version: 66.08
glider: 183
mission: 3
dive: 899
start: 2 3 111 9 56 9
data:
$ID,183
$MISSION,3
$DIVE,899
$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,-14327.379
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,030211,094050,6657.534,-5800.920,118,99.0,137,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-46.7
$GPS2,030211,094050,6657.534,-5800.920,181,99.0,181,-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,294.5,109054,-17.5,-10.000
$D_GRID,937
$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,-147.32,0.000,2,0.000,0.000,252,2790,3428,0,0,0,0,0,0
$GC,172,-0.57,-146.0,6.3,-14.2,26,192,8.50,2.00,-1.83,0.000,4,0.241,0.081,2276,3930,3523,0,0,0,0,0,0
$GC,288,-0.52,-146.0,34.6,-14.1,45,295,0.12,1.88,0.00,0.000,6,0.167,0.050,2309,2783,3523,0,0,0,0,0,0
$GC,636,-0.58,-146.0,72.7,-11.3,106,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2782,3524,0,0,0,0,0,0
$GC,987,-0.67,-146.0,102.3,-6.6,165,991,0.15,2.05,0.00,0.000,4,0.086,0.076,2235,3924,3524,0,0,0,0,0,0
$GC,1027,-0.61,-146.0,106.5,-11.7,168,1034,0.15,1.90,0.00,0.000,6,0.157,0.050,2276,2781,3524,0,0,0,0,0,0
$GC,1353,-0.65,-146.0,138.2,-9.8,199,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2781,3523,0,0,0,0,0,0
$GC,1677,-0.69,-146.0,167.3,-9.0,229,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2781,3523,0,0,0,0,0,0
$GC,2007,-0.73,-146.0,197.8,-9.1,260,2012,0.12,2.33,0.00,0.000,4,0.094,0.050,2222,1369,3523,0,0,0,0,0,0
$GC,2064,-0.70,-146.0,205.0,-12.5,265,2069,0.00,2.42,0.00,0.000,6,0.000,0.062,2222,2780,3523,0,0,0,0,0,0
$GC,2391,-0.64,-146.0,247.4,-12.8,295,2396,0.15,2.35,0.00,0.000,4,0.169,0.050,2263,1372,3523,0,0,0,0,0,0
$GC,2436,-0.69,-146.0,252.7,-10.3,298,2442,0.00,2.38,0.00,0.000,6,0.000,0.061,2261,2773,3523,0,0,0,0,0,0
$GC,2762,-0.71,-146.0,286.2,-10.0,329,2766,0.00,2.28,0.00,0.000,4,0.000,0.048,2261,1372,3524,0,0,0,0,0,0
$GC,2804,-0.75,-146.0,290.6,-10.1,332,2808,0.00,2.38,0.00,0.000,6,0.000,0.061,2261,2773,3524,0,0,0,0,0,0
$GC,3130,-0.78,-146.0,322.4,-9.7,362,3135,0.12,2.33,0.00,0.000,4,0.099,0.049,2198,1361,3524,0,0,0,0,0,0
$GC,3164,-0.72,-146.0,326.7,-12.6,364,3171,0.20,2.38,0.00,0.000,6,0.160,0.060,2243,2766,3524,0,0,0,0,0,0
$GC,3490,-0.72,-146.0,360.2,-9.9,395,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2766,3524,0,0,0,0,0,0
$GC,3812,-0.72,-146.0,392.0,-10.1,425,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2766,3525,0,0,0,0,0,0
$GC,4140,-0.72,-146.0,424.9,-9.9,441,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2766,3525,0,0,0,0,0,0
$GC,4445,-0.72,-146.0,455.3,-9.8,451,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2766,3526,0,0,0,0,0,0
$GC,4751,-0.72,-146.0,484.1,-9.7,461,4756,0.00,2.28,0.00,0.000,4,0.000,0.048,2243,1367,3526,0,0,0,0,0,0
$GC,4798,-0.75,-146.0,488.7,-9.9,462,4802,0.00,2.35,0.00,0.000,6,0.000,0.060,2243,2756,3526,0,0,0,0,0,0
$GC,5117,-0.75,-146.0,518.2,-9.2,473,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2757,3526,0,0,0,0,0,0
$GC,5423,-0.75,-146.0,546.2,-8.9,483,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2756,3526,0,0,0,0,0,0
$GC,5730,-0.75,-146.0,573.9,-9.2,493,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2756,3526,0,0,0,0,0,0
$STATE,6006,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6006,begin apogee
$GC,6013,-0.14,0.0,600.0,9.5,502,6146,0.55,0.00,124.43,0.972,4,0.131,0.000,2420,2601,2923,0,0,0,0,0,0
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6149,0.57,146.0,605.6,0.0,506,6289,0.70,2.42,131.73,0.946,4,0.067,0.048,2663,1184,2327,0,0,0,0,0,0
$GC,6458,0.57,146.0,582.8,10.3,515,6465,0.00,2.47,0.00,0.000,6,0.000,0.054,2663,2607,2318,0,0,0,0,0,0
$GC,6773,0.52,146.0,548.4,11.1,526,6777,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1183,2316,0,0,0,0,0,0
$GC,7005,0.52,146.0,522.8,11.7,533,7009,0.00,2.38,0.00,0.000,6,0.000,0.055,2665,2621,2315,0,0,0,0,0,0
$GC,7342,0.47,146.0,480.9,12.8,544,7346,0.15,2.22,0.00,0.000,4,0.190,0.067,2626,3925,2314,0,0,0,0,0,0
$GC,7403,0.45,146.0,472.9,12.3,545,7410,0.00,2.15,0.00,0.000,6,0.000,0.044,2626,2601,2313,0,0,0,0,0,0
$GC,7717,0.47,146.0,440.7,10.0,556,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2600,2313,0,0,0,0,0,0
$GC,8024,0.51,155.0,410.5,9.6,566,8032,0.00,0.00,6.50,0.751,6,0.000,0.000,2626,2601,2291,0,0,0,0,0,0
$GC,8339,0.55,174.0,382.1,9.1,588,8363,0.00,2.30,18.17,0.825,4,0.000,0.067,2626,3928,2212,0,0,0,0,0,0
$GC,8416,0.55,174.0,374.3,10.2,594,8423,0.00,2.12,0.00,0.000,6,0.000,0.044,2626,2618,2211,0,0,0,0,0,0
$GC,8744,0.61,205.7,347.2,8.5,625,8775,0.12,0.00,28.23,0.810,6,0.097,0.000,2684,2618,2084,0,0,0,0,0,0
$GC,9092,0.58,205.7,302.6,13.1,658,9096,0.00,2.30,0.00,0.000,4,0.000,0.051,2686,1192,2078,0,0,0,0,0,0
$GC,9123,0.58,205.7,298.5,13.2,660,9127,0.00,2.35,0.00,0.000,6,0.000,0.054,2686,2625,2078,0,0,0,0,0,0
$GC,9455,0.54,205.7,252.0,14.2,691,9456,0.12,0.00,0.00,0.000,6,0.187,0.000,2654,2625,2077,0,0,0,0,0,0
$GC,9773,0.57,205.7,211.3,12.1,721,9777,0.00,2.20,0.00,0.000,4,0.000,0.067,2654,3928,2076,0,0,0,0,0,0
$GC,9803,0.57,205.7,207.5,14.2,723,9807,0.00,2.12,0.00,0.000,6,0.000,0.044,2654,2619,2074,0,0,0,0,0,0
$GC,10135,0.60,205.7,168.6,11.0,754,10139,0.00,2.33,0.00,0.000,4,0.000,0.050,2654,1185,2075,0,0,0,0,0,0
$GC,10180,0.68,205.7,163.5,11.5,757,10187,0.12,2.38,0.00,0.000,6,0.098,0.054,2709,2631,2075,0,0,0,0,0,0
$GC,10507,0.62,205.7,118.6,13.8,788,10512,0.12,2.20,0.00,0.000,4,0.186,0.066,2677,3925,2075,0,0,0,0,0,0
$GC,10565,0.57,205.7,111.1,12.9,792,10572,0.00,2.10,0.00,0.000,6,0.000,0.043,2679,2632,2074,0,0,0,0,0,0
$GC,10904,0.57,205.7,76.9,10.0,843,10911,0.00,2.33,0.00,0.000,4,0.000,0.050,2679,1184,2074,0,0,0,0,0,0
$GC,10976,0.64,241.6,70.7,8.3,855,11012,0.00,2.40,30.35,0.656,6,0.000,0.054,2679,2631,1937,0,0,0,0,0,0
$GC,11353,0.68,241.6,32.1,11.9,921,11360,0.00,2.33,0.00,0.000,4,0.000,0.050,2679,1188,1930,0,0,0,0,0,0
$GC,11385,0.78,266.3,29.4,8.9,926,11416,0.12,2.38,21.42,0.632,6,0.102,0.054,2732,2622,1836,0,0,0,0,0,0
$FREEZE,8.69,-1.284,-1.836,3,5,0
$FREEZE,8.02,-1.280,-1.835,3,5,0
$FREEZE,7.13,-1.280,-1.835,3,5,0
$FREEZE,6.10,-1.278,-1.834,3,5,0
$FREEZE,5.42,-1.275,-1.833,3,5,0
$FREEZE,4.47,-1.276,-1.833,3,5,0
$FREEZE,3.59,-1.275,-1.832,3,5,0
$FREEZE,2.70,-1.280,-1.831,3,5,0
$STATE,11571,end climb,SURFACE_DEPTH_REACHED
$STATE,11571,begin surface coast
$FREEZE,2.23,-1.288,-1.831,3,5,0
$FREEZE,1.94,-1.288,-1.831,3,5,0
$FREEZE,1.77,-1.293,-1.831,3,5,0
$FINISH,1.8,1.026846
$STATE,11593,end surface coast,CONTROL_FINISHED_OK
$STATE,11593,begin surface
$SM_CCo,11611,203.15,0.085,0,0,439,609.08
$SM_GC,1.30,0.00,0.00,203.15,0.000,0.000,0.085,295,2791,439,-6.79,0.31,609.08
$RAFOS_CLK,670
$RAFOS,6,1296737344,12.833333,12.817778,51,44,43,42,41,41,664,1007,1546,226,1529,1507
$RAFOS,5,1296736867,12.700000,12.685278,127,48,45,41,40,40,575,1861,1323,179,1170,1659
$RAFOS,4,1296736389,12.566667,12.552500,44,43,42,42,42,41,920,1699,1189,1051,1585,1857
$RAFOS,3,1296735910,12.433333,12.419444,43,42,41,39,39,38,575,1169,1442,144,1774,378
$RAFOS,2,1296735421,12.300000,12.283611,49,43,41,40,40,39,703,881,1916,1379,1516,233
$RAFOS,1,1296734958,12.166667,12.155000,48,45,43,43,41,41,783,1928,987,977,487,862
$RAFOS,0,1296734468,12.033333,12.018888,60,46,46,43,40,38,1224,26,932,44,548,70
$RAFOS_FIX,6753.183594,-5427.954590,030211,121232,2,94,18.41
$IRIDIUM_FIX,6636.54,-5830.05,030211,090926
$TT8_MAMPS,0.029211
$HUMID,46.57
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.7
$ALTIM_BOTTOM_PING,600.0,11.9
$24V_AH,21.3,100.551
$10V_AH,9.6,68.038
$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,18.150,77.575,360.825,203.150,0.000,88.042,95.478,207.123,2.250,0.000,183.503,2376.216,7057.250,690.865,2232.154,378.025,0.000,1591.248,0.000,1625.565,2520.000,20.880,0.000
$DEVICE_MAMPS,240.975,81.090,972.315,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,668.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33396,962
$CAP_FILE_SIZE,124090,0
$CFSIZE,260165632,191447040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.9
$GPS,030211,131714,6657.972,-5805.040,152,1.7,169,-37.8