version: 66.08
glider: 183
mission: 3
dive: 885
start: 2 1 111 14 11 37
data:
$ID,183
$MISSION,3
$DIVE,885
$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,-13573.053
$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,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
$GPS1,010211,140130,6703.630,-5726.399,43,1.1,43,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.9
$GPS2,010211,141106,6703.669,-5726.183,12,1.5,28,-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,292.2,136498,-17.5,-10.000
$D_GRID,814
$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,-146.0,0.0,0.0,0,173,0.00,0.00,-149.38,0.000,6,0.000,0.000,251,2786,3520,0,0,0,0,0,0
$GC,177,-0.57,-146.0,6.0,-13.0,27,191,8.55,2.35,0.00,0.000,4,0.243,0.044,2285,1360,3522,0,0,0,0,0,0
$GC,273,-0.61,-146.0,30.0,-9.6,43,280,0.00,2.35,0.00,0.000,6,0.000,0.059,2285,2779,3524,0,0,0,0,0,0
$GC,621,-0.63,-146.0,66.9,-9.7,104,628,0.00,1.98,0.00,0.000,4,0.000,0.070,2278,3931,3523,0,0,0,0,0,0
$GC,732,-0.67,-146.0,78.2,-10.2,123,739,0.00,1.85,0.00,0.000,6,0.000,0.047,2278,2788,3523,0,0,0,0,0,0
$GC,1078,-0.71,-146.0,113.1,-8.8,172,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2788,3522,0,0,0,0,0,0
$GC,1400,-0.76,-146.0,138.7,-7.3,202,1404,0.12,2.30,0.00,0.000,4,0.093,0.047,2218,1360,3521,0,0,0,0,0,0
$GC,1442,-0.71,-146.0,143.2,-11.7,205,1447,0.12,2.40,0.00,0.000,6,0.174,0.058,2246,2798,3521,0,0,0,0,0,0
$GC,1769,-0.71,-146.0,174.2,-9.2,235,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2798,3522,0,0,0,0,0,0
$GC,2088,-0.71,-146.0,202.1,-9.1,265,2092,0.00,2.30,0.00,0.000,4,0.000,0.045,2246,1363,3522,0,0,0,0,0,0
$GC,2133,-0.71,-146.0,206.5,-9.3,269,2138,0.00,2.38,0.00,0.000,6,0.000,0.057,2246,2790,3522,0,0,0,0,0,0
$GC,2461,-0.71,-146.0,237.2,-9.1,299,2465,0.00,2.30,0.00,0.000,4,0.000,0.045,2246,1367,3523,0,0,0,0,0,0
$GC,2524,-0.71,-146.0,243.3,-9.0,304,2528,0.00,2.35,0.00,0.000,6,0.000,0.057,2246,2780,3523,0,0,0,0,0,0
$GC,2850,-0.71,-146.0,272.4,-8.6,334,2854,0.00,2.00,0.00,0.000,4,0.000,0.068,2246,3932,3524,0,0,0,0,0,0
$GC,2874,-0.71,-146.0,274.7,-9.4,336,2878,0.00,1.90,0.00,0.000,6,0.000,0.044,2246,2763,3524,0,0,0,0,0,0
$GC,3206,-0.71,-146.0,303.8,-8.5,367,3210,0.00,2.22,0.00,0.000,4,0.000,0.045,2246,1373,3524,0,0,0,0,0,0
$GC,3236,-0.71,-146.0,306.4,-9.3,369,3240,0.00,2.35,0.00,0.000,6,0.000,0.058,2246,2780,3525,0,0,0,0,0,0
$GC,3562,-0.71,-146.0,335.3,-9.1,399,3566,0.00,2.30,0.00,0.000,4,0.000,0.047,2246,1363,3525,0,0,0,0,0,0
$GC,3585,-0.71,-146.0,337.7,-9.6,400,3592,0.00,2.38,0.00,0.000,6,0.000,0.057,2246,2775,3525,0,0,0,0,0,0
$GC,3911,-0.71,-146.0,366.6,-8.8,431,3915,0.00,2.25,0.00,0.000,4,0.000,0.047,2246,1373,3525,0,0,0,0,0,0
$GC,3933,-0.71,-146.0,368.8,-9.2,432,3939,0.00,2.35,0.00,0.000,6,0.000,0.059,2246,2766,3525,0,0,0,0,0,0
$GC,4260,-0.71,-146.0,397.5,-8.9,463,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2766,3525,0,0,0,0,0,0
$GC,4596,-0.71,-146.0,428.4,-9.1,476,4600,0.00,2.25,0.00,0.000,4,0.000,0.047,2246,1373,3524,0,0,0,0,0,0
$GC,4631,-0.71,-146.0,431.9,-9.7,477,4635,0.00,2.35,0.00,0.000,6,0.000,0.060,2246,2758,3524,0,0,0,0,0,0
$GC,4968,-0.71,-146.0,462.0,-8.6,488,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2758,3523,0,0,0,0,0,0
$GC,5273,-0.71,-146.0,488.1,-8.5,498,5277,0.00,2.03,0.00,0.000,4,0.000,0.070,2242,3928,3524,0,0,0,0,0,0
$GC,5318,-0.71,-146.0,492.2,-9.0,499,5322,0.00,1.90,0.00,0.000,6,0.000,0.047,2243,2760,3524,0,0,0,0,0,0
$GC,5649,-0.71,-146.0,520.7,-8.7,510,5653,0.00,2.22,0.00,0.000,4,0.000,0.048,2242,1372,3523,0,0,0,0,0,0
$GC,5679,-0.71,-146.0,523.5,-9.1,511,5683,0.00,2.35,0.00,0.000,6,0.000,0.060,2241,2767,3523,0,0,0,0,0,0
$GC,6017,-0.71,-146.0,551.8,-8.4,522,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2767,3523,0,0,0,0,0,0
$GC,6322,-0.71,-146.0,578.9,-9.0,532,6325,0.00,2.00,0.00,0.000,4,0.000,0.070,2235,3930,3523,0,0,0,0,0,0
$GC,6344,-0.71,-146.0,581.1,-9.2,532,6348,0.00,1.90,0.00,0.000,6,0.000,0.047,2235,2761,3523,0,0,0,0,0,0
$STATE,6576,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6576,begin apogee
$GC,6584,-0.14,0.0,601.1,8.6,540,6714,0.60,0.00,123.18,0.959,4,0.132,0.000,2426,2598,2923,0,0,0,0,0,0
$STATE,6715,end apogee,CONTROL_FINISHED_OK
$STATE,6715,begin climb
$GC,6718,0.57,146.0,605.0,0.0,544,6855,0.68,2.40,129.65,0.935,4,0.063,0.049,2667,1181,2327,0,0,0,0,0,0
$GC,6981,-1.82,146.0,582.2,25296.6,552,6990,2.65,2.45,0.00,0.000,6,0.146,0.054,1897,2603,2317,0,0,0,0,0,0
$GC,7316,-1.82,146.0,528.3,25296.6,563,7320,0.00,2.30,0.00,0.000,4,0.000,0.048,1894,1174,2308,0,0,0,0,0,0
$GC,7574,-1.82,146.0,480.7,25296.6,570,7581,0.00,2.33,0.00,0.000,6,0.000,0.053,1882,2599,2308,0,0,0,0,0,0
$GC,7888,-1.82,146.0,424.6,25296.6,581,7892,0.00,2.28,0.00,0.000,4,0.000,0.070,1873,3934,2307,0,0,0,0,0,0
$GC,8020,-1.82,146.0,399.1,25296.6,584,8027,0.00,2.30,0.00,0.000,6,0.000,0.044,1871,2523,2303,0,0,0,0,0,0
$GC,8348,-1.82,146.0,340.6,25296.6,615,8352,0.00,2.38,0.00,0.000,4,0.000,0.059,1859,3941,2303,0,0,0,0,0,0
$GC,8605,-1.82,146.0,290.6,25296.6,637,8610,0.12,2.40,0.00,0.000,6,0.216,0.047,1883,2484,2305,0,0,0,0,0,0
$GC,8931,-1.82,146.0,232.6,25296.6,667,8935,0.00,2.47,0.00,0.000,4,0.000,0.069,1874,3927,2305,0,0,0,0,0,0
$GC,9190,-1.82,146.0,182.3,25296.6,689,9197,0.00,2.30,0.00,0.000,6,0.000,0.047,1870,2531,2304,0,0,0,0,0,0
$GC,9517,-1.82,146.0,120.8,25296.6,720,9521,0.00,2.42,0.00,0.000,4,0.000,0.069,1859,3928,2304,0,0,0,0,0,0
$GC,9540,-1.82,146.0,116.0,25296.6,721,9547,0.12,2.22,0.00,0.000,6,0.198,0.045,1887,2555,2303,0,0,0,0,0,0
$GC,9880,-0.61,146.0,55.4,16.1,775,9888,1.55,2.25,0.00,0.000,4,0.223,0.048,2266,1183,2305,0,0,0,0,0,0
$GC,9947,0.12,184.7,48.5,8.2,786,9984,0.95,2.35,29.75,0.619,6,0.188,0.057,2507,2603,2170,0,0,0,0,0,0
$GC,10325,0.61,246.7,22.4,7.1,852,10384,0.43,2.40,51.78,0.596,4,0.093,0.050,2667,1186,1915,0,0,0,0,0,0
$FREEZE,8.70,1.507,-1.845,3,1,0
$FREEZE,8.13,1.507,-1.845,3,1,0
$FREEZE,7.75,1.506,-1.844,3,1,0
$FREEZE,7.03,1.508,-1.844,3,1,0
$FREEZE,6.17,1.507,-1.843,3,1,0
$GC,10495,0.72,266.6,7.7,9.1,880,10518,0.12,2.35,17.12,0.584,6,0.096,0.055,2722,2623,1835,0,0,0,0,0,0
$FREEZE,4.09,1.495,-1.842,3,1,0
$FREEZE,3.35,1.495,-1.841,3,1,0
$FREEZE,2.84,1.476,-1.841,3,1,0
$STATE,10534,end climb,SURFACE_DEPTH_REACHED
$STATE,10534,begin surface coast
$FREEZE,1.93,1.492,-1.840,3,1,0
$FREEZE,0.80,1.446,-1.839,3,1,0
$FREEZE,0.70,1.464,-1.838,3,1,0
$FREEZE,0.59,1.347,-0.914,3,1,0
$FINISH,0.6,1.013494
$STATE,10559,end surface coast,CONTROL_FINISHED_OK
$STATE,10559,begin surface
$SM_CCo,10577,194.82,0.083,0,0,441,609.08
$SM_GC,1.26,0.00,0.00,194.82,0.000,0.000,0.083,292,2779,441,-6.81,-0.06,609.08
$RAFOS_CLK,547
$RAFOS,6,1296578947,16.833334,16.818611,83,50,46,45,39,38,709,719,1010,1561,840,302
$RAFOS,5,1296578466,16.700001,16.684999,77,46,45,44,44,42,560,251,1377,154,1075,206
$RAFOS,4,1296577987,16.566668,16.551945,90,50,46,42,42,41,782,1193,1085,600,1370,898
$RAFOS,3,1296577506,16.433332,16.418333,83,48,43,43,41,40,916,678,43,261,995,1574
$RAFOS,2,1296577024,16.299999,16.284445,47,44,44,43,43,42,1488,738,1489,207,634,995
$RAFOS,1,1296576565,16.166666,16.156944,57,45,44,41,40,39,1902,1896,1475,989,467,52
$RAFOS,0,1296576070,16.033333,16.019444,53,52,43,43,41,41,1596,235,362,1310,26,1676
$RAFOS_FIX,6704.509766,-5733.379883,010211,161628,4,83,0.61
$IRIDIUM_FIX,6647.44,-5416.75,010211,141424
$TT8_MAMPS,0.029211
$HUMID,49.13
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,601.1,11.9
$24V_AH,21.8,99.132
$10V_AH,9.7,67.119
$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,22.600,95.400,351.475,194.825,0.000,55.587,89.969,180.149,2.250,0.000,31.479,2214.105,6159.076,667.595,1956.934,368.881,0.000,1569.720,0.000,1612.989,2520.000,17.694,0.000
$DEVICE_MAMPS,242.505,78.030,958.545,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,33358,890
$CAP_FILE_SIZE,122836,0
$CFSIZE,260165632,192299008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.3
$GPS,010211,171246,6703.693,-5729.848,10,99.0,29,-37.7