version: 66.08
glider: 183
mission: 3
dive: 897
start: 2 3 111 3 11 2
data:
$ID,183
$MISSION,3
$DIVE,897
$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,-13959.133
$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,31
$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
$GPS1,030211,025837,6659.553,-5758.528,46,2.0,46,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-52.7
$GPS2,030211,025837,6659.553,-5758.528,181,99.0,181,-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,292.9,111664,-17.5,-10.000
$D_GRID,945
$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,12,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,-153.10,0.000,2,0.000,0.000,260,2778,3510,0,0,0,0,0,0
$GC,178,-0.57,-146.0,6.4,-17.3,27,192,8.55,2.03,0.00,0.000,4,0.244,0.059,2277,3941,3513,0,0,0,0,0,0
$GC,386,-0.57,-146.0,47.4,-12.6,63,393,0.00,1.92,0.00,0.000,6,0.000,0.050,2277,2781,3514,0,0,0,0,0,0
$GC,734,-0.57,-146.0,86.0,-9.4,124,740,0.00,2.33,0.00,0.000,4,0.000,0.051,2276,1365,3514,0,0,0,0,0,0
$GC,857,-0.61,-146.0,98.3,-9.8,145,863,0.00,2.38,0.00,0.000,6,0.000,0.063,2274,2761,3514,0,0,0,0,0,0
$GC,1185,-0.63,-146.0,130.6,-9.6,177,1189,0.00,2.28,0.00,0.000,4,0.000,0.050,2275,1366,3514,0,0,0,0,0,0
$GC,1216,-0.67,-146.0,133.6,-9.8,179,1220,0.00,2.38,0.00,0.000,6,0.000,0.063,2275,2765,3514,0,0,0,0,0,0
$GC,1542,-0.70,-146.0,167.2,-10.4,209,1546,0.00,2.03,0.00,0.000,4,0.000,0.074,2275,3931,3514,0,0,0,0,0,0
$GC,1578,-0.74,-146.0,170.7,-9.4,212,1582,0.12,1.92,0.00,0.000,6,0.095,0.049,2221,2758,3513,0,0,0,0,0,0
$GC,1909,-0.67,-146.0,215.5,-13.7,243,1914,0.12,2.10,0.00,0.000,4,0.178,0.073,2247,3928,3513,0,0,0,0,0,0
$GC,1948,-0.67,-146.0,220.9,-12.4,246,1955,0.00,1.92,0.00,0.000,6,0.000,0.048,2247,2766,3513,0,0,0,0,0,0
$GC,2274,-0.67,-146.0,256.4,-10.3,277,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3514,0,0,0,0,0,0
$GC,2596,-0.67,-146.0,289.3,-10.1,307,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3514,0,0,0,0,0,0
$GC,2927,-0.67,-146.0,320.8,-8.8,338,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3514,0,0,0,0,0,0
$GC,3257,-0.67,-146.0,350.8,-9.0,369,3262,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1360,3515,0,0,0,0,0,0
$GC,3325,-0.70,-146.0,357.6,-9.0,374,3332,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2765,3515,0,0,0,0,0,0
$GC,3651,-0.70,-146.0,385.6,-8.6,405,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3515,0,0,0,0,0,0
$GC,3980,-0.70,-146.0,413.4,-8.7,426,3984,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1363,3516,0,0,0,0,0,0
$GC,4010,-0.70,-146.0,416.4,-9.0,427,4014,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2762,3515,0,0,0,0,0,0
$GC,4353,-0.70,-146.0,445.8,-8.7,438,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2762,3516,0,0,0,0,0,0
$GC,4658,-0.70,-146.0,471.2,-8.1,448,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2762,3516,0,0,0,0,0,0
$GC,4965,-0.70,-146.0,495.5,-8.1,458,4969,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1370,3516,0,0,0,0,0,0
$GC,5004,-0.73,-146.0,499.0,-8.7,459,5008,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2759,3517,0,0,0,0,0,0
$GC,5331,-0.73,-146.0,527.2,-9.1,470,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2759,3517,0,0,0,0,0,0
$STATE,5603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5604,begin apogee
$GC,5611,-0.14,0.0,552.6,9.1,479,5742,0.55,0.00,121.95,0.942,4,0.132,0.000,2423,2602,2922,0,0,0,0,0,0
$STATE,5743,end apogee,CONTROL_FINISHED_OK
$STATE,5743,begin climb
$GC,5746,0.57,146.0,557.7,0.0,483,5885,0.70,2.42,130.05,0.919,4,0.071,0.049,2665,1181,2327,0,0,0,0,0,0
$GC,6042,-1.63,146.0,536.3,21210.7,492,6052,2.47,2.45,0.00,0.000,6,0.149,0.054,1960,2600,2318,0,0,0,0,0,0
$GC,6375,-1.63,146.0,492.9,21210.7,503,6379,0.00,2.30,0.00,0.000,4,0.000,0.050,1959,1176,2311,0,0,0,0,0,0
$GC,6632,-1.63,146.0,453.1,21210.7,510,6636,0.00,2.33,0.00,0.000,6,0.000,0.057,1947,2577,2310,0,0,0,0,0,0
$GC,6953,-1.63,146.0,403.6,21210.7,521,6957,0.00,2.22,0.00,0.000,4,0.000,0.044,1946,1180,2306,0,0,0,0,0,0
$GC,7211,-1.63,146.0,361.3,21210.7,542,7218,0.00,2.22,0.00,0.000,6,0.000,0.051,1934,2537,2308,0,0,0,0,0,0
$GC,7538,-1.63,146.0,309.0,21210.7,573,7542,0.00,2.40,0.00,0.000,4,0.000,0.069,1926,3933,2308,0,0,0,0,0,0
$GC,7762,-1.63,146.0,269.8,21210.7,592,7768,0.00,2.22,0.00,0.000,6,0.000,0.044,1925,2574,2306,0,0,0,0,0,0
$GC,8088,-1.63,146.0,216.7,21210.7,623,8092,0.00,2.35,0.00,0.000,4,0.000,0.067,1916,3930,2306,0,0,0,0,0,0
$GC,8346,-1.63,146.0,171.2,21210.7,645,8353,0.15,2.25,0.00,0.000,6,0.226,0.044,1944,2547,2305,0,0,0,0,0,0
$GC,8673,-1.63,146.0,118.3,21210.7,676,8678,0.00,2.42,0.00,0.000,4,0.000,0.070,1938,3932,2308,0,0,0,0,0,0
$GC,8935,-1.63,146.0,74.8,21210.7,712,8942,0.00,2.35,0.00,0.000,6,0.000,0.046,1937,2507,2306,0,0,0,0,0,0
$GC,9282,-1.63,146.0,24.4,21210.7,773,9289,0.00,2.12,0.00,0.000,4,0.000,0.048,1937,1184,2307,0,0,0,0,0,0
$FREEZE,8.75,-1.285,-1.832,3,3,0
$FREEZE,8.07,-1.301,-1.833,3,3,0
$FREEZE,7.61,-1.201,-1.826,3,3,0
$FREEZE,6.88,-1.201,-1.826,3,3,0
$FREEZE,5.79,-1.199,-1.825,3,3,0
$FREEZE,4.18,-1.242,-1.826,3,3,0
$FREEZE,3.30,-1.264,-1.827,3,3,0
$FREEZE,2.91,-1.295,-1.829,3,3,0
$STATE,9416,end climb,SURFACE_DEPTH_REACHED
$STATE,9417,begin surface coast
$FREEZE,1.74,-1.234,-1.824,3,3,0
$FINISH,1.7,1.026749
$STATE,9423,end surface coast,CONTROL_FINISHED_OK
$STATE,9423,begin surface
$SM_CCo,9442,261.60,0.086,0,0,440,609.08
$SM_GC,1.17,0.00,0.00,261.60,0.000,0.000,0.086,281,2777,440,-6.81,-0.08,609.08
$RAFOS_CLK,544
$RAFOS,6,1296708541,4.833333,4.816945,47,44,42,41,40,38,690,437,26,542,1629,450
$RAFOS,5,1296708079,4.700000,4.688611,108,58,48,45,43,41,500,501,1438,1361,135,1845
$RAFOS,4,1296707592,4.566667,4.553333,48,47,41,40,40,39,145,1103,323,971,1635,1930
$RAFOS,3,1296707102,4.433333,4.417222,51,51,49,49,45,41,1103,965,372,910,256,615
$RAFOS,2,1296706633,4.300000,4.286944,47,45,43,40,39,39,1783,1093,358,1935,283,1882
$RAFOS,1,1296706151,4.166667,4.153056,51,45,44,43,42,40,1135,845,43,1856,1545,1029
$RAFOS,0,1296705668,4.033333,4.018889,47,46,45,40,39,39,919,26,1496,1383,617,762
$RAFOS_FIX,6705.096191,-5801.115234,030211,000056,2,78,2.42
$IRIDIUM_FIX,6636.54,-5802.60,030211,030343
$TT8_MAMPS,0.029211
$HUMID,46.53
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,552.6,11.8
$24V_AH,21.5,100.312
$10V_AH,9.7,67.883
$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,17.050,68.300,252.000,261.600,0.000,75.790,129.333,0.000,2.000,0.000,183.464,1997.910,5550.395,644.915,1879.569,348.865,0.000,1445.445,0.000,1467.231,2520.000,16.123,0.000
$DEVICE_MAMPS,244.035,74.205,941.715,85.680,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.327,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,30044,798
$CAP_FILE_SIZE,100526,0
$CFSIZE,260165632,191627264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,030211,055409,6659.098,-5759.870,29,1.2,29,-37.8