version: 66.08
glider: 183
mission: 3
dive: 542
start: 12 19 110 21 21 21
data:
$ID,183
$MISSION,3
$DIVE,542
$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,-9827.0312
$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
$GPS1,191210,211530,6705.810,-5647.309,35,1.6,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-66.5
$GPS2,191210,212050,6705.841,-5647.204,11,1.6,11,-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,223.8,5292,-17.5,-10.000
$D_GRID,427
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,149,0.00,0.00,-129.35,0.000,2,0.000,0.000,300,2785,3352,0,0,0,0,0,0
$GC,153,-0.57,-146.0,5.4,-11.9,23,173,8.12,1.90,-3.47,0.000,4,0.238,0.082,2279,3924,3523,0,0,0,0,0,0
$GC,411,-0.60,-146.0,45.8,-11.3,68,417,0.00,1.83,0.00,0.000,6,0.000,0.044,2279,2778,3524,0,0,0,0,0,0
$GC,756,-0.63,-146.0,82.0,-9.6,129,763,0.00,2.22,0.00,0.000,4,0.000,0.047,2279,1362,3521,0,0,0,0,0,0
$GC,783,-0.67,-146.0,84.7,-10.1,133,789,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2779,3522,0,0,0,0,0,0
$GC,1124,-0.71,-146.0,115.9,-8.1,178,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2779,3521,0,0,0,0,0,0
$GC,1446,-0.76,-146.0,142.5,-8.1,208,1450,0.12,2.25,0.00,0.000,4,0.099,0.045,2214,1367,3522,0,0,0,0,0,0
$GC,1486,-0.71,-146.0,147.1,-12.1,211,1491,0.15,2.30,0.00,0.000,6,0.168,0.057,2247,2773,3522,0,0,0,0,0,0
$GC,1814,-0.71,-146.0,176.7,-8.3,241,1818,0.00,2.20,0.00,0.000,4,0.000,0.045,2246,1364,3522,0,0,0,0,0,0
$GC,1843,-0.71,-146.0,179.4,-8.6,243,1847,0.00,2.30,0.00,0.000,6,0.000,0.056,2247,2773,3522,0,0,0,0,0,0
$GC,2173,-0.71,-146.0,207.4,-8.5,274,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3523,0,0,0,0,0,0
$GC,2494,-0.71,-146.0,236.3,-9.2,304,2498,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1371,3524,0,0,0,0,0,0
$GC,2535,-0.74,-146.0,240.3,-9.5,307,2539,0.00,2.28,0.00,0.000,6,0.000,0.056,2247,2765,3524,0,0,0,0,0,0
$GC,2861,-0.74,-146.0,270.8,-9.2,337,2864,0.00,1.92,0.00,0.000,4,0.000,0.067,2247,3928,3525,0,0,0,0,0,0
$GC,2907,-0.76,-146.0,275.0,-9.3,341,2911,0.00,1.85,0.00,0.000,6,0.000,0.042,2247,2757,3525,0,0,0,0,0,0
$GC,3238,-0.76,-146.0,302.8,-8.4,372,3242,0.00,2.15,0.00,0.000,4,0.000,0.044,2247,1361,3526,0,0,0,0,0,0
$GC,3248,-0.78,-146.0,303.7,-8.2,372,3255,0.00,2.25,0.00,0.000,6,0.000,0.055,2247,2755,3526,0,0,0,0,0,0
$GC,3575,-0.81,-146.0,330.7,-8.2,403,3579,0.00,2.15,0.00,0.000,4,0.000,0.043,2247,1367,3526,0,0,0,0,0,0
$GC,3683,-0.85,-146.0,339.7,-7.9,412,3688,0.12,2.25,0.00,0.000,6,0.092,0.055,2185,2748,3527,0,0,0,0,0,0
$GC,4009,-0.75,-146.0,378.7,-12.1,442,4010,0.17,0.00,0.00,0.000,6,0.164,0.000,2234,2748,3527,0,0,0,0,0,0
$GC,4335,-0.75,-146.0,408.5,-8.8,467,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2748,3527,0,0,0,0,0,0
$STATE,4546,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4546,begin apogee
$GC,4553,-0.14,0.0,426.8,8.8,474,4679,0.55,0.00,118.88,0.832,4,0.129,0.000,2418,2598,2923,0,0,0,0,0,0
$STATE,4680,end apogee,CONTROL_FINISHED_OK
$STATE,4680,begin climb
$GC,4682,0.57,146.0,429.5,0.0,478,4810,0.62,0.00,120.32,0.814,6,0.068,0.000,2657,2598,2327,0,0,0,0,0,0
$GC,5118,0.53,146.0,382.1,12.4,500,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2598,2318,0,0,0,0,0,0
$GC,5439,0.49,146.0,344.4,11.5,530,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2598,2316,0,0,0,0,0,0
$GC,5769,0.46,146.0,305.9,11.7,561,5773,0.12,2.22,0.00,0.000,4,0.189,0.062,2625,3933,2316,0,0,0,0,0,0
$GC,5802,0.44,146.0,301.5,11.9,563,5808,0.00,2.10,0.00,0.000,6,0.000,0.040,2624,2597,2316,0,0,0,0,0,0
$GC,6128,0.47,146.0,269.2,10.8,594,6132,0.00,2.17,0.00,0.000,4,0.000,0.047,2625,1199,2316,0,0,0,0,0,0
$GC,6189,0.54,146.0,262.8,10.2,599,6196,0.00,2.25,0.00,0.000,6,0.000,0.051,2624,2600,2316,0,0,0,0,0,0
$GC,6515,0.57,146.0,229.2,10.3,630,6520,0.10,2.20,0.00,0.000,4,0.112,0.062,2677,3927,2316,0,0,0,0,0,0
$GC,6555,0.44,146.0,223.5,14.9,633,6560,0.22,2.08,0.00,0.000,6,0.181,0.040,2620,2592,2315,0,0,0,0,0,0
$GC,6882,0.49,152.5,190.4,9.7,663,6891,0.00,0.00,4.78,0.549,6,0.000,0.000,2619,2592,2301,0,0,0,0,0,0
$GC,7209,0.54,152.5,156.6,10.2,694,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2592,2301,0,0,0,0,0,0
$GC,7532,0.60,167.9,125.5,9.3,724,7553,0.15,2.28,14.52,0.632,4,0.084,0.063,2687,3932,2238,0,0,0,0,0,0
$GC,7575,0.49,167.9,119.4,15.6,728,7582,0.20,2.12,0.00,0.000,6,0.178,0.039,2639,2585,2236,0,0,0,0,0,0
$GC,7909,0.54,177.6,86.5,9.6,771,7927,0.00,2.22,9.30,0.591,4,0.000,0.046,2638,1195,2198,0,0,0,0,0,0
$GC,7957,0.64,197.5,82.1,9.1,779,7982,0.12,2.22,17.90,0.609,6,0.095,0.050,2694,2580,2117,0,0,0,0,0,0
$GC,8321,0.64,197.5,38.7,10.6,843,8327,0.00,2.22,0.00,0.000,4,0.000,0.061,2693,3933,2112,0,0,0,0,0,0
$GC,8413,0.57,197.5,27.3,12.3,859,8421,0.15,2.12,0.00,0.000,6,0.178,0.039,2657,2581,2112,0,0,0,0,0,0
$FREEZE,8.98,-0.096,-1.791,0,1,0
$FREEZE,8.51,-0.124,-1.791,0,1,0
$FREEZE,8.18,-0.162,-1.790,0,1,0
$FREEZE,7.89,-0.206,-1.789,0,1,0
$FREEZE,7.59,-0.242,-1.788,0,1,0
$FREEZE,7.26,-0.241,-1.787,0,1,0
$FREEZE,6.96,-0.264,-1.787,0,1,0
$FREEZE,6.72,-0.400,-1.785,0,1,0
$FREEZE,6.34,-0.564,-1.786,0,1,0
$FREEZE,6.03,-0.638,-1.783,0,1,0
$FREEZE,5.75,-0.681,-1.782,0,1,0
$FREEZE,5.26,-0.747,-1.781,0,1,0
$FREEZE,4.99,-0.922,-1.780,0,1,0
$FREEZE,4.63,-0.954,-1.779,0,1,0
$FREEZE,4.26,-0.955,-1.777,0,1,0
$FREEZE,4.12,-0.956,-1.776,0,1,0
$FREEZE,3.64,-0.958,-1.775,0,1,0
$FREEZE,3.44,-0.959,-1.775,0,1,0
$FREEZE,2.90,-0.958,-1.774,0,1,0
$GC,8752,0.71,280.8,3.4,6.2,920,8762,0.12,0.00,7.12,0.532,2,0.099,0.000,2708,2581,2070,0,0,0,0,0,0
$STATE,8764,end climb,SURFACE_DEPTH_REACHED
$STATE,8764,begin surface coast
$FREEZE,1.99,-0.963,-1.772,0,1,0
$FREEZE,1.51,-0.965,-1.772,0,1,0
$FREEZE,1.14,-0.956,-1.771,0,1,0
$FREEZE,1.21,-0.834,-0.797,0,1,0
$FREEZE,1.29,-0.801,-1.558,0,1,0
$FREEZE,1.25,-0.681,-0.361,0,1,0
$FREEZE,1.25,-0.629,-0.983,0,1,0
$FREEZE,1.24,-0.584,-0.335,0,1,0
$FREEZE,1.19,-0.563,-0.920,0,1,0
$FINISH,1.2,1.013583
$STATE,8813,end surface coast,CONTROL_FINISHED_OK
$STATE,8813,begin surface
$SM_CCo,8828,254.82,0.076,0,0,440,609.08
$SM_GC,2.09,0.00,0.00,254.82,0.000,0.000,0.076,296,2782,440,-6.81,0.06,609.08
$RAFOS_CLK,375
$RAFOS_FIX,6709.200195,-5650.177246,191210,202044,4,76,0.84
$IRIDIUM_FIX,6636.54,-5640.04,191210,181812
$TT8_MAMPS,0.028462
$HUMID,44.40
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,351.1,89.0
$24V_AH,22.9,65.186
$10V_AH,9.9,46.595
$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,17.375,61.125,292.825,254.825,0.000,31.003,16.516,128.259,1.250,0.000,14.141,2213.914,4649.236,660.252,1649.997,237.967,0.000,1452.501,0.000,1460.818,0.000,12.070,0.000
$DEVICE_MAMPS,237.915,81.855,831.555,76.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,33408,930
$CAP_FILE_SIZE,106338,0
$CFSIZE,260165632,211906560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.8
$GPS,191210,235407,6705.927,-5646.753,36,1.3,37,-37.6