version: 66.08
glider: 183
mission: 3
dive: 894
start: 2 2 111 16 44 7
data:
$ID,183
$MISSION,3
$DIVE,894
$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,-13772.427
$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,32
$R_STBD_OVSHOOT,19
$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
$GPS1,020211,162506,6701.887,-5751.259,37,1.4,43,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-50.4
$GPS2,020211,162506,6701.887,-5751.259,181,99.0,181,-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,291.5,117950,-17.5,-10.000
$D_GRID,891
$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,-153.15,0.000,2,0.000,0.000,247,2786,3453,0,0,0,0,0,0
$GC,176,-0.57,-146.0,5.7,-14.1,27,196,8.57,2.00,-1.40,0.000,4,0.243,0.082,2277,3931,3521,0,0,0,0,0,0
$GC,364,-0.53,-146.0,41.8,-9.5,59,370,0.00,1.90,0.00,0.000,6,0.000,0.050,2277,2781,3523,0,0,0,0,0,0
$GC,711,-0.53,-146.0,76.2,-9.0,120,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2781,3523,0,0,0,0,0,0
$GC,1058,-0.53,-146.0,109.4,-10.0,173,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2781,3523,0,0,0,0,0,0
$GC,1383,-0.56,-146.0,140.8,-9.3,203,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2781,3523,0,0,0,0,0,0
$GC,1713,-0.60,-146.0,170.0,-8.9,234,1716,0.00,2.03,0.00,0.000,4,0.000,0.075,2275,3927,3522,0,0,0,0,0,0
$GC,1752,-0.65,-146.0,174.2,-9.0,237,1759,0.00,1.92,0.00,0.000,6,0.000,0.050,2275,2767,3522,0,0,0,0,0,0
$GC,2079,-0.69,-146.0,202.5,-8.6,268,2083,0.00,2.25,0.00,0.000,4,0.000,0.050,2275,1370,3523,0,0,0,0,0,0
$GC,2143,-0.75,-146.0,208.4,-9.4,273,2148,0.12,2.40,0.00,0.000,6,0.091,0.062,2218,2773,3522,0,0,0,0,0,0
$GC,2469,-0.68,-146.0,251.6,-13.2,303,2474,0.12,2.33,0.00,0.000,4,0.176,0.049,2250,1361,3522,0,0,0,0,0,0
$GC,2515,-0.71,-146.0,256.8,-10.0,306,2521,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2753,3522,0,0,0,0,0,0
$GC,2841,-0.71,-146.0,290.7,-10.6,337,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2753,3523,0,0,0,0,0,0
$GC,3164,-0.71,-146.0,323.4,-10.1,367,3168,0.00,2.05,0.00,0.000,4,0.000,0.071,2247,3928,3523,0,0,0,0,0,0
$GC,3192,-0.71,-146.0,327.2,-10.5,369,3198,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2750,3523,0,0,0,0,0,0
$GC,3519,-0.71,-146.0,358.5,-9.8,400,3523,0.00,2.25,0.00,0.000,4,0.000,0.047,2246,1364,3523,0,0,0,0,0,0
$GC,3552,-0.71,-146.0,362.0,-9.5,402,3559,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2756,3523,0,0,0,0,0,0
$GC,3880,-0.71,-146.0,393.9,-9.7,433,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3524,0,0,0,0,0,0
$GC,4187,-0.71,-146.0,423.4,-9.6,447,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2756,3524,0,0,0,0,0,0
$GC,4494,-0.71,-146.0,452.7,-9.5,457,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3525,0,0,0,0,0,0
$GC,4800,-0.71,-146.0,481.6,-9.4,467,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3525,0,0,0,0,0,0
$GC,5105,-0.71,-146.0,508.7,-8.8,477,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3525,0,0,0,0,0,0
$GC,5411,-0.71,-146.0,534.3,-8.2,487,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3525,0,0,0,0,0,0
$STATE,5595,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5595,begin apogee
$GC,5603,-0.14,0.0,550.5,9.0,493,5733,0.55,0.00,123.60,0.941,4,0.132,0.000,2423,2601,2923,0,0,0,0,0,0
$STATE,5734,end apogee,CONTROL_FINISHED_OK
$STATE,5734,begin climb
$GC,5737,0.57,146.0,555.7,0.0,497,5875,0.68,2.42,130.43,0.920,4,0.070,0.048,2659,1183,2326,0,0,0,0,0,0
$GC,5997,-1.62,146.0,539.7,21114.9,505,6007,2.47,2.47,0.00,0.000,6,0.148,0.055,1960,2601,2317,0,0,0,0,0,0
$GC,6340,-1.62,146.0,493.7,21114.9,516,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2601,2308,0,0,0,0,0,0
$GC,6645,-1.62,146.0,445.6,21114.9,526,6649,0.00,2.28,0.00,0.000,4,0.000,0.069,1951,3931,2308,0,0,0,0,0,0
$GC,6904,-1.62,146.0,400.3,21114.9,533,6911,0.00,2.17,0.00,0.000,6,0.000,0.045,1951,2599,2305,0,0,0,0,0,0
$GC,7232,-1.62,146.0,348.6,21114.9,564,7236,0.00,2.22,0.00,0.000,4,0.000,0.055,1939,3942,2304,0,0,0,0,0,0
$GC,7491,-1.62,146.0,303.0,21114.9,586,7497,0.00,2.12,0.00,0.000,6,0.000,0.044,1938,2644,2305,0,0,0,0,0,0
$GC,7817,-1.62,146.0,248.2,21114.9,617,7821,0.00,2.35,0.00,0.000,4,0.000,0.049,1937,1181,2306,0,0,0,0,0,0
$GC,8077,-1.62,146.0,204.5,21114.9,639,8084,0.00,2.38,0.00,0.000,6,0.000,0.048,1925,2635,2305,0,0,0,0,0,0
$GC,8403,-1.62,146.0,149.8,21114.9,670,8407,0.00,2.35,0.00,0.000,4,0.000,0.047,1924,1179,2305,0,0,0,0,0,0
$GC,8664,-1.62,146.0,106.3,21114.9,693,8670,0.15,2.40,0.00,0.000,6,0.201,0.053,1946,2626,2306,0,0,0,0,0,0
$GC,9008,-1.62,146.0,55.1,21114.9,749,9015,0.00,2.33,0.00,0.000,4,0.000,0.047,1947,1185,2304,0,0,0,0,0,0
$GC,9192,-1.62,146.0,23.4,21114.9,781,9199,0.00,2.38,0.00,0.000,6,0.000,0.057,1937,2613,2305,0,0,0,0,0,0
$FREEZE,8.92,-1.428,-1.823,3,1,0
$FREEZE,7.75,-1.386,-1.819,3,1,0
$FREEZE,6.66,-1.516,-1.827,3,1,0
$FREEZE,6.39,-1.570,-1.830,3,1,0
$FREEZE,6.06,-1.575,-1.830,3,1,0
$FREEZE,5.35,-1.473,-1.823,3,1,0
$FREEZE,4.45,-1.492,-1.824,3,1,0
$FREEZE,4.34,-1.524,-1.825,3,1,0
$FREEZE,4.02,-1.573,-1.828,3,1,0
$FREEZE,3.44,-1.468,-1.821,3,1,0
$FREEZE,3.14,-1.534,-1.825,3,1,0
$FREEZE,2.89,-1.527,-1.824,3,1,0
$STATE,9341,end climb,SURFACE_DEPTH_REACHED
$STATE,9341,begin surface coast
$FREEZE,2.41,-1.510,-1.823,3,1,0
$FINISH,2.4,1.026739
$STATE,9348,end surface coast,CONTROL_FINISHED_OK
$STATE,9348,begin surface
$SM_CCo,9364,261.58,0.086,0,0,440,609.08
$SM_GC,1.26,0.00,0.00,261.58,0.000,0.000,0.086,280,2784,440,-6.81,0.11,609.08
$RAFOS_CLK,556
$RAFOS,6,1296665343,16.833334,16.817499,49,46,45,42,41,41,689,144,1447,345,1423,1655
$RAFOS,2,1296663423,16.299999,16.284166,47,44,41,39,38,38,153,552,1575,1304,1455,1799
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6636.54,-5643.07,020211,161613
$TT8_MAMPS,0.029211
$HUMID,46.65
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,550.5,11.8
$24V_AH,21.5,100.003
$10V_AH,9.7,67.671
$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,17.025,54.200,254.025,261.575,0.000,84.680,80.594,425.166,2.000,0.000,186.653,1971.136,5533.009,641.212,2251.306,345.885,0.000,1425.106,0.000,1444.828,360.000,16.122,0.000
$DEVICE_MAMPS,243.270,81.855,940.950,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,30113,809
$CAP_FILE_SIZE,105734,0
$CFSIZE,260165632,191815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.1
$GPS,020211,192621,6700.955,-5751.967,35,99.0,54,-37.8