version: 66.08
glider: 183
mission: 3
dive: 904
start: 2 4 111 2 6 48
data:
$ID,183
$MISSION,3
$DIVE,904
$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,-15247.188
$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,27
$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
$GPS1,040211,015136,6656.814,-5813.438,33,1.6,33,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.4
$GPS2,040211,015136,6656.814,-5813.438,181,99.0,181,-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,294.0,99838,-17.5,-10.000
$D_GRID,952
$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,17,-0.57,-146.0,0.0,0.0,0,187,0.00,0.00,-163.73,0.000,6,0.000,0.000,259,2780,3519,0,0,0,0,0,0
$GC,191,-0.57,-146.0,3.8,-5.6,29,205,8.52,2.03,0.00,0.000,4,0.244,0.062,2275,3941,3521,0,0,0,0,0,0
$GC,411,-0.43,-146.0,51.8,-17.4,67,418,0.22,1.90,0.00,0.000,6,0.162,0.048,2336,2775,3521,0,0,0,0,0,0
$GC,762,-0.49,-146.0,86.6,-7.8,128,769,0.00,2.30,0.00,0.000,4,0.000,0.050,2336,1368,3522,0,0,0,0,0,0
$GC,840,-0.60,-146.0,93.5,-8.4,141,847,0.17,2.38,0.00,0.000,6,0.079,0.062,2260,2777,3522,0,0,0,0,0,0
$GC,1178,-0.56,-146.0,136.1,-12.0,177,1182,0.12,2.03,0.00,0.000,4,0.179,0.072,2287,3927,3522,0,0,0,0,0,0
$GC,1258,-0.59,-146.0,144.9,-10.7,184,1262,0.00,1.90,0.00,0.000,6,0.000,0.049,2287,2769,3522,0,0,0,0,0,0
$GC,1590,-0.65,-146.0,175.5,-9.0,215,1594,0.00,2.28,0.00,0.000,4,0.000,0.050,2287,1363,3521,0,0,0,0,0,0
$GC,1622,-0.72,-146.0,178.3,-9.3,217,1627,0.12,2.38,0.00,0.000,6,0.093,0.061,2230,2771,3522,0,0,0,0,0,0
$GC,1950,-0.67,-146.0,218.6,-12.4,247,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2771,3521,0,0,0,0,0,0
$GC,2280,-0.63,-146.0,254.1,-10.4,278,2287,0.15,0.00,0.00,0.000,6,0.161,0.000,2271,2771,3521,0,0,0,0,0,0
$GC,2608,-0.68,-146.0,278.7,-7.6,309,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2771,3522,0,0,0,0,0,0
$GC,2940,-0.73,-146.0,303.0,-7.7,340,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2772,3522,0,0,0,0,0,0
$GC,3270,-0.78,-146.0,329.4,-8.1,371,3275,0.15,2.30,0.00,0.000,4,0.089,0.049,2203,1369,3523,0,0,0,0,0,0
$GC,3301,-0.74,-146.0,332.9,-11.3,373,3306,0.12,2.38,0.00,0.000,6,0.175,0.060,2233,2767,3522,0,0,0,0,0,0
$GC,3632,-0.74,-146.0,367.7,-10.4,404,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2767,3523,0,0,0,0,0,0
$GC,3956,-0.74,-146.0,401.0,-10.6,434,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2768,3523,0,0,0,0,0,0
$GC,4257,-0.74,-146.0,432.3,-10.0,444,4261,0.00,2.00,0.00,0.000,4,0.000,0.070,2233,3928,3523,0,0,0,0,0,0
$GC,4285,-0.74,-146.0,435.3,-9.9,444,4292,0.00,1.92,0.00,0.000,6,0.000,0.046,2233,2760,3523,0,0,0,0,0,0
$GC,4600,-0.74,-146.0,465.0,-9.4,455,4605,0.00,2.25,0.00,0.000,4,0.000,0.048,2233,1362,3523,0,0,0,0,0,0
$GC,4657,-0.74,-146.0,470.7,-9.3,456,4664,0.00,2.38,0.00,0.000,6,0.000,0.059,2234,2758,3523,0,0,0,0,0,0
$GC,4971,-0.74,-146.0,499.0,-9.0,467,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2757,3523,0,0,0,0,0,0
$GC,5278,-0.74,-146.0,527.7,-9.4,477,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2758,3523,0,0,0,0,0,0
$STATE,5521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5521,begin apogee
$GC,5529,-0.14,0.0,551.2,9.6,485,5660,0.60,0.00,123.18,0.942,4,0.135,0.000,2424,2602,2922,0,0,0,0,0,0
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5664,0.57,146.0,556.0,0.0,489,5802,0.68,2.40,130.02,0.916,4,0.070,0.048,2659,1186,2326,0,0,0,0,0,0
$GC,5940,-1.62,146.0,537.0,21075.4,497,5949,2.45,2.47,0.00,0.000,6,0.148,0.054,1964,2601,2317,0,0,0,0,0,0
$GC,6265,-1.62,146.0,494.7,21075.4,508,6269,0.00,2.25,0.00,0.000,4,0.000,0.042,1964,1178,2308,0,0,0,0,0,0
$GC,6523,-1.62,146.0,455.0,21075.4,515,6530,0.00,2.28,0.00,0.000,6,0.000,0.048,1952,2583,2308,0,0,0,0,0,0
$GC,6838,-1.62,146.0,406.5,21075.4,526,6842,0.00,2.25,0.00,0.000,4,0.000,0.045,1950,1173,2306,0,0,0,0,0,0
$GC,7098,-1.62,146.0,365.0,21075.4,545,7105,0.00,2.28,0.00,0.000,6,0.000,0.048,1939,2574,2306,0,0,0,0,0,0
$GC,7424,-1.62,146.0,310.0,21075.4,576,7428,0.00,2.30,0.00,0.000,4,0.000,0.066,1927,3926,2306,0,0,0,0,0,0
$GC,7683,-1.62,146.0,260.4,21075.4,598,7690,0.12,2.17,0.00,0.000,6,0.168,0.046,1957,2602,2306,0,0,0,0,0,0
$GC,8010,-1.62,146.0,205.0,21075.4,629,8014,0.00,2.28,0.00,0.000,4,0.000,0.048,1957,1190,2305,0,0,0,0,0,0
$GC,8269,-1.62,146.0,162.0,21075.4,651,8275,0.00,2.30,0.00,0.000,6,0.000,0.049,1947,2597,2306,0,0,0,0,0,0
$GC,8595,-1.62,146.0,112.1,21075.4,682,8599,0.00,2.28,0.00,0.000,4,0.000,0.049,1944,1187,2306,0,0,0,0,0,0
$GC,8855,-0.34,146.0,73.8,14.8,720,8863,1.65,2.38,0.00,0.000,6,0.198,0.057,2358,2607,2306,0,0,0,0,0,0
$GC,9205,0.30,267.0,60.2,4.4,781,9315,0.60,2.30,97.57,0.643,4,0.105,0.067,2567,3931,1834,0,0,0,0,0,0
$GC,9570,0.71,267.0,30.5,11.4,844,9578,0.38,2.15,0.00,0.000,6,0.078,0.045,2705,2599,1823,0,0,0,0,0,0
$FREEZE,8.92,-0.968,-1.837,3,10,0
$FREEZE,8.26,-0.965,-1.837,3,10,0
$FREEZE,7.58,-0.962,-1.836,3,10,0
$FREEZE,6.84,-0.962,-1.836,3,10,0
$FREEZE,5.88,-0.969,-1.835,3,10,0
$FREEZE,5.11,-0.962,-1.834,3,10,0
$FREEZE,4.38,-0.960,-1.834,3,10,0
$FREEZE,3.85,-0.974,-1.834,3,10,0
$FREEZE,3.14,-0.970,-1.833,3,10,0
$FREEZE,2.62,-0.980,-1.832,3,10,0
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FREEZE,1.95,-0.984,-1.832,3,10,0
$FREEZE,0.88,-0.978,-1.831,3,10,0
$FREEZE,0.72,-0.981,-1.830,3,10,0
$FREEZE,0.48,-1.042,-1.834,3,10,0
$FINISH,0.5,1.026893
$STATE,9816,end surface coast,CONTROL_FINISHED_OK
$STATE,9816,begin surface
$SM_CCo,9835,200.65,0.085,0,0,440,609.08
$SM_GC,1.24,0.00,0.00,200.65,0.000,0.000,0.085,293,2789,440,-6.80,0.25,609.08
$RAFOS_CLK,561
$RAFOS,5,1296794464,4.700000,4.684444,79,66,44,42,41,40,620,606,1290,686,1099,1131
$RAFOS,4,1296793981,4.566667,4.550278,57,48,47,44,42,42,672,1562,1074,397,1210,1726
$RAFOS,3,1296793502,4.433333,4.417222,48,47,46,46,41,40,1194,1784,145,829,1502,1868
$RAFOS,2,1296793022,4.300000,4.283889,43,43,43,42,42,41,1309,387,478,1135,1833,1573
$RAFOS,1,1296792544,4.166667,4.151111,47,44,43,42,41,40,417,1301,530,1083,1499,1625
$RAFOS,0,1296792067,4.033333,4.018611,44,44,43,41,41,39,1773,154,1838,254,334,1822
$RAFOS_FIX,6708.639160,-5818.817383,040211,000024,2,82,3.42
$IRIDIUM_FIX,6625.71,-5809.55,040211,010154
$TT8_MAMPS,0.031458
$HUMID,46.41
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,551.2,11.2
$24V_AH,21.5,101.058
$10V_AH,9.7,68.379
$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,22.575,63.050,350.775,200.650,0.000,100.899,146.574,50.060,2.250,0.000,182.531,2162.472,5552.708,678.561,2202.542,328.903,0.000,1548.122,0.000,1582.067,2520.000,21.982,0.000
$DEVICE_MAMPS,244.035,77.265,942.480,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33427,888
$CAP_FILE_SIZE,108980,0
$CFSIZE,260165632,191094784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,040211,045601,6656.796,-5814.755,62,1.3,62,-37.8