version: 66.08
glider: 183
mission: 3
dive: 735
start: 1 11 111 2 57 51
data:
$ID,183
$MISSION,3
$DIVE,735
$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,-11415.489
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,110111,025137,6715.247,-5715.404,25,1.7,26,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.8
$GPS2,110111,025720,6715.293,-5715.472,14,1.5,14,-37.9
$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,176.8,30197,-17.5,-10.000
$D_GRID,451
$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,-146.0,0.0,0.0,0,159,0.00,0.00,-136.48,0.000,6,0.000,0.000,291,2789,3520,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.7,-13.8,24,176,8.25,2.33,0.00,0.000,4,0.235,0.042,2282,1366,3522,0,0,0,0,0,0
$GC,217,-0.50,-146.0,25.6,-17.8,33,225,0.12,2.33,0.00,0.000,6,0.165,0.057,2309,2776,3523,0,0,0,0,0,0
$GC,566,-0.57,-146.0,59.9,-10.0,94,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2776,3523,0,0,0,0,0,0
$GC,913,-0.67,-146.0,84.3,-5.6,155,920,0.15,2.25,0.00,0.000,4,0.085,0.045,2238,1377,3522,0,0,0,0,0,0
$GC,973,-0.64,-146.0,89.7,-9.9,165,981,0.12,2.30,0.00,0.000,6,0.168,0.057,2268,2770,3521,0,0,0,0,0,0
$GC,1308,-0.67,-146.0,117.7,-7.7,206,1312,0.00,1.92,0.00,0.000,4,0.000,0.067,2261,3927,3520,0,0,0,0,0,0
$GC,1367,-0.71,-146.0,122.6,-8.7,211,1371,0.00,1.85,0.00,0.000,6,0.000,0.044,2261,2774,3521,0,0,0,0,0,0
$GC,1700,-0.73,-146.0,149.1,-7.5,242,1703,0.00,2.20,0.00,0.000,4,0.000,0.045,2261,1367,3520,0,0,0,0,0,0
$GC,1729,-0.76,-146.0,151.6,-7.9,244,1736,0.00,2.35,0.00,0.000,6,0.000,0.057,2261,2787,3520,0,0,0,0,0,0
$GC,2055,-0.79,-146.0,177.2,-8.2,275,2057,0.12,0.00,0.00,0.000,6,0.098,0.000,2196,2788,3520,0,0,0,0,0,0
$GC,2373,-0.71,-146.0,219.5,-13.2,305,2375,0.17,0.00,0.00,0.000,6,0.158,0.000,2245,2788,3520,0,0,0,0,0,0
$GC,2691,-0.71,-146.0,250.4,-9.4,335,2695,0.00,2.22,0.00,0.000,4,0.000,0.044,2245,1372,3521,0,0,0,0,0,0
$GC,2734,-0.73,-146.0,254.3,-9.8,338,2738,0.00,2.33,0.00,0.000,6,0.000,0.057,2246,2779,3521,0,0,0,0,0,0
$GC,3060,-0.73,-146.0,282.7,-8.4,368,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2779,3521,0,0,0,0,0,0
$GC,3381,-0.76,-146.0,308.3,-8.2,398,3385,0.00,2.22,0.00,0.000,4,0.000,0.044,2246,1362,3522,0,0,0,0,0,0
$GC,3423,-0.79,-146.0,311.7,-7.6,401,3427,0.00,2.33,0.00,0.000,6,0.000,0.055,2246,2777,3522,0,0,0,0,0,0
$GC,3749,-0.81,-146.0,338.1,-8.0,431,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2778,3522,0,0,0,0,0,0
$GC,4067,-0.84,-146.0,363.5,-7.7,461,4069,0.12,0.00,0.00,0.000,6,0.096,0.000,2180,2777,3523,0,0,0,0,0,0
$GC,4386,-0.73,-146.0,400.1,-11.7,491,4388,0.20,0.00,0.00,0.000,6,0.155,0.000,2236,2778,3523,0,0,0,0,0,0
$GC,4692,-0.73,-146.0,425.7,-8.0,501,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2778,3523,0,0,0,0,0,0
$STATE,4996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4996,begin apogee
$GC,5002,-0.14,0.0,451.8,8.6,511,5130,0.55,0.00,120.32,0.832,4,0.120,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,5131,end apogee,CONTROL_FINISHED_OK
$STATE,5131,begin climb
$GC,5134,0.57,146.0,454.6,0.0,515,5265,0.65,2.33,121.72,0.817,4,0.061,0.045,2665,1180,2326,0,0,0,0,0,0
$GC,5421,0.57,146.0,426.5,13.0,523,5428,0.00,2.33,0.00,0.000,6,0.000,0.050,2665,2603,2320,0,0,0,0,0,0
$GC,5741,0.52,146.0,386.2,12.5,540,5745,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1187,2317,0,0,0,0,0,0
$GC,5977,0.52,146.0,359.7,10.9,560,5984,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2615,2317,0,0,0,0,0,0
$GC,6303,0.47,146.0,320.7,12.0,591,6307,0.15,2.15,0.00,0.000,4,0.183,0.060,2625,3928,2316,0,0,0,0,0,0
$GC,6336,0.45,146.0,316.8,11.6,593,6342,0.00,2.08,0.00,0.000,6,0.000,0.040,2625,2615,2315,0,0,0,0,0,0
$GC,6662,0.49,170.1,286.6,8.9,624,6683,0.00,0.00,19.48,0.712,6,0.000,0.000,2625,2615,2229,0,0,0,0,0,0
$GC,7001,0.55,192.7,255.6,9.0,656,7023,0.00,0.00,20.15,0.695,6,0.000,0.000,2625,2615,2137,0,0,0,0,0,0
$GC,7339,0.62,210.4,224.7,9.2,688,7359,0.15,0.00,15.95,0.672,6,0.086,0.000,2694,2615,2064,0,0,0,0,0,0
$GC,7679,0.57,210.4,176.9,14.3,720,7684,0.12,2.22,0.00,0.000,4,0.173,0.063,2660,3930,2060,0,0,0,0,0,0
$GC,7697,0.53,210.4,174.1,14.4,721,7701,0.00,2.08,0.00,0.000,6,0.000,0.040,2662,2620,2059,0,0,0,0,0,0
$GC,8028,0.55,210.4,134.3,12.7,752,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2619,2059,0,0,0,0,0,0
$GC,8353,0.58,210.4,96.3,12.2,784,8359,0.00,2.20,0.00,0.000,4,0.000,0.062,2662,3933,2059,0,0,0,0,0,0
$GC,8373,0.60,210.4,93.4,11.7,787,8379,0.00,2.05,0.00,0.000,6,0.000,0.039,2662,2636,2058,0,0,0,0,0,0
$GC,8719,0.66,218.1,56.4,9.6,848,8733,0.00,2.15,6.70,0.541,4,0.000,0.060,2662,3925,2035,0,0,0,0,0,0
$GC,8746,0.70,218.1,53.4,10.8,852,8753,0.12,2.05,0.00,0.000,6,0.101,0.040,2719,2629,2034,0,0,0,0,0,0
$GC,9094,0.67,218.1,9.1,12.5,913,9101,0.00,2.28,0.00,0.000,4,0.000,0.047,2722,1186,2034,0,0,0,0,0,0
$FREEZE,7.23,2.432,-1.818,0,1,0
$FREEZE,6.48,2.425,-1.817,0,1,0
$FREEZE,6.02,2.427,-1.817,0,1,0
$FREEZE,5.52,2.428,-1.817,0,1,0
$FREEZE,4.93,2.428,-1.816,0,1,0
$FREEZE,4.42,2.428,-1.816,0,1,0
$FREEZE,3.82,2.413,-1.816,0,1,0
$FREEZE,3.14,2.435,-1.815,0,1,0
$FREEZE,2.48,2.437,-1.814,0,1,0
$STATE,9148,end climb,SURFACE_DEPTH_REACHED
$STATE,9148,begin surface coast
$FREEZE,1.89,2.439,-1.814,0,1,0
$FREEZE,1.15,2.419,-1.814,0,1,0
$FREEZE,1.08,2.384,-1.780,0,1,0
$FINISH,1.1,1.025930
$STATE,9167,end surface coast,CONTROL_FINISHED_OK
$STATE,9167,begin surface
$SM_CCo,9187,234.95,0.078,0,0,440,609.08
$SM_GC,1.74,0.00,0.00,234.95,0.000,0.000,0.078,291,2781,440,-6.82,0.03,609.08
$RAFOS_CLK,371
$RAFOS,6,1294721351,4.833333,4.819722,107,46,45,44,44,43,716,1370,1645,1274,855,1002
$RAFOS,5,1294720864,4.700000,4.684444,103,47,45,40,40,39,663,1328,1470,97,1768,692
$RAFOS,4,1294720385,4.566667,4.551389,61,49,43,42,41,40,846,855,1529,1109,509,104
$RAFOS,3,1294719902,4.433333,4.417222,99,49,45,44,43,41,1032,1761,303,1367,1839,1700
$RAFOS,2,1294719451,4.300000,4.291945,44,43,40,39,39,38,1079,983,147,249,1594,1606
$RAFOS,1,1294718947,4.166667,4.151945,51,48,44,43,42,42,1010,314,153,1025,474,938
$RAFOS,0,1294718470,4.033333,4.019444,49,48,47,46,44,41,1916,1158,1429,1577,1886,1855
$RAFOS_FIX,6717.351562,-5721.134277,110111,040428,4,92,0.91
$IRIDIUM_FIX,6647.44,-5707.88,110111,000010
$TT8_MAMPS,0.028462
$HUMID,45.43
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,22.8,83.625
$10V_AH,9.8,57.404
$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,17.500,57.975,304.325,234.950,0.000,28.017,15.894,137.217,1.250,0.000,17.482,2254.976,4910.831,651.926,1664.186,303.596,0.000,1454.941,0.000,1488.567,2520.000,9.712,0.000
$DEVICE_MAMPS,234.855,67.320,832.320,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,33370,926
$CAP_FILE_SIZE,106253,0
$CFSIZE,260165632,201474048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.1
$GPS,110111,053637,6715.851,-5715.949,39,1.1,40,-37.9