version: 66.08
glider: 183
mission: 3
dive: 910
start: 2 4 111 20 46 50
data:
$ID,183
$MISSION,3
$DIVE,910
$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,-15622.674
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,040211,203527,6653.845,-5816.570,49,99.0,68,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-56.3
$GPS2,040211,204619,6653.692,-5816.138,68,2.3,87,-37.7
$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,297.0,96683,-17.5,-10.000
$D_GRID,880
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.57,-146.0,0.0,0.0,0,187,0.00,0.00,-162.45,0.000,6,0.000,0.000,280,2793,3519,0,0,0,0,0,0
$GC,191,-0.57,-146.0,4.2,-8.4,29,204,8.50,1.98,0.00,0.000,4,0.246,0.059,2277,3936,3522,0,0,0,0,0,0
$GC,393,-0.45,-146.0,49.3,-15.3,64,401,0.17,1.92,0.00,0.000,6,0.174,0.049,2323,2773,3522,0,0,0,0,0,0
$GC,744,-0.51,-146.0,79.5,-7.3,125,751,0.00,2.00,0.00,0.000,4,0.000,0.073,2319,3924,3523,0,0,0,0,0,0
$GC,771,-0.57,-146.0,82.0,-8.1,129,778,0.00,1.88,0.00,0.000,6,0.000,0.050,2319,2779,3523,0,0,0,0,0,0
$GC,1118,-0.64,-146.0,110.4,-7.7,179,1122,0.15,2.33,0.00,0.000,4,0.085,0.051,2248,1366,3523,0,0,0,0,0,0
$GC,1168,-0.60,-146.0,116.5,-12.5,183,1176,0.12,2.40,0.00,0.000,6,0.180,0.063,2277,2780,3523,0,0,0,0,0,0
$GC,1495,-0.64,-146.0,150.3,-11.0,214,1498,0.00,2.03,0.00,0.000,4,0.000,0.074,2275,3936,3522,0,0,0,0,0,0
$GC,1523,-0.67,-146.0,153.7,-10.7,216,1529,0.00,1.90,0.00,0.000,6,0.000,0.048,2274,2777,3522,0,0,0,0,0,0
$GC,1849,-0.71,-146.0,187.5,-9.5,247,1853,0.00,2.30,0.00,0.000,4,0.000,0.050,2275,1370,3522,0,0,0,0,0,0
$GC,1881,-0.75,-146.0,190.6,-9.7,249,1886,0.12,2.40,0.00,0.000,6,0.093,0.062,2218,2783,3522,0,0,0,0,0,0
$GC,2209,-0.68,-146.0,233.8,-13.7,279,2214,0.15,2.03,0.00,0.000,4,0.174,0.072,2252,3928,3522,0,0,0,0,0,0
$GC,2242,-0.68,-146.0,238.4,-11.5,281,2249,0.00,1.88,0.00,0.000,6,0.000,0.048,2251,2781,3522,0,0,0,0,0,0
$GC,2570,-0.68,-146.0,274.1,-10.7,312,2574,0.00,2.30,0.00,0.000,4,0.000,0.049,2251,1371,3522,0,0,0,0,0,0
$GC,2604,-0.68,-146.0,278.0,-10.6,314,2611,0.00,2.40,0.00,0.000,6,0.000,0.062,2248,2785,3522,0,0,0,0,0,0
$GC,2930,-0.68,-146.0,313.2,-10.9,345,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2784,3522,0,0,0,0,0,0
$GC,3254,-0.68,-146.0,346.4,-9.9,375,3258,0.00,2.33,0.00,0.000,4,0.000,0.050,2247,1370,3523,0,0,0,0,0,0
$GC,3286,-0.68,-146.0,350.1,-10.3,377,3291,0.00,2.38,0.00,0.000,6,0.000,0.061,2247,2769,3523,0,0,0,0,0,0
$GC,3613,-0.68,-146.0,381.1,-9.5,407,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2769,3523,0,0,0,0,0,0
$GC,3938,-0.68,-146.0,412.3,-9.7,430,3942,0.00,2.28,0.00,0.000,4,0.000,0.049,2247,1372,3523,0,0,0,0,0,0
$GC,3994,-0.71,-146.0,418.1,-9.9,431,4001,0.00,2.40,0.00,0.000,6,0.000,0.061,2248,2773,3523,0,0,0,0,0,0
$GC,4309,-0.71,-146.0,448.5,-10.0,442,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2773,3523,0,0,0,0,0,0
$GC,4614,-0.71,-146.0,479.0,-10.0,452,4618,0.00,2.03,0.00,0.000,4,0.000,0.070,2247,3934,3523,0,0,0,0,0,0
$GC,4659,-0.73,-146.0,484.0,-10.7,453,4663,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2757,3523,0,0,0,0,0,0
$GC,4990,-0.73,-146.0,516.7,-10.0,464,4994,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1364,3524,0,0,0,0,0,0
$GC,5036,-0.77,-146.0,521.6,-9.5,465,5040,0.00,2.38,0.00,0.000,6,0.000,0.059,2247,2770,3523,0,0,0,0,0,0
$GC,5356,-0.77,-146.0,550.3,-8.9,476,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3524,0,0,0,0,0,0
$GC,5662,-0.77,-146.0,576.9,-8.5,486,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3524,0,0,0,0,0,0
$STATE,5967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5967,begin apogee
$GC,5974,-0.14,0.0,602.5,8.3,496,6106,0.55,0.00,124.18,0.978,4,0.133,0.000,2421,2602,2923,0,0,0,0,0,0
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6107,begin climb
$GC,6110,0.57,146.0,606.5,0.0,500,6249,0.70,2.45,132.12,0.948,4,0.070,0.049,2663,1184,2327,0,0,0,0,0,0
$GC,6386,0.57,146.0,583.8,11.4,508,6391,0.00,2.50,0.00,0.000,6,0.000,0.054,2663,2607,2319,0,0,0,0,0,0
$GC,6724,0.52,146.0,542.3,12.6,519,6728,0.00,2.30,0.00,0.000,4,0.000,0.051,2665,1181,2316,0,0,0,0,0,0
$GC,6948,0.52,146.0,515.4,11.7,525,6955,0.00,2.35,0.00,0.000,6,0.000,0.054,2665,2602,2315,0,0,0,0,0,0
$GC,7263,0.47,146.0,477.9,11.9,536,7268,0.15,2.25,0.00,0.000,4,0.194,0.066,2626,3926,2314,0,0,0,0,0,0
$GC,7302,0.45,146.0,473.0,11.5,537,7306,0.00,2.17,0.00,0.000,6,0.000,0.044,2627,2589,2313,0,0,0,0,0,0
$GC,7639,0.48,163.4,441.8,9.2,548,7658,0.00,2.35,14.07,0.846,4,0.000,0.067,2626,3950,2256,0,0,0,0,0,0
$GC,7693,0.48,163.4,435.7,11.2,549,7698,0.00,2.20,0.00,0.000,6,0.000,0.044,2628,2601,2253,0,0,0,0,0,0
$GC,8008,0.52,186.3,406.2,8.9,559,8033,0.00,2.28,20.62,0.838,4,0.000,0.050,2628,1195,2165,0,0,0,0,0,0
$GC,8080,0.63,220.8,400.0,8.4,560,8117,0.15,2.30,31.45,0.833,6,0.089,0.054,2693,2594,2022,0,0,0,0,0,0
$GC,8439,0.59,220.8,351.6,13.7,592,8443,0.00,2.25,0.00,0.000,4,0.000,0.066,2693,3925,2014,0,0,0,0,0,0
$GC,8495,0.51,220.8,342.4,16.5,596,8502,0.20,2.15,0.00,0.000,6,0.177,0.044,2640,2599,2012,0,0,0,0,0,0
$GC,8821,0.57,220.8,309.6,10.2,627,8825,0.00,2.28,0.00,0.000,4,0.000,0.051,2640,1184,2012,0,0,0,0,0,0
$GC,8872,0.68,244.8,304.5,8.9,631,8901,0.15,2.33,20.40,0.782,6,0.090,0.054,2702,2593,1924,0,0,0,0,0,0
$GC,9221,0.65,244.8,253.9,14.4,664,9225,0.00,2.25,0.00,0.000,4,0.000,0.066,2702,3925,1918,0,0,0,0,0,0
$GC,9254,0.57,244.8,248.1,16.8,666,9262,0.17,2.17,0.00,0.000,6,0.181,0.044,2660,2588,1917,0,0,0,0,0,0
$GC,9581,0.62,244.8,211.6,11.6,697,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2588,1917,0,0,0,0,0,0
$GC,9903,0.67,244.8,175.2,10.9,727,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2588,1916,0,0,0,0,0,0
$GC,10233,0.73,244.8,140.9,10.1,758,10238,0.15,2.33,0.00,0.000,4,0.095,0.067,2722,3925,1916,0,0,0,0,0,0
$GC,10285,0.63,244.8,132.6,17.2,762,10290,0.17,2.20,0.00,0.000,6,0.185,0.044,2679,2582,1914,0,0,0,0,0,0
$GC,10614,0.66,244.8,93.8,11.3,796,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2581,1915,0,0,0,0,0,0
$GC,10961,0.71,261.9,58.8,9.2,857,10980,0.00,2.38,14.52,0.661,4,0.000,0.067,2680,3925,1855,0,0,0,0,0,0
$GC,11070,0.73,261.9,47.1,11.1,875,11076,0.00,2.20,0.00,0.000,6,0.000,0.044,2680,2576,1852,0,0,0,0,0,0
$GC,11419,0.78,261.9,12.1,10.6,936,11426,0.12,2.25,0.00,0.000,4,0.106,0.052,2732,1194,1851,0,0,0,0,0,0
$FREEZE,8.35,-0.924,-1.834,3,1,0
$FREEZE,7.70,-0.931,-1.834,3,1,0
$FREEZE,7.04,-0.925,-1.833,3,1,0
$FREEZE,6.47,-0.934,-1.832,3,1,0
$GC,11461,0.78,261.9,6.5,13.4,943,11468,0.00,2.30,0.00,0.000,6,0.000,0.054,2732,2582,1851,0,0,0,0,0,0
$FREEZE,4.54,-0.948,-1.831,3,1,0
$FREEZE,4.08,-0.946,-1.830,3,1,0
$FREEZE,3.35,-0.946,-1.830,3,1,0
$FREEZE,2.48,-0.944,-1.829,3,1,0
$STATE,11488,end climb,SURFACE_DEPTH_REACHED
$STATE,11489,begin surface coast
$FREEZE,1.72,-0.957,-1.829,3,1,0
$FREEZE,0.88,-0.962,-1.828,3,1,0
$FREEZE,0.69,-0.965,-1.821,3,1,0
$FREEZE,0.87,-0.970,-1.828,3,1,0
$FINISH,0.9,1.026807
$STATE,11514,end surface coast,CONTROL_FINISHED_OK
$STATE,11514,begin surface
$SM_CCo,11533,204.45,0.086,0,0,440,609.08
$SM_GC,1.21,0.00,0.00,204.45,0.000,0.000,0.086,294,2779,440,-6.80,-0.03,609.08
$RAFOS_CLK,624
$RAFOS,6,1296852542,20.833334,20.817223,103,51,45,44,44,42,694,688,1063,137,307,1470
$RAFOS,3,1296851104,20.433332,20.417778,45,44,43,43,41,40,790,1692,932,1451,1937,1198
$RAFOS_FIX,6658.286621,-5817.503906,040211,161656,2,107,0.76
$IRIDIUM_FIX,6625.71,-5819.97,040211,171749
$TT8_MAMPS,0.031458
$HUMID,47.99
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,602.5,11.8
$24V_AH,21.3,101.771
$10V_AH,9.6,68.800
$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,18.400,98.500,357.375,204.450,0.000,23.613,24.414,351.407,2.250,0.000,90.790,2327.984,6826.677,697.442,2128.405,411.143,0.000,1639.254,0.000,1666.090,360.000,17.701,0.000
$DEVICE_MAMPS,246.330,80.325,977.670,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151612
$DATA_FILE_SIZE,33396,952
$CAP_FILE_SIZE,129517,0
$CFSIZE,260165632,190853120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,050211,000355,6652.517,-5816.991,37,1.0,37,-37.7