version: 66.08
glider: 183
mission: 3
dive: 898
start: 2 3 111 6 15 33
data:
$ID,183
$MISSION,3
$DIVE,898
$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,-14143.242
$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,29
$R_STBD_OVSHOOT,17
$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
$GPS1,030211,055409,6659.098,-5759.870,29,1.2,29,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-50.9
$GPS2,030211,055409,6659.098,-5759.870,181,99.0,181,-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,293.1,110499,-17.5,-10.000
$D_GRID,956
$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,17,-0.57,-146.0,0.0,0.0,0,175,0.00,0.00,-152.25,0.000,2,0.000,0.000,227,2777,3390,0,0,0,0,0,0
$GC,178,-0.57,-146.0,5.0,-12.4,27,198,8.68,2.03,-2.72,0.000,4,0.243,0.081,2277,3932,3521,0,0,0,0,0,0
$GC,320,-0.50,-146.0,35.1,-12.6,51,327,0.12,1.90,0.00,0.000,6,0.174,0.048,2309,2777,3522,0,0,0,0,0,0
$GC,669,-0.54,-146.0,66.5,-8.4,112,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2777,3524,0,0,0,0,0,0
$GC,1017,-0.62,-146.0,92.0,-7.0,173,1025,0.10,2.33,0.00,0.000,4,0.111,0.051,2258,1373,3524,0,0,0,0,0,0
$GC,1044,-0.65,-146.0,94.6,-9.3,177,1052,0.00,2.40,0.00,0.000,6,0.000,0.063,2249,2786,3523,0,0,0,0,0,0
$GC,1382,-0.62,-146.0,131.4,-10.6,212,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2786,3523,0,0,0,0,0,0
$GC,1711,-0.62,-146.0,165.9,-10.4,243,1715,0.00,2.33,0.00,0.000,4,0.000,0.050,2249,1369,3523,0,0,0,0,0,0
$GC,1784,-0.62,-146.0,173.8,-10.0,249,1791,0.00,2.40,0.00,0.000,6,0.000,0.061,2247,2772,3523,0,0,0,0,0,0
$GC,2111,-0.62,-146.0,205.7,-9.4,280,2115,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1371,3523,0,0,0,0,0,0
$GC,2179,-0.62,-146.0,212.3,-9.7,285,2186,0.00,2.38,0.00,0.000,6,0.000,0.062,2248,2756,3523,0,0,0,0,0,0
$GC,2505,-0.62,-146.0,245.9,-10.7,316,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3523,0,0,0,0,0,0
$GC,2827,-0.62,-146.0,279.5,-10.7,346,2830,0.00,2.03,0.00,0.000,4,0.000,0.072,2247,3927,3523,0,0,0,0,0,0
$GC,2851,-0.62,-146.0,282.5,-10.6,348,2855,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2750,3524,0,0,0,0,0,0
$GC,3183,-0.62,-146.0,316.5,-10.1,379,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3524,0,0,0,0,0,0
$GC,3503,-0.62,-146.0,349.6,-10.4,409,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3524,0,0,0,0,0,0
$GC,3832,-0.62,-146.0,383.2,-10.0,440,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3524,0,0,0,0,0,0
$GC,4152,-0.62,-146.0,414.8,-9.6,461,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3524,0,0,0,0,0,0
$GC,4458,-0.62,-146.0,442.9,-9.1,471,4462,0.00,2.22,0.00,0.000,4,0.000,0.048,2247,1368,3525,0,0,0,0,0,0
$GC,4499,-0.65,-146.0,446.6,-8.4,472,4503,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2761,3526,0,0,0,0,0,0
$GC,4824,-0.65,-146.0,474.7,-8.6,483,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3526,0,0,0,0,0,0
$GC,5133,-0.65,-146.0,502.8,-9.7,493,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3526,0,0,0,0,0,0
$GC,5437,-0.65,-146.0,531.3,-9.1,503,5441,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1365,3526,0,0,0,0,0,0
$GC,5465,-0.67,-146.0,534.2,-9.4,503,5472,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2755,3526,0,0,0,0,0,0
$GC,5780,-0.67,-146.0,562.3,-8.9,514,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2755,3526,0,0,0,0,0,0
$GC,6085,-0.67,-146.0,589.5,-9.0,524,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2755,3526,0,0,0,0,0,0
$STATE,6207,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6207,begin apogee
$GC,6214,-0.14,0.0,600.3,8.8,528,6347,0.55,0.00,124.62,0.971,4,0.133,0.000,2422,2600,2923,0,0,0,0,0,0
$STATE,6348,end apogee,CONTROL_FINISHED_OK
$STATE,6348,begin climb
$GC,6351,0.57,146.0,604.8,0.0,532,6490,0.70,2.42,131.85,0.944,4,0.069,0.048,2665,1185,2327,0,0,0,0,0,0
$GC,6641,0.57,146.0,581.5,10.9,540,6646,0.00,2.47,0.00,0.000,6,0.000,0.054,2665,2607,2319,0,0,0,0,0,0
$GC,6962,0.52,146.0,543.8,12.0,551,6966,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1180,2315,0,0,0,0,0,0
$GC,7163,0.52,146.0,520.8,11.0,557,7168,0.00,2.38,0.00,0.000,6,0.000,0.054,2666,2616,2315,0,0,0,0,0,0
$GC,7495,0.46,146.0,480.9,12.4,568,7500,0.15,2.20,0.00,0.000,4,0.191,0.065,2627,3925,2314,0,0,0,0,0,0
$GC,7559,0.44,146.0,472.8,12.2,570,7563,0.00,2.12,0.00,0.000,6,0.000,0.044,2627,2612,2312,0,0,0,0,0,0
$GC,7896,0.47,146.0,437.0,10.3,581,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2612,2313,0,0,0,0,0,0
$GC,8201,0.49,146.0,405.7,10.0,591,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2612,2313,0,0,0,0,0,0
$GC,8521,0.52,147.6,374.5,9.9,617,8525,0.00,2.25,0.00,0.000,4,0.000,0.067,2627,3924,2313,0,0,0,0,0,0
$GC,8565,0.49,147.6,369.1,11.9,620,8572,0.00,2.12,0.00,0.000,6,0.000,0.043,2628,2620,2312,0,0,0,0,0,0
$GC,8893,0.53,171.9,339.0,8.9,651,8921,0.00,0.00,20.95,0.803,6,0.000,0.000,2628,2620,2221,0,0,0,0,0,0
$GC,9241,0.57,186.7,306.6,9.3,684,9259,0.00,0.00,14.02,0.773,6,0.000,0.000,2628,2620,2160,0,0,0,0,0,0
$GC,9580,0.63,187.8,273.1,10.0,716,9588,0.12,0.00,0.00,0.000,6,0.103,0.000,2685,2620,2157,0,0,0,0,0,0
$GC,9908,0.58,187.8,229.9,13.1,747,9912,0.00,2.25,0.00,0.000,4,0.000,0.067,2685,3926,2157,0,0,0,0,0,0
$GC,9930,0.51,187.8,226.4,14.1,748,9938,0.17,2.12,0.00,0.000,6,0.179,0.044,2645,2620,2155,0,0,0,0,0,0
$GC,10258,0.55,195.4,193.5,9.6,779,10271,0.00,2.38,8.20,0.689,4,0.000,0.050,2645,1190,2125,0,0,0,0,0,0
$GC,10345,0.65,222.1,185.8,8.8,786,10375,0.10,2.33,24.38,0.716,6,0.109,0.054,2691,2617,2017,0,0,0,0,0,0
$GC,10693,0.62,222.1,143.1,12.9,819,10697,0.00,2.22,0.00,0.000,4,0.000,0.065,2690,3931,2012,0,0,0,0,0,0
$GC,10745,0.57,222.1,135.6,15.1,823,10750,0.12,2.10,0.00,0.000,6,0.189,0.044,2663,2624,2009,0,0,0,0,0,0
$GC,11071,0.61,222.1,98.9,10.5,854,11078,0.00,2.33,0.00,0.000,4,0.000,0.050,2662,1187,2009,0,0,0,0,0,0
$GC,11120,0.70,222.1,93.5,10.5,862,11127,0.10,2.38,0.00,0.000,6,0.113,0.054,2706,2632,2009,0,0,0,0,0,0
$GC,11470,0.70,232.3,47.9,9.5,923,11484,0.00,2.28,9.07,0.632,4,0.000,0.066,2707,3934,1976,0,0,0,0,0,0
$GC,11560,0.64,232.3,36.4,13.2,938,11567,0.00,2.15,0.00,0.000,6,0.000,0.043,2708,2611,1973,0,0,0,0,0,0
$FREEZE,8.99,-1.237,-1.836,3,4,0
$FREEZE,8.42,-1.221,-1.836,3,4,0
$FREEZE,7.81,-1.231,-1.835,3,4,0
$FREEZE,7.07,-1.242,-1.835,3,4,0
$FREEZE,6.42,-1.242,-1.835,3,4,0
$FREEZE,5.73,-1.246,-1.834,3,4,0
$FREEZE,4.79,-1.238,-1.833,3,4,0
$FREEZE,4.11,-1.247,-1.833,3,4,0
$FREEZE,3.45,-1.248,-1.832,3,4,0
$FREEZE,2.50,-1.245,-1.832,3,4,0
$STATE,11838,end climb,SURFACE_DEPTH_REACHED
$STATE,11838,begin surface coast
$FREEZE,1.17,-1.265,-1.831,3,4,0
$FREEZE,0.55,-1.263,-1.830,3,4,0
$FREEZE,0.54,-1.385,-0.255,3,4,0
$FINISH,0.5,1.003540
$STATE,11859,end surface coast,FINISH_DEPTH_REACHED
$STATE,11859,begin surface
$SM_CCo,11877,219.55,0.085,0,0,440,609.08
$SM_GC,1.21,0.00,0.00,219.55,0.000,0.000,0.085,290,2789,440,-6.80,0.25,609.08
$RAFOS_CLK,706
$RAFOS,6,1296722949,8.833333,8.819167,64,46,46,45,45,45,651,408,914,818,902,352
$RAFOS,5,1296722462,8.700000,8.683888,96,45,44,41,38,38,587,292,251,466,332,1382
$RAFOS,4,1296721992,8.566667,8.553333,49,45,45,44,44,44,1284,1399,1606,1645,656,1898
$RAFOS,3,1296721502,8.433333,8.417222,51,49,48,47,43,43,1406,581,1191,1712,984,26
$RAFOS,2,1296721040,8.300000,8.288889,48,46,46,43,42,39,501,144,1269,1061,732,1834
$RAFOS,1,1296720568,8.166667,8.157778,46,45,44,43,42,42,202,853,1209,324,1441,26
$RAFOS,0,1296720064,8.033334,8.017777,46,45,42,41,41,41,1202,1467,404,730,8,969
$RAFOS_FIX,6655.822754,-5803.911621,030211,080856,2,80,0.65
$IRIDIUM_FIX,6636.54,-5805.51,030211,060628
$TT8_MAMPS,0.028462
$HUMID,46.77
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,600.3,11.8
$24V_AH,21.3,100.435
$10V_AH,9.7,67.962
$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,17.475,72.600,333.100,219.550,0.000,96.208,178.381,339.111,2.500,0.000,183.483,2430.638,7245.121,694.992,2466.042,550.236,0.000,1608.886,0.000,1656.718,2520.000,20.715,0.000
$DEVICE_MAMPS,243.270,81.090,970.785,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36682,991
$CAP_FILE_SIZE,127662,0
$CFSIZE,260165632,191512576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.4
$GPS,030211,094050,6657.534,-5800.920,118,99.0,137,-37.8