version: 66.08
glider: 183
mission: 3
dive: 905
start: 2 4 111 5 8 45
data:
$ID,183
$MISSION,3
$DIVE,905
$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,-15433.44
$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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,040211,045601,6656.796,-5814.755,62,1.3,62,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-55.9
$GPS2,040211,045601,6656.796,-5814.755,181,99.0,181,-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,293.9,98895,-17.5,-10.000
$D_GRID,957
$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,-146.0,0.0,0.0,0,182,0.00,0.00,-162.68,0.000,6,0.000,0.000,269,2789,3519,0,0,0,0,0,0
$GC,186,-0.57,-146.0,3.5,-5.8,28,200,8.52,1.98,0.00,0.000,4,0.246,0.057,2276,3937,3522,0,0,0,0,0,0
$GC,282,-0.34,-146.0,25.5,-18.9,44,289,0.32,1.90,0.00,0.000,6,0.168,0.047,2365,2776,3522,0,0,0,0,0,0
$GC,631,-0.41,-146.0,55.9,-7.3,105,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2776,3523,0,0,0,0,0,0
$GC,978,-0.55,-146.0,77.9,-6.7,166,986,0.20,2.28,0.00,0.000,4,0.076,0.049,2276,1371,3523,0,0,0,0,0,0
$GC,1034,-0.55,-146.0,83.4,-10.8,175,1041,0.00,2.40,0.00,0.000,6,0.000,0.063,2276,2790,3523,0,0,0,0,0,0
$GC,1370,-0.52,-146.0,119.8,-10.0,219,1375,0.12,2.38,0.00,0.000,4,0.182,0.050,2308,1362,3522,0,0,0,0,0,0
$GC,1412,-0.59,-146.0,123.2,-7.1,222,1416,0.00,2.38,0.00,0.000,6,0.000,0.061,2305,2772,3523,0,0,0,0,0,0
$GC,1739,-0.68,-146.0,144.0,-6.0,252,1746,0.15,0.00,0.00,0.000,6,0.089,0.000,2237,2772,3522,0,0,0,0,0,0
$GC,2066,-0.64,-146.0,178.1,-10.5,283,2071,0.10,2.30,0.00,0.000,4,0.176,0.049,2262,1371,3522,0,0,0,0,0,0
$GC,2101,-0.67,-146.0,181.7,-9.1,285,2108,0.00,2.38,0.00,0.000,6,0.000,0.062,2261,2773,3522,0,0,0,0,0,0
$GC,2427,-0.67,-146.0,210.3,-9.2,316,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2773,3522,0,0,0,0,0,0
$GC,2749,-0.67,-146.0,240.9,-9.9,346,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2773,3522,0,0,0,0,0,0
$GC,3078,-0.69,-146.0,271.7,-8.7,377,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2773,3522,0,0,0,0,0,0
$GC,3408,-0.71,-146.0,301.4,-9.2,408,3412,0.00,2.00,0.00,0.000,4,0.000,0.070,2259,3930,3523,0,0,0,0,0,0
$GC,3443,-0.73,-146.0,305.4,-10.1,411,3447,0.00,1.95,0.00,0.000,6,0.000,0.047,2258,2765,3522,0,0,0,0,0,0
$GC,3775,-0.75,-146.0,338.9,-10.0,442,3779,0.00,2.25,0.00,0.000,4,0.000,0.049,2259,1370,3523,0,0,0,0,0,0
$GC,3803,-0.78,-146.0,342.0,-10.5,444,3810,0.00,2.38,0.00,0.000,6,0.000,0.060,2250,2766,3522,0,0,0,0,0,0
$GC,4129,-0.78,-146.0,374.9,-10.2,475,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2766,3523,0,0,0,0,0,0
$GC,4445,-0.78,-146.0,406.7,-10.1,501,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2766,3523,0,0,0,0,0,0
$GC,4753,-0.78,-146.0,436.9,-9.9,511,4757,0.00,2.00,0.00,0.000,4,0.000,0.070,2247,3928,3523,0,0,0,0,0,0
$GC,4775,-0.78,-146.0,439.5,-10.2,511,4779,0.00,1.92,0.00,0.000,6,0.000,0.046,2247,2761,3523,0,0,0,0,0,0
$GC,5094,-0.78,-146.0,471.1,-9.8,522,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3523,0,0,0,0,0,0
$STATE,5401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5401,begin apogee
$GC,5410,-0.14,0.0,500.1,9.4,532,5540,0.55,0.00,122.20,0.914,4,0.132,0.000,2423,2598,2923,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5545,0.57,146.0,505.9,0.0,536,5682,0.70,2.42,128.60,0.890,4,0.072,0.049,2666,1176,2326,0,0,0,0,0,0
$GC,5822,-1.42,146.0,486.3,20548.6,544,5835,2.28,2.45,0.00,0.000,6,0.151,0.054,2020,2602,2316,0,0,0,0,0,0
$GC,6141,-1.42,146.0,447.2,20548.6,555,6145,0.00,2.28,0.00,0.000,4,0.000,0.050,2020,1188,2310,0,0,0,0,0,0
$GC,6401,-1.42,146.0,410.5,20548.6,562,6408,0.00,2.28,0.00,0.000,6,0.000,0.057,2015,2571,2310,0,0,0,0,0,0
$GC,6726,-1.42,146.0,365.4,20548.6,587,6730,0.00,2.22,0.00,0.000,4,0.000,0.042,2014,1176,2307,0,0,0,0,0,0
$GC,6986,-1.42,146.0,325.0,20548.6,610,6991,0.00,2.28,0.00,0.000,6,0.000,0.054,2004,2554,2307,0,0,0,0,0,0
$GC,7313,-1.42,146.0,274.5,20548.6,640,7317,0.00,2.20,0.00,0.000,4,0.000,0.049,2002,1181,2308,0,0,0,0,0,0
$GC,7573,-1.42,146.0,233.1,20548.6,662,7580,0.00,2.22,0.00,0.000,6,0.000,0.056,1992,2517,2306,0,0,0,0,0,0
$GC,7899,-1.42,146.0,185.1,20548.6,693,7903,0.00,2.12,0.00,0.000,4,0.000,0.047,1990,1184,2306,0,0,0,0,0,0
$GC,7913,-1.42,146.0,184.0,20548.6,694,7917,0.15,2.15,0.00,0.000,6,0.180,0.055,2017,2494,2307,0,0,0,0,0,0
$GC,8239,-1.42,146.0,139.0,20548.6,724,8243,0.00,2.12,0.00,0.000,4,0.000,0.048,2017,1180,2306,0,0,0,0,0,0
$GC,8500,-1.42,146.0,103.5,20548.6,747,8504,0.00,2.20,0.00,0.000,6,0.000,0.051,2008,2514,2306,0,0,0,0,0,0
$GC,8845,-1.42,146.0,59.8,20548.6,805,8852,0.00,2.40,0.00,0.000,4,0.000,0.062,1996,3924,2306,0,0,0,0,0,0
$GC,9108,-1.42,146.0,14.0,20548.6,851,9115,0.00,2.28,0.00,0.000,6,0.000,0.044,1994,2528,2305,0,0,0,0,0,0
$FREEZE,7.87,-0.992,-1.833,3,11,0
$FREEZE,6.70,-0.987,-1.832,3,11,0
$FREEZE,6.14,-0.968,-1.830,3,11,0
$FREEZE,5.80,-1.009,-1.832,3,11,0
$FREEZE,5.07,-0.857,-1.822,3,11,0
$FREEZE,3.89,-1.028,-1.832,3,11,0
$FREEZE,2.97,-1.008,-1.830,3,11,0
$STATE,9175,end climb,SURFACE_DEPTH_REACHED
$STATE,9175,begin surface coast
$FREEZE,2.49,-0.948,-1.825,3,11,0
$FINISH,2.5,1.026753
$STATE,9184,end surface coast,CONTROL_FINISHED_OK
$STATE,9184,begin surface
$SM_CCo,9200,258.52,0.085,0,0,440,609.08
$SM_GC,1.26,0.00,0.00,258.52,0.000,0.000,0.085,293,2775,440,-6.80,-0.14,609.08
$RAFOS_CLK,525
$RAFOS,6,1296794942,4.833333,4.817222,47,45,43,41,41,41,1804,676,500,1631,1642,145
$RAFOS_FIX,6708.639160,-5818.817383,040211,000024,2,82,3.42
$IRIDIUM_FIX,6631.12,-5823.55,040211,040445
$TT8_MAMPS,0.029211
$HUMID,46.41
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.5
$ALTIM_BOTTOM_PING,500.1,10.8
$24V_AH,21.7,101.141
$10V_AH,9.7,68.444
$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,17.750,62.775,250.800,258.525,0.000,93.906,61.063,100.008,2.000,0.000,185.623,2117.702,5123.458,652.134,1986.411,319.384,0.000,1478.763,0.000,1524.155,0.000,14.155,0.000
$DEVICE_MAMPS,245.565,75.735,914.175,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,33375,864
$CAP_FILE_SIZE,104206,0
$CFSIZE,260165632,191025152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$GPS,040211,074755,6655.510,-5815.127,38,1.8,38,-37.8