version: 66.08
glider: 183
mission: 3
dive: 560
start: 12 22 110 12 59 7
data:
$ID,183
$MISSION,3
$DIVE,560
$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,-9848.4824
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,221210,124906,6709.851,-5805.239,39,2.0,44,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.9
$GPS2,221210,125836,6709.969,-5805.636,33,1.8,37,-38.1
$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,283.0,113390,-17.5,-10.000
$D_GRID,974
$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,17,-0.57,-146.0,0.0,0.0,0,163,0.00,0.00,-140.38,0.000,2,0.000,0.000,272,2784,3352,0,0,0,0,0,0
$GC,166,-0.57,-146.0,5.9,-13.6,25,185,8.50,2.28,-3.40,0.000,4,0.246,0.059,2283,1362,3522,0,0,0,0,0,0
$GC,350,-0.60,-146.0,35.7,-9.4,57,357,0.00,2.35,0.00,0.000,6,0.000,0.062,2279,2777,3524,0,0,0,0,0,0
$GC,696,-0.60,-146.0,72.0,-10.4,118,702,0.00,1.98,0.00,0.000,4,0.000,0.072,2275,3935,3523,0,0,0,0,0,0
$GC,800,-0.63,-146.0,83.0,-10.3,136,807,0.00,1.88,0.00,0.000,6,0.000,0.049,2274,2781,3522,0,0,0,0,0,0
$GC,1136,-0.63,-146.0,117.5,-11.1,182,1140,0.00,2.25,0.00,0.000,4,0.000,0.050,2274,1363,3523,0,0,0,0,0,0
$GC,1177,-0.67,-146.0,121.8,-10.6,185,1181,0.00,2.38,0.00,0.000,6,0.000,0.063,2274,2785,3523,0,0,0,0,0,0
$GC,1503,-0.69,-146.0,153.9,-9.6,215,1507,0.00,2.25,0.00,0.000,4,0.000,0.050,2274,1373,3523,0,0,0,0,0,0
$GC,1555,-0.74,-146.0,158.6,-9.3,219,1560,0.12,2.35,0.00,0.000,6,0.099,0.063,2218,2776,3523,0,0,0,0,0,0
$GC,1882,-0.66,-146.0,201.1,-13.4,249,1884,0.15,0.00,0.00,0.000,6,0.176,0.000,2259,2776,3523,0,0,0,0,0,0
$GC,2199,-0.66,-146.0,232.9,-9.6,279,2202,0.00,1.95,0.00,0.000,4,0.000,0.072,2253,3932,3523,0,0,0,0,0,0
$GC,2237,-0.66,-146.0,237.0,-10.6,282,2244,0.00,1.90,0.00,0.000,6,0.000,0.048,2253,2773,3522,0,0,0,0,0,0
$GC,2563,-0.66,-146.0,270.4,-10.3,313,2567,0.00,2.22,0.00,0.000,4,0.000,0.050,2252,1369,3523,0,0,0,0,0,0
$GC,2629,-0.69,-146.0,276.9,-9.6,318,2636,0.00,2.30,0.00,0.000,6,0.000,0.063,2250,2758,3523,0,0,0,0,0,0
$GC,2954,-0.69,-146.0,308.8,-10.3,349,2958,0.00,2.00,0.00,0.000,4,0.000,0.072,2247,3929,3523,0,0,0,0,0,0
$GC,3026,-0.69,-146.0,316.3,-10.6,355,3033,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2759,3523,0,0,0,0,0,0
$GC,3352,-0.69,-146.0,350.0,-10.4,386,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2759,3524,0,0,0,0,0,0
$GC,3672,-0.69,-146.0,382.7,-10.1,416,3676,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1361,3524,0,0,0,0,0,0
$GC,3707,-0.69,-146.0,386.6,-10.1,419,3711,0.00,2.33,0.00,0.000,6,0.000,0.061,2246,2753,3524,0,0,0,0,0,0
$GC,4037,-0.69,-146.0,418.5,-9.4,438,4041,0.00,2.20,0.00,0.000,4,0.000,0.050,2247,1370,3524,0,0,0,0,0,0
$GC,4067,-0.69,-146.0,421.6,-9.2,439,4071,0.00,2.28,0.00,0.000,6,0.000,0.062,2247,2746,3524,0,0,0,0,0,0
$GC,4405,-0.69,-146.0,452.1,-9.2,450,4409,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3928,3524,0,0,0,0,0,0
$GC,4467,-0.72,-146.0,458.6,-9.5,451,4474,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2745,3524,0,0,0,0,0,0
$GC,4781,-0.72,-146.0,487.6,-9.4,462,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2745,3524,0,0,0,0,0,0
$STATE,4935,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4935,begin apogee
$GC,4941,-0.14,0.0,501.8,9.3,467,5071,0.55,0.00,122.20,0.916,4,0.132,0.000,2425,2597,2922,0,0,0,0,0,0
$STATE,5072,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5074,0.57,146.0,506.9,0.0,471,5211,0.68,2.40,127.28,0.892,4,0.070,0.050,2662,1187,2327,0,0,0,0,0,0
$GC,5368,-1.43,146.0,484.6,18907.8,480,5377,2.28,2.45,0.00,0.000,6,0.153,0.055,2019,2601,2318,0,0,0,0,0,0
$GC,5703,-1.43,146.0,443.0,18907.8,491,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2601,2311,0,0,0,0,0,0
$GC,6008,-1.43,146.0,399.3,18907.8,501,6012,0.00,2.28,0.00,0.000,4,0.000,0.054,2019,1189,2310,0,0,0,0,0,0
$GC,6267,-1.43,146.0,360.1,18907.8,523,6274,0.00,2.28,0.00,0.000,6,0.000,0.052,2008,2591,2308,0,0,0,0,0,0
$GC,6592,-1.43,146.0,314.7,18907.8,554,6596,0.00,2.25,0.00,0.000,4,0.000,0.050,2007,1186,2309,0,0,0,0,0,0
$GC,6851,-1.43,146.0,277.2,18907.8,576,6857,0.00,2.20,0.00,0.000,6,0.000,0.059,2002,2532,2310,0,0,0,0,0,0
$GC,7176,-1.43,146.0,228.9,18907.8,607,7181,0.00,2.33,0.00,0.000,4,0.000,0.070,1993,3918,2308,0,0,0,0,0,0
$GC,7435,-1.43,146.0,188.9,18907.8,629,7441,0.00,2.30,0.00,0.000,6,0.000,0.046,1991,2501,2307,0,0,0,0,0,0
$GC,7760,-1.43,146.0,144.2,18907.8,660,7764,0.00,2.42,0.00,0.000,4,0.000,0.069,1979,3923,2308,0,0,0,0,0,0
$GC,8018,-1.43,146.0,102.5,18907.8,682,8026,0.15,2.33,0.00,0.000,6,0.288,0.044,2006,2482,2306,0,0,0,0,0,0
$GC,8362,-1.43,146.0,51.1,18907.8,742,8369,0.00,2.42,0.00,0.000,4,0.000,0.060,1994,3933,2306,0,0,0,0,0,0
$GC,8550,-1.43,146.0,23.3,18907.8,775,8557,0.00,2.33,0.00,0.000,6,0.000,0.045,1993,2485,2307,0,0,0,0,0,0
$FREEZE,8.48,1.687,-1.797,2,1,0
$FREEZE,7.79,1.538,-1.783,2,1,0
$FREEZE,7.04,0.782,-1.814,2,1,0
$FREEZE,6.58,0.496,-1.801,2,1,0
$FREEZE,6.14,0.648,-1.791,2,1,0
$FREEZE,5.37,0.156,-1.803,2,1,0
$FREEZE,4.90,0.359,-1.776,2,1,0
$FREEZE,4.35,-0.052,-1.802,2,1,0
$FREEZE,3.78,0.061,-1.799,2,1,0
$FREEZE,2.97,0.139,-1.776,2,1,0
$STATE,8700,end climb,SURFACE_DEPTH_REACHED
$STATE,8700,begin surface coast
$FREEZE,2.37,-0.051,-1.778,2,1,0
$FINISH,2.4,1.026049
$STATE,8707,end surface coast,CONTROL_FINISHED_OK
$STATE,8707,begin surface
$SM_CCo,8722,268.35,0.083,0,0,440,609.08
$SM_GC,1.57,0.00,0.00,268.35,0.000,0.000,0.083,288,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,464
$RAFOS,5,1293021661,12.700000,12.683611,52,51,47,44,41,40,674,657,1455,1046,1178,1372
$RAFOS_FIX,6646.040527,-5843.679199,221210,080856,2,81,22.25
$IRIDIUM_FIX,6641.98,-5810.84,221210,121233
$TT8_MAMPS,0.029211
$HUMID,45.98
$INTERNAL_PRESSURE,8.46559
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,19.0
$ALTIM_BOTTOM_PING,501.8,9.7
$24V_AH,21.9,67.185
$10V_AH,9.8,47.799
$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,16.875,71.625,249.475,268.350,0.000,53.877,40.683,209.140,1.750,0.000,40.440,1986.599,4854.653,649.472,1813.577,257.821,0.000,1445.207,0.000,1461.450,0.000,14.153,0.000
$DEVICE_MAMPS,287.640,72.675,915.705,82.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,30076,803
$CAP_FILE_SIZE,104748,0
$CFSIZE,260165632,210771968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.6
$GPS,221210,153016,6711.125,-5809.779,8,99.0,27,-38.1