version: 66.08
glider: 183
mission: 3
dive: 545
start: 12 20 110 5 14 39
data:
$ID,183
$MISSION,3
$DIVE,545
$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,-9830.7979
$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
$GPS1,201210,050837,6704.829,-5649.448,23,1.8,24,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.0
$GPS2,201210,051408,6704.803,-5649.495,11,2.0,11,-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,199.7,3509,-17.5,-10.000
$D_GRID,465
$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,-146.0,0.0,0.0,0,151,0.00,0.00,-131.18,0.000,2,0.000,0.000,296,2785,3404,0,0,0,0,0,0
$GC,155,-0.57,-146.0,5.8,-13.7,23,175,8.20,2.28,-2.33,0.000,4,0.240,0.057,2284,1368,3522,0,0,0,0,0,0
$GC,430,-0.62,-146.0,48.7,-10.7,71,437,0.00,2.30,0.00,0.000,6,0.000,0.057,2278,2780,3524,0,0,0,0,0,0
$GC,776,-0.64,-146.0,85.4,-9.4,132,783,0.00,2.25,0.00,0.000,4,0.000,0.047,2277,1366,3521,0,0,0,0,0,0
$GC,824,-0.70,-146.0,90.1,-9.8,140,831,0.00,2.33,0.00,0.000,6,0.000,0.057,2274,2780,3521,0,0,0,0,0,0
$GC,1158,-0.74,-146.0,120.4,-8.8,180,1160,0.10,0.00,0.00,0.000,6,0.114,0.000,2227,2780,3521,0,0,0,0,0,0
$GC,1475,-0.70,-146.0,157.8,-12.0,210,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2780,3520,0,0,0,0,0,0
$GC,1796,-0.67,-146.0,194.2,-11.3,240,1803,0.12,0.00,0.00,0.000,6,0.168,0.000,2262,2780,3521,0,0,0,0,0,0
$GC,2122,-0.71,-146.0,224.1,-9.3,271,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2780,3522,0,0,0,0,0,0
$GC,2443,-0.75,-146.0,251.9,-8.2,301,2447,0.00,2.22,0.00,0.000,4,0.000,0.044,2262,1366,3523,0,0,0,0,0,0
$GC,2500,-0.82,-146.0,257.2,-9.0,305,2508,0.15,2.30,0.00,0.000,6,0.084,0.056,2190,2774,3523,0,0,0,0,0,0
$GC,2826,-0.72,-146.0,299.2,-12.7,336,2832,0.17,1.92,0.00,0.000,4,0.165,0.064,2231,3932,3523,0,0,0,0,0,0
$GC,2872,-0.72,-146.0,304.4,-10.0,340,2876,0.00,1.83,0.00,0.000,6,0.000,0.041,2232,2774,3524,0,0,0,0,0,0
$GC,3203,-0.72,-146.0,336.9,-9.7,371,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2774,3524,0,0,0,0,0,0
$GC,3525,-0.72,-146.0,368.7,-9.9,401,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2774,3525,0,0,0,0,0,0
$GC,3855,-0.72,-146.0,400.0,-9.2,432,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2774,3527,0,0,0,0,0,0
$GC,4157,-0.72,-146.0,429.4,-9.7,442,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2774,3527,0,0,0,0,0,0
$STATE,4373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4373,begin apogee
$GC,4379,-0.14,0.0,450.5,9.8,449,4506,0.57,0.00,119.40,0.844,4,0.122,0.000,2424,2599,2922,0,0,0,0,0,0
$STATE,4507,end apogee,CONTROL_FINISHED_OK
$STATE,4507,begin climb
$GC,4510,0.57,146.0,455.2,0.0,453,4640,0.65,2.33,121.15,0.829,4,0.060,0.044,2665,1181,2326,0,0,0,0,0,0
$GC,4796,0.57,146.0,431.6,11.2,461,4804,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2601,2319,0,0,0,0,0,0
$GC,5111,0.52,146.0,394.5,12.5,474,5115,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1191,2316,0,0,0,0,0,0
$GC,5346,0.52,146.0,366.8,11.1,494,5354,0.00,2.28,0.00,0.000,6,0.000,0.051,2666,2603,2316,0,0,0,0,0,0
$GC,5673,0.47,146.0,327.1,12.0,525,5677,0.15,2.20,0.00,0.000,4,0.184,0.061,2626,3933,2315,0,0,0,0,0,0
$GC,5713,0.47,146.0,322.1,12.3,528,5717,0.00,2.10,0.00,0.000,6,0.000,0.039,2625,2597,2314,0,0,0,0,0,0
$GC,6044,0.49,146.0,288.1,10.2,559,6047,0.00,2.20,0.00,0.000,4,0.000,0.063,2625,3924,2314,0,0,0,0,0,0
$GC,6091,0.47,146.0,282.7,12.7,563,6095,0.00,2.08,0.00,0.000,6,0.000,0.040,2625,2597,2314,0,0,0,0,0,0
$GC,6422,0.51,163.4,249.6,9.2,594,6441,0.00,0.00,13.40,0.692,6,0.000,0.000,2626,2596,2258,0,0,0,0,0,0
$GC,6761,0.56,178.5,218.2,9.3,626,6780,0.00,0.00,14.50,0.678,6,0.000,0.000,2626,2596,2195,0,0,0,0,0,0
$GC,7099,0.62,197.5,187.5,9.1,658,7123,0.15,2.20,16.58,0.665,4,0.088,0.045,2694,1193,2117,0,0,0,0,0,0
$GC,7140,0.58,197.5,182.6,12.6,661,7147,0.12,2.28,0.00,0.000,6,0.169,0.050,2661,2605,2116,0,0,0,0,0,0
$GC,7465,0.58,197.5,143.1,12.5,692,7469,0.00,2.17,0.00,0.000,4,0.000,0.061,2661,3926,2114,0,0,0,0,0,0
$GC,7511,0.55,197.5,136.8,14.3,696,7515,0.00,2.08,0.00,0.000,6,0.000,0.040,2662,2607,2113,0,0,0,0,0,0
$GC,7837,0.55,197.5,98.9,11.5,727,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2607,2113,0,0,0,0,0,0
$GC,8182,0.61,215.7,62.9,9.2,788,8202,0.00,0.00,16.23,0.599,6,0.000,0.000,2662,2606,2042,0,0,0,0,0,0
$GC,8543,0.67,242.3,29.9,8.8,851,8573,0.00,2.25,22.83,0.590,4,0.000,0.047,2662,1192,1934,0,0,0,0,0,0
$GC,8620,0.81,263.2,22.9,9.0,864,8646,0.20,2.30,18.50,0.577,6,0.078,0.050,2750,2616,1848,0,0,0,0,0,0
$FREEZE,8.92,0.215,-1.798,0,1,0
$FREEZE,8.32,0.124,-1.792,0,1,0
$FREEZE,7.58,-0.007,-1.792,0,1,0
$FREEZE,6.79,-0.279,-1.787,0,1,0
$FREEZE,6.05,-0.408,-1.786,0,1,0
$FREEZE,5.34,-0.439,-1.784,0,1,0
$FREEZE,4.65,-0.440,-1.783,0,1,0
$FREEZE,3.87,-0.436,-1.782,0,1,0
$FREEZE,3.31,-0.441,-1.781,0,1,0
$FREEZE,2.52,-0.444,-1.780,0,1,0
$STATE,8769,end climb,SURFACE_DEPTH_REACHED
$STATE,8769,begin surface coast
$FREEZE,1.96,-0.447,-1.779,0,1,0
$FREEZE,1.37,-0.446,-1.778,0,1,0
$FREEZE,1.13,-0.435,-1.778,0,1,0
$FREEZE,1.11,-0.168,-0.911,0,1,0
$FINISH,1.1,1.013455
$STATE,8792,end surface coast,CONTROL_FINISHED_OK
$STATE,8792,begin surface
$SM_CCo,8808,228.18,0.078,0,0,441,609.08
$SM_GC,1.89,0.00,0.00,228.18,0.000,0.000,0.078,294,2799,441,-6.82,0.54,609.08
$RAFOS_CLK,360
$RAFOS_FIX,6705.145020,-5651.098633,201210,040455,5,82,0.35
$IRIDIUM_FIX,6636.54,-5715.22,201210,020235
$TT8_MAMPS,0.028462
$HUMID,44.21
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,16.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.1,17.2
$ALTIM_BOTTOM_PING,450.5,9.9
$24V_AH,22.7,65.443
$10V_AH,9.9,46.771
$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,17.150,48.975,342.575,228.175,0.000,25.866,37.486,124.128,2.000,0.000,14.236,2136.019,4687.327,672.954,1652.036,227.204,0.000,1460.795,0.000,1449.214,0.000,13.915,0.000
$DEVICE_MAMPS,240.210,66.555,843.795,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,33414,895
$CAP_FILE_SIZE,99428,0
$CFSIZE,260165632,211738624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.9
$GPS,201210,074653,6703.684,-5649.450,33,1.5,50,-37.6