version: 66.08
glider: 183
mission: 3
dive: 906
start: 2 4 111 8 8 49
data:
$ID,183
$MISSION,3
$DIVE,906
$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,-15617.632
$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
$GPS1,040211,074755,6655.510,-5815.127,38,1.8,38,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-54.1
$GPS2,040211,074755,6655.510,-5815.127,181,99.0,181,-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,295.2,98086,-17.5,-10.000
$D_GRID,914
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-159.10,0.000,6,0.000,0.000,258,2776,3520,0,0,0,0,0,0
$GC,183,-0.57,-146.0,4.4,-10.3,28,197,8.52,2.03,0.00,0.000,4,0.243,0.059,2276,3943,3522,0,0,0,0,0,0
$GC,373,-0.51,-146.0,44.3,-10.1,61,381,0.12,1.90,0.00,0.000,6,0.170,0.047,2308,2775,3523,0,0,0,0,0,0
$GC,725,-0.54,-146.0,82.6,-9.4,122,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2775,3524,0,0,0,0,0,0
$GC,1068,-0.62,-146.0,114.1,-8.1,169,1072,0.00,2.28,0.00,0.000,4,0.000,0.050,2308,1370,3524,0,0,0,0,0,0
$GC,1090,-0.71,-146.0,116.0,-7.6,170,1098,0.17,2.42,0.00,0.000,6,0.077,0.061,2230,2790,3524,0,0,0,0,0,0
$GC,1417,-0.65,-146.0,155.8,-12.3,201,1421,0.12,2.00,0.00,0.000,4,0.172,0.072,2256,3927,3524,0,0,0,0,0,0
$GC,1452,-0.65,-146.0,159.9,-10.7,204,1457,0.00,1.92,0.00,0.000,6,0.000,0.048,2256,2777,3523,0,0,0,0,0,0
$GC,1783,-0.65,-146.0,195.1,-10.8,235,1787,0.00,2.28,0.00,0.000,4,0.000,0.050,2257,1370,3524,0,0,0,0,0,0
$GC,1813,-0.65,-146.0,198.2,-10.8,237,1817,0.00,2.38,0.00,0.000,6,0.000,0.062,2249,2772,3523,0,0,0,0,0,0
$GC,2139,-0.65,-146.0,231.0,-9.7,267,2143,0.00,2.30,0.00,0.000,4,0.000,0.049,2248,1359,3524,0,0,0,0,0,0
$GC,2166,-0.65,-146.0,233.8,-9.7,269,2173,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2769,3523,0,0,0,0,0,0
$GC,2493,-0.65,-146.0,262.2,-8.5,300,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3524,0,0,0,0,0,0
$GC,2811,-0.65,-146.0,289.1,-8.9,330,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2768,3524,0,0,0,0,0,0
$GC,3132,-0.65,-146.0,317.7,-9.2,360,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2768,3524,0,0,0,0,0,0
$GC,3462,-0.65,-146.0,349.1,-9.8,391,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3525,0,0,0,0,0,0
$GC,3790,-0.65,-146.0,379.3,-8.8,422,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2769,3525,0,0,0,0,0,0
$GC,4114,-0.65,-146.0,409.1,-9.1,447,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3525,0,0,0,0,0,0
$GC,4419,-0.65,-146.0,437.3,-9.2,457,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3526,0,0,0,0,0,0
$GC,4725,-0.65,-146.0,465.3,-9.1,467,4729,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1369,3526,0,0,0,0,0,0
$GC,4766,-0.68,-146.0,469.1,-8.8,468,4770,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2771,3526,0,0,0,0,0,0
$GC,5090,-0.68,-146.0,497.5,-8.6,479,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3526,0,0,0,0,0,0
$GC,5397,-0.68,-146.0,523.8,-8.5,489,5402,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1370,3527,0,0,0,0,0,0
$GC,5433,-0.70,-146.0,527.0,-8.4,490,5438,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2759,3526,0,0,0,0,0,0
$STATE,5710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5710,begin apogee
$GC,5717,-0.14,0.0,550.3,8.4,499,5848,0.55,0.00,123.68,0.941,4,0.133,0.000,2422,2592,2923,0,0,0,0,0,0
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5852,0.57,146.0,555.2,0.0,503,5990,0.70,2.40,130.55,0.916,4,0.071,0.049,2664,1187,2327,0,0,0,0,0,0
$GC,6144,-1.62,146.0,533.9,22007.0,512,6153,2.47,2.45,0.00,0.000,6,0.150,0.054,1964,2604,2317,0,0,0,0,0,0
$GC,6487,-1.62,146.0,491.5,22007.0,523,6491,0.00,2.28,0.00,0.000,4,0.000,0.070,1962,3935,2310,0,0,0,0,0,0
$GC,6746,-1.62,146.0,453.5,22007.0,530,6753,0.00,2.12,0.00,0.000,6,0.000,0.047,1961,2642,2308,0,0,0,0,0,0
$GC,7060,-1.62,146.0,411.3,22007.0,541,7064,0.00,2.20,0.00,0.000,4,0.000,0.068,1954,3933,2307,0,0,0,0,0,0
$GC,7072,-1.62,146.0,410.3,22007.0,541,7076,0.00,1.98,0.00,0.000,6,0.000,0.044,1954,2705,2305,0,0,0,0,0,0
$GC,7400,-1.62,146.0,367.0,22007.0,567,7403,0.00,2.12,0.00,0.000,4,0.000,0.070,1950,3929,2307,0,0,0,0,0,0
$GC,7661,-1.62,146.0,325.7,22007.0,590,7665,0.00,2.00,0.00,0.000,6,0.000,0.045,1950,2704,2306,0,0,0,0,0,0
$GC,7993,-1.62,146.0,276.2,22007.0,621,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2703,2306,0,0,0,0,0,0
$GC,8315,-1.62,146.0,222.2,22007.0,651,8319,0.00,2.45,0.00,0.000,4,0.000,0.050,1949,1185,2306,0,0,0,0,0,0
$GC,8574,-1.62,146.0,181.3,22007.0,673,8581,0.00,2.45,0.00,0.000,6,0.000,0.047,1938,2690,2305,0,0,0,0,0,0
$GC,8901,-1.62,146.0,133.1,22007.0,704,8905,0.00,2.42,0.00,0.000,4,0.000,0.047,1938,1186,2305,0,0,0,0,0,0
$GC,9162,-1.62,146.0,86.5,22007.0,733,9169,0.00,2.47,0.00,0.000,6,0.000,0.054,1925,2676,2306,0,0,0,0,0,0
$GC,9509,-1.62,146.0,28.3,22007.0,794,9517,0.12,2.42,0.00,0.000,4,0.255,0.045,1949,1181,2304,0,0,0,0,0,0
$FREEZE,8.76,-1.041,-1.826,3,12,0
$FREEZE,7.86,-0.983,-1.821,3,12,0
$FREEZE,6.38,-1.096,-1.827,3,12,0
$FREEZE,5.79,-1.117,-1.828,3,12,0
$FREEZE,4.99,-1.136,-1.829,3,12,0
$FREEZE,3.75,-1.063,-1.823,3,12,0
$GC,9656,-1.62,146.0,3.7,22007.0,819,9662,0.00,2.45,0.00,0.000,6,0.000,0.057,1945,2653,2305,0,0,0,0,0,0
$FREEZE,1.36,-1.183,-1.828,3,12,0
$STATE,9669,end climb,SURFACE_DEPTH_REACHED
$STATE,9669,begin surface coast
$FREEZE,0.89,-1.230,-1.831,3,12,0
$FINISH,0.9,1.026855
$STATE,9676,end surface coast,CONTROL_FINISHED_OK
$STATE,9676,begin surface
$SM_CCo,9692,259.17,0.085,0,0,440,609.08
$SM_GC,1.37,0.00,0.00,259.17,0.000,0.000,0.085,287,2799,440,-6.82,0.54,609.08
$RAFOS_CLK,579
$RAFOS,6,1296809344,8.833333,8.817778,128,44,44,41,41,39,670,172,1005,400,671,1585
$RAFOS,5,1296808863,8.700000,8.684167,75,43,41,41,40,40,631,993,612,972,1926,1751
$RAFOS,4,1296808385,8.566667,8.551389,65,47,43,43,40,40,654,916,902,1782,843,1604
$RAFOS,3,1296807909,8.433333,8.419167,45,44,44,42,41,41,778,1149,1536,1036,551,1923
$RAFOS,2,1296807426,8.300000,8.285000,46,43,42,41,40,40,1485,340,1473,319,145,641
$RAFOS,1,1296806951,8.166667,8.153055,51,50,46,46,44,42,1738,1633,260,1217,1772,757
$RAFOS_FIX,6657.232910,-5816.828125,040211,080822,3,89,1.03
$IRIDIUM_FIX,6625.71,-5806.66,040211,070743
$TT8_MAMPS,0.029211
$HUMID,46.37
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,550.3,11.2
$24V_AH,21.5,101.250
$10V_AH,9.6,68.514
$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,17.200,63.925,254.225,259.175,0.000,77.500,128.174,455.614,2.000,0.000,183.564,2035.757,5751.095,644.556,2378.549,382.691,0.000,1456.569,0.000,1477.162,2160.000,15.918,0.000
$DEVICE_MAMPS,254.745,77.265,940.950,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,30109,822
$CAP_FILE_SIZE,111105,0
$CFSIZE,260165632,190967808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.4
$GPS,040211,105624,6654.482,-5814.938,24,1.3,41,-37.8