version: 66.08
glider: 183
mission: 3
dive: 543
start: 12 20 110 0 0 37
data:
$ID,183
$MISSION,3
$DIVE,543
$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,-9828.2881
$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
$GPS1,191210,235407,6705.927,-5646.753,36,1.3,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.4
$GPS2,201210,000006,6705.964,-5646.739,13,1.4,30,-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,227.0,5564,-17.5,-10.000
$D_GRID,429
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,150,0.00,0.00,-130.15,0.000,2,0.000,0.000,295,2783,3365,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.5,-12.3,23,174,8.23,1.92,-3.22,0.000,4,0.241,0.083,2277,3929,3522,0,0,0,0,0,0
$GC,428,-0.57,-146.0,51.6,-11.7,71,434,0.00,1.83,0.00,0.000,6,0.000,0.044,2276,2783,3523,0,0,0,0,0,0
$GC,773,-0.60,-146.0,91.0,-10.1,132,780,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3932,3522,0,0,0,0,0,0
$GC,799,-0.64,-146.0,93.8,-10.6,136,806,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2773,3521,0,0,0,0,0,0
$GC,1137,-0.68,-146.0,126.9,-8.5,172,1141,0.00,2.17,0.00,0.000,4,0.000,0.046,2274,1372,3521,0,0,0,0,0,0
$GC,1181,-0.75,-146.0,131.2,-8.7,175,1190,0.12,2.30,0.00,0.000,6,0.093,0.058,2213,2772,3521,0,0,0,0,0,0
$GC,1508,-0.68,-146.0,168.3,-11.3,206,1513,0.15,2.22,0.00,0.000,4,0.167,0.045,2255,1371,3521,0,0,0,0,0,0
$GC,1541,-0.70,-146.0,171.9,-9.0,208,1547,0.00,2.30,0.00,0.000,6,0.000,0.057,2250,2775,3521,0,0,0,0,0,0
$GC,1866,-0.70,-146.0,202.0,-9.7,239,1870,0.00,1.90,0.00,0.000,4,0.000,0.067,2247,3931,3522,0,0,0,0,0,0
$GC,1901,-0.70,-146.0,205.5,-9.9,242,1905,0.00,1.85,0.00,0.000,6,0.000,0.042,2247,2761,3522,0,0,0,0,0,0
$GC,2233,-0.70,-146.0,238.3,-9.5,273,2237,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1364,3523,0,0,0,0,0,0
$GC,2260,-0.70,-146.0,241.2,-9.9,275,2267,0.00,2.30,0.00,0.000,6,0.000,0.055,2247,2773,3523,0,0,0,0,0,0
$GC,2586,-0.70,-146.0,268.8,-8.0,306,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3524,0,0,0,0,0,0
$GC,2904,-0.70,-146.0,295.0,-8.5,336,2909,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1378,3525,0,0,0,0,0,0
$GC,2955,-0.74,-146.0,299.3,-8.3,340,2962,0.00,2.25,0.00,0.000,6,0.000,0.055,2246,2762,3525,0,0,0,0,0,0
$GC,3282,-0.74,-146.0,326.9,-8.4,371,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3526,0,0,0,0,0,0
$GC,3603,-0.77,-146.0,352.5,-7.7,401,3607,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1364,3526,0,0,0,0,0,0
$GC,3640,-0.80,-146.0,355.4,-7.4,404,3644,0.00,2.28,0.00,0.000,6,0.000,0.055,2247,2759,3526,0,0,0,0,0,0
$GC,3966,-0.82,-146.0,381.4,-8.0,434,3968,0.10,0.00,0.00,0.000,6,0.114,0.000,2194,2759,3527,0,0,0,0,0,0
$GC,4302,-0.75,-146.0,418.4,-11.4,456,4306,0.15,1.98,0.00,0.000,4,0.162,0.065,2229,3934,3527,0,0,0,0,0,0
$GC,4324,-0.70,-146.0,421.2,-11.0,456,4327,0.00,1.88,0.00,0.000,6,0.000,0.042,2229,2751,3527,0,0,0,0,0,0
$STATE,4395,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4395,begin apogee
$GC,4401,-0.14,0.0,428.7,10.0,459,4529,0.57,0.00,119.03,0.834,4,0.125,0.000,2421,2595,2923,0,0,0,0,0,0
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4532,0.57,146.0,432.2,0.0,463,4662,0.68,2.30,120.47,0.818,4,0.066,0.044,2667,1187,2329,0,0,0,0,0,0
$GC,4842,0.57,146.0,403.9,11.9,472,4846,0.00,2.30,0.00,0.000,6,0.000,0.050,2667,2600,2321,0,0,0,0,0,0
$GC,5169,0.51,146.0,364.4,12.5,500,5173,0.00,2.22,0.00,0.000,4,0.000,0.047,2672,1190,2318,0,0,0,0,0,0
$GC,5421,0.51,146.0,334.5,11.6,522,5429,0.12,2.30,0.00,0.000,6,0.181,0.051,2640,2618,2317,0,0,0,0,0,0
$GC,5746,0.51,146.0,300.9,10.5,553,5750,0.00,2.15,0.00,0.000,4,0.000,0.062,2640,3924,2317,0,0,0,0,0,0
$GC,5785,0.46,146.0,296.0,13.0,556,5792,0.00,2.08,0.00,0.000,6,0.000,0.040,2642,2605,2316,0,0,0,0,0,0
$GC,6110,0.46,146.0,259.2,11.9,587,6114,0.00,2.20,0.00,0.000,4,0.000,0.047,2642,1184,2316,0,0,0,0,0,0
$GC,6143,0.49,146.0,255.3,10.7,589,6150,0.00,2.30,0.00,0.000,6,0.000,0.050,2643,2617,2316,0,0,0,0,0,0
$GC,6468,0.49,146.0,218.0,11.5,620,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2617,2316,0,0,0,0,0,0
$GC,6788,0.49,146.0,184.3,10.5,650,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2617,2316,0,0,0,0,0,0
$GC,7107,0.51,167.9,153.9,9.0,680,7129,0.00,2.17,17.62,0.652,4,0.000,0.060,2643,3930,2237,0,0,0,0,0,0
$GC,7147,0.51,170.7,149.9,9.9,684,7160,0.00,2.08,3.88,0.461,6,0.000,0.038,2646,2601,2226,0,0,0,0,0,0
$GC,7478,0.53,197.9,120.0,8.7,715,7508,0.00,0.00,23.42,0.637,6,0.000,0.000,2646,2601,2115,0,0,0,0,0,0
$GC,7835,0.59,225.9,88.4,8.7,760,7866,0.00,2.22,24.00,0.620,4,0.000,0.045,2646,1187,2001,0,0,0,0,0,0
$GC,7907,0.72,257.1,82.2,8.6,772,7944,0.17,2.30,26.65,0.609,6,0.083,0.050,2723,2609,1873,0,0,0,0,0,0
$GC,8281,0.72,257.1,26.4,13.4,838,8287,0.00,2.17,0.00,0.000,4,0.000,0.061,2723,3930,1866,0,0,0,0,0,0
$GC,8332,0.67,257.1,19.5,14.7,846,8339,0.12,2.08,0.00,0.000,6,0.190,0.039,2694,2613,1865,0,0,0,0,0,0
$FREEZE,8.53,-0.310,-1.788,0,1,0
$FREEZE,8.09,-0.321,-1.787,0,1,0
$FREEZE,7.57,-0.322,-1.786,0,1,0
$FREEZE,7.07,-0.334,-1.785,0,1,0
$FREEZE,6.70,-0.345,-1.784,0,1,0
$FREEZE,6.14,-0.365,-1.783,0,1,0
$FREEZE,5.59,-0.369,-1.782,0,1,0
$FREEZE,5.24,-0.386,-1.781,0,1,0
$FREEZE,4.80,-0.394,-1.781,0,1,0
$FREEZE,4.24,-0.466,-1.780,0,1,0
$FREEZE,3.70,-0.454,-1.779,0,1,0
$FREEZE,3.32,-0.496,-1.778,0,1,0
$FREEZE,2.90,-0.519,-1.777,0,1,0
$STATE,8491,end climb,SURFACE_DEPTH_REACHED
$STATE,8491,begin surface coast
$FREEZE,2.40,-0.536,-1.777,0,1,0
$FREEZE,1.88,-0.524,-1.776,0,1,0
$FREEZE,1.37,-0.533,-1.775,0,1,0
$FREEZE,1.22,-0.336,-0.914,0,1,0
$FREEZE,1.24,-0.310,-0.594,0,1,0
$FREEZE,1.18,-0.462,-0.944,0,1,0
$FINISH,1.2,1.013939
$STATE,8524,end surface coast,CONTROL_FINISHED_OK
$STATE,8524,begin surface
$SM_CCo,8540,224.55,0.077,0,0,440,609.08
$SM_GC,1.96,0.00,0.00,224.55,0.000,0.000,0.077,302,2779,440,-6.79,-0.03,609.08
$RAFOS_CLK,353
$RAFOS,6,1292806145,0.833333,0.818056,66,46,44,42,42,42,833,1225,145,415,821,26
$RAFOS,5,1292805671,0.700000,0.686389,78,55,48,43,42,42,631,646,162,1617,758,1724
$RAFOS,4,1292805191,0.566667,0.553056,62,59,48,42,41,41,864,874,1066,895,995,1809
$RAFOS,3,1292804709,0.433333,0.419167,57,45,45,44,43,42,989,251,479,1451,26,1725
$RAFOS,2,1292804230,0.300000,0.286111,52,47,43,41,41,40,1056,1685,1662,525,1574,809
$RAFOS,1,1292803744,0.166667,0.151111,56,46,45,43,42,39,1071,805,536,1088,194,1371
$RAFOS,0,1292803266,0.033333,0.018333,51,46,44,43,42,40,1196,1758,340,466,346,135
$RAFOS_FIX,6707.597656,-5650.914551,201210,000022,3,69,1.64
$IRIDIUM_FIX,6636.54,-5702.96,191210,212139
$TT8_MAMPS,0.028462
$HUMID,44.01
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,401.0,42.6
$24V_AH,22.8,65.274
$10V_AH,9.9,46.654
$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,16.800,68.900,335.075,224.550,0.000,29.537,39.622,128.896,1.500,0.000,32.901,2149.610,4393.606,671.724,1688.758,239.413,0.000,1478.422,0.000,1457.902,2520.000,13.647,0.000
$DEVICE_MAMPS,240.975,82.620,833.850,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,33334,881
$CAP_FILE_SIZE,105619,0
$CFSIZE,260165632,211849216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.5
$GPS,201210,022827,6705.777,-5648.001,24,2.1,44,-37.6