version: 66.08
glider: 183
mission: 3
dive: 555
start: 12 21 110 15 35 18
data:
$ID,183
$MISSION,3
$DIVE,555
$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,-9842.2031
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,211210,152836,6710.627,-5739.209,33,2.0,33,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-57.1
$GPS2,211210,153445,6710.627,-5739.261,20,1.9,21,-37.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,285.9,131571,-17.5,-10.000
$D_GRID,784
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,148,0.00,0.00,-129.75,0.000,2,0.000,0.000,282,2782,3206,0,0,0,0,0,0
$GC,152,-0.57,-146.0,5.6,-12.2,23,172,8.43,2.00,-6.38,0.000,4,0.246,0.085,2275,3928,3522,0,0,0,0,0,0
$GC,325,-0.57,-146.0,41.4,-12.1,53,331,0.00,1.85,0.00,0.000,6,0.000,0.050,2275,2781,3524,0,0,0,0,0,0
$GC,670,-0.57,-146.0,80.4,-10.1,114,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2782,3523,0,0,0,0,0,0
$GC,1006,-0.57,-146.0,115.0,-10.0,161,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2782,3523,0,0,0,0,0,0
$GC,1328,-0.57,-146.0,145.9,-9.5,191,1332,0.00,2.28,0.00,0.000,4,0.000,0.052,2275,1364,3523,0,0,0,0,0,0
$GC,1413,-0.61,-146.0,154.2,-9.1,198,1417,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2768,3523,0,0,0,0,0,0
$GC,1739,-0.64,-146.0,184.4,-9.5,228,1743,0.00,1.98,0.00,0.000,4,0.000,0.074,2272,3937,3523,0,0,0,0,0,0
$GC,1785,-0.69,-146.0,189.0,-10.2,232,1789,0.00,1.85,0.00,0.000,6,0.000,0.049,2272,2783,3522,0,0,0,0,0,0
$GC,2117,-0.73,-146.0,219.2,-8.8,263,2121,0.00,2.28,0.00,0.000,4,0.000,0.051,2272,1365,3522,0,0,0,0,0,0
$GC,2151,-0.77,-146.0,222.4,-8.6,265,2158,0.12,2.35,0.00,0.000,6,0.100,0.063,2216,2782,3522,0,0,0,0,0,0
$GC,2478,-0.71,-146.0,262.6,-12.8,296,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2782,3522,0,0,0,0,0,0
$GC,2796,-0.65,-146.0,299.6,-11.5,326,2798,0.17,0.00,0.00,0.000,6,0.168,0.000,2265,2782,3522,0,0,0,0,0,0
$GC,3113,-0.70,-146.0,326.7,-8.3,356,3117,0.00,2.28,0.00,0.000,4,0.000,0.050,2266,1369,3522,0,0,0,0,0,0
$GC,3148,-0.75,-146.0,329.6,-8.4,359,3153,0.00,2.38,0.00,0.000,6,0.000,0.062,2262,2789,3522,0,0,0,0,0,0
$GC,3478,-0.79,-146.0,355.9,-7.9,389,3482,0.12,2.30,0.00,0.000,4,0.103,0.050,2202,1361,3523,0,0,0,0,0,0
$GC,3518,-0.74,-146.0,360.2,-10.9,392,3523,0.15,2.35,0.00,0.000,6,0.164,0.061,2232,2782,3524,0,0,0,0,0,0
$GC,3847,-0.74,-146.0,391.1,-9.1,422,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2782,3524,0,0,0,0,0,0
$GC,4165,-0.74,-146.0,420.9,-9.3,439,4169,0.00,2.25,0.00,0.000,4,0.000,0.049,2232,1368,3524,0,0,0,0,0,0
$GC,4197,-0.74,-146.0,424.2,-9.0,440,4201,0.00,2.33,0.00,0.000,6,0.000,0.060,2228,2780,3524,0,0,0,0,0,0
$STATE,4498,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4499,begin apogee
$GC,4505,-0.14,0.0,451.2,9.1,450,4632,0.60,0.00,120.90,0.874,4,0.132,0.000,2423,2594,2923,0,0,0,0,0,0
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4635,0.57,146.0,454.6,0.0,454,4771,0.68,2.35,125.15,0.851,4,0.076,0.049,2658,1185,2326,0,0,0,0,0,0
$GC,4922,0.57,146.0,429.1,11.3,462,4929,0.00,2.45,0.00,0.000,6,0.000,0.054,2658,2607,2318,0,0,0,0,0,0
$GC,5239,0.53,146.0,389.7,12.2,477,5243,0.00,2.30,0.00,0.000,4,0.000,0.050,2662,1176,2316,0,0,0,0,0,0
$GC,5459,0.53,146.0,363.5,11.4,496,5463,0.00,2.33,0.00,0.000,6,0.000,0.055,2662,2606,2315,0,0,0,0,0,0
$GC,5785,0.49,146.0,325.0,11.3,526,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2606,2314,0,0,0,0,0,0
$GC,6105,0.45,146.0,288.6,11.0,556,6110,0.15,2.20,0.00,0.000,4,0.185,0.067,2621,3931,2314,0,0,0,0,0,0
$GC,6145,0.45,146.0,284.0,11.0,559,6149,0.00,2.15,0.00,0.000,6,0.000,0.044,2622,2591,2313,0,0,0,0,0,0
$GC,6471,0.52,192.1,256.3,7.9,589,6511,0.00,0.00,37.42,0.741,6,0.000,0.000,2622,2589,2139,0,0,0,0,0,0
$GC,6829,0.61,223.5,226.8,8.6,623,6860,0.15,0.00,27.15,0.721,6,0.090,0.000,2687,2589,2011,0,0,0,0,0,0
$GC,7177,0.61,223.5,180.9,13.2,656,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2589,2005,0,0,0,0,0,0
$GC,7498,0.61,223.5,141.2,11.9,686,7502,0.00,2.28,0.00,0.000,4,0.000,0.067,2688,3932,2004,0,0,0,0,0,0
$GC,7555,0.57,223.5,132.9,15.4,690,7563,0.12,2.15,0.00,0.000,6,0.189,0.044,2659,2596,2002,0,0,0,0,0,0
$GC,7881,0.63,237.9,99.6,9.3,721,7900,0.00,2.25,12.18,0.660,4,0.000,0.050,2659,1184,1953,0,0,0,0,0,0
$GC,7930,0.75,258.6,95.5,9.0,729,7955,0.17,2.33,19.38,0.659,6,0.088,0.056,2731,2616,1867,0,0,0,0,0,0
$GC,8293,0.75,258.6,50.0,12.0,793,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2616,1860,0,0,0,0,0,0
$GC,8638,0.75,258.6,13.7,10.0,854,8645,0.00,2.17,0.00,0.000,4,0.000,0.069,2731,3923,1859,0,0,0,0,0,0
$FREEZE,8.26,-1.564,-1.768,0,1,0
$FREEZE,7.85,-1.568,-1.767,0,1,0
$GC,8692,0.70,258.6,7.9,12.0,863,8700,0.15,2.15,0.00,0.000,6,0.190,0.047,2699,2595,1858,0,0,0,0,0,0
$FREEZE,5.99,-1.567,-1.766,0,1,0
$FREEZE,5.46,-1.564,-1.766,0,1,0
$FREEZE,4.98,-1.555,-1.765,0,1,0
$FREEZE,4.39,-1.555,-1.765,0,1,0
$FREEZE,3.78,-1.556,-1.764,0,1,0
$FREEZE,3.21,-1.557,-1.764,0,1,0
$FREEZE,2.67,-1.558,-1.764,0,1,0
$STATE,8736,end climb,SURFACE_DEPTH_REACHED
$STATE,8736,begin surface coast
$FREEZE,2.21,-1.564,-1.763,0,1,0
$FREEZE,1.57,-1.559,-1.763,0,1,0
$FREEZE,1.03,-1.567,-1.762,0,1,0
$FREEZE,1.09,-1.551,-1.581,0,1,0
$FREEZE,1.23,-1.561,-1.761,0,1,0
$FINISH,1.2,1.025872
$STATE,8765,end surface coast,CONTROL_FINISHED_OK
$STATE,8766,begin surface
$SM_CCo,8782,228.23,0.086,0,0,440,609.08
$SM_GC,1.70,0.00,0.00,228.23,0.000,0.000,0.086,292,2784,440,-6.81,0.11,609.08
$RAFOS_CLK,454
$RAFOS,6,1292950151,16.833334,16.819723,42,41,41,40,40,39,1590,260,1149,1727,1939,26
$RAFOS,5,1292949666,16.700001,16.684999,76,50,45,42,40,39,599,1476,584,1615,1731,680
$RAFOS,4,1292949189,16.566668,16.552500,52,46,45,41,41,41,749,1368,233,710,1284,1767
$RAFOS,3,1292948701,16.433332,16.416945,52,45,41,41,39,38,1141,961,294,1327,1603,1739
$RAFOS,2,1292948223,16.299999,16.284166,47,44,44,44,41,41,981,265,1440,1308,1510,719
$RAFOS,1,1292947746,16.166666,16.151667,48,42,41,40,40,40,943,145,487,442,1770,180
$RAFOS,0,1292947263,16.033333,16.017500,48,45,44,44,40,37,1665,144,154,1030,1542,316
$RAFOS_FIX,6709.990723,-5737.198242,211210,121244,3,76,1.19
$IRIDIUM_FIX,6641.98,-5727.90,211210,111149
$TT8_MAMPS,0.028462
$HUMID,46.02
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,17.1
$ALTIM_BOTTOM_PING,451.2,9.4
$24V_AH,22.2,66.527
$10V_AH,9.8,47.432
$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,17.475,58.500,342.175,228.225,0.000,29.659,16.683,149.811,1.500,0.000,24.087,2113.175,4691.979,669.495,1667.768,243.101,0.000,1456.965,0.000,1443.818,2520.000,12.379,0.000
$DEVICE_MAMPS,246.330,84.915,873.630,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,33328,876
$CAP_FILE_SIZE,103592,0
$CFSIZE,260165632,211107840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,211210,180715,6710.854,-5743.580,34,2.4,53,-38.0