version: 66.08
glider: 183
mission: 3
dive: 903
start: 2 3 111 23 1 46
data:
$ID,183
$MISSION,3
$DIVE,903
$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,-15064.028
$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,26
$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
$GPS1,030211,224929,6656.886,-5811.976,61,99.0,80,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-53.9
$GPS2,030211,224929,6656.886,-5811.976,181,99.0,181,-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,294.1,100909,-17.5,-10.000
$D_GRID,949
$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,-146.0,0.0,0.0,0,180,0.00,0.00,-154.68,0.000,6,0.000,0.000,255,2783,3520,0,0,0,0,0,0
$GC,183,-0.57,-146.0,6.3,-14.0,28,197,8.62,2.00,0.00,0.000,4,0.246,0.057,2277,3943,3522,0,0,0,0,0,0
$GC,325,-0.54,-146.0,36.1,-10.7,52,332,0.00,1.90,0.00,0.000,6,0.000,0.047,2276,2775,3522,0,0,0,0,0,0
$GC,672,-0.54,-146.0,76.4,-11.9,113,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2775,3523,0,0,0,0,0,0
$GC,1017,-0.54,-146.0,112.4,-9.1,162,1022,0.00,2.28,0.00,0.000,4,0.000,0.050,2276,1368,3523,0,0,0,0,0,0
$GC,1059,-0.60,-146.0,116.1,-8.3,165,1063,0.00,2.40,0.00,0.000,6,0.000,0.062,2275,2786,3523,0,0,0,0,0,0
$GC,1386,-0.62,-146.0,144.0,-8.2,195,1389,0.00,2.00,0.00,0.000,4,0.000,0.073,2276,3932,3524,0,0,0,0,0,0
$GC,1459,-0.66,-146.0,150.3,-8.0,201,1466,0.00,1.90,0.00,0.000,6,0.000,0.049,2275,2784,3523,0,0,0,0,0,0
$GC,1786,-0.69,-146.0,178.2,-9.0,232,1790,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3931,3523,0,0,0,0,0,0
$GC,1814,-0.74,-146.0,180.8,-8.6,234,1822,0.10,1.88,0.00,0.000,6,0.109,0.048,2230,2786,3523,0,0,0,0,0,0
$GC,2142,-0.69,-146.0,218.8,-11.6,265,2146,0.00,2.30,0.00,0.000,4,0.000,0.048,2230,1372,3523,0,0,0,0,0,0
$GC,2205,-0.69,-146.0,226.4,-11.5,270,2209,0.00,2.40,0.00,0.000,6,0.000,0.061,2230,2788,3523,0,0,0,0,0,0
$GC,2531,-0.64,-146.0,266.3,-12.1,300,2533,0.12,0.00,0.00,0.000,6,0.171,0.000,2264,2788,3523,0,0,0,0,0,0
$GC,2850,-0.67,-146.0,296.0,-9.1,330,2854,0.00,2.33,0.00,0.000,4,0.000,0.048,2264,1370,3523,0,0,0,0,0,0
$GC,2884,-0.72,-146.0,299.1,-8.8,332,2891,0.00,2.40,0.00,0.000,6,0.000,0.060,2261,2788,3523,0,0,0,0,0,0
$GC,3212,-0.75,-146.0,326.7,-8.6,363,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2787,3523,0,0,0,0,0,0
$GC,3541,-0.77,-146.0,351.7,-7.6,394,3545,0.10,2.33,0.00,0.000,4,0.115,0.048,2214,1370,3524,0,0,0,0,0,0
$GC,3582,-0.73,-146.0,355.9,-10.2,397,3587,0.12,2.38,0.00,0.000,6,0.176,0.060,2236,2779,3524,0,0,0,0,0,0
$GC,3908,-0.73,-146.0,385.9,-9.2,427,3912,0.00,2.33,0.00,0.000,4,0.000,0.048,2235,1360,3524,0,0,0,0,0,0
$GC,3939,-0.73,-146.0,388.6,-9.0,429,3943,0.00,2.40,0.00,0.000,6,0.000,0.059,2235,2773,3524,0,0,0,0,0,0
$GC,4278,-0.73,-146.0,420.6,-9.3,447,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2773,3524,0,0,0,0,0,0
$GC,4586,-0.73,-146.0,450.4,-9.8,457,4590,0.00,2.03,0.00,0.000,4,0.000,0.070,2232,3938,3524,0,0,0,0,0,0
$GC,4625,-0.73,-146.0,454.8,-10.9,458,4629,0.00,1.90,0.00,0.000,6,0.000,0.046,2233,2771,3524,0,0,0,0,0,0
$GC,4961,-0.73,-146.0,487.2,-9.7,469,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2771,3525,0,0,0,0,0,0
$GC,5269,-0.73,-146.0,516.0,-9.4,479,5273,0.00,2.25,0.00,0.000,4,0.000,0.047,2232,1369,3525,0,0,0,0,0,0
$GC,5319,-0.73,-146.0,521.0,-9.5,480,5323,0.00,2.38,0.00,0.000,6,0.000,0.059,2230,2777,3525,0,0,0,0,0,0
$GC,5633,-0.73,-146.0,549.8,-9.3,490,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2777,3525,0,0,0,0,0,0
$STATE,5663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5663,begin apogee
$GC,5672,-0.14,0.0,552.4,9.2,491,5801,0.60,0.00,122.78,0.941,4,0.135,0.000,2419,2594,2926,0,0,0,0,0,0
$STATE,5802,end apogee,CONTROL_FINISHED_OK
$STATE,5802,begin climb
$GC,5806,0.57,146.0,556.0,0.0,495,5945,0.70,2.40,129.93,0.914,4,0.071,0.048,2661,1184,2329,0,0,0,0,0,0
$GC,6074,-1.62,146.0,534.5,21805.1,503,6084,2.47,2.47,0.00,0.000,6,0.148,0.054,1964,2610,2321,0,0,0,0,0,0
$GC,6401,-1.62,146.0,491.1,21805.1,514,6405,0.00,2.33,0.00,0.000,4,0.000,0.049,1963,1180,2313,0,0,0,0,0,0
$GC,6614,-1.62,146.0,457.5,21805.1,520,6618,0.00,2.45,0.00,0.000,6,0.000,0.058,1960,2649,2312,0,0,0,0,0,0
$GC,6933,-1.62,146.0,409.1,21805.1,531,6937,0.00,2.17,0.00,0.000,4,0.000,0.069,1951,3925,2311,0,0,0,0,0,0
$GC,6962,-1.62,146.0,404.1,21805.1,531,6969,0.00,1.98,0.00,0.000,6,0.000,0.041,1951,2695,2308,0,0,0,0,0,0
$GC,7291,-1.62,146.0,353.5,21805.1,560,7295,0.00,2.42,0.00,0.000,4,0.000,0.050,1949,1184,2310,0,0,0,0,0,0
$GC,7314,-1.62,146.0,349.0,21805.1,561,7321,0.00,2.53,0.00,0.000,6,0.000,0.058,1940,2703,2309,0,0,0,0,0,0
$GC,7640,-1.62,146.0,296.6,21805.1,592,7644,0.00,2.05,0.00,0.000,4,0.000,0.060,1928,3933,2308,0,0,0,0,0,0
$GC,7902,-1.62,146.0,251.4,21805.1,615,7906,0.00,2.03,0.00,0.000,6,0.000,0.045,1926,2681,2309,0,0,0,0,0,0
$GC,8235,-1.62,146.0,196.0,21805.1,646,8240,0.12,2.40,0.00,0.000,4,0.230,0.048,1952,1184,2309,0,0,0,0,0,0
$GC,8494,-1.62,146.0,150.5,21805.1,668,8500,0.00,2.47,0.00,0.000,6,0.000,0.057,1949,2659,2310,0,0,0,0,0,0
$GC,8822,-0.89,146.0,95.1,15.4,701,8830,0.98,2.42,0.00,0.000,4,0.236,0.040,2178,1167,2308,0,0,0,0,0,0
$GC,9008,-0.00,146.0,75.0,11.1,733,9016,1.15,2.47,0.00,0.000,6,0.190,0.055,2468,2661,2310,0,0,0,0,0,0
$GC,9360,0.47,242.8,54.9,5.5,794,9449,0.40,2.45,78.88,0.642,4,0.090,0.051,2617,1184,1932,0,0,0,0,0,0
$GC,9567,0.72,291.4,39.6,7.8,829,9616,0.25,2.42,40.50,0.627,6,0.070,0.056,2724,2641,1734,0,0,0,0,0,0
$FREEZE,8.88,-0.994,-1.837,3,9,0
$FREEZE,8.03,-0.995,-1.836,3,9,0
$FREEZE,7.35,-0.995,-1.836,3,9,0
$FREEZE,6.37,-0.994,-1.835,3,9,0
$FREEZE,5.59,-0.991,-1.835,3,9,0
$FREEZE,4.92,-1.003,-1.834,3,9,0
$FREEZE,4.09,-0.997,-1.833,3,9,0
$FREEZE,3.18,-1.000,-1.833,3,9,0
$FREEZE,2.42,-0.995,-1.832,3,9,0
$STATE,9846,end climb,SURFACE_DEPTH_REACHED
$STATE,9846,begin surface coast
$FREEZE,1.46,-0.994,-1.832,3,9,0
$FREEZE,0.69,-0.995,-1.831,3,9,0
$FREEZE,0.68,-1.304,-1.802,3,9,0
$FREEZE,0.59,-1.442,-1.837,3,9,0
$FINISH,0.6,1.026956
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9870,begin surface
$SM_CCo,9887,189.10,0.088,0,0,440,609.08
$SM_GC,1.24,0.00,0.00,189.10,0.000,0.000,0.088,289,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,561
$RAFOS,6,1296780544,0.833333,0.817778,58,48,43,42,42,42,667,362,1398,694,879,1796
$RAFOS,5,1296780062,0.700000,0.683889,72,44,43,42,42,41,620,936,917,1652,216,475
$RAFOS,4,1296779583,0.566667,0.550833,92,44,42,39,38,38,668,302,1205,1544,891,1418
$RAFOS,3,1296779125,0.433333,0.423611,45,43,43,42,41,40,451,1399,144,911,954,1835
$RAFOS,2,1296778626,0.300000,0.285000,53,42,41,40,39,38,874,965,145,1005,982,1664
$RAFOS,1,1296778145,0.166667,0.151389,51,49,47,42,40,40,1240,1551,1294,1419,621,1120
$RAFOS,0,1296777662,0.033333,0.017222,43,43,42,41,40,39,1520,26,467,434,1653,175
$RAFOS_FIX,6708.639160,-5818.817383,040211,000024,2,82,3.42
$IRIDIUM_FIX,6625.71,-5802.00,030211,222203
$TT8_MAMPS,0.029211
$HUMID,46.69
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.3
$ALTIM_BOTTOM_PING,552.4,11.2
$24V_AH,21.5,100.956
$10V_AH,9.6,68.310
$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,22.175,81.775,372.075,189.100,0.000,105.010,66.780,48.970,2.000,0.000,183.441,2170.579,5620.867,677.008,2016.845,332.711,0.000,1549.366,0.000,1560.513,2520.000,15.928,0.000
$DEVICE_MAMPS,246.330,87.210,940.950,87.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.098,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,33280,882
$CAP_FILE_SIZE,114574,0
$CFSIZE,260165632,191172608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,040211,015136,6656.814,-5813.438,33,1.6,33,-37.8