
$GC,8531,-1.61,146.0,146.2,22027.8,676,8538,0.00,2.42,0.00,0.000,6,0.000,0.058,1944,2635,2307,0,0,0,0,0,0
$GC,8861,-0.44,146.0,92.7,16.9,710,8869,1.55,2.38,0.00,0.000,4,0.221,0.041,2324,1177,2305,0,0,0,0,0,0
$GC,9024,0.25,253.0,82.8,5.1,738,9125,0.80,2.42,86.75,0.649,6,0.147,0.057,2550,2638,1889,0,0,0,0,0,0
$GC,9464,0.65,280.4,48.3,8.7,815,9495,0.35,2.20,22.27,0.634,4,0.092,0.067,2683,3932,1777,0,0,0,0,0,0
$GC,9600,0.69,280.4,34.0,12.2,838,9606,0.00,2.08,0.00,0.000,6,0.000,0.044,2683,2658,1774,0,0,0,0,0,0
$FREEZE,8.60,-1.472,-1.832,3,1,0
$FREEZE,8.05,-1.472,-1.831,3,1,0
$FREEZE,7.23,-1.470,-1.830,3,1,0
$FREEZE,6.70,-1.469,-1.830,3,1,0
$FREEZE,6.20,-1.468,-1.830,3,1,0
$FREEZE,5.76,-1.471,-1.829,3,1,0
$FREEZE,5.33,-1.478,-1.829,3,1,0
$FREEZE,4.86,-1.478,-1.829,3,1,0
$FREEZE,4.22,-1.479,-1.828,3,1,0
$FREEZE,3.81,-1.472,-1.828,3,1,0
$FREEZE,2.98,-1.479,-1.827,3,1,0
$STATE,9892,end climb,SURFACE_DEPTH_REACHED
$STATE,9893,begin surface coast
$FREEZE,2.15,-1.479,-1.827,3,1,0
$FREEZE,1.23,-1.475,-1.826,3,1,0
$FREEZE,0.61,-1.483,-1.825,3,1,0
$FREEZE,0.66,-1.484,-1.825,3,1,0
$FREEZE,0.63,-1.606,-1.248,3,1,0
$FINISH,0.6,1.018436
$STATE,9921,end surface coast,FINISH_DEPTH_REACHED
$STATE,9921,begin surface
$SM_CCo,9938,194.70,0.085,0,0,440,609.08
$SM_GC,1.17,0.00,0.00,194.70,0.000,0.000,0.085,286,2784,440,-6.83,0.14,609.08
$RAFOS_CLK,525
$RAFOS,1,1296662944,16.166666,16.151112,47,46,42,39,39,39,449,1488,784,26,757,865
$RAFOS,0,1296662466,16.033333,16.018333,51,48,43,43,42,42,493,145,1265,1660,1012,1096
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6636.54,-5742.73,020211,101032
$TT8_MAMPS,0.029211
$HUMID,46.33
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.7
$ALTIM_BOTTOM_PING,550.5,11.8
$24V_AH,21.7,99.897
$10V_AH,9.7,67.604
$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,21.525,64.125,361.375,194.700,0.000,30.771,21.639,166.830,2.000,0.000,15.907,2147.933,5620.207,661.342,1768.303,339.078,0.000,1509.160,0.000,1539.129,1080.000,18.018,0.000
$DEVICE_MAMPS,244.035,90.270,937.890,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,33395,895
$CAP_FILE_SIZE,107123,0
$CFSIZE,260165632,191864832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,020211,162506,6701.887,-5751.259,37,1.4,43,-37.8