version: 66.08
glider: 183
mission: 3
dive: 911
start: 2 5 111 0 11 20
data:
$ID,183
$MISSION,3
$DIVE,911
$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,-15623.928
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,050211,000355,6652.517,-5816.991,37,1.0,37,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.5
$GPS2,050211,001049,6652.417,-5816.894,8,1.1,13,-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,298.3,95727,-17.5,-10.000
$D_GRID,852
$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,-146.0,0.0,0.0,0,176,0.00,0.00,-153.93,0.000,6,0.000,0.000,282,2780,3520,0,0,0,0,0,0
$GC,179,-0.57,-146.0,6.0,-15.7,27,193,8.40,2.00,0.00,0.000,4,0.244,0.058,2275,3942,3523,0,0,0,0,0,0
$GC,353,-0.57,-146.0,41.2,-12.2,57,360,0.00,1.90,0.00,0.000,6,0.000,0.050,2275,2779,3524,0,0,0,0,0,0
$GC,699,-0.57,-146.0,84.8,-12.3,118,706,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3929,3524,0,0,0,0,0,0
$GC,777,-0.57,-146.0,94.6,-11.9,131,783,0.00,1.88,0.00,0.000,6,0.000,0.049,2275,2797,3524,0,0,0,0,0,0
$GC,1112,-0.57,-146.0,131.2,-11.1,166,1116,0.00,2.33,0.00,0.000,4,0.000,0.050,2275,1362,3524,0,0,0,0,0,0
$GC,1171,-0.62,-146.0,137.3,-10.4,171,1175,0.00,2.42,0.00,0.000,6,0.000,0.062,2275,2780,3524,0,0,0,0,0,0
$GC,1498,-0.64,-146.0,169.8,-8.9,201,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2780,3523,0,0,0,0,0,0
$GC,1825,-0.67,-146.0,198.6,-8.2,232,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2780,3523,0,0,0,0,0,0
$GC,2149,-0.71,-146.0,226.0,-8.7,262,2152,0.00,2.05,0.00,0.000,4,0.000,0.074,2274,3935,3523,0,0,0,0,0,0
$GC,2184,-0.76,-146.0,229.4,-8.8,265,2189,0.12,1.92,0.00,0.000,6,0.097,0.049,2220,2776,3523,0,0,0,0,0,0
$GC,2516,-0.69,-146.0,270.7,-12.8,296,2521,0.10,2.33,0.00,0.000,4,0.188,0.050,2245,1362,3523,0,0,0,0,0,0
$GC,2545,-0.69,-146.0,274.4,-11.8,298,2550,0.00,2.42,0.00,0.000,6,0.000,0.061,2245,2777,3523,0,0,0,0,0,0
$GC,2871,-0.69,-146.0,309.3,-10.8,328,2875,0.00,2.03,0.00,0.000,4,0.000,0.071,2242,3936,3523,0,0,0,0,0,0
$GC,2910,-0.69,-146.0,313.8,-11.4,331,2917,0.00,1.90,0.00,0.000,6,0.000,0.047,2242,2776,3523,0,0,0,0,0,0
$GC,3237,-0.69,-146.0,347.5,-9.9,362,3241,0.00,2.30,0.00,0.000,4,0.000,0.049,2242,1370,3523,0,0,0,0,0,0
$GC,3270,-0.69,-146.0,351.1,-9.8,364,3277,0.00,2.40,0.00,0.000,6,0.000,0.061,2235,2786,3523,0,0,0,0,0,0
$GC,3597,-0.67,-146.0,383.5,-9.5,395,3601,0.00,2.33,0.00,0.000,4,0.000,0.049,2235,1370,3523,0,0,0,0,0,0
$GC,3660,-0.67,-146.0,389.9,-9.9,400,3664,0.00,2.40,0.00,0.000,6,0.000,0.061,2235,2772,3523,0,0,0,0,0,0
$GC,3984,-0.67,-146.0,420.6,-9.5,417,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2772,3523,0,0,0,0,0,0
$GC,4289,-0.67,-146.0,449.7,-9.8,427,4294,0.00,2.30,0.00,0.000,4,0.000,0.048,2235,1371,3523,0,0,0,0,0,0
$GC,4350,-0.67,-146.0,456.0,-9.8,428,4357,0.00,2.40,0.00,0.000,6,0.000,0.060,2235,2772,3524,0,0,0,0,0,0
$GC,4665,-0.67,-146.0,485.8,-9.5,439,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2772,3524,0,0,0,0,0,0
$GC,4970,-0.67,-146.0,514.6,-9.3,449,4975,0.00,2.30,0.00,0.000,4,0.000,0.049,2235,1364,3524,0,0,0,0,0,0
$GC,5006,-0.67,-146.0,518.1,-9.2,450,5010,0.00,2.40,0.00,0.000,6,0.000,0.060,2235,2768,3524,0,0,0,0,0,0
$GC,5343,-0.67,-146.0,549.7,-9.6,461,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2767,3524,0,0,0,0,0,0
$STATE,5374,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5374,begin apogee
$GC,5381,-0.14,0.0,552.6,9.6,462,5512,0.60,0.00,123.50,0.943,4,0.135,0.000,2424,2600,2923,0,0,0,0,0,0
$STATE,5513,end apogee,CONTROL_FINISHED_OK
$STATE,5513,begin climb
$GC,5516,0.57,146.0,557.6,0.0,466,5656,0.70,2.42,130.62,0.919,4,0.070,0.049,2666,1183,2326,0,0,0,0,0,0
$GC,5813,-1.64,146.0,534.9,20461.6,475,5823,2.53,2.47,0.00,0.000,6,0.151,0.054,1956,2603,2317,0,0,0,0,0,0
$GC,6144,-1.64,146.0,488.9,20461.6,486,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2603,2307,0,0,0,0,0,0
$GC,6451,-1.64,146.0,439.9,20461.6,496,6455,0.00,2.25,0.00,0.000,4,0.000,0.065,1941,3937,2308,0,0,0,0,0,0
$GC,6478,-1.64,146.0,434.1,20461.6,496,6485,0.00,2.20,0.00,0.000,6,0.000,0.046,1941,2595,2308,0,0,0,0,0,0
$GC,6796,-1.64,146.0,381.8,20461.6,513,6800,0.00,2.30,0.00,0.000,4,0.000,0.071,1937,3933,2308,0,0,0,0,0,0
$GC,6972,-1.64,146.0,349.3,20461.6,528,6976,0.00,2.20,0.00,0.000,6,0.000,0.047,1937,2578,2307,0,0,0,0,0,0
$GC,7298,-1.64,146.0,292.5,20461.6,558,7301,0.00,2.22,0.00,0.000,4,0.000,0.043,1936,1173,2305,0,0,0,0,0,0
$GC,7558,-1.64,146.0,247.2,20461.6,581,7563,0.00,2.35,0.00,0.000,6,0.000,0.055,1926,2582,2307,0,0,0,0,0,0
$GC,7886,-1.64,146.0,188.5,20461.6,611,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2582,2305,0,0,0,0,0,0
$GC,8216,-1.64,146.0,130.1,20461.6,642,8220,0.00,2.22,0.00,0.000,4,0.000,0.044,1924,1184,2304,0,0,0,0,0,0
$GC,8476,-1.64,146.0,85.4,20461.6,672,8484,0.15,2.35,0.00,0.000,6,0.205,0.056,1946,2602,2307,0,0,0,0,0,0
$GC,8824,-1.64,146.0,34.9,20461.6,733,8831,0.00,2.28,0.00,0.000,4,0.000,0.044,1946,1177,2306,0,0,0,0,0,0
$FREEZE,8.79,-0.824,-1.836,3,1,0
$FREEZE,8.24,-0.823,-1.835,3,1,0
$FREEZE,7.72,-0.801,-1.834,3,1,0
$FREEZE,6.71,-0.810,-1.833,3,1,0
$FREEZE,5.59,-0.826,-1.834,3,1,0
$FREEZE,4.99,-0.830,-1.833,3,1,0
$FREEZE,4.43,-0.825,-1.833,3,1,0
$FREEZE,3.28,-0.822,-1.832,3,1,0
$FREEZE,2.14,-0.836,-1.832,3,1,0
$STATE,9042,end climb,SURFACE_DEPTH_REACHED
$STATE,9043,begin surface coast
$FREEZE,1.47,-0.827,-1.831,3,1,0
$FINISH,1.5,1.026832
$STATE,9049,end surface coast,CONTROL_FINISHED_OK
$STATE,9049,begin surface
$SM_CCo,9068,258.25,0.085,0,0,440,609.08
$SM_GC,1.38,0.00,0.00,258.25,0.000,0.000,0.085,289,2777,440,-6.82,-0.08,609.08
$RAFOS_CLK,488
$RAFOS,6,1296866949,0.833333,0.819167,135,53,44,43,42,42,653,660,81,1191,26,1497
$RAFOS,5,1296866470,0.700000,0.686111,86,44,43,42,42,41,605,1646,144,376,649,1600
$RAFOS,4,1296865983,0.566667,0.550833,92,43,42,41,41,41,657,227,179,1236,1512,1645
$RAFOS,3,1296865502,0.433333,0.417222,69,46,42,41,40,39,795,813,299,901,1592,1866
$RAFOS,2,1296865024,0.300000,0.284444,45,43,41,40,40,39,1141,1415,381,1354,1180,1934
$RAFOS_FIX,6653.797363,-5820.247070,050211,000056,4,96,2.10
$IRIDIUM_FIX,6625.71,-5742.24,040211,202006
$TT8_MAMPS,0.029211
$HUMID,46.49
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$ALTIM_BOTTOM_PING,552.6,11.2
$24V_AH,21.5,101.858
$10V_AH,9.7,68.857
$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,17.000,72.300,254.125,258.250,0.000,25.229,25.077,188.093,2.250,0.000,16.264,1944.989,5231.960,643.615,1597.443,337.729,0.000,1407.103,0.000,1366.536,1800.000,22.254,0.000
$DEVICE_MAMPS,244.035,74.205,943.245,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,30053,773
$CAP_FILE_SIZE,100330,0
$CFSIZE,260165632,190816256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,050211,024830,6652.711,-5817.851,33,1.3,37,-37.7