version: 66.08
glider: 183
mission: 3
dive: 909
start: 2 4 111 17 46 2
data:
$ID,183
$MISSION,3
$DIVE,909
$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,-15621.414
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,040211,172630,6655.141,-5817.616,36,1.3,36,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-54.2
$GPS2,040211,174533,6655.106,-5817.316,77,1.8,90,-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,295.5,96361,-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,18,-0.57,-146.0,0.0,0.0,0,184,0.00,0.00,-161.85,0.000,6,0.000,0.000,261,2779,3519,0,0,0,0,0,0
$GC,188,-0.57,-146.0,4.9,-9.3,29,202,8.55,2.00,0.00,0.000,4,0.245,0.060,2276,3933,3521,0,0,0,0,0,0
$GC,320,-0.49,-146.0,34.8,-14.0,51,327,0.15,1.90,0.00,0.000,6,0.169,0.050,2316,2780,3521,0,0,0,0,0,0
$GC,669,-0.52,-146.0,68.2,-8.5,112,675,0.00,2.30,0.00,0.000,4,0.000,0.051,2316,1370,3522,0,0,0,0,0,0
$GC,707,-0.58,-146.0,71.5,-8.3,118,714,0.00,2.38,0.00,0.000,6,0.000,0.062,2314,2776,3523,0,0,0,0,0,0
$GC,1056,-0.66,-146.0,98.2,-7.3,179,1063,0.15,2.33,0.00,0.000,4,0.090,0.050,2243,1364,3522,0,0,0,0,0,0
$GC,1096,-0.66,-146.0,102.7,-10.6,184,1103,0.00,2.40,0.00,0.000,6,0.000,0.062,2243,2780,3523,0,0,0,0,0,0
$GC,1422,-0.61,-146.0,142.0,-11.6,215,1427,0.12,2.33,0.00,0.000,4,0.180,0.050,2276,1371,3522,0,0,0,0,0,0
$GC,1464,-0.65,-146.0,146.4,-9.9,218,1468,0.00,2.38,0.00,0.000,6,0.000,0.062,2275,2776,3522,0,0,0,0,0,0
$GC,1790,-0.69,-146.0,175.2,-9.0,248,1794,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3934,3522,0,0,0,0,0,0
$GC,1830,-0.74,-146.0,178.9,-8.9,251,1837,0.12,1.92,0.00,0.000,6,0.093,0.049,2222,2775,3522,0,0,0,0,0,0
$GC,2156,-0.67,-146.0,219.3,-12.9,282,2161,0.12,2.30,0.00,0.000,4,0.177,0.049,2254,1371,3522,0,0,0,0,0,0
$GC,2185,-0.67,-146.0,222.9,-11.0,284,2190,0.00,2.40,0.00,0.000,6,0.000,0.062,2248,2784,3522,0,0,0,0,0,0
$GC,2511,-0.67,-146.0,257.0,-10.4,314,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2784,3522,0,0,0,0,0,0
$GC,2833,-0.67,-146.0,290.0,-10.2,344,2837,0.00,2.33,0.00,0.000,4,0.000,0.050,2248,1364,3522,0,0,0,0,0,0
$GC,2860,-0.67,-146.0,293.4,-10.2,346,2867,0.00,2.40,0.00,0.000,6,0.000,0.061,2248,2778,3522,0,0,0,0,0,0
$GC,3187,-0.67,-146.0,325.7,-9.7,377,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2778,3522,0,0,0,0,0,0
$GC,3508,-0.67,-146.0,354.6,-8.4,407,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2778,3522,0,0,0,0,0,0
$GC,3838,-0.67,-146.0,384.2,-8.9,438,3842,0.00,2.30,0.00,0.000,4,0.000,0.050,2247,1368,3522,0,0,0,0,0,0
$GC,3879,-0.69,-146.0,388.2,-9.1,441,3884,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2769,3522,0,0,0,0,0,0
$GC,4211,-0.69,-146.0,416.9,-9.1,460,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2768,3523,0,0,0,0,0,0
$GC,4516,-0.69,-146.0,445.3,-9.0,470,4520,0.00,2.03,0.00,0.000,4,0.000,0.071,2247,3927,3523,0,0,0,0,0,0
$GC,4567,-0.69,-146.0,450.4,-9.2,471,4571,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2769,3523,0,0,0,0,0,0
$GC,4892,-0.69,-146.0,481.0,-9.7,482,4897,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1361,3523,0,0,0,0,0,0
$GC,4916,-0.69,-146.0,483.5,-10.2,482,4922,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2767,3523,0,0,0,0,0,0
$GC,5229,-0.69,-146.0,514.6,-10.0,493,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3523,0,0,0,0,0,0
$GC,5536,-0.69,-146.0,543.1,-8.9,503,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3523,0,0,0,0,0,0
$STATE,5627,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5627,begin apogee
$GC,5635,-0.14,0.0,550.8,8.5,506,5765,0.55,0.00,123.22,0.947,4,0.135,0.000,2421,2598,2922,0,0,0,0,0,0
$STATE,5766,end apogee,CONTROL_FINISHED_OK
$STATE,5766,begin climb
$GC,5770,0.57,146.0,554.6,0.0,510,5909,0.70,2.42,130.07,0.919,4,0.072,0.049,2663,1179,2328,0,0,0,0,0,0
$GC,6044,-1.61,146.0,532.4,21319.9,518,6057,2.50,2.50,0.00,0.000,6,0.150,0.054,1963,2608,2318,0,0,0,0,0,0
$GC,6363,-1.61,146.0,490.2,21319.9,529,6367,0.00,2.33,0.00,0.000,4,0.000,0.050,1963,1178,2310,0,0,0,0,0,0
$GC,6436,-1.61,146.0,478.6,21319.9,531,6441,0.00,2.38,0.00,0.000,6,0.000,0.057,1960,2615,2313,0,0,0,0,0,0
$GC,6768,-1.61,146.0,430.1,21319.9,542,6772,0.00,2.22,0.00,0.000,4,0.000,0.064,1948,3933,2309,0,0,0,0,0,0
$GC,6912,-1.61,146.0,406.5,21319.9,546,6916,0.00,2.20,0.00,0.000,6,0.000,0.046,1947,2578,2309,0,0,0,0,0,0
$GC,7237,-1.61,146.0,355.7,21319.9,574,7241,0.00,2.20,0.00,0.000,4,0.000,0.041,1945,1170,2307,0,0,0,0,0,0
$GC,7499,-1.61,146.0,312.4,21319.9,597,7503,0.00,2.30,0.00,0.000,6,0.000,0.057,1937,2560,2310,0,0,0,0,0,0
$GC,7825,-1.61,146.0,259.7,21319.9,627,7829,0.00,2.17,0.00,0.000,4,0.000,0.041,1937,1180,2307,0,0,0,0,0,0
$GC,7839,-1.61,146.0,257.3,21319.9,627,7846,0.00,2.20,0.00,0.000,6,0.000,0.054,1928,2512,2308,0,0,0,0,0,0
$GC,8166,-1.61,146.0,202.7,21319.9,658,8171,0.12,2.40,0.00,0.000,4,0.275,0.061,1939,3936,2309,0,0,0,0,0,0
$GC,8424,-1.61,146.0,156.9,21319.9,680,8430,0.00,2.42,0.00,0.000,6,0.000,0.044,1939,2461,2308,0,0,0,0,0,0
$GC,8750,-1.61,146.0,102.7,21319.9,711,8754,0.00,2.53,0.00,0.000,4,0.000,0.063,1926,3933,2308,0,0,0,0,0,0
$GC,9011,-0.34,146.0,57.7,17.6,755,9018,1.90,2.40,0.00,0.000,6,0.247,0.041,2355,2458,2306,0,0,0,0,0,0
$GC,9362,0.39,272.5,40.4,4.2,816,9475,0.68,2.17,102.88,0.638,4,0.095,0.051,2595,1181,1811,0,0,0,0,0,0
$GC,9647,0.81,272.5,21.8,10.7,865,9655,0.40,1.90,0.00,0.000,6,0.086,0.054,2741,2344,1800,0,0,0,0,0,0
$FREEZE,8.40,-1.291,-1.835,3,2,0
$FREEZE,7.78,-1.288,-1.835,3,2,0
$FREEZE,6.85,-1.294,-1.834,3,2,0
$FREEZE,6.12,-1.291,-1.833,3,2,0
$FREEZE,5.42,-1.291,-1.833,3,2,0
$FREEZE,4.76,-1.297,-1.833,3,2,0
$FREEZE,3.99,-1.292,-1.832,3,2,0
$FREEZE,3.35,-1.296,-1.831,3,2,0
$FREEZE,2.59,-1.300,-1.831,3,2,0
$STATE,9801,end climb,SURFACE_DEPTH_REACHED
$STATE,9801,begin surface coast
$FREEZE,1.69,-1.298,-1.830,3,2,0
$FREEZE,1.13,-1.307,-1.830,3,2,0
$FREEZE,0.79,-1.304,-1.830,3,2,0
$FREEZE,0.59,-1.525,-1.109,3,2,0
$FINISH,0.6,1.016378
$STATE,9823,end surface coast,FINISH_DEPTH_REACHED
$STATE,9823,begin surface
$SM_CCo,9843,200.80,0.087,0,0,440,609.08
$SM_GC,1.35,0.00,0.00,200.80,0.000,0.000,0.087,297,2792,440,-6.80,0.34,609.08
$RAFOS_CLK,526
$RAFOS,2,1296850626,20.299999,20.285000,44,43,42,41,41,38,1903,1487,340,948,1152,26
$RAFOS,1,1296850149,20.166666,20.152500,47,45,44,44,41,40,1073,1778,1604,793,568,1452
$RAFOS,0,1296849671,20.033333,20.019722,44,44,42,41,41,40,806,1557,1569,1236,144,1939
$RAFOS_FIX,6658.286621,-5817.503906,040211,161656,2,107,0.76
$IRIDIUM_FIX,6631.12,-5808.42,040211,171755
$TT8_MAMPS,0.029211
$HUMID,46.14
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,550.8,11.2
$24V_AH,21.4,101.649
$10V_AH,9.6,68.729
$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,22.700,82.425,356.175,200.800,0.000,93.962,139.115,420.186,2.000,0.000,92.616,2151.506,5588.080,684.276,2366.652,398.224,0.000,1552.266,0.000,1555.466,1440.000,15.925,0.000
$DEVICE_MAMPS,275.400,72.675,947.070,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,33333,896
$CAP_FILE_SIZE,118595,0
$CFSIZE,260165632,190902272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,040211,203527,6653.845,-5816.570,49,99.0,68,-37.8