version: 66.08
glider: 183
mission: 3
dive: 712
start: 1 8 111 9 1 38
data:
$ID,183
$MISSION,3
$DIVE,712
$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,-11385.996
$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,40
$R_STBD_OVSHOOT,30
$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,5
$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
$GPS1,080111,085457,6709.389,-5704.100,39,2.4,59,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-54.8
$GPS2,080111,090107,6709.403,-5704.260,11,2.0,16,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,3000.000
$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,173.0,16689,-17.5,-10.000
$D_GRID,485
$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,18,-0.57,-146.0,0.0,0.0,0,158,0.00,0.00,-134.93,0.000,6,0.000,0.000,278,2794,3520,0,0,0,0,0,0
$GC,161,-0.57,-146.0,6.2,-15.0,24,175,8.32,2.33,0.00,0.000,4,0.236,0.041,2284,1362,3522,0,0,0,0,0,0
$GC,345,-0.60,-146.0,40.7,-11.6,56,352,0.00,2.33,0.00,0.000,6,0.000,0.057,2278,2773,3523,0,0,0,0,0,0
$GC,691,-0.60,-146.0,79.7,-10.9,117,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2773,3523,0,0,0,0,0,0
$GC,1031,-0.63,-146.0,111.6,-8.8,166,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2773,3521,0,0,0,0,0,0
$GC,1352,-0.66,-146.0,138.8,-9.0,196,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2773,3521,0,0,0,0,0,0
$GC,1682,-0.71,-146.0,169.7,-8.9,227,1686,0.00,2.20,0.00,0.000,4,0.000,0.047,2278,1374,3521,0,0,0,0,0,0
$GC,1723,-0.78,-146.0,173.6,-8.8,230,1728,0.15,2.30,0.00,0.000,6,0.083,0.059,2204,2765,3521,0,0,0,0,0,0
$GC,2051,-0.69,-146.0,216.6,-12.6,260,2055,0.17,1.95,0.00,0.000,4,0.166,0.067,2246,3927,3521,0,0,0,0,0,0
$GC,2101,-0.69,-146.0,222.3,-10.1,264,2108,0.00,1.85,0.00,0.000,6,0.000,0.044,2246,2771,3521,0,0,0,0,0,0
$GC,2427,-0.69,-146.0,252.5,-8.9,295,2431,0.00,2.20,0.00,0.000,4,0.000,0.046,2246,1362,3521,0,0,0,0,0,0
$GC,2480,-0.72,-146.0,257.2,-9.0,299,2484,0.00,2.30,0.00,0.000,6,0.000,0.057,2244,2758,3521,0,0,0,0,0,0
$GC,2806,-0.72,-146.0,285.6,-8.5,329,2809,0.00,1.98,0.00,0.000,4,0.000,0.067,2243,3935,3522,0,0,0,0,0,0
$GC,2853,-0.72,-146.0,289.6,-9.2,333,2857,0.00,1.88,0.00,0.000,6,0.000,0.044,2243,2748,3521,0,0,0,0,0,0
$GC,3184,-0.72,-146.0,317.7,-8.5,364,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2748,3523,0,0,0,0,0,0
$GC,3506,-0.72,-146.0,344.6,-8.7,394,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2748,3523,0,0,0,0,0,0
$GC,3834,-0.72,-146.0,373.5,-8.4,425,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2748,3523,0,0,0,0,0,0
$GC,4171,-0.72,-146.0,403.4,-9.3,455,4175,0.00,2.17,0.00,0.000,4,0.000,0.045,2243,1365,3524,0,0,0,0,0,0
$GC,4210,-0.75,-146.0,407.4,-9.4,456,4214,0.00,2.28,0.00,0.000,6,0.000,0.056,2238,2748,3524,0,0,0,0,0,0
$GC,4541,-0.75,-146.0,435.8,-9.0,467,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2748,3524,0,0,0,0,0,0
$GC,4847,-0.75,-146.0,462.4,-8.8,477,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2748,3524,0,0,0,0,0,0
$STATE,5089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5089,begin apogee
$GC,5095,-0.14,0.0,486.2,9.4,485,5224,0.55,0.00,120.43,0.853,4,0.125,0.000,2422,2601,2923,0,0,0,0,0,0
$STATE,5224,end apogee,CONTROL_FINISHED_OK
$STATE,5224,begin climb
$GC,5227,0.57,146.0,490.0,0.0,489,5359,0.68,2.33,121.97,0.840,4,0.066,0.046,2668,1178,2327,0,0,0,0,0,0
$GC,5523,0.57,146.0,458.5,13.4,498,5527,0.00,2.35,0.00,0.000,6,0.000,0.051,2668,2606,2321,0,0,0,0,0,0
$GC,5855,0.51,146.0,414.2,13.2,509,5859,0.00,2.25,0.00,0.000,4,0.000,0.047,2672,1190,2318,0,0,0,0,0,0
$GC,6075,0.48,146.0,386.6,12.6,521,6080,0.15,2.30,0.00,0.000,6,0.174,0.051,2634,2614,2318,0,0,0,0,0,0
$GC,6402,0.48,148.8,351.6,9.9,551,6406,0.00,2.15,0.00,0.000,4,0.000,0.062,2633,3929,2317,0,0,0,0,0,0
$GC,6426,0.48,148.8,348.8,11.2,553,6430,0.00,2.10,0.00,0.000,6,0.000,0.040,2635,2600,2316,0,0,0,0,0,0
$GC,6757,0.48,148.8,314.1,10.3,584,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2600,2316,0,0,0,0,0,0
$GC,7079,0.48,148.8,281.2,10.3,614,7083,0.00,2.20,0.00,0.000,4,0.000,0.062,2636,3932,2316,0,0,0,0,0,0
$GC,7120,0.44,148.8,276.2,12.4,617,7124,0.00,2.08,0.00,0.000,6,0.000,0.041,2639,2618,2315,0,0,0,0,0,0
$GC,7451,0.44,148.8,239.4,11.2,648,7455,0.00,2.25,0.00,0.000,4,0.000,0.047,2639,1187,2315,0,0,0,0,0,0
$GC,7475,0.46,148.8,236.8,10.8,649,7482,0.00,2.30,0.00,0.000,6,0.000,0.050,2639,2619,2316,0,0,0,0,0,0
$GC,7800,0.46,148.8,200.3,11.0,680,7804,0.00,2.15,0.00,0.000,4,0.000,0.062,2639,3926,2315,0,0,0,0,0,0
$GC,7828,0.44,148.8,196.7,13.3,682,7835,0.00,2.08,0.00,0.000,6,0.000,0.040,2642,2610,2315,0,0,0,0,0,0
$GC,8154,0.45,170.7,165.0,9.0,713,8180,0.00,2.25,19.77,0.647,4,0.000,0.062,2642,3921,2226,0,0,0,0,0,0
$GC,8212,0.43,170.7,159.5,10.3,718,8216,0.00,2.08,0.00,0.000,6,0.000,0.040,2642,2614,2225,0,0,0,0,0,0
$GC,8543,0.46,170.7,124.3,10.5,749,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2613,2224,0,0,0,0,0,0
$GC,8866,0.56,237.6,95.0,6.9,784,8930,0.00,2.25,55.85,0.610,4,0.000,0.062,2642,3925,1952,0,0,0,0,0,0
$GC,8957,0.62,245.1,87.9,9.7,799,8970,0.00,2.08,7.40,0.539,6,0.000,0.040,2641,2624,1922,0,0,0,0,0,0
$GC,9312,0.74,266.0,59.2,9.0,861,9337,0.20,2.28,17.45,0.584,4,0.081,0.047,2732,1188,1839,0,0,0,0,0,0
$GC,9390,0.74,266.0,48.8,13.0,874,9397,0.00,2.30,0.00,0.000,6,0.000,0.050,2732,2612,1837,0,0,0,0,0,0
$FREEZE,8.56,2.431,-1.816,0,1,0
$FREEZE,7.83,2.428,-1.816,0,1,0
$FREEZE,7.21,2.428,-1.815,0,1,0
$STATE,9690,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9690,begin subsurface finish
$FINISH1,7.2,1.026361,56
$GC,9698,0.04,55.9,7.2,-12.1,927,9729,0.75,0.00,-27.27,0.000,6,0.144,0.000,2496,2612,2696,0,0,0,0,0,0
$FINISH2,5.0
$STATE,9729,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9730,begin surface
$RAFOS_CLK,370
$RAFOS_FIX,6712.547363,-5707.948730,080111,040400,2,98,2.04
$IRIDIUM_FIX,6641.98,-5706.23,080111,060629
$TT8_MAMPS,0.028462
$HUMID,48.46
$INTERNAL_PRESSURE,8.79764
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,16.9
$24V_AH,22.7,81.545
$10V_AH,9.8,56.007
$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,10.975,65.725,342.875,0.000,0.000,31.159,39.644,135.148,1.250,0.000,19.343,2210.173,5386.391,454.283,1754.700,292.539,0.000,1301.795,0.000,1543.152,0.000,9.708,0.000
$DEVICE_MAMPS,236.385,67.320,852.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151728
$DATA_FILE_SIZE,33411,932
$CAP_FILE_SIZE,103667,0
$CFSIZE,260165632,202813440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.7
$GPS,080111,090107,6709.403,-5704.260,11,2.0,16,-37.7