version: 66.08
glider: 183
mission: 3
dive: 896
start: 2 2 111 23 29 2
data:
$ID,183
$MISSION,3
$DIVE,896
$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,-13775.042
$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,28
$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
$GPS1,020211,231524,6659.578,-5754.050,64,1.5,82,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.1
$GPS2,020211,232829,6659.511,-5754.479,144,99.0,181,-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,293.3,114509,-17.5,-10.000
$D_GRID,919
$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,-151.07,0.000,2,0.000,0.000,266,2788,3434,0,0,0,0,0,0
$GC,177,-0.57,-146.0,5.9,-13.4,27,197,8.52,1.98,-1.62,0.000,4,0.245,0.079,2278,3930,3522,0,0,0,0,0,0
$GC,341,-0.57,-146.0,44.9,-12.8,55,347,0.00,1.92,0.00,0.000,6,0.000,0.050,2277,2766,3523,0,0,0,0,0,0
$GC,689,-0.57,-146.0,83.7,-9.1,116,695,0.00,2.28,0.00,0.000,4,0.000,0.050,2277,1370,3524,0,0,0,0,0,0
$GC,868,-0.62,-146.0,100.5,-9.3,146,875,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2743,3524,0,0,0,0,0,0
$GC,1195,-0.64,-146.0,130.0,-8.2,177,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2743,3523,0,0,0,0,0,0
$GC,1515,-0.67,-146.0,158.6,-8.7,207,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2743,3523,0,0,0,0,0,0
$GC,1845,-0.70,-146.0,187.8,-8.9,238,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2742,3523,0,0,0,0,0,0
$GC,2175,-0.74,-146.0,217.1,-8.6,269,2180,0.12,2.25,0.00,0.000,4,0.099,0.050,2219,1371,3523,0,0,0,0,0,0
$GC,2205,-0.72,-146.0,220.6,-10.7,271,2209,0.00,2.35,0.00,0.000,6,0.000,0.062,2216,2745,3523,0,0,0,0,0,0
$GC,2532,-0.65,-146.0,259.9,-12.0,301,2536,0.17,2.08,0.00,0.000,4,0.168,0.072,2259,3927,3523,0,0,0,0,0,0
$GC,2582,-0.68,-146.0,265.4,-9.5,305,2589,0.00,1.98,0.00,0.000,6,0.000,0.047,2258,2733,3523,0,0,0,0,0,0
$GC,2909,-0.70,-146.0,293.2,-8.8,336,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2733,3523,0,0,0,0,0,0
$GC,3230,-0.70,-146.0,320.6,-8.1,366,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2733,3524,0,0,0,0,0,0
$GC,3557,-0.72,-146.0,348.6,-9.2,397,3561,0.00,2.10,0.00,0.000,4,0.000,0.073,2249,3926,3524,0,0,0,0,0,0
$GC,3609,-0.75,-146.0,353.7,-9.8,401,3613,0.00,1.95,0.00,0.000,6,0.000,0.047,2249,2735,3524,0,0,0,0,0,0
$GC,3941,-0.75,-146.0,384.6,-9.2,432,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3524,0,0,0,0,0,0
$GC,4278,-0.75,-146.0,413.7,-8.6,454,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2735,3524,0,0,0,0,0,0
$GC,4581,-0.75,-146.0,439.3,-8.4,464,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3524,0,0,0,0,0,0
$GC,4887,-0.75,-146.0,467.0,-9.1,474,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3525,0,0,0,0,0,0
$GC,5196,-0.75,-146.0,494.5,-8.8,484,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3525,0,0,0,0,0,0
$GC,5499,-0.75,-146.0,519.7,-8.1,494,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3526,0,0,0,0,0,0
$GC,5805,-0.75,-146.0,545.2,-8.3,504,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3525,0,0,0,0,0,0
$GC,6113,-0.75,-146.0,569.6,-7.9,514,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2735,3526,0,0,0,0,0,0
$GC,6418,-0.77,-146.0,593.6,-7.8,524,6422,0.00,2.08,0.00,0.000,4,0.000,0.072,2242,3927,3526,0,0,0,0,0,0
$GC,6454,-0.77,-146.0,596.6,-9.6,525,6458,0.00,1.92,0.00,0.000,6,0.000,0.047,2241,2752,3526,0,0,0,0,0,0
$STATE,6520,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6520,begin apogee
$GC,6528,-0.14,0.0,602.2,8.3,527,6659,0.57,0.00,124.57,0.972,4,0.130,0.000,2424,2590,2923,0,0,0,0,0,0
$STATE,6660,end apogee,CONTROL_FINISHED_OK
$STATE,6660,begin climb
$GC,6663,0.57,146.0,606.1,0.0,531,6803,0.68,2.40,131.68,0.946,4,0.065,0.048,2662,1187,2327,0,0,0,0,0,0
$GC,6933,0.57,146.0,584.7,11.0,539,6937,0.00,2.50,0.00,0.000,6,0.000,0.054,2662,2601,2320,0,0,0,0,0,0
$GC,7247,0.52,146.0,546.9,12.3,549,7251,0.00,2.30,0.00,0.000,4,0.000,0.051,2665,1187,2316,0,0,0,0,0,0
$GC,7467,0.52,146.0,522.3,11.3,555,7471,0.00,2.35,0.00,0.000,6,0.000,0.055,2665,2620,2316,0,0,0,0,0,0
$GC,7786,0.48,146.0,485.6,11.3,566,7790,0.12,2.22,0.00,0.000,4,0.194,0.067,2633,3926,2314,0,0,0,0,0,0
$GC,7850,0.44,146.0,478.3,11.8,568,7854,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2605,2313,0,0,0,0,0,0
$GC,8193,0.46,169.3,445.8,8.9,579,8218,0.00,2.35,18.95,0.858,4,0.000,0.050,2635,1191,2232,0,0,0,0,0,0
$GC,8253,0.53,191.0,440.2,9.0,580,8278,0.00,2.33,20.33,0.846,6,0.000,0.054,2635,2608,2144,0,0,0,0,0,0
$GC,8602,0.57,198.8,406.9,9.6,592,8616,0.00,2.30,7.45,0.765,4,0.000,0.067,2635,3929,2112,0,0,0,0,0,0
$GC,8650,0.57,198.8,401.1,11.8,593,8654,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2607,2110,0,0,0,0,0,0
$GC,8977,0.62,212.7,369.5,9.4,623,9001,0.12,2.33,13.32,0.804,4,0.103,0.051,2693,1199,2056,0,0,0,0,0,0
$GC,9015,0.59,212.7,364.9,13.1,626,9019,0.00,2.30,0.00,0.000,6,0.000,0.054,2693,2607,2055,0,0,0,0,0,0
$GC,9341,0.55,212.7,318.5,14.6,656,9346,0.15,2.25,0.00,0.000,4,0.184,0.066,2652,3925,2052,0,0,0,0,0,0
$GC,9373,0.55,212.7,313.6,13.8,658,9380,0.00,2.15,0.00,0.000,6,0.000,0.043,2653,2602,2051,0,0,0,0,0,0
$GC,9700,0.58,212.7,276.7,11.3,689,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2602,2051,0,0,0,0,0,0
$GC,10020,0.61,212.7,242.0,10.9,719,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2602,2051,0,0,0,0,0,0
$GC,10349,0.64,212.7,207.4,10.4,750,10353,0.00,2.28,0.00,0.000,4,0.000,0.067,2652,3932,2051,0,0,0,0,0,0
$GC,10407,0.64,212.7,200.1,12.4,754,10413,0.00,2.15,0.00,0.000,6,0.000,0.044,2653,2614,2049,0,0,0,0,0,0
$GC,10735,0.68,212.7,164.4,11.0,785,10739,0.12,2.30,0.00,0.000,4,0.104,0.067,2706,3926,2050,0,0,0,0,0,0
$GC,10809,0.58,212.7,152.9,16.4,791,10814,0.17,2.10,0.00,0.000,6,0.179,0.044,2662,2636,2049,0,0,0,0,0,0
$GC,11142,0.61,212.7,115.6,10.7,822,11146,0.00,2.33,0.00,0.000,4,0.000,0.050,2662,1194,2049,0,0,0,0,0,0
$GC,11205,0.68,212.7,108.9,10.1,827,11209,0.00,2.38,0.00,0.000,6,0.000,0.054,2662,2624,2049,0,0,0,0,0,0
$GC,11547,0.72,212.7,73.0,10.1,879,11554,0.12,2.38,0.00,0.000,4,0.103,0.050,2717,1188,2049,0,0,0,0,0,0
$GC,11703,0.72,212.7,53.7,11.8,906,11710,0.00,2.30,0.00,0.000,6,0.000,0.054,2718,2575,2049,0,0,0,0,0,0
$GC,12053,0.62,212.7,14.2,11.1,967,12061,0.15,2.35,0.00,0.000,4,0.175,0.067,2676,3922,2049,0,0,0,0,0,0
$GC,12074,0.57,212.7,11.9,10.3,970,12081,0.00,2.17,0.00,0.000,6,0.000,0.045,2676,2588,2048,0,0,0,0,0,0
$FREEZE,8.36,-1.478,-1.834,3,2,0
$FREEZE,7.61,-1.480,-1.833,3,2,0
$FREEZE,7.01,-1.479,-1.833,3,2,0
$FREEZE,6.06,-1.474,-1.832,3,2,0
$FREEZE,5.31,-1.478,-1.831,3,2,0
$FREEZE,4.89,-1.483,-1.831,3,2,0
$FREEZE,4.75,-1.483,-1.831,3,2,0
$FREEZE,4.80,-1.481,-1.831,3,2,0
$FREEZE,4.26,-1.477,-1.831,3,2,0
$FREEZE,3.63,-1.477,-1.830,3,2,0
$FREEZE,3.13,-1.476,-1.830,3,2,0
$FREEZE,2.19,-1.476,-1.829,3,2,0
$STATE,12165,end climb,SURFACE_DEPTH_REACHED
$STATE,12165,begin surface coast
$FREEZE,1.24,-1.479,-1.828,3,2,0
$FREEZE,0.88,-1.486,-1.828,3,2,0
$FREEZE,1.76,-1.483,-1.822,3,2,0
$FREEZE,1.87,-1.479,-1.827,3,2,0
$FREEZE,1.59,-1.479,-1.826,3,2,0
$FINISH,1.6,1.026794
$STATE,12192,end surface coast,CONTROL_FINISHED_OK
$STATE,12192,begin surface
$SM_CCo,12210,235.45,0.085,0,0,440,609.08
$SM_GC,1.24,0.00,0.00,235.45,0.000,0.000,0.085,293,2777,440,-6.79,-0.08,609.08
$RAFOS_CLK,661
$RAFOS,6,1296694164,0.833333,0.823333,84,43,42,41,39,38,566,1585,1880,386,1538,1124
$RAFOS,5,1296693674,0.700000,0.687222,71,50,49,43,41,39,514,435,154,303,1912,1128
$RAFOS,4,1296693184,0.566667,0.551111,45,44,42,41,41,40,712,1350,166,546,1085,1891
$RAFOS,3,1296692704,0.433333,0.417778,59,46,41,39,39,38,465,1264,1938,302,145,1230
$RAFOS,2,1296692226,0.300000,0.285000,42,40,39,39,36,36,1749,1000,550,154,8,1376
$RAFOS,1,1296691742,0.166667,0.150556,44,44,42,41,39,39,839,1850,879,800,548,988
$RAFOS,0,1296691266,0.033333,0.018333,44,44,43,42,40,39,726,420,673,1741,1079,1662
$RAFOS_FIX,6705.096191,-5801.115234,030211,000056,2,78,2.42
$IRIDIUM_FIX,6631.12,-5759.10,020211,232328
$TT8_MAMPS,0.029211
$HUMID,47.48
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,19.2
$ALTIM_BOTTOM_PING,602.2,11.9
$24V_AH,21.3,100.230
$10V_AH,9.6,67.819
$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,17.950,80.575,316.300,235.450,0.000,85.285,115.742,74.323,2.500,0.000,184.104,2500.252,7500.432,686.924,2204.767,371.489,0.000,1620.553,0.000,1691.588,2520.000,17.702,0.000
$DEVICE_MAMPS,244.800,80.325,972.315,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,690.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,36687,991
$CAP_FILE_SIZE,128414,0
$CFSIZE,260165632,191651840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,030211,025837,6659.553,-5758.528,46,2.0,46,-37.8