version: 66.08
glider: 183
mission: 3
dive: 900
start: 2 3 111 13 31 35
data:
$ID,183
$MISSION,3
$DIVE,900
$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,-14511.552
$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,34
$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
$GPS1,030211,131714,6657.972,-5805.040,152,1.7,169,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-56.4
$GPS2,030211,131714,6657.972,-5805.040,181,99.0,181,-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,293.7,106318,-17.5,-10.000
$D_GRID,964
$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,-152.48,0.000,6,0.000,0.000,256,2793,3520,0,0,0,0,0,0
$GC,177,-0.57,-146.0,5.7,-11.0,27,191,8.52,1.98,0.00,0.000,4,0.243,0.057,2279,3939,3522,0,0,0,0,0,0
$GC,308,-0.52,-146.0,37.6,-13.4,49,315,0.00,1.90,0.00,0.000,6,0.000,0.048,2279,2780,3523,0,0,0,0,0,0
$GC,655,-0.52,-146.0,83.4,-13.1,110,662,0.00,2.33,0.00,0.000,4,0.000,0.050,2279,1368,3523,0,0,0,0,0,0
$GC,803,-0.57,-146.0,100.3,-10.8,135,810,0.00,2.35,0.00,0.000,6,0.000,0.063,2275,2758,3523,0,0,0,0,0,0
$GC,1130,-0.57,-146.0,131.8,-9.4,166,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2758,3524,0,0,0,0,0,0
$GC,1452,-0.60,-146.0,156.5,-7.8,196,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2758,3524,0,0,0,0,0,0
$GC,1782,-0.63,-146.0,181.1,-7.0,227,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2758,3523,0,0,0,0,0,0
$GC,2110,-0.67,-146.0,204.1,-7.4,258,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2758,3523,0,0,0,0,0,0
$GC,2442,-0.71,-146.0,229.8,-8.2,289,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2758,3524,0,0,0,0,0,0
$GC,2770,-0.76,-146.0,258.2,-8.6,320,2777,0.12,0.00,0.00,0.000,6,0.096,0.000,2216,2758,3524,0,0,0,0,0,0
$GC,3096,-0.69,-146.0,299.4,-13.0,351,3098,0.12,0.00,0.00,0.000,6,0.171,0.000,2250,2758,3525,0,0,0,0,0,0
$GC,3415,-0.69,-146.0,332.9,-10.7,381,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2758,3525,0,0,0,0,0,0
$GC,3735,-0.69,-146.0,363.7,-9.4,411,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2758,3525,0,0,0,0,0,0
$GC,4066,-0.69,-146.0,394.4,-9.4,442,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2758,3525,0,0,0,0,0,0
$GC,4402,-0.69,-146.0,425.2,-9.0,457,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2758,3525,0,0,0,0,0,0
$GC,4708,-0.69,-146.0,453.0,-9.3,467,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2758,3525,0,0,0,0,0,0
$GC,5015,-0.69,-146.0,481.0,-9.2,477,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2758,3525,0,0,0,0,0,0
$GC,5321,-0.69,-146.0,509.6,-9.3,487,5325,0.00,2.28,0.00,0.000,4,0.000,0.049,2249,1368,3525,0,0,0,0,0,0
$GC,5343,-0.71,-146.0,512.0,-9.4,487,5348,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2760,3526,0,0,0,0,0,0
$GC,5658,-0.71,-146.0,539.4,-8.8,497,5662,0.00,2.03,0.00,0.000,4,0.000,0.071,2247,3927,3526,0,0,0,0,0,0
$GC,5686,-0.71,-146.0,542.5,-9.2,497,5693,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2763,3526,0,0,0,0,0,0
$STATE,5785,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5785,begin apogee
$GC,5793,-0.14,0.0,551.4,9.1,501,5923,0.55,0.00,123.05,0.937,4,0.127,0.000,2424,2600,2926,0,0,0,0,0,0
$STATE,5924,end apogee,CONTROL_FINISHED_OK
$STATE,5924,begin climb
$GC,5927,0.57,146.0,556.5,0.0,505,6065,0.68,2.40,130.85,0.915,4,0.067,0.049,2662,1188,2327,0,0,0,0,0,0
$GC,6197,-1.63,146.0,538.0,22393.7,513,6206,2.47,2.45,0.00,0.000,6,0.144,0.054,1956,2600,2318,0,0,0,0,0,0
$GC,6528,-1.63,146.0,494.0,22393.7,524,6532,0.00,2.22,0.00,0.000,4,0.000,0.060,1944,3936,2308,0,0,0,0,0,0
$GC,6676,-1.63,146.0,469.7,22393.7,528,6680,0.00,2.28,0.00,0.000,6,0.000,0.046,1944,2547,2309,0,0,0,0,0,0
$GC,6997,-1.63,146.0,420.5,22393.7,539,7001,0.00,2.38,0.00,0.000,4,0.000,0.070,1937,3935,2308,0,0,0,0,0,0
$GC,7255,-1.63,146.0,375.3,22393.7,554,7262,0.00,2.35,0.00,0.000,6,0.000,0.045,1937,2501,2306,0,0,0,0,0,0
$GC,7581,-1.63,146.0,323.3,22393.7,585,7586,0.00,2.40,0.00,0.000,4,0.000,0.058,1925,3936,2305,0,0,0,0,0,0
$GC,7779,-1.63,146.0,286.7,22393.7,602,7786,0.00,2.30,0.00,0.000,6,0.000,0.046,1924,2519,2307,0,0,0,0,0,0
$GC,8106,-1.63,146.0,230.1,22393.7,633,8109,0.00,2.10,0.00,0.000,4,0.000,0.041,1924,1176,2305,0,0,0,0,0,0
$GC,8368,-1.63,146.0,181.4,22393.7,656,8372,0.12,2.20,0.00,0.000,6,0.183,0.057,1948,2506,2308,0,0,0,0,0,0
$GC,8694,-1.63,146.0,124.9,22393.7,686,8698,0.00,2.10,0.00,0.000,4,0.000,0.042,1948,1180,2306,0,0,0,0,0,0
$GC,8785,-1.63,146.0,108.9,22393.7,694,8789,0.00,2.15,0.00,0.000,6,0.000,0.056,1940,2486,2307,0,0,0,0,0,0
$GC,9130,-0.47,146.0,51.1,14.9,750,9138,1.58,2.47,0.00,0.000,4,0.237,0.058,2301,3935,2307,0,0,0,0,0,0
$GC,9220,0.31,175.3,41.9,8.6,765,9252,0.82,2.53,22.88,0.646,6,0.099,0.045,2571,2401,2207,0,0,0,0,0,0
$FREEZE,8.65,-1.202,-1.837,3,6,0
$FREEZE,7.86,-1.205,-1.836,3,6,0
$GC,9596,0.57,208.5,10.4,8.5,830,9631,0.25,2.70,28.83,0.627,4,0.068,0.067,2690,3926,2071,0,0,0,0,0,0
$FREEZE,5.91,-1.202,-1.834,3,6,0
$FREEZE,5.28,-1.195,-1.834,3,6,0
$FREEZE,4.70,-1.193,-1.833,3,6,0
$FREEZE,3.96,-1.162,-1.832,3,6,0
$FREEZE,3.38,-1.161,-1.832,3,6,0
$FREEZE,2.45,-1.174,-1.831,3,6,0
$STATE,9664,end climb,SURFACE_DEPTH_REACHED
$STATE,9664,begin surface coast
$FREEZE,1.51,-1.184,-1.831,3,6,0
$FINISH,1.5,1.026852
$STATE,9670,end surface coast,CONTROL_FINISHED_OK
$STATE,9670,begin surface
$SM_CCo,9691,230.15,0.086,0,0,440,609.08
$SM_GC,1.13,0.00,0.00,230.15,0.000,0.000,0.086,295,2772,440,-6.79,-0.23,609.08
$RAFOS_CLK,563
$RAFOS,0,1296748865,16.033333,16.018055,46,43,41,41,41,40,470,343,1426,25,942,165
$RAFOS_FIX,6753.183594,-5427.954590,030211,121232,2,94,18.41
$IRIDIUM_FIX,6631.12,-5828.23,030211,131315
$TT8_MAMPS,0.029211
$HUMID,46.85
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.0
$ALTIM_BOTTOM_PING,551.4,11.2
$24V_AH,21.5,100.647
$10V_AH,9.7,68.105
$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,21.675,54.325,305.600,230.150,0.000,84.212,184.168,61.669,2.000,0.000,183.542,2021.544,5728.364,661.648,2034.516,308.522,0.000,1467.597,0.000,1464.104,720.000,15.933,0.000
$DEVICE_MAMPS,242.505,71.145,937.125,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,30109,842
$CAP_FILE_SIZE,101240,0
$CFSIZE,260165632,191397888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.5
$GPS,030211,161835,6658.958,-5808.898,37,1.4,47,-37.8