version: 66.08
glider: 183
mission: 3
dive: 908
start: 2 4 111 14 29 26
data:
$ID,183
$MISSION,3
$DIVE,908
$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,-15620.155
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,040211,141607,6654.894,-5816.485,23,1.5,23,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-51.0
$GPS2,040211,142857,6654.903,-5816.747,39,99.0,58,-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,295.7,96689,-17.5,-10.000
$D_GRID,934
$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,-146.0,0.0,0.0,0,186,0.00,0.00,-165.12,0.000,6,0.000,0.000,282,2784,3519,0,0,0,0,0,0
$GC,190,-0.57,-146.0,3.2,-5.1,29,203,8.48,2.00,0.00,0.000,4,0.246,0.062,2276,3935,3522,0,0,0,0,0,0
$GC,431,-0.44,-146.0,52.4,-17.0,71,438,0.20,1.88,0.00,0.000,6,0.162,0.048,2329,2779,3522,0,0,0,0,0,0
$GC,779,-0.50,-146.0,89.3,-9.1,132,786,0.00,2.30,0.00,0.000,4,0.000,0.050,2329,1373,3523,0,0,0,0,0,0
$GC,901,-0.60,-146.0,100.8,-9.2,152,909,0.15,2.35,0.00,0.000,6,0.082,0.062,2264,2753,3523,0,0,0,0,0,0
$GC,1228,-0.56,-146.0,147.1,-14.8,183,1232,0.00,2.05,0.00,0.000,4,0.000,0.073,2255,3931,3523,0,0,0,0,0,0
$GC,1330,-0.53,-146.0,163.0,-14.4,192,1335,0.17,1.92,0.00,0.000,6,0.154,0.048,2304,2756,3522,0,0,0,0,0,0
$GC,1663,-0.63,-146.0,197.8,-9.7,223,1667,0.00,2.25,0.00,0.000,4,0.000,0.050,2304,1365,3522,0,0,0,0,0,0
$GC,1696,-0.75,-146.0,201.3,-9.8,225,1704,0.20,2.35,0.00,0.000,6,0.073,0.061,2215,2759,3522,0,0,0,0,0,0
$GC,2023,-0.67,-146.0,247.2,-13.9,256,2025,0.15,0.00,0.00,0.000,6,0.171,0.000,2255,2759,3522,0,0,0,0,0,0
$GC,2341,-0.67,-146.0,277.7,-8.6,286,2345,0.00,2.28,0.00,0.000,4,0.000,0.050,2256,1365,3522,0,0,0,0,0,0
$GC,2381,-0.70,-146.0,281.2,-8.5,289,2388,0.00,2.38,0.00,0.000,6,0.000,0.060,2250,2757,3523,0,0,0,0,0,0
$GC,2707,-0.70,-146.0,306.8,-7.2,320,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2757,3523,0,0,0,0,0,0
$GC,3029,-0.70,-146.0,327.6,-6.2,350,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2757,3523,0,0,0,0,0,0
$GC,3357,-0.70,-146.0,345.6,-5.6,381,3361,0.00,2.05,0.00,0.000,4,0.000,0.071,2248,3929,3523,0,0,0,0,0,0
$GC,3387,-0.70,-146.0,347.6,-6.0,383,3394,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2751,3523,0,0,0,0,0,0
$GC,3713,-0.70,-146.0,367.6,-6.1,414,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2751,3523,0,0,0,0,0,0
$GC,4035,-0.70,-146.0,387.1,-6.1,444,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2751,3523,0,0,0,0,0,0
$GC,4356,-0.70,-146.0,408.9,-7.2,467,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2751,3523,0,0,0,0,0,0
$GC,4663,-0.70,-146.0,431.6,-7.6,477,4667,0.00,2.25,0.00,0.000,4,0.000,0.048,2247,1369,3523,0,0,0,0,0,0
$GC,4709,-0.73,-146.0,435.6,-7.9,478,4713,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2758,3523,0,0,0,0,0,0
$GC,5027,-0.73,-146.0,460.4,-8.0,489,5029,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3523,0,0,0,0,0,0
$GC,5335,-0.73,-146.0,485.5,-8.5,499,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2758,3524,0,0,0,0,0,0
$GC,5640,-0.73,-146.0,512.5,-9.0,509,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2757,3524,0,0,0,0,0,0
$GC,5947,-0.73,-146.0,540.4,-9.2,519,5951,0.00,2.03,0.00,0.000,4,0.000,0.071,2247,3928,3524,0,0,0,0,0,0
$GC,5975,-0.73,-146.0,543.2,-9.2,519,5983,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2751,3524,0,0,0,0,0,0
$STATE,6074,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6074,begin apogee
$GC,6081,-0.14,0.0,552.1,9.0,523,6212,0.55,0.00,123.38,0.943,4,0.132,0.000,2422,2600,2923,0,0,0,0,0,0
$STATE,6213,end apogee,CONTROL_FINISHED_OK
$STATE,6213,begin climb
$GC,6216,0.57,146.0,556.7,0.0,527,6355,0.70,2.42,130.75,0.918,4,0.070,0.049,2664,1180,2327,0,0,0,0,0,0
$GC,6481,-1.63,146.0,537.9,23547.6,535,6490,2.53,2.53,0.00,0.000,6,0.149,0.054,1960,2607,2318,0,0,0,0,0,0
$GC,6812,-1.63,146.0,494.3,23547.6,546,6816,0.00,2.30,0.00,0.000,4,0.000,0.046,1959,1181,2309,0,0,0,0,0,0
$GC,7069,-1.63,146.0,454.4,23547.6,553,7076,0.00,2.30,0.00,0.000,6,0.000,0.055,1949,2583,2309,0,0,0,0,0,0
$GC,7385,-1.63,146.0,404.8,23547.6,564,7389,0.00,2.22,0.00,0.000,4,0.000,0.042,1950,1176,2306,0,0,0,0,0,0
$GC,7645,-1.63,146.0,361.6,23547.6,585,7651,0.00,2.28,0.00,0.000,6,0.000,0.051,1939,2561,2308,0,0,0,0,0,0
$GC,7971,-1.63,146.0,305.6,23547.6,616,7975,0.00,2.22,0.00,0.000,4,0.000,0.050,1937,1189,2307,0,0,0,0,0,0
$GC,8232,-1.63,146.0,261.3,23547.6,639,8236,0.00,2.17,0.00,0.000,6,0.000,0.047,1926,2537,2306,0,0,0,0,0,0
$GC,8558,-1.63,146.0,207.6,23547.6,669,8562,0.00,2.17,0.00,0.000,4,0.000,0.050,1924,1190,2308,0,0,0,0,0,0
$GC,8817,-1.63,146.0,159.9,23547.6,691,8825,0.17,2.15,0.00,0.000,6,0.275,0.048,1944,2516,2306,0,0,0,0,0,0
$GC,9144,-1.63,146.0,103.4,23547.6,722,9148,0.00,2.17,0.00,0.000,4,0.000,0.050,1944,1179,2306,0,0,0,0,0,0
$GC,9226,-0.44,146.0,90.0,16.6,733,9233,1.40,2.12,0.00,0.000,6,0.158,0.055,2330,2472,2308,0,0,0,0,0,0
$GC,9576,0.32,268.8,71.6,4.3,794,9689,0.68,2.55,100.07,0.656,4,0.093,0.067,2571,3922,1824,0,0,0,0,0,0
$GC,9946,0.77,297.8,42.4,8.7,858,9977,0.43,2.47,23.67,0.640,6,0.080,0.044,2728,2409,1707,0,0,0,0,0,0
$FREEZE,8.67,-1.142,-1.837,3,1,0
$FREEZE,7.94,-1.157,-1.836,3,1,0
$FREEZE,7.45,-1.156,-1.836,3,1,0
$FREEZE,6.91,-1.153,-1.835,3,1,0
$FREEZE,6.23,-1.153,-1.835,3,1,0
$FREEZE,5.64,-1.155,-1.835,3,1,0
$FREEZE,4.98,-1.150,-1.834,3,1,0
$FREEZE,4.03,-1.147,-1.833,3,1,0
$FREEZE,3.13,-1.138,-1.833,3,1,0
$FREEZE,2.33,-1.144,-1.832,3,1,0
$STATE,10306,end climb,SURFACE_DEPTH_REACHED
$STATE,10306,begin surface coast
$FREEZE,1.79,-1.139,-1.831,3,1,0
$FREEZE,1.11,-1.143,-1.831,3,1,0
$FREEZE,0.66,-1.141,-1.830,3,1,0
$FINISH,0.7,1.026849
$STATE,10323,end surface coast,CONTROL_FINISHED_OK
$STATE,10323,begin surface
$SM_CCo,10342,185.62,0.085,0,0,440,609.08
$SM_GC,1.21,0.00,0.00,185.62,0.000,0.000,0.085,288,2779,440,-6.81,-0.03,609.08
$RAFOS_CLK,555
$RAFOS,6,1296838151,16.833334,16.819723,70,53,42,42,42,41,631,355,1335,1372,1084,1912
$RAFOS,5,1296837672,16.700001,16.686666,144,62,44,43,41,40,581,582,246,1407,1618,1267
$RAFOS,4,1296837182,16.566668,16.550556,59,50,49,48,44,39,665,1010,1408,1629,1750,1598
$RAFOS,3,1296836705,16.433332,16.418056,58,43,42,42,42,38,796,1487,1049,1620,144,635
$RAFOS,2,1296836224,16.299999,16.284445,48,44,43,40,39,38,767,1725,44,802,190,1376
$RAFOS,1,1296835746,16.166666,16.151667,47,45,44,44,44,44,751,26,1577,1838,702,1131
$RAFOS,0,1296835283,16.033333,16.023056,47,46,41,40,39,38,26,1204,1908,555,1270,1673
$RAFOS_FIX,6658.286621,-5817.503906,040211,161656,2,107,0.76
$IRIDIUM_FIX,6625.71,-5809.55,040211,111144
$TT8_MAMPS,0.029211
$HUMID,46.65
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$ALTIM_BOTTOM_PING,552.1,11.2
$24V_AH,21.4,101.523
$10V_AH,9.7,68.659
$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,22.375,67.275,377.875,185.625,0.000,24.801,41.798,474.026,2.000,0.000,62.151,2225.956,5817.232,679.224,2174.435,410.431,0.000,1578.553,0.000,1631.599,2520.000,15.927,0.000
$DEVICE_MAMPS,275.400,72.675,943.245,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151668
$DATA_FILE_SIZE,33353,925
$CAP_FILE_SIZE,116818,0
$CFSIZE,260165632,190947328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,040211,172630,6655.141,-5817.616,36,1.3,36,-37.8