version: 66.08
glider: 183
mission: 3
dive: 901
start: 2 3 111 16 30 54
data:
$ID,183
$MISSION,3
$DIVE,901
$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,-14695.74
$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,30
$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
$GPS1,030211,161835,6658.958,-5808.898,37,1.4,47,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.2
$GPS2,030211,161835,6658.958,-5808.898,181,99.0,181,-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,292.4,104054,-17.5,-10.000
$D_GRID,976
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,183,0.00,0.00,-157.68,0.000,6,0.000,0.000,263,2772,3520,0,0,0,0,0,0
$GC,186,-0.57,-146.0,6.2,-15.4,28,200,8.52,2.03,0.00,0.000,4,0.244,0.057,2277,3941,3522,0,0,0,0,0,0
$GC,328,-0.53,-146.0,36.2,-13.4,52,334,0.00,1.90,0.00,0.000,6,0.000,0.048,2277,2772,3522,0,0,0,0,0,0
$GC,676,-0.53,-146.0,78.1,-10.6,113,683,0.00,2.25,0.00,0.000,4,0.000,0.050,2277,1370,3522,0,0,0,0,0,0
$GC,727,-0.57,-146.0,83.0,-10.0,121,734,0.00,2.38,0.00,0.000,6,0.000,0.061,2275,2779,3522,0,0,0,0,0,0
$GC,1067,-0.57,-146.0,114.0,-9.1,168,1072,0.00,2.33,0.00,0.000,4,0.000,0.050,2275,1361,3522,0,0,0,0,0,0
$GC,1101,-0.60,-146.0,117.6,-9.3,170,1108,0.00,2.38,0.00,0.000,6,0.000,0.061,2275,2760,3523,0,0,0,0,0,0
$GC,1429,-0.63,-146.0,146.8,-8.8,201,1433,0.00,2.25,0.00,0.000,4,0.000,0.050,2275,1370,3522,0,0,0,0,0,0
$GC,1470,-0.68,-146.0,150.6,-9.3,204,1475,0.00,2.35,0.00,0.000,6,0.000,0.061,2275,2762,3522,0,0,0,0,0,0
$GC,1798,-0.71,-146.0,179.7,-10.1,234,1801,0.00,2.05,0.00,0.000,4,0.000,0.073,2275,3935,3522,0,0,0,0,0,0
$GC,1849,-0.76,-146.0,185.0,-9.5,238,1856,0.12,1.95,0.00,0.000,6,0.095,0.047,2219,2758,3522,0,0,0,0,0,0
$GC,2176,-0.70,-146.0,225.9,-12.3,269,2181,0.12,2.28,0.00,0.000,4,0.173,0.049,2252,1367,3522,0,0,0,0,0,0
$GC,2205,-0.70,-146.0,229.3,-10.7,271,2209,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2760,3522,0,0,0,0,0,0
$GC,2532,-0.70,-146.0,261.9,-10.4,301,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2761,3522,0,0,0,0,0,0
$GC,2853,-0.70,-146.0,294.8,-10.4,331,2856,0.00,2.05,0.00,0.000,4,0.000,0.072,2247,3936,3522,0,0,0,0,0,0
$GC,2900,-0.70,-146.0,300.1,-10.6,335,2904,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2757,3522,0,0,0,0,0,0
$GC,3232,-0.70,-146.0,333.5,-9.5,366,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3523,0,0,0,0,0,0
$GC,3554,-0.70,-146.0,363.6,-9.7,396,3558,0.00,2.08,0.00,0.000,4,0.000,0.072,2247,3935,3523,0,0,0,0,0,0
$GC,3593,-0.70,-146.0,367.9,-9.6,399,3600,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2757,3523,0,0,0,0,0,0
$GC,3919,-0.70,-146.0,397.4,-8.8,430,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3523,0,0,0,0,0,0
$GC,4228,-0.70,-146.0,426.0,-9.4,442,4232,0.00,2.25,0.00,0.000,4,0.000,0.048,2247,1370,3523,0,0,0,0,0,0
$GC,4280,-0.73,-146.0,431.3,-9.9,443,4284,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2762,3523,0,0,0,0,0,0
$GC,4601,-0.73,-146.0,459.7,-8.8,454,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2762,3523,0,0,0,0,0,0
$GC,4906,-0.73,-146.0,486.5,-8.7,464,4910,0.00,2.03,0.00,0.000,4,0.000,0.070,2247,3927,3524,0,0,0,0,0,0
$GC,4941,-0.73,-146.0,489.6,-9.6,465,4945,0.00,1.92,0.00,0.000,6,0.000,0.046,2247,2745,3524,0,0,0,0,0,0
$GC,5284,-0.73,-146.0,520.2,-9.0,476,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2745,3523,0,0,0,0,0,0
$GC,5589,-0.73,-146.0,548.1,-9.2,486,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2745,3524,0,0,0,0,0,0
$GC,5895,-0.73,-146.0,576.1,-9.1,496,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2745,3524,0,0,0,0,0,0
$STATE,6172,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6172,begin apogee
$GC,6180,-0.14,0.0,600.7,8.9,505,6311,0.55,0.00,123.90,0.972,4,0.129,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,6311,end apogee,CONTROL_FINISHED_OK
$STATE,6312,begin climb
$GC,6316,0.57,146.0,605.6,0.0,509,6454,0.68,2.40,131.50,0.945,4,0.067,0.048,2660,1188,2327,0,0,0,0,0,0
$GC,6576,0.57,146.0,587.2,10.4,516,6580,0.00,2.47,0.00,0.000,6,0.000,0.053,2661,2602,2319,0,0,0,0,0,0
$GC,6896,0.53,146.0,552.7,10.9,527,6900,0.00,2.28,0.00,0.000,4,0.000,0.050,2662,1189,2316,0,0,0,0,0,0
$GC,7081,0.53,146.0,533.5,10.7,532,7086,0.00,2.33,0.00,0.000,6,0.000,0.054,2661,2615,2315,0,0,0,0,0,0
$GC,7395,0.48,146.0,500.3,10.6,542,7399,0.00,2.20,0.00,0.000,4,0.000,0.065,2662,3928,2314,0,0,0,0,0,0
$GC,7463,0.39,146.0,491.7,13.0,544,7468,0.22,2.12,0.00,0.000,6,0.182,0.043,2604,2618,2313,0,0,0,0,0,0
$GC,7795,0.49,208.0,467.4,7.1,555,7853,0.00,0.00,52.67,0.880,6,0.000,0.000,2604,2617,2074,0,0,0,0,0,0
$GC,8160,0.63,254.3,439.6,7.9,567,8203,0.20,0.00,40.25,0.858,6,0.076,0.000,2689,2617,1885,0,0,0,0,0,0
$GC,8498,0.61,254.3,393.1,14.2,580,8502,0.00,2.30,0.00,0.000,4,0.000,0.052,2690,1197,1877,0,0,0,0,0,0
$GC,8538,0.61,254.3,387.5,13.5,583,8542,0.00,2.33,0.00,0.000,6,0.000,0.054,2690,2628,1876,0,0,0,0,0,0
$GC,8866,0.59,254.3,343.2,13.6,613,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2628,1875,0,0,0,0,0,0
$GC,9196,0.57,254.3,298.4,13.9,644,9203,0.12,0.00,0.00,0.000,6,0.187,0.000,2658,2628,1874,0,0,0,0,0,0
$GC,9524,0.61,254.3,262.3,10.5,675,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2628,1873,0,0,0,0,0,0
$GC,9854,0.66,258.4,227.2,9.8,706,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2628,1873,0,0,0,0,0,0
$GC,10185,0.72,258.4,194.3,10.1,737,10190,0.15,2.35,0.00,0.000,4,0.093,0.051,2724,1193,1873,0,0,0,0,0,0
$GC,10249,0.69,258.4,185.9,13.3,742,10253,0.00,2.35,0.00,0.000,6,0.000,0.053,2724,2626,1873,0,0,0,0,0,0
$GC,10575,0.63,258.4,137.8,15.8,772,10580,0.15,2.25,0.00,0.000,4,0.180,0.066,2683,3925,1872,0,0,0,0,0,0
$GC,10630,0.63,258.4,128.9,15.6,776,10637,0.00,2.10,0.00,0.000,6,0.000,0.044,2683,2630,1870,0,0,0,0,0,0
$GC,10963,0.63,258.4,87.1,12.1,816,10970,0.00,2.35,0.00,0.000,4,0.000,0.052,2684,1186,1871,0,0,0,0,0,0
$GC,11012,0.70,258.4,81.7,10.8,824,11019,0.00,2.40,0.00,0.000,6,0.000,0.054,2684,2632,1871,0,0,0,0,0,0
$GC,11361,0.74,258.4,40.3,13.7,885,11368,0.00,2.22,0.00,0.000,4,0.000,0.065,2684,3935,1870,0,0,0,0,0,0
$GC,11437,0.74,258.4,28.2,15.5,898,11444,0.00,2.12,0.00,0.000,6,0.000,0.044,2685,2634,1870,0,0,0,0,0,0
$FREEZE,8.67,-1.001,-1.836,3,7,0
$FREEZE,8.14,-0.997,-1.836,3,7,0
$FREEZE,7.86,-1.002,-1.836,3,7,0
$FREEZE,7.59,-1.001,-1.835,3,7,0
$FREEZE,7.16,-0.999,-1.835,3,7,0
$FREEZE,6.50,-0.994,-1.834,3,7,0
$FREEZE,5.98,-0.994,-1.834,3,7,0
$FREEZE,5.32,-0.992,-1.834,3,7,0
$FREEZE,4.64,-0.993,-1.833,3,7,0
$FREEZE,3.94,-0.993,-1.833,3,7,0
$FREEZE,3.37,-0.986,-1.832,3,7,0
$FREEZE,2.49,-0.992,-1.832,3,7,0
$STATE,11684,end climb,SURFACE_DEPTH_REACHED
$STATE,11685,begin surface coast
$FREEZE,1.71,-1.004,-1.831,3,7,0
$FREEZE,1.41,-0.995,-1.831,3,7,0
$FREEZE,0.70,-0.993,-1.830,3,7,0
$FREEZE,0.60,-1.310,-0.896,3,7,0
$FINISH,0.6,1.013206
$STATE,11710,end surface coast,FINISH_DEPTH_REACHED
$STATE,11710,begin surface
$SM_CCo,11728,205.88,0.084,0,0,439,609.08
$SM_GC,1.32,0.00,0.00,205.88,0.000,0.000,0.084,299,2783,439,-6.79,0.08,609.08
$RAFOS_CLK,664
$RAFOS,6,1296751742,16.833334,16.817223,79,46,43,41,39,39,672,340,1197,26,1122,1344
$RAFOS,5,1296751266,16.700001,16.684999,61,43,42,42,41,41,599,26,707,145,180,1074
$RAFOS,4,1296750786,16.566668,16.551666,47,45,42,42,41,38,672,1785,792,804,336,889
$RAFOS,1,1296749345,16.166666,16.151388,43,42,40,39,38,38,26,717,456,1500,915,1749
$RAFOS_FIX,6702.917969,-5806.691406,030211,161656,2,70,4.42
$IRIDIUM_FIX,6631.12,-5800.84,030211,161619
$TT8_MAMPS,0.028462
$HUMID,47.04
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,600.7,11.9
$24V_AH,21.4,100.754
$10V_AH,9.6,68.175
$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,17.325,80.050,348.325,205.875,0.000,84.679,78.430,60.358,2.500,0.000,183.560,2321.444,7229.930,702.792,2057.345,346.145,0.000,1586.927,0.000,1596.731,1080.000,20.527,0.000
$DEVICE_MAMPS,244.035,77.265,971.550,84.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,659.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,33379,947
$CAP_FILE_SIZE,119779,0
$CFSIZE,260165632,191303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$GPS,030211,195136,6658.083,-5811.587,41,1.2,47,-37.8