version: 66.08
glider: 183
mission: 3
dive: 532
start: 12 18 110 20 20 41
data:
$ID,183
$MISSION,3
$DIVE,532
$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,-9816.8975
$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,42
$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
$GPS1,181210,201236,6705.244,-5647.446,38,0.8,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-62.7
$GPS2,181210,202008,6705.362,-5647.371,12,1.2,12,-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,223.5,4398,-17.5,-10.000
$D_GRID,448
$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,-133.88,0.000,6,0.000,0.000,275,2773,3520,0,0,0,0,0,0
$GC,158,-0.57,-146.0,6.1,-14.7,24,171,8.25,1.95,0.00,0.000,4,0.239,0.054,2278,3932,3521,0,0,0,0,0,0
$GC,184,0.30,-146.0,19.7,-43.4,28,192,0.98,1.83,0.00,0.000,6,0.154,0.042,2569,2783,3523,0,0,0,0,0,0
$GC,532,-0.22,-146.0,41.0,-5.7,89,539,0.50,2.20,0.00,0.000,4,0.129,0.042,2404,1370,3523,0,0,0,0,0,0
$GC,610,-0.59,-146.0,46.1,-7.8,102,617,0.35,2.78,0.00,0.000,6,0.104,0.055,2285,3067,3523,0,0,0,0,0,0
$GC,959,-0.72,-146.0,75.1,-9.4,163,967,0.12,2.67,0.00,0.000,4,0.095,0.044,2222,1373,3522,0,0,0,0,0,0
$GC,1168,-0.68,-146.0,104.7,-13.5,197,1175,0.12,2.50,0.00,0.000,6,0.179,0.057,2254,2900,3523,0,0,0,0,0,0
$GC,1493,-0.68,-146.0,139.7,-9.6,228,1498,0.00,2.40,0.00,0.000,4,0.000,0.045,2254,1367,3522,0,0,0,0,0,0
$GC,1584,-0.71,-146.0,148.1,-8.9,235,1591,0.00,2.47,0.00,0.000,6,0.000,0.057,2248,2877,3521,0,0,0,0,0,0
$GC,1909,-0.71,-146.0,178.2,-9.3,266,1913,0.00,2.38,0.00,0.000,4,0.000,0.044,2248,1367,3521,0,0,0,0,0,0
$GC,1937,-0.71,-146.0,180.9,-9.1,268,1943,0.00,2.47,0.00,0.000,6,0.000,0.057,2247,2876,3522,0,0,0,0,0,0
$GC,2262,-0.71,-146.0,211.2,-9.3,299,2266,0.00,2.38,0.00,0.000,4,0.000,0.044,2247,1368,3522,0,0,0,0,0,0
$GC,2295,-0.71,-146.0,214.5,-9.2,301,2302,0.00,2.47,0.00,0.000,6,0.000,0.057,2247,2880,3522,0,0,0,0,0,0
$GC,2621,-0.71,-146.0,242.9,-9.2,332,2625,0.00,2.38,0.00,0.000,4,0.000,0.044,2247,1369,3521,0,0,0,0,0,0
$GC,2684,-0.74,-146.0,248.6,-9.1,337,2688,0.00,2.42,0.00,0.000,6,0.000,0.056,2247,2866,3522,0,0,0,0,0,0
$GC,3015,-0.74,-146.0,274.5,-7.4,368,3020,0.00,2.35,0.00,0.000,4,0.000,0.044,2247,1371,3522,0,0,0,0,0,0
$GC,3100,-0.77,-146.0,281.2,-7.8,375,3107,0.00,2.42,0.00,0.000,6,0.000,0.056,2247,2855,3522,0,0,0,0,0,0
$GC,3426,-0.77,-146.0,305.7,-7.6,406,3430,0.00,2.30,0.00,0.000,4,0.000,0.044,2247,1372,3522,0,0,0,0,0,0
$GC,3501,-0.81,-146.0,311.7,-8.2,412,3505,0.00,2.40,0.00,0.000,6,0.000,0.056,2247,2844,3522,0,0,0,0,0,0
$GC,3826,-0.83,-146.0,337.5,-7.5,442,3828,0.12,0.00,0.00,0.000,6,0.102,0.000,2184,2843,3523,0,0,0,0,0,0
$GC,4145,-0.73,-146.0,374.2,-11.9,472,4150,0.20,2.33,0.00,0.000,4,0.158,0.042,2240,1372,3523,0,0,0,0,0,0
$GC,4220,-0.77,-146.0,381.1,-8.3,478,4224,0.00,2.35,0.00,0.000,6,0.000,0.055,2235,2821,3523,0,0,0,0,0,0
$GC,4567,-0.77,-146.0,410.7,-8.7,503,4571,0.00,2.28,0.00,0.000,4,0.000,0.044,2235,1370,3524,0,0,0,0,0,0
$GC,4610,-0.77,-146.0,414.7,-8.7,504,4615,0.00,2.35,0.00,0.000,6,0.000,0.055,2235,2815,3524,0,0,0,0,0,0
$STATE,4835,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4835,begin apogee
$GC,4842,-0.14,0.0,434.2,8.6,512,4969,0.57,0.00,117.75,0.828,4,0.126,0.000,2427,2603,2923,0,0,0,0,0,0
$STATE,4970,end apogee,CONTROL_FINISHED_OK
$STATE,4970,begin climb
$GC,4972,0.57,146.0,436.1,0.0,516,5099,0.60,0.00,119.72,0.812,6,0.060,0.000,2664,2603,2326,0,0,0,0,0,0
$GC,5408,0.51,146.0,385.2,13.2,536,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2603,2318,0,0,0,0,0,0
$GC,5727,0.46,146.0,343.5,13.0,566,5729,0.15,0.00,0.00,0.000,6,0.186,0.000,2624,2603,2317,0,0,0,0,0,0
$GC,6044,0.48,146.0,310.0,10.1,596,6048,0.00,2.20,0.00,0.000,4,0.000,0.063,2624,3931,2316,0,0,0,0,0,0
$GC,6072,0.48,146.0,306.8,12.0,598,6076,0.00,2.12,0.00,0.000,6,0.000,0.039,2624,2582,2316,0,0,0,0,0,0
$GC,6398,0.51,146.0,273.8,10.2,628,6402,0.00,2.15,0.00,0.000,4,0.000,0.047,2624,1194,2316,0,0,0,0,0,0
$GC,6427,0.57,156.1,270.9,9.5,630,6440,0.10,2.25,8.02,0.654,6,0.109,0.050,2674,2598,2286,0,0,0,0,0,0
$GC,6758,0.52,156.1,228.1,13.1,661,6760,0.12,0.00,0.00,0.000,6,0.187,0.000,2642,2598,2285,0,0,0,0,0,0
$GC,7076,0.52,156.1,193.9,10.7,691,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2599,2284,0,0,0,0,0,0
$GC,7396,0.52,156.1,159.7,10.4,721,7400,0.00,2.17,0.00,0.000,4,0.000,0.062,2642,3926,2284,0,0,0,0,0,0
$GC,7441,0.48,156.1,154.2,11.9,724,7447,0.00,2.10,0.00,0.000,6,0.000,0.040,2643,2587,2283,0,0,0,0,0,0
$GC,7767,0.52,181.5,122.2,8.8,755,7793,0.00,2.22,21.62,0.633,4,0.000,0.061,2643,3925,2185,0,0,0,0,0,0
$GC,7862,0.52,181.5,112.4,11.0,763,7866,0.00,2.08,0.00,0.000,6,0.000,0.039,2645,2597,2182,0,0,0,0,0,0
$GC,8198,0.58,214.5,83.6,8.5,810,8233,0.00,2.20,28.02,0.614,4,0.000,0.044,2645,1185,2047,0,0,0,0,0,0
$GC,8264,0.72,268.3,78.5,7.5,821,8317,0.17,2.30,44.45,0.604,6,0.083,0.050,2723,2612,1828,0,0,0,0,0,0
$GC,8655,0.72,268.3,24.9,14.1,890,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2612,1819,0,0,0,0,0,0
$FREEZE,8.34,3.279,-1.825,0,1,0
$FREEZE,7.72,3.281,-1.825,0,1,0
$FREEZE,6.91,3.283,-1.824,0,1,0
$FREEZE,6.30,3.284,-1.824,0,1,0
$FREEZE,5.52,3.286,-1.823,0,1,0
$FREEZE,4.89,3.276,-1.823,0,1,0
$FREEZE,4.13,3.273,-1.822,0,1,0
$FREEZE,3.39,3.272,-1.822,0,1,0
$FREEZE,2.72,3.272,-1.821,0,1,0
$STATE,8821,end climb,SURFACE_DEPTH_REACHED
$STATE,8821,begin surface coast
$FREEZE,2.11,3.274,-1.821,0,1,0
$FREEZE,1.23,3.274,-1.820,0,1,0
$FREEZE,1.24,3.272,-0.952,0,1,0
$FREEZE,1.25,3.279,-0.332,0,1,0
$FINISH,1.3,1.004835
$STATE,8845,end surface coast,CONTROL_FINISHED_OK
$STATE,8845,begin surface
$SM_CCo,8861,207.45,0.077,0,0,441,609.08
$SM_GC,1.90,0.00,0.00,207.45,0.000,0.000,0.077,291,2790,441,-6.82,0.28,609.08
$RAFOS_CLK,356
$RAFOS,6,1292705346,20.833334,20.818333,56,43,43,43,42,41,834,1114,1132,339,40,184
$RAFOS,5,1292704866,20.700001,20.684999,64,51,45,45,44,41,674,811,1426,987,1493,277
$RAFOS,4,1292704388,20.566668,20.552221,47,45,43,42,41,40,411,892,1745,144,1393,1140
$RAFOS,3,1292703905,20.433332,20.418056,50,48,45,43,43,42,1022,1285,798,544,466,838
$RAFOS_FIX,6706.943359,-5656.664062,181210,080856,2,68,0.75
$IRIDIUM_FIX,6641.98,-5633.96,181210,151536
$TT8_MAMPS,0.028462
$HUMID,45.98
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.5
$ALTIM_BOTTOM_PING,400.1,48.6
$24V_AH,22.9,64.388
$10V_AH,9.9,46.039
$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,18.825,74.475,339.600,207.450,0.000,27.280,40.548,205.238,1.250,0.000,15.321,2189.812,4635.923,651.170,1773.148,286.629,0.000,1471.972,0.000,1497.057,1440.000,10.731,0.000
$DEVICE_MAMPS,239.445,71.910,828.495,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.310,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,33400,924
$CAP_FILE_SIZE,109661,0
$CFSIZE,260165632,212439040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,181210,225324,6705.690,-5646.816,25,2.0,44,-37.6