version: 66.08
glider: 183
mission: 3
dive: 907
start: 2 4 111 11 19 41
data:
$ID,183
$MISSION,3
$DIVE,907
$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,-15618.897
$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,29
$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
$GPS1,040211,105624,6654.482,-5814.938,24,1.3,41,-37.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-52.6
$GPS2,040211,111907,6654.240,-5814.820,129,99.0,148,-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,296.6,97822,-17.5,-10.000
$D_GRID,889
$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,-146.0,0.0,0.0,0,191,0.00,0.00,-167.68,0.000,6,0.000,0.000,262,2801,3516,0,0,0,0,0,0
$GC,195,-0.57,-146.0,2.9,-3.8,30,209,8.60,1.95,0.00,0.000,4,0.246,0.061,2279,3922,3518,0,0,0,0,0,0
$GC,403,-0.38,-146.0,49.1,-18.8,66,411,0.25,1.90,0.00,0.000,6,0.165,0.047,2347,2769,3518,0,0,0,0,0,0
$GC,754,-0.43,-146.0,83.9,-8.3,127,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2769,3518,0,0,0,0,0,0
$GC,1093,-0.54,-146.0,109.9,-6.6,175,1095,0.15,0.00,0.00,0.000,6,0.090,0.000,2277,2769,3518,0,0,0,0,0,0
$GC,1411,-0.54,-146.0,141.9,-10.0,205,1414,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3917,3517,0,0,0,0,0,0
$GC,1517,-0.54,-146.0,152.6,-9.7,214,1524,0.00,1.85,0.00,0.000,6,0.000,0.049,2275,2788,3518,0,0,0,0,0,0
$GC,1844,-0.57,-146.0,181.6,-7.9,245,1848,0.00,2.33,0.00,0.000,4,0.000,0.050,2275,1365,3517,0,0,0,0,0,0
$GC,1896,-0.63,-146.0,185.8,-7.7,249,1901,0.00,2.40,0.00,0.000,6,0.000,0.061,2275,2771,3518,0,0,0,0,0,0
$GC,2223,-0.66,-146.0,210.8,-7.8,279,2227,0.00,2.03,0.00,0.000,4,0.000,0.072,2275,3928,3518,0,0,0,0,0,0
$GC,2263,-0.71,-146.0,214.2,-8.2,282,2270,0.00,1.88,0.00,0.000,6,0.000,0.048,2275,2784,3518,0,0,0,0,0,0
$GC,2590,-0.75,-146.0,238.7,-7.6,313,2594,0.12,2.33,0.00,0.000,4,0.096,0.050,2217,1366,3519,0,0,0,0,0,0
$GC,2623,-0.71,-146.0,242.1,-10.4,315,2631,0.15,2.40,0.00,0.000,6,0.171,0.061,2246,2784,3519,0,0,0,0,0,0
$GC,2949,-0.71,-146.0,273.1,-9.8,346,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2784,3519,0,0,0,0,0,0
$GC,3268,-0.71,-146.0,305.0,-9.4,376,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2784,3520,0,0,0,0,0,0
$GC,3588,-0.71,-146.0,335.8,-9.6,406,3592,0.00,2.30,0.00,0.000,4,0.000,0.049,2246,1371,3520,0,0,0,0,0,0
$GC,3611,-0.71,-146.0,338.3,-9.5,407,3617,0.00,2.40,0.00,0.000,6,0.000,0.061,2246,2784,3520,0,0,0,0,0,0
$GC,3937,-0.71,-146.0,367.4,-8.9,438,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2784,3520,0,0,0,0,0,0
$GC,4259,-0.71,-146.0,395.9,-9.4,468,4265,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2784,3520,0,0,0,0,0,0
$GC,4584,-0.71,-146.0,424.5,-8.3,482,4588,0.00,2.33,0.00,0.000,4,0.000,0.049,2246,1369,3520,0,0,0,0,0,0
$GC,4654,-0.73,-146.0,430.1,-8.3,484,4658,0.00,2.42,0.00,0.000,6,0.000,0.060,2246,2783,3520,0,0,0,0,0,0
$GC,4991,-0.73,-146.0,457.9,-8.5,495,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2783,3521,0,0,0,0,0,0
$GC,5298,-0.73,-146.0,484.4,-8.9,505,5302,0.00,2.33,0.00,0.000,4,0.000,0.048,2246,1368,3521,0,0,0,0,0,0
$GC,5329,-0.73,-146.0,487.4,-9.3,506,5333,0.00,2.40,0.00,0.000,6,0.000,0.060,2245,2781,3521,0,0,0,0,0,0
$GC,5664,-0.73,-146.0,517.8,-9.2,517,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2782,3521,0,0,0,0,0,0
$GC,5971,-0.73,-146.0,545.9,-9.2,527,5974,0.00,1.98,0.00,0.000,4,0.000,0.070,2245,3928,3521,0,0,0,0,0,0
$GC,6000,-0.73,-146.0,548.8,-8.9,527,6007,0.00,1.92,0.00,0.000,6,0.000,0.046,2246,2761,3521,0,0,0,0,0,0
$STATE,6040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6040,begin apogee
$GC,6047,-0.14,0.0,552.3,9.3,529,6178,0.55,0.00,123.05,0.946,4,0.133,0.000,2422,2597,2922,0,0,0,0,0,0
$STATE,6179,end apogee,CONTROL_FINISHED_OK
$STATE,6179,begin climb
$GC,6182,0.57,146.0,557.5,0.0,533,6321,0.70,2.42,130.75,0.920,4,0.071,0.049,2664,1182,2326,0,0,0,0,0,0
$GC,6461,-1.63,146.0,537.9,23313.1,541,6469,2.53,2.50,0.00,0.000,6,0.149,0.054,1955,2604,2318,0,0,0,0,0,0
$GC,6775,-1.63,146.0,497.1,23313.1,552,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2604,2307,0,0,0,0,0,0
$GC,7082,-1.63,146.0,453.0,23313.1,562,7086,0.00,2.28,0.00,0.000,4,0.000,0.050,1951,1188,2308,0,0,0,0,0,0
$GC,7341,-1.63,146.0,412.8,23313.1,569,7345,0.00,2.38,0.00,0.000,6,0.000,0.058,1947,2609,2308,0,0,0,0,0,0
$GC,7667,-1.63,146.0,365.7,23313.1,593,7671,0.00,2.20,0.00,0.000,4,0.000,0.057,1934,3936,2304,0,0,0,0,0,0
$GC,7891,-1.63,146.0,327.8,23313.1,612,7898,0.00,2.17,0.00,0.000,6,0.000,0.047,1933,2612,2306,0,0,0,0,0,0
$GC,8217,-1.63,146.0,275.9,23313.1,643,8221,0.00,2.25,0.00,0.000,4,0.000,0.041,1932,1180,2304,0,0,0,0,0,0
$GC,8477,-1.63,146.0,230.5,23313.1,665,8484,0.00,2.38,0.00,0.000,6,0.000,0.057,1923,2611,2307,0,0,0,0,0,0
$GC,8805,-1.63,146.0,174.4,23313.1,696,8809,0.00,2.28,0.00,0.000,4,0.000,0.041,1923,1172,2304,0,0,0,0,0,0
$GC,8836,-1.63,146.0,169.6,23313.1,698,8841,0.12,2.33,0.00,0.000,6,0.177,0.057,1949,2573,2306,0,0,0,0,0,0
$GC,9163,-1.63,146.0,121.2,23313.1,728,9167,0.00,2.22,0.00,0.000,4,0.000,0.047,1949,1187,2304,0,0,0,0,0,0
$GC,9176,-1.63,146.0,119.9,23313.1,729,9180,0.00,2.28,0.00,0.000,6,0.000,0.055,1940,2562,2306,0,0,0,0,0,0
$GC,9514,-0.32,146.0,71.4,15.2,776,9522,1.40,2.28,0.00,0.000,4,0.144,0.047,2360,1185,2306,0,0,0,0,0,0
$GC,9571,0.41,264.4,67.6,4.5,785,9679,0.73,2.28,96.15,0.648,6,0.094,0.057,2602,2555,1844,0,0,0,0,0,0
$GC,10020,0.74,310.3,34.8,7.9,863,10065,0.28,2.33,37.17,0.633,4,0.076,0.052,2721,1184,1656,0,0,0,0,0,0
$GC,10103,0.80,310.3,25.9,12.0,876,10110,0.00,2.10,0.00,0.000,6,0.000,0.054,2721,2468,1654,0,0,0,0,0,0
$FREEZE,8.90,-1.187,-1.836,3,13,0
$FREEZE,8.04,-1.188,-1.836,3,13,0
$FREEZE,7.12,-1.189,-1.835,3,13,0
$FREEZE,6.43,-1.192,-1.835,3,13,0
$FREEZE,5.86,-1.194,-1.834,3,13,0
$FREEZE,5.21,-1.191,-1.834,3,13,0
$FREEZE,4.61,-1.189,-1.833,3,13,0
$FREEZE,3.81,-1.190,-1.833,3,13,0
$FREEZE,2.98,-1.188,-1.832,3,13,0
$STATE,10277,end climb,SURFACE_DEPTH_REACHED
$STATE,10277,begin surface coast
$FREEZE,2.13,-1.192,-1.831,3,13,0
$FREEZE,1.39,-1.197,-1.831,3,13,0
$FREEZE,0.56,-1.203,-1.830,3,13,0
$FREEZE,0.58,-1.665,-1.815,3,13,0
$FINISH,0.6,1.026642
$STATE,10300,end surface coast,FINISH_DEPTH_REACHED
$STATE,10300,begin surface
$SM_CCo,10318,178.85,0.087,0,0,440,609.08
$SM_GC,1.31,0.00,0.00,178.85,0.000,0.000,0.087,300,2783,440,-6.79,0.08,609.08
$RAFOS_CLK,548
$RAFOS,6,1296823767,12.833333,12.824166,95,45,43,43,43,43,540,1136,1095,1281,26,551
$RAFOS,5,1296823277,12.700000,12.688056,132,47,44,41,41,40,557,428,1265,350,841,1518
$RAFOS,4,1296822809,12.566667,12.558056,112,48,45,44,42,42,518,732,1878,1382,1023,381
$RAFOS,3,1296822304,12.433333,12.417778,45,45,44,43,43,40,1281,1094,803,1931,1926,1261
$RAFOS,2,1296821826,12.300000,12.285000,46,44,44,44,42,39,826,438,1698,1290,732,369
$RAFOS,1,1296821348,12.166667,12.152223,48,43,42,41,40,38,1727,1209,1779,598,600,550
$RAFOS,0,1296820871,12.033333,12.019722,51,48,46,41,41,40,744,1810,1092,781,709,1749
$RAFOS_FIX,6657.855469,-5818.634277,040211,121244,3,113,1.43
$IRIDIUM_FIX,6631.12,-5815.99,040211,111105
$TT8_MAMPS,0.029211
$HUMID,46.57
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.2
$ALTIM_BOTTOM_PING,552.3,11.2
$24V_AH,21.5,101.396
$10V_AH,9.6,68.590
$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,22.125,76.575,387.125,178.850,0.000,90.752,119.886,672.021,2.250,0.000,152.126,2220.584,5928.593,686.312,2619.755,426.134,0.000,1581.697,0.000,1604.348,2520.000,18.755,0.000
$DEVICE_MAMPS,246.330,73.440,946.305,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,33439,911
$CAP_FILE_SIZE,123826,0
$CFSIZE,260165632,190947328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,040211,141607,6654.894,-5816.485,23,1.5,23,-37.8