version: 66.08
glider: 183
mission: 3
dive: 442
start: 12 2 110 15 51 18
data:
$ID,183
$MISSION,3
$DIVE,442
$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,9
$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,-8299.2373
$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,39
$R_STBD_OVSHOOT,27
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,021210,154325,6704.005,-5647.474,41,1.3,41,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-60.4
$GPS2,021210,155046,6704.067,-5647.450,13,2.7,32,-37.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,228.9,2016,-22.7,-10.000
$D_GRID,486
$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,15,-0.67,-90.0,0.0,0.0,0,149,0.00,0.00,-130.27,0.000,6,0.000,0.000,268,2791,3292,0,0,0,0,0,0
$GC,153,-0.67,-90.0,5.1,-11.1,23,165,8.18,0.00,0.00,0.000,6,0.243,0.000,2252,2791,3295,0,0,0,0,0,0
$GC,503,-0.67,-90.0,62.8,-11.3,85,510,0.00,1.90,0.00,0.000,4,0.000,0.067,2247,3932,3295,0,0,0,0,0,0
$GC,517,-0.67,-90.0,64.5,-11.1,87,523,0.00,1.83,0.00,0.000,6,0.000,0.043,2248,2777,3295,0,0,0,0,0,0
$GC,862,-0.70,-95.2,101.3,-9.6,147,866,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1367,3294,0,0,0,0,0,0
$GC,884,-0.73,-96.6,103.7,-9.9,148,890,0.00,2.35,0.00,0.000,6,0.000,0.057,2238,2805,3294,0,0,0,0,0,0
$GC,1209,-0.73,-96.6,134.9,-10.1,179,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2805,3294,0,0,0,0,0,0
$GC,1527,-0.75,-96.6,167.5,-10.7,209,1532,0.00,2.25,0.00,0.000,4,0.000,0.043,2238,1365,3293,0,0,0,0,0,0
$GC,1560,-0.78,-96.6,171.3,-11.0,211,1567,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2785,3294,0,0,0,0,0,0
$GC,1886,-0.78,-96.6,205.8,-10.9,242,1889,0.00,1.90,0.00,0.000,4,0.000,0.064,2233,3936,3294,0,0,0,0,0,0
$GC,1920,-0.78,-96.6,209.8,-11.7,245,1924,0.00,1.80,0.00,0.000,6,0.000,0.041,2233,2789,3294,0,0,0,0,0,0
$GC,2251,-0.80,-96.6,247.2,-11.0,276,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2789,3294,0,0,0,0,0,0
$GC,2570,-0.83,-98.6,280.9,-9.9,306,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2788,3295,0,0,0,0,0,0
$GC,2892,-0.86,-115.8,310.6,-8.7,336,2897,0.10,2.22,0.00,0.000,4,0.116,0.043,2177,1365,3295,0,0,0,0,0,0
$GC,2924,-0.81,-115.8,314.7,-11.5,338,2932,0.17,2.30,0.00,0.000,6,0.179,0.053,2212,2796,3295,0,0,0,0,0,0
$GC,3250,-0.81,-126.3,344.8,-9.2,369,3254,0.00,2.22,0.00,0.000,4,0.000,0.042,2212,1368,3295,0,0,0,0,0,0
$GC,3348,-0.85,-146.0,353.2,-8.1,377,3352,0.00,2.28,0.00,0.000,6,0.000,0.054,2204,2779,3296,0,0,0,0,0,0
$GC,3673,-0.85,-146.0,382.8,-9.6,407,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2779,3296,0,0,0,0,0,0
$GC,3992,-0.85,-146.0,413.8,-9.6,437,3996,0.00,2.20,0.00,0.000,4,0.000,0.041,2205,1364,3297,0,0,0,0,0,0
$GC,4049,-0.85,-146.0,419.5,-9.5,441,4056,0.00,2.30,0.00,0.000,6,0.000,0.053,2197,2786,3297,0,0,0,0,0,0
$GC,4375,-0.85,-146.0,454.9,-10.1,472,4378,0.00,1.85,0.00,0.000,4,0.000,0.064,2189,3926,3298,0,0,0,0,0,0
$GC,4436,-0.80,-146.0,461.5,-12.2,477,4442,0.00,1.83,0.00,0.000,6,0.000,0.040,2189,2774,3297,0,0,0,0,0,0
$STATE,4525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4525,begin apogee
$GC,4531,-0.14,0.0,470.7,10.2,486,4610,0.75,0.00,73.40,0.847,4,0.148,0.000,2422,2598,2924,0,0,0,0,0,0
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4614,0.71,146.0,472.4,0.0,493,4744,0.80,2.30,119.30,0.836,4,0.086,0.063,2702,3929,2326,0,0,0,0,0,0
$GC,4988,0.63,146.0,416.1,17.9,527,4993,0.12,2.10,0.00,0.000,6,0.213,0.037,2683,2596,2317,0,0,0,0,0,0
$GC,5313,0.63,146.0,369.6,14.2,557,5317,0.00,2.17,0.00,0.000,4,0.000,0.046,2682,1195,2316,0,0,0,0,0,0
$GC,5573,0.69,146.0,335.4,13.1,580,5577,0.00,2.28,0.00,0.000,6,0.000,0.049,2683,2620,2316,0,0,0,0,0,0
$GC,5898,0.69,146.0,291.5,13.2,610,5902,0.00,2.22,0.00,0.000,4,0.000,0.046,2685,1183,2316,0,0,0,0,0,0
$GC,6072,0.75,146.0,269.2,11.8,625,6076,0.00,2.25,0.00,0.000,6,0.000,0.048,2685,2598,2316,0,0,0,0,0,0
$GC,6398,0.77,146.0,227.9,12.6,655,6403,0.10,2.15,0.00,0.000,4,0.119,0.059,2730,3926,2315,0,0,0,0,0,0
$GC,6428,0.69,146.0,223.4,16.7,657,6433,0.15,2.08,0.00,0.000,6,0.208,0.037,2703,2595,2314,0,0,0,0,0,0
$GC,6754,0.69,146.0,178.6,13.0,687,6758,0.00,2.17,0.00,0.000,4,0.000,0.060,2703,3932,2314,0,0,0,0,0,0
$GC,6777,0.66,146.0,175.2,14.7,689,6781,0.00,2.08,0.00,0.000,6,0.000,0.037,2707,2600,2315,0,0,0,0,0,0
$GC,7108,0.66,146.0,131.2,12.6,720,7112,0.00,2.17,0.00,0.000,4,0.000,0.059,2707,3926,2315,0,0,0,0,0,0
$GC,7160,0.59,146.0,124.2,14.1,724,7165,0.17,2.05,0.00,0.000,6,0.194,0.037,2670,2600,2314,0,0,0,0,0,0
$GC,7490,0.65,146.0,90.8,10.9,762,7497,0.00,2.15,0.00,0.000,4,0.000,0.060,2670,3925,2314,0,0,0,0,0,0
$GC,7593,0.65,146.0,77.0,13.8,780,7600,0.00,2.03,0.00,0.000,6,0.000,0.037,2672,2624,2315,0,0,0,0,0,0
$GC,7938,0.72,146.0,39.7,10.6,841,7946,0.10,2.20,0.00,0.000,4,0.118,0.044,2717,1198,2315,0,0,0,0,0,0
$GC,8066,0.77,146.0,25.1,11.3,863,8073,0.00,2.28,0.00,0.000,6,0.000,0.048,2718,2629,2315,0,0,0,0,0,0
$FREEZE,8.98,1.475,-1.802,0,1,0
$FREEZE,8.43,1.474,-1.801,0,1,0
$FREEZE,7.82,1.475,-1.801,0,1,0
$FREEZE,7.23,1.476,-1.800,0,1,0
$FREEZE,6.69,1.475,-1.800,0,1,0
$FREEZE,6.22,1.477,-1.799,0,1,0
$FREEZE,5.65,1.484,-1.799,0,1,0
$FREEZE,5.12,1.480,-1.798,0,1,0
$FREEZE,4.68,1.477,-1.798,0,1,0
$FREEZE,4.28,1.477,-1.798,0,1,0
$FREEZE,3.75,1.477,-1.797,0,1,0
$FREEZE,3.40,1.477,-1.797,0,1,0
$FREEZE,2.96,1.477,-1.797,0,1,0
$STATE,8296,end climb,SURFACE_DEPTH_REACHED
$STATE,8296,begin surface coast
$FREEZE,2.59,1.477,-1.796,0,1,0
$FREEZE,2.15,1.478,-1.796,0,1,0
$FREEZE,1.59,1.478,-1.796,0,1,0
$FREEZE,1.04,1.480,-1.795,0,1,0
$FREEZE,0.98,1.575,-1.789,0,1,0
$FREEZE,0.79,1.960,-0.891,0,1,0
$FINISH,0.8,1.013139
$STATE,8329,end surface coast,CONTROL_FINISHED_OK
$STATE,8330,begin surface
$SM_CCo,8345,251.90,0.074,0,0,440,609.08
$SM_GC,1.59,0.00,0.00,251.90,0.000,0.000,0.074,283,2791,440,-6.84,0.31,609.08
$RAFOS_CLK,343
$RAFOS,6,1291308547,16.833334,16.818611,46,43,43,42,40,40,247,791,829,26,1202,1407
$RAFOS,5,1291308071,16.700001,16.686388,58,51,44,43,42,41,641,150,617,1341,1430,270
$RAFOS,4,1291307592,16.566668,16.553333,48,46,45,42,42,41,863,209,437,1274,1685,26
$RAFOS,3,1291307104,16.433332,16.417778,52,47,47,43,43,42,1792,391,1852,408,311,1031
$RAFOS,2,1291306621,16.299999,16.283611,53,49,42,41,40,39,1097,300,552,1395,1545,411
$RAFOS,1,1291306147,16.166666,16.151945,46,42,41,41,39,38,460,1318,1238,1604,25,1897
$RAFOS,0,1291305663,16.033333,16.017500,46,40,39,39,39,38,916,590,415,599,1908,1685
$RAFOS_FIX,6701.095215,-5648.407227,021210,000022,3,77,0.35
$IRIDIUM_FIX,6631.12,-5649.11,021210,101045
$TT8_MAMPS,0.029211
$HUMID,43.66
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,450.7,34.6
$24V_AH,23.3,53.586
$10V_AH,10.1,39.571
$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,17.000,68.900,192.700,251.900,0.000,28.939,20.393,200.521,1.750,0.000,36.135,2198.051,4249.231,578.829,1776.905,248.176,0.000,1370.948,0.000,1496.097,2520.000,16.686,0.000
$DEVICE_MAMPS,243.270,73.440,846.855,74.205,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.919,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,33401,911
$CAP_FILE_SIZE,105512,0
$CFSIZE,260165632,218578944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1475.5
$GPS,021210,181606,6704.014,-5647.806,34,1.0,40,-37.6