version: 66.08
glider: 183
mission: 3
dive: 540
start: 12 19 110 16 6 44
data:
$ID,183
$MISSION,3
$DIVE,540
$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,-9824.5205
$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,28
$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
$GPS1,191210,160130,6706.445,-5651.904,38,0.9,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-65.8
$GPS2,191210,160613,6706.500,-5651.875,8,1.3,14,-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,194.3,7061,-17.5,-10.000
$D_GRID,441
$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,-146.0,0.0,0.0,0,151,0.00,0.00,-132.27,0.000,2,0.000,0.000,287,2783,3468,0,0,0,0,0,0
$GC,155,-0.57,-146.0,6.1,-13.9,23,170,8.18,1.95,-1.02,0.000,4,0.238,0.074,2275,3935,3521,0,0,0,0,0,0
$GC,279,-0.57,-146.0,33.5,-12.2,44,285,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2775,3522,0,0,0,0,0,0
$GC,627,-0.57,-146.0,71.6,-10.6,105,633,0.00,2.20,0.00,0.000,4,0.000,0.046,2275,1361,3521,0,0,0,0,0,0
$GC,692,-0.61,-146.0,78.4,-10.6,116,699,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2765,3521,0,0,0,0,0,0
$GC,1032,-0.64,-146.0,109.7,-8.7,167,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2765,3521,0,0,0,0,0,0
$GC,1353,-0.69,-146.0,140.1,-9.9,197,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2765,3521,0,0,0,0,0,0
$GC,1679,-0.74,-146.0,170.0,-8.3,228,1681,0.10,0.00,0.00,0.000,6,0.113,0.000,2226,2765,3521,0,0,0,0,0,0
$GC,1997,-0.70,-146.0,201.1,-9.3,258,2001,0.00,2.20,0.00,0.000,4,0.000,0.044,2226,1365,3521,0,0,0,0,0,0
$GC,2080,-0.70,-146.0,209.2,-9.4,265,2087,0.00,2.28,0.00,0.000,6,0.000,0.056,2222,2758,3521,0,0,0,0,0,0
$GC,2406,-0.67,-146.0,243.1,-10.6,296,2407,0.12,0.00,0.00,0.000,6,0.176,0.000,2256,2758,3522,0,0,0,0,0,0
$GC,2725,-0.70,-146.0,270.4,-8.4,326,2728,0.00,1.92,0.00,0.000,4,0.000,0.066,2249,3933,3523,0,0,0,0,0,0
$GC,2764,-0.72,-146.0,274.2,-9.5,329,2770,0.00,1.88,0.00,0.000,6,0.000,0.042,2249,2747,3523,0,0,0,0,0,0
$GC,3090,-0.75,-146.0,302.5,-8.1,360,3093,0.00,2.15,0.00,0.000,4,0.000,0.044,2249,1365,3523,0,0,0,0,0,0
$GC,3122,-0.78,-146.0,305.8,-8.8,362,3129,0.00,2.28,0.00,0.000,6,0.000,0.056,2248,2761,3524,0,0,0,0,0,0
$GC,3448,-0.80,-146.0,331.4,-7.4,393,3452,0.00,1.92,0.00,0.000,4,0.000,0.065,2247,3928,3524,0,0,0,0,0,0
$GC,3495,-0.83,-146.0,335.1,-7.4,397,3499,0.12,1.85,0.00,0.000,6,0.097,0.042,2180,2756,3524,0,0,0,0,0,0
$GC,3826,-0.73,-146.0,373.1,-11.6,428,3830,0.20,1.98,0.00,0.000,4,0.164,0.063,2229,3929,3525,0,0,0,0,0,0
$GC,3869,-0.73,-146.0,377.5,-8.9,431,3876,0.00,1.83,0.00,0.000,6,0.000,0.041,2229,2765,3525,0,0,0,0,0,0
$GC,4203,-0.73,-146.0,406.5,-9.1,459,4207,0.00,2.15,0.00,0.000,4,0.000,0.044,2230,1370,3525,0,0,0,0,0,0
$GC,4269,-0.73,-146.0,413.1,-9.7,461,4273,0.00,2.25,0.00,0.000,6,0.000,0.055,2222,2760,3526,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4609,-0.14,0.0,442.6,7.3,472,4737,0.62,0.00,118.47,0.839,4,0.130,0.000,2427,2595,2922,0,0,0,0,0,0
$STATE,4737,end apogee,CONTROL_FINISHED_OK
$STATE,4738,begin climb
$GC,4740,0.57,146.0,442.0,0.0,476,4870,0.65,2.33,119.68,0.821,4,0.074,0.063,2659,3934,2327,0,0,0,0,0,0
$GC,5049,0.47,146.0,396.5,14.4,486,5057,0.12,2.15,0.00,0.000,6,0.195,0.038,2633,2596,2319,0,0,0,0,0,0
$GC,5375,0.48,152.4,362.4,9.7,517,5387,0.00,2.22,5.30,0.610,4,0.000,0.060,2633,3936,2301,0,0,0,0,0,0
$GC,5591,0.44,152.4,337.4,11.8,536,5595,0.00,2.10,0.00,0.000,6,0.000,0.039,2637,2598,2300,0,0,0,0,0,0
$GC,5921,0.44,152.4,303.3,10.8,567,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2597,2299,0,0,0,0,0,0
$GC,6241,0.44,152.4,269.7,10.4,597,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2597,2300,0,0,0,0,0,0
$GC,6561,0.44,152.4,237.5,10.2,627,6564,0.00,2.20,0.00,0.000,4,0.000,0.061,2637,3928,2299,0,0,0,0,0,0
$GC,6623,0.40,152.4,230.0,12.3,632,6628,0.12,2.08,0.00,0.000,6,0.187,0.039,2608,2597,2299,0,0,0,0,0,0
$GC,6953,0.49,182.4,200.7,8.6,663,6987,0.00,2.22,25.95,0.673,4,0.000,0.046,2608,1197,2178,0,0,0,0,0,0
$GC,7015,0.64,218.4,195.2,8.3,668,7056,0.20,2.28,30.55,0.670,6,0.073,0.049,2694,2610,2032,0,0,0,0,0,0
$GC,7373,0.61,218.4,143.1,15.2,702,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2610,2025,0,0,0,0,0,0
$GC,7695,0.61,218.4,96.0,13.3,734,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2609,2024,0,0,0,0,0,0
$GC,8039,0.61,218.4,50.6,12.9,795,8046,0.00,2.15,0.00,0.000,4,0.000,0.061,2694,3924,2023,0,0,0,0,0,0
$GC,8060,0.61,218.4,48.1,13.1,798,8067,0.00,2.10,0.00,0.000,6,0.000,0.038,2696,2585,2022,0,0,0,0,0,0
$FREEZE,8.64,-0.841,-1.783,0,1,0
$GC,8406,0.61,218.4,8.6,10.3,859,8413,0.00,2.20,0.00,0.000,4,0.000,0.062,2696,3926,2022,0,0,0,0,0,0
$FREEZE,7.16,-0.942,-1.779,0,1,0
$FREEZE,6.65,-0.944,-1.777,0,1,0
$FREEZE,6.16,-0.947,-1.777,0,1,0
$FREEZE,5.58,-0.947,-1.775,0,1,0
$FREEZE,4.95,-0.949,-1.775,0,1,0
$FREEZE,4.56,-0.949,-1.774,0,1,0
$FREEZE,3.95,-0.949,-1.773,0,1,0
$FREEZE,3.45,-0.950,-1.773,0,1,0
$FREEZE,2.93,-0.951,-1.772,0,1,0
$STATE,8461,end climb,SURFACE_DEPTH_REACHED
$STATE,8461,begin surface coast
$FREEZE,2.17,-0.948,-1.771,0,1,0
$FREEZE,1.69,-0.942,-1.771,0,1,0
$FREEZE,1.24,-0.545,-1.746,0,1,0
$FINISH,1.2,1.025615
$STATE,8479,end surface coast,CONTROL_FINISHED_OK
$STATE,8479,begin surface
$SM_CCo,8497,249.82,0.078,0,0,440,609.08
$SM_GC,2.07,0.00,0.00,249.82,0.000,0.000,0.078,300,2776,440,-6.80,-0.11,609.08
$RAFOS_CLK,349
$RAFOS,6,1292777345,16.833334,16.818056,71,44,43,43,42,42,825,1091,663,1787,1727,162
$RAFOS,5,1292776866,16.700001,16.684999,52,45,44,43,42,40,661,781,1771,431,729,1313
$RAFOS,4,1292776384,16.566668,16.551111,53,43,43,41,41,39,906,163,1403,830,1361,1767
$RAFOS,3,1292775907,16.433332,16.418612,55,46,41,40,38,38,1007,1124,1434,478,968,1129
$RAFOS,2,1292775425,16.299999,16.284721,57,56,44,43,41,40,1081,1069,800,584,1923,1190
$RAFOS,1,1292774946,16.166666,16.151667,61,58,43,43,42,41,653,1063,183,144,1506,1080
$RAFOS_FIX,6633.023926,-5926.100586,191210,161656,2,66,87.48
$IRIDIUM_FIX,6636.54,-5649.29,191210,141425
$TT8_MAMPS,0.028462
$HUMID,43.50
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,400.9,59.4
$24V_AH,22.9,65.026
$10V_AH,9.9,46.477
$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,16.800,59.075,299.950,249.825,0.000,28.665,24.507,100.993,1.250,0.000,16.893,2108.414,4442.765,662.718,1628.316,213.820,0.000,1453.860,0.000,1454.112,2160.000,12.273,0.000
$DEVICE_MAMPS,237.915,74.205,839.205,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,30147,872
$CAP_FILE_SIZE,100944,0
$CFSIZE,260165632,212029440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.0
$GPS,191210,183407,6706.015,-5649.832,33,1.2,34,-37.6