version: 66.08
glider: 183
mission: 3
dive: 914
start: 2 5 111 9 13 1
data:
$ID,183
$MISSION,3
$DIVE,914
$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,-15626.439
$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
$GPS1,050211,083928,6653.437,-5823.503,0,4092.2,0,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.04
$_SM_ANGLEo,0.8
$GPS2,050211,083928,6653.437,-5823.503,0,4092.2,0,-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,296.7,91302,-17.5,-10.000
$D_GRID,941
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.55,0.000,2,0.000,0.000,2493,1179,2960,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.7,-0.0,1,53,0.57,4.78,-14.02,0.000,4,0.112,0.068,2286,3931,3521,0,0,0,0,0,0
$GC,160,-0.60,-146.0,21.7,-11.3,23,167,0.00,1.90,0.00,0.000,6,0.000,0.046,2286,2775,3523,0,0,0,0,0,0
$GC,508,-0.63,-146.0,60.3,-10.4,84,514,0.00,2.28,0.00,0.000,4,0.000,0.049,2286,1367,3522,0,0,0,0,0,0
$GC,569,-0.70,-146.0,66.2,-9.6,94,576,0.12,2.38,0.00,0.000,6,0.098,0.060,2231,2763,3522,0,0,0,0,0,0
$GC,912,-0.64,-146.0,112.6,-14.0,147,919,0.12,0.00,0.00,0.000,6,0.172,0.000,2264,2763,3521,0,0,0,0,0,0
$GC,1239,-0.64,-146.0,146.9,-9.6,178,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2763,3521,0,0,0,0,0,0
$GC,1561,-0.66,-146.0,176.7,-8.9,208,1565,0.00,2.30,0.00,0.000,4,0.000,0.050,2264,1366,3520,0,0,0,0,0,0
$GC,1589,-0.68,-146.0,179.6,-8.9,210,1596,0.00,2.35,0.00,0.000,6,0.000,0.061,2261,2752,3520,0,0,0,0,0,0
$GC,1915,-0.68,-146.0,209.0,-9.2,241,1919,0.00,2.05,0.00,0.000,4,0.000,0.072,2261,3927,3520,0,0,0,0,0,0
$GC,1950,-0.70,-146.0,212.5,-10.6,244,1954,0.00,1.92,0.00,0.000,6,0.000,0.047,2261,2743,3520,0,0,0,0,0,0
$GC,2282,-0.73,-146.0,241.5,-8.0,275,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2744,3520,0,0,0,0,0,0
$GC,2603,-0.76,-146.0,265.9,-7.5,305,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2743,3520,0,0,0,0,0,0
$GC,2933,-0.79,-146.0,293.1,-8.5,336,2940,0.12,0.00,0.00,0.000,6,0.104,0.000,2203,2743,3520,0,0,0,0,0,0
$GC,3259,-0.71,-146.0,333.4,-12.5,367,3264,0.15,2.12,0.00,0.000,4,0.171,0.070,2236,3934,3519,0,0,0,0,0,0
$GC,3299,-0.71,-146.0,338.0,-10.8,370,3306,0.00,1.98,0.00,0.000,6,0.000,0.046,2236,2737,3520,0,0,0,0,0,0
$GC,3626,-0.71,-146.0,372.1,-10.5,401,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2737,3520,0,0,0,0,0,0
$GC,3965,-0.71,-146.0,406.7,-9.9,429,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2737,3520,0,0,0,0,0,0
$GC,4269,-0.71,-146.0,437.1,-9.9,439,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2737,3520,0,0,0,0,0,0
$GC,4576,-0.71,-146.0,467.4,-10.0,449,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2737,3520,0,0,0,0,0,0
$GC,4881,-0.71,-146.0,498.2,-10.2,459,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2737,3520,0,0,0,0,0,0
$GC,5187,-0.71,-146.0,528.7,-10.0,469,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2737,3520,0,0,0,0,0,0
$STATE,5402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5402,begin apogee
$GC,5410,-0.14,0.0,550.0,9.9,476,5540,0.60,0.00,122.60,0.941,4,0.132,0.000,2426,2602,2922,0,0,0,0,0,0
$STATE,5541,end apogee,CONTROL_FINISHED_OK
$STATE,5541,begin climb
$GC,5545,0.57,146.0,554.9,0.0,480,5684,0.68,2.42,130.25,0.914,4,0.067,0.050,2663,1182,2327,0,0,0,0,0,0
$GC,5832,-1.63,146.0,532.9,20347.8,489,5842,2.53,2.50,0.00,0.000,6,0.153,0.054,1956,2611,2317,0,0,0,0,0,0
$GC,6173,-1.63,146.0,483.9,20347.8,500,6178,0.00,2.30,0.00,0.000,4,0.000,0.051,1955,1190,2310,0,0,0,0,0,0
$GC,6433,-1.63,146.0,440.8,20347.8,507,6438,0.00,2.30,0.00,0.000,6,0.000,0.054,1944,2588,2308,0,0,0,0,0,0
$GC,6755,-1.63,146.0,389.5,20347.8,522,6759,0.00,2.25,0.00,0.000,4,0.000,0.042,1942,1169,2306,0,0,0,0,0,0
$GC,7004,-1.63,146.0,347.5,20347.8,543,7011,0.00,2.28,0.00,0.000,6,0.000,0.055,1929,2555,2306,0,0,0,0,0,0
$GC,7332,-1.63,146.0,294.9,20347.8,574,7336,0.00,2.33,0.00,0.000,4,0.000,0.066,1919,3922,2307,0,0,0,0,0,0
$GC,7592,-1.63,146.0,248.4,20347.8,596,7599,0.12,2.17,0.00,0.000,6,0.210,0.044,1945,2598,2306,0,0,0,0,0,0
$GC,7918,-1.63,146.0,195.5,20347.8,627,7922,0.00,2.25,0.00,0.000,4,0.000,0.043,1945,1174,2305,0,0,0,0,0,0
$GC,8180,-1.63,146.0,151.3,20347.8,650,8184,0.00,2.30,0.00,0.000,6,0.000,0.057,1937,2551,2307,0,0,0,0,0,0
$GC,8507,-0.85,146.0,95.0,15.6,682,8515,1.08,2.22,0.00,0.000,4,0.239,0.043,2187,1188,2305,0,0,0,0,0,0
$GC,8771,0.08,150.1,63.9,9.8,728,8779,1.02,2.28,0.00,0.000,6,0.128,0.057,2492,2556,2308,0,0,0,0,0,0
$GC,9122,0.58,242.0,44.9,5.8,789,9210,0.45,2.33,78.03,0.640,4,0.092,0.053,2659,1188,1935,0,0,0,0,0,0
$GC,9243,0.76,297.4,36.8,7.4,809,9297,0.17,2.30,47.10,0.623,6,0.085,0.055,2735,2573,1710,0,0,0,0,0,0
$FREEZE,8.70,-0.974,-1.835,3,2,0
$FREEZE,7.99,-0.983,-1.834,3,2,0
$FREEZE,7.28,-0.990,-1.834,3,2,0
$FREEZE,6.59,-1.025,-1.834,3,2,0
$FREEZE,5.92,-1.099,-1.833,3,2,0
$FREEZE,5.08,-1.115,-1.831,3,2,0
$FREEZE,4.46,-1.138,-1.831,3,2,0
$FREEZE,3.65,-1.130,-1.831,3,2,0
$FREEZE,3.10,-1.139,-1.830,3,2,0
$FREEZE,2.24,-1.200,-1.829,3,2,0
$STATE,9498,end climb,SURFACE_DEPTH_REACHED
$STATE,9498,begin surface coast
$FREEZE,1.59,-1.193,-1.829,3,2,0
$FREEZE,0.90,-1.187,-1.828,3,2,0
$FREEZE,0.55,-1.239,-1.831,3,2,0
$FREEZE,0.66,-1.932,-1.877,3,2,0
$FINISH,0.7,1.027535
$STATE,9521,end surface coast,FINISH_DEPTH_REACHED
$STATE,9521,begin surface
$SM_CCo,9540,201.82,0.573,1,0,439,609.08
$SM_GC,1.38,0.00,0.00,201.82,0.000,0.000,0.573,300,2782,439,-6.79,0.06,609.08
$RAFOS_CLK,563
$RAFOS_FIX,6653.437012,-5823.503418,050211,080828,4,92,0.32
$IRIDIUM_FIX,6631.12,-5818.88,050211,020256
$TT8_MAMPS,0.028462
$HUMID,47.04
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.1
$ALTIM_BOTTOM_PING,550.0,11.1
$24V_AH,21.5,102.183
$10V_AH,9.7,69.038
$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,14.425,56.825,377.975,201.825,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2107.006,5384.038,585.175,1520.169,216.366,0.000,1390.679,0.000,1503.909,0.000,15.929,0.000
$DEVICE_MAMPS,238.680,75.735,940.950,572.985,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.142,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,30064,858
$CAP_FILE_SIZE,97095,0
$CFSIZE,260165632,190648320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1452.1
$GPS,050211,115720,6650.831,-5821.024,39,2.1,58,-37.7