version: 66.08
glider: 183
mission: 3
dive: 902
start: 2 3 111 20 9 20
data:
$ID,183
$MISSION,3
$DIVE,902
$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,-14879.957
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,030211,195136,6658.083,-5811.587,41,1.2,47,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-51.7
$GPS2,030211,195136,6658.083,-5811.587,181,99.0,181,-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,292.9,101731,-17.5,-10.000
$D_GRID,983
$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,-146.0,0.0,0.0,0,187,0.00,0.00,-162.30,0.000,6,0.000,0.000,262,2784,3521,0,0,0,0,0,0
$GC,190,-0.57,-146.0,4.5,-9.5,29,204,8.57,2.00,0.00,0.000,4,0.246,0.060,2277,3932,3523,0,0,0,0,0,0
$GC,369,-0.43,-146.0,50.0,-16.6,60,377,0.20,1.90,0.00,0.000,6,0.163,0.048,2330,2779,3522,0,0,0,0,0,0
$GC,720,-0.50,-146.0,80.8,-7.8,121,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2780,3524,0,0,0,0,0,0
$GC,1060,-0.59,-146.0,108.2,-7.3,172,1062,0.15,0.00,0.00,0.000,6,0.087,0.000,2259,2779,3524,0,0,0,0,0,0
$GC,1378,-0.59,-146.0,142.0,-9.8,202,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2779,3523,0,0,0,0,0,0
$GC,1700,-0.59,-146.0,172.8,-9.6,232,1704,0.00,2.05,0.00,0.000,4,0.000,0.073,2251,3930,3523,0,0,0,0,0,0
$GC,1750,-0.59,-146.0,178.7,-11.1,236,1758,0.12,1.95,0.00,0.000,6,0.160,0.047,2284,2754,3523,0,0,0,0,0,0
$GC,2078,-0.65,-146.0,205.2,-8.3,267,2082,0.00,2.25,0.00,0.000,4,0.000,0.049,2285,1362,3523,0,0,0,0,0,0
$GC,2118,-0.73,-146.0,208.8,-8.4,270,2123,0.12,2.38,0.00,0.000,6,0.091,0.060,2229,2756,3523,0,0,0,0,0,0
$GC,2446,-0.68,-146.0,247.0,-11.4,300,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2756,3523,0,0,0,0,0,0
$GC,2766,-0.64,-146.0,284.7,-11.8,330,2773,0.15,0.00,0.00,0.000,6,0.160,0.000,2271,2756,3523,0,0,0,0,0,0
$GC,3093,-0.69,-146.0,313.9,-8.4,361,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2756,3524,0,0,0,0,0,0
$GC,3416,-0.74,-146.0,341.7,-8.3,391,3420,0.00,2.28,0.00,0.000,4,0.000,0.049,2271,1370,3524,0,0,0,0,0,0
$GC,3457,-0.81,-146.0,345.8,-8.7,394,3462,0.17,2.38,0.00,0.000,6,0.076,0.060,2198,2762,3523,0,0,0,0,0,0
$GC,3785,-0.71,-146.0,389.3,-13.7,424,3791,0.17,0.00,0.00,0.000,6,0.171,0.000,2246,2761,3524,0,0,0,0,0,0
$GC,4102,-0.71,-146.0,423.0,-10.4,441,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2762,3525,0,0,0,0,0,0
$GC,4408,-0.71,-146.0,453.0,-9.8,451,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2761,3524,0,0,0,0,0,0
$GC,4716,-0.71,-146.0,482.4,-9.6,461,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2762,3525,0,0,0,0,0,0
$GC,5021,-0.71,-146.0,511.1,-9.4,471,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2761,3525,0,0,0,0,0,0
$GC,5327,-0.71,-146.0,538.6,-8.8,481,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2761,3525,0,0,0,0,0,0
$STATE,5480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5480,begin apogee
$GC,5488,-0.14,0.0,551.7,8.7,486,5618,0.55,0.00,122.88,0.941,4,0.129,0.000,2424,2593,2925,0,0,0,0,0,0
$STATE,5619,end apogee,CONTROL_FINISHED_OK
$STATE,5619,begin climb
$GC,5623,0.57,146.0,555.6,0.0,490,5762,0.68,2.40,130.02,0.915,4,0.071,0.049,2658,1184,2328,0,0,0,0,0,0
$GC,5889,-1.61,146.0,534.8,21152.8,498,5898,2.47,2.50,0.00,0.000,6,0.148,0.054,1961,2607,2320,0,0,0,0,0,0
$GC,6220,-1.61,146.0,487.4,21152.8,509,6224,0.00,2.28,0.00,0.000,4,0.000,0.042,1960,1169,2311,0,0,0,0,0,0
$GC,6480,-1.61,146.0,445.1,21152.8,516,6486,0.00,2.30,0.00,0.000,6,0.000,0.048,1949,2587,2310,0,0,0,0,0,0
$GC,6795,-1.61,146.0,393.7,21152.8,529,6799,0.00,2.25,0.00,0.000,4,0.000,0.044,1948,1171,2309,0,0,0,0,0,0
$GC,6807,-1.61,146.0,392.2,21152.8,529,6814,0.00,2.25,0.00,0.000,6,0.000,0.055,1939,2532,2310,0,0,0,0,0,0
$GC,7133,-1.61,146.0,337.3,21152.8,560,7137,0.00,2.35,0.00,0.000,4,0.000,0.063,1927,3927,2309,0,0,0,0,0,0
$GC,7395,-1.61,146.0,291.0,21152.8,583,7400,0.15,2.38,0.00,0.000,6,0.276,0.041,1952,2458,2307,0,0,0,0,0,0
$GC,7723,-1.61,146.0,241.1,21152.8,613,7727,0.00,2.53,0.00,0.000,4,0.000,0.069,1950,3921,2310,0,0,0,0,0,0
$GC,7745,-1.61,146.0,237.0,21152.8,614,7751,0.00,2.33,0.00,0.000,6,0.000,0.044,1950,2505,2310,0,0,0,0,0,0
$GC,8072,-1.61,146.0,187.3,21152.8,645,8076,0.00,2.42,0.00,0.000,4,0.000,0.063,1938,3933,2308,0,0,0,0,0,0
$GC,8113,-1.61,146.0,180.2,21152.8,648,8117,0.00,2.38,0.00,0.000,6,0.000,0.044,1938,2486,2309,0,0,0,0,0,0
$GC,8440,-1.61,146.0,123.4,21152.8,678,8444,0.00,2.47,0.00,0.000,4,0.000,0.061,1925,3933,2308,0,0,0,0,0,0
$GC,8627,-1.61,146.0,87.6,21152.8,700,8634,0.15,2.33,0.00,0.000,6,0.272,0.041,1951,2498,2308,0,0,0,0,0,0
$GC,8977,-1.61,146.0,37.2,21152.8,761,8984,0.00,2.10,0.00,0.000,4,0.000,0.044,1951,1168,2308,0,0,0,0,0,0
$FREEZE,8.89,-0.788,-1.826,3,8,0
$FREEZE,8.39,-0.861,-1.830,3,8,0
$FREEZE,7.35,-0.872,-1.830,3,8,0
$FREEZE,6.40,-0.940,-1.834,3,8,0
$FREEZE,5.76,-0.914,-1.831,3,8,0
$FREEZE,5.32,-0.874,-1.829,3,8,0
$FREEZE,4.32,-0.933,-1.831,3,8,0
$FREEZE,3.29,-0.942,-1.831,3,8,0
$FREEZE,2.65,-0.888,-1.827,3,8,0
$STATE,9188,end climb,SURFACE_DEPTH_REACHED
$STATE,9188,begin surface coast
$FREEZE,2.12,-0.890,-1.827,3,8,0
$FINISH,2.1,1.026779
$STATE,9195,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9213,258.58,0.085,0,0,440,609.08
$SM_GC,1.25,0.00,0.00,258.58,0.000,0.000,0.085,288,2782,440,-6.80,0.06,609.08
$RAFOS_CLK,539
$RAFOS,6,1296766148,20.833334,20.818890,55,42,42,41,39,39,647,1117,231,259,1863,303
$RAFOS,5,1296765663,20.700001,20.684166,88,48,45,43,42,38,614,230,625,1769,796,605
$RAFOS,4,1296765188,20.566668,20.552221,58,43,43,42,42,41,638,475,1050,934,1090,305
$RAFOS,3,1296764705,20.433332,20.418056,56,40,39,38,38,38,144,535,1363,656,762,1317
$RAFOS,2,1296764225,20.299999,20.284721,43,43,42,42,41,40,594,145,357,606,894,1050
$RAFOS,1,1296763784,20.166666,20.162222,44,42,41,41,41,39,1496,1483,1933,1225,1537,557
$RAFOS_FIX,6702.917969,-5806.691406,030211,161656,2,70,4.42
$IRIDIUM_FIX,6631.12,-5751.53,030211,202042
$TT8_MAMPS,0.028462
$HUMID,47.16
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,551.7,11.5
$24V_AH,21.5,100.854
$10V_AH,9.6,68.241
$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,18.075,55.450,252.900,258.575,0.000,90.680,158.553,268.742,2.250,0.000,183.587,1942.553,5469.619,640.412,2124.350,335.848,0.000,1400.773,0.000,1382.805,2160.000,18.948,0.000
$DEVICE_MAMPS,276.165,72.675,940.950,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,30039,800
$CAP_FILE_SIZE,103436,0
$CFSIZE,260165632,191258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$GPS,030211,224929,6656.886,-5811.976,61,99.0,80,-37.8