version: 66.08
glider: 183
mission: 3
dive: 530
start: 12 18 110 15 7 8
data:
$ID,183
$MISSION,3
$DIVE,530
$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,-9815.5479
$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,41
$R_STBD_OVSHOOT,26
$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,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
$GPS1,181210,145844,6705.629,-5651.168,36,4.2,55,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-60.8
$GPS2,181210,150637,6705.725,-5651.304,8,1.8,13,-37.6
$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,192.3,5582,-17.5,-10.000
$D_GRID,454
$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,16,-0.57,-146.0,0.0,0.0,0,155,0.00,0.00,-134.00,0.000,6,0.000,0.000,281,2788,3520,0,0,0,0,0,0
$GC,158,-0.57,-146.0,6.4,-15.2,24,172,8.30,2.30,0.00,0.000,4,0.241,0.042,2286,1371,3522,0,0,0,0,0,0
$GC,288,-0.60,-146.0,32.9,-9.5,46,295,0.00,2.33,0.00,0.000,6,0.000,0.057,2283,2785,3523,0,0,0,0,0,0
$GC,633,-0.60,-146.0,69.7,-10.5,107,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2785,3522,0,0,0,0,0,0
$GC,977,-0.62,-146.0,102.2,-8.3,166,981,0.00,1.88,0.00,0.000,4,0.000,0.067,2275,3928,3522,0,0,0,0,0,0
$GC,1013,-0.65,-146.0,105.3,-9.1,169,1017,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2763,3522,0,0,0,0,0,0
$GC,1345,-0.68,-146.0,133.2,-8.6,200,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2762,3522,0,0,0,0,0,0
$GC,1667,-0.72,-146.0,159.1,-8.1,230,1671,0.00,2.15,0.00,0.000,4,0.000,0.046,2275,1371,3522,0,0,0,0,0,0
$GC,1746,-0.77,-146.0,165.9,-8.4,236,1753,0.15,2.30,0.00,0.000,6,0.086,0.058,2203,2777,3522,0,0,0,0,0,0
$GC,2071,-0.68,-146.0,205.6,-12.3,267,2075,0.17,1.92,0.00,0.000,4,0.166,0.065,2246,3928,3522,0,0,0,0,0,0
$GC,2108,-0.68,-146.0,210.1,-10.5,270,2115,0.00,1.85,0.00,0.000,6,0.000,0.043,2246,2773,3522,0,0,0,0,0,0
$GC,2434,-0.68,-146.0,241.4,-9.4,301,2438,0.00,1.95,0.00,0.000,4,0.000,0.067,2239,3936,3522,0,0,0,0,0,0
$GC,2480,-0.68,-146.0,246.3,-10.7,305,2484,0.00,1.83,0.00,0.000,6,0.000,0.043,2238,2778,3522,0,0,0,0,0,0
$GC,2811,-0.68,-146.0,279.9,-9.7,336,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2778,3523,0,0,0,0,0,0
$GC,3133,-0.68,-146.0,309.4,-9.1,366,3137,0.00,2.20,0.00,0.000,4,0.000,0.044,2238,1368,3523,0,0,0,0,0,0
$GC,3174,-0.68,-146.0,313.5,-9.0,369,3178,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2781,3523,0,0,0,0,0,0
$GC,3499,-0.68,-146.0,344.6,-9.6,399,3503,0.00,2.22,0.00,0.000,4,0.000,0.044,2235,1363,3523,0,0,0,0,0,0
$GC,3563,-0.68,-146.0,350.9,-9.9,404,3567,0.00,2.30,0.00,0.000,6,0.000,0.055,2235,2777,3523,0,0,0,0,0,0
$GC,3889,-0.68,-146.0,384.0,-9.8,434,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2777,3524,0,0,0,0,0,0
$GC,4216,-0.68,-146.0,415.7,-9.6,455,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2778,3525,0,0,0,0,0,0
$GC,4517,-0.68,-146.0,446.1,-10.5,465,4521,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1372,3525,0,0,0,0,0,0
$GC,4552,-0.68,-146.0,449.8,-10.6,466,4558,0.00,2.25,0.00,0.000,6,0.000,0.056,2235,2765,3525,0,0,0,0,0,0
$STATE,4563,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4563,begin apogee
$GC,4569,-0.14,0.0,451.2,10.3,466,4695,0.57,0.00,118.10,0.845,4,0.129,0.000,2424,2601,2923,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4698,0.57,146.0,455.9,0.0,470,4828,0.65,2.33,120.43,0.830,4,0.063,0.045,2664,1181,2328,0,0,0,0,0,0
$GC,5009,0.57,146.0,428.5,12.2,480,5013,0.00,2.35,0.00,0.000,6,0.000,0.050,2664,2600,2320,0,0,0,0,0,0
$GC,5328,0.52,146.0,390.7,12.0,495,5332,0.00,2.22,0.00,0.000,4,0.000,0.047,2666,1182,2317,0,0,0,0,0,0
$GC,5584,0.52,146.0,361.0,10.4,517,5591,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2601,2317,0,0,0,0,0,0
$GC,5910,0.47,146.0,321.7,12.0,548,5912,0.15,0.00,0.00,0.000,6,0.188,0.000,2626,2601,2316,0,0,0,0,0,0
$GC,6230,0.49,146.0,289.5,10.3,578,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2601,2316,0,0,0,0,0,0
$GC,6548,0.52,161.1,258.7,9.3,608,6564,0.00,2.17,11.50,0.692,4,0.000,0.061,2626,3925,2268,0,0,0,0,0,0
$GC,6592,0.52,161.1,253.8,11.2,611,6599,0.00,2.10,0.00,0.000,6,0.000,0.040,2625,2593,2266,0,0,0,0,0,0
$GC,6918,0.56,173.1,222.4,9.4,642,6937,0.00,0.00,11.93,0.673,6,0.000,0.000,2626,2593,2217,0,0,0,0,0,0
$GC,7256,0.61,176.8,188.8,9.8,674,7269,0.12,2.25,4.57,0.532,4,0.096,0.063,2686,3936,2201,0,0,0,0,0,0
$GC,7304,0.49,176.8,182.1,15.9,678,7309,0.20,2.10,0.00,0.000,6,0.179,0.039,2637,2602,2200,0,0,0,0,0,0
$GC,7630,0.54,176.8,147.6,10.1,708,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2601,2200,0,0,0,0,0,0
$GC,7951,0.60,209.8,118.9,8.5,738,7985,0.00,2.28,28.23,0.633,4,0.000,0.047,2637,1198,2066,0,0,0,0,0,0
$GC,8024,0.72,221.3,112.0,9.5,744,8043,0.20,2.28,10.85,0.597,6,0.075,0.050,2723,2607,2019,0,0,0,0,0,0
$GC,8376,0.66,221.3,65.5,11.6,799,8383,0.12,2.17,0.00,0.000,4,0.180,0.062,2691,3929,2014,0,0,0,0,0,0
$GC,8511,0.62,221.3,49.0,11.8,822,8517,0.00,2.05,0.00,0.000,6,0.000,0.039,2693,2622,2013,0,0,0,0,0,0
$GC,8856,0.62,221.3,10.6,11.6,883,8862,0.00,2.15,0.00,0.000,4,0.000,0.062,2693,3935,2014,0,0,0,0,0,0
$FREEZE,8.97,3.120,-1.820,0,1,0
$FREEZE,8.43,3.120,-1.819,0,1,0
$FREEZE,7.90,3.118,-1.819,0,1,0
$FREEZE,7.52,3.118,-1.819,0,1,0
$FREEZE,6.99,3.121,-1.818,0,1,0
$STATE,8888,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8888,begin subsurface finish
$FINISH1,7.0,1.026347,57
$GC,8897,0.04,56.5,7.0,-9.7,889,8929,0.65,2.25,-23.12,0.000,4,0.164,0.077,2497,3933,2694,0,0,0,0,0,0
$FINISH2,4.5
$STATE,8930,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$RAFOS_CLK,356
$RAFOS,6,1292690948,16.833334,16.818890,59,44,42,41,39,37,810,729,365,1927,1194,1850
$RAFOS,5,1292690470,16.700001,16.686111,54,46,43,42,40,40,641,327,940,153,1372,1488
$RAFOS,4,1292689986,16.566668,16.551666,75,51,50,43,40,39,887,198,1232,1280,1917,391
$RAFOS,3,1292689505,16.433332,16.418056,50,45,43,43,42,42,335,1013,973,971,367,241
$RAFOS,2,1292689037,16.299999,16.288055,48,45,44,42,41,39,1878,1478,653,772,1347,1657
$RAFOS,1,1292688544,16.166666,16.151112,51,51,48,44,44,42,431,1071,749,453,1827,1912
$RAFOS,0,1292688070,16.033333,16.019444,45,45,43,41,40,38,485,1718,1448,162,774,471
$RAFOS_FIX,6706.943359,-5656.664062,181210,080856,2,68,0.75
$IRIDIUM_FIX,6636.54,-5702.96,181210,090952
$TT8_MAMPS,0.028462
$HUMID,47.91
$INTERNAL_PRESSURE,8.79764
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.3
$ALTIM_BOTTOM_PING,450.5,9.9
$24V_AH,22.8,64.217
$10V_AH,9.9,45.927
$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,11.300,67.175,305.600,0.000,0.000,30.387,41.102,210.393,1.500,0.000,15.879,2149.275,4750.303,426.226,1786.051,293.673,0.000,1252.093,0.000,1499.588,2520.000,12.383,0.000
$DEVICE_MAMPS,240.975,77.265,845.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,33430,894
$CAP_FILE_SIZE,104856,0
$CFSIZE,260165632,212553728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,181210,150637,6705.725,-5651.304,8,1.8,13,-37.6