version: 66.08
glider: 183
mission: 3
dive: 740
start: 1 11 111 17 4 55
data:
$ID,183
$MISSION,3
$DIVE,740
$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,-11421.771
$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,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,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
$GPS1,110111,165758,6716.186,-5719.799,9,99.0,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.5
$GPS2,110111,170422,6716.249,-5719.924,15,99.0,34,-38.0
$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,174.8,33668,-17.5,-10.000
$D_GRID,474
$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,16,-0.57,-146.0,0.0,0.0,0,156,0.00,0.00,-135.60,0.000,6,0.000,0.000,294,2786,3519,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.9,-14.6,24,173,8.23,2.33,0.00,0.000,4,0.236,0.042,2286,1361,3521,0,0,0,0,0,0
$GC,383,-0.61,-146.0,43.6,-10.6,63,390,0.00,2.33,0.00,0.000,6,0.000,0.056,2279,2776,3523,0,0,0,0,0,0
$GC,730,-0.64,-146.0,80.7,-10.2,124,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2776,3522,0,0,0,0,0,0
$GC,1068,-0.67,-146.0,111.8,-7.7,172,1072,0.00,2.22,0.00,0.000,4,0.000,0.045,2278,1365,3521,0,0,0,0,0,0
$GC,1110,-0.73,-146.0,115.3,-9.0,175,1114,0.10,2.33,0.00,0.000,6,0.104,0.057,2225,2776,3521,0,0,0,0,0,0
$GC,1436,-0.68,-146.0,154.0,-12.7,205,1440,0.12,1.98,0.00,0.000,4,0.164,0.066,2252,3938,3520,0,0,0,0,0,0
$GC,1482,-0.68,-146.0,159.0,-10.2,209,1486,0.00,1.88,0.00,0.000,6,0.000,0.044,2253,2783,3521,0,0,0,0,0,0
$GC,1814,-0.68,-146.0,190.6,-9.3,240,1817,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3931,3521,0,0,0,0,0,0
$GC,1850,-0.68,-146.0,194.0,-9.6,243,1854,0.00,1.83,0.00,0.000,6,0.000,0.043,2247,2788,3521,0,0,0,0,0,0
$GC,2181,-0.68,-146.0,223.5,-9.0,274,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2788,3521,0,0,0,0,0,0
$GC,2505,-0.68,-146.0,249.1,-8.4,304,2509,0.00,2.22,0.00,0.000,4,0.000,0.045,2247,1368,3521,0,0,0,0,0,0
$GC,2572,-0.71,-146.0,255.5,-8.3,309,2579,0.00,2.35,0.00,0.000,6,0.000,0.057,2247,2790,3521,0,0,0,0,0,0
$GC,2898,-0.73,-146.0,284.9,-9.0,340,2902,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1373,3521,0,0,0,0,0,0
$GC,2932,-0.76,-146.0,288.3,-9.5,342,2939,0.00,2.33,0.00,0.000,6,0.000,0.057,2247,2780,3521,0,0,0,0,0,0
$GC,3258,-0.78,-146.0,316.0,-7.9,373,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2780,3522,0,0,0,0,0,0
$GC,3581,-0.81,-146.0,343.0,-8.4,403,3584,0.00,1.95,0.00,0.000,4,0.000,0.067,2246,3928,3522,0,0,0,0,0,0
$GC,3632,-0.85,-146.0,347.9,-9.5,407,3640,0.12,1.85,0.00,0.000,6,0.096,0.042,2180,2770,3523,0,0,0,0,0,0
$GC,3958,-0.74,-146.0,390.0,-13.7,438,3963,0.20,2.20,0.00,0.000,4,0.161,0.042,2237,1370,3523,0,0,0,0,0,0
$GC,4012,-0.77,-146.0,395.7,-9.9,442,4016,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2770,3523,0,0,0,0,0,0
$GC,4332,-0.77,-146.0,426.8,-9.4,455,4336,0.00,1.98,0.00,0.000,4,0.000,0.067,2235,3929,3523,0,0,0,0,0,0
$GC,4383,-0.77,-146.0,431.8,-9.9,456,4386,0.00,1.88,0.00,0.000,6,0.000,0.042,2235,2754,3523,0,0,0,0,0,0
$GC,4708,-0.77,-146.0,461.8,-9.2,467,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2754,3523,0,0,0,0,0,0
$STATE,4858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4864,-0.14,0.0,475.8,9.2,472,4992,0.57,0.00,119.97,0.845,4,0.119,0.000,2427,2597,2923,0,0,0,0,0,0
$STATE,4993,end apogee,CONTROL_FINISHED_OK
$STATE,4993,begin climb
$GC,4996,0.57,146.0,479.6,0.0,476,5128,0.65,2.33,121.88,0.832,4,0.058,0.044,2671,1180,2327,0,0,0,0,0,0
$GC,5302,0.57,146.0,451.6,11.4,485,5306,0.00,2.33,0.00,0.000,6,0.000,0.050,2671,2605,2321,0,0,0,0,0,0
$GC,5621,0.50,146.0,413.9,11.7,496,5626,0.12,2.22,0.00,0.000,4,0.184,0.046,2643,1189,2318,0,0,0,0,0,0
$GC,5876,0.55,178.6,390.4,8.5,509,5910,0.00,2.30,26.83,0.767,6,0.000,0.051,2643,2610,2195,0,0,0,0,0,0
$GC,6228,0.55,181.4,356.4,9.9,542,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2611,2191,0,0,0,0,0,0
$GC,6551,0.56,187.9,326.5,9.7,572,6566,0.00,2.22,8.70,0.684,4,0.000,0.062,2643,3924,2156,0,0,0,0,0,0
$GC,6608,0.53,187.9,319.8,12.0,577,6612,0.00,2.10,0.00,0.000,6,0.000,0.041,2645,2598,2155,0,0,0,0,0,0
$GC,6939,0.53,187.9,281.3,12.4,608,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2598,2154,0,0,0,0,0,0
$GC,7260,0.56,187.9,241.3,13.5,638,7264,0.00,2.20,0.00,0.000,4,0.000,0.047,2647,1186,2154,0,0,0,0,0,0
$GC,7313,0.62,187.9,234.6,11.2,642,7317,0.00,2.22,0.00,0.000,6,0.000,0.050,2646,2578,2155,0,0,0,0,0,0
$GC,7643,0.62,187.9,195.1,11.7,673,7647,0.00,2.22,0.00,0.000,4,0.000,0.061,2646,3932,2154,0,0,0,0,0,0
$GC,7756,0.62,187.9,179.1,14.6,682,7763,0.00,2.10,0.00,0.000,6,0.000,0.039,2649,2604,2152,0,0,0,0,0,0
$GC,8082,0.65,187.9,140.7,11.0,713,8084,0.10,0.00,0.00,0.000,6,0.112,0.000,2695,2604,2153,0,0,0,0,0,0
$GC,8400,0.61,187.9,100.0,12.4,743,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2604,2153,0,0,0,0,0,0
$GC,8747,0.58,187.9,58.3,11.9,804,8753,0.12,0.00,0.00,0.000,6,0.166,0.000,2662,2604,2153,0,0,0,0,0,0
$GC,9094,0.66,229.0,27.2,8.1,865,9135,0.00,0.00,34.65,0.574,6,0.000,0.000,2661,2605,1989,0,0,0,0,0,0
$FREEZE,8.98,2.189,-1.816,0,1,0
$FREEZE,8.51,2.188,-1.816,0,1,0
$FREEZE,7.97,2.193,-1.816,0,1,0
$FREEZE,7.50,2.189,-1.815,0,1,0
$FREEZE,7.08,2.176,-1.815,0,1,0
$FREEZE,6.52,2.179,-1.815,0,1,0
$FREEZE,6.20,2.180,-1.814,0,1,0
$FREEZE,5.70,2.182,-1.814,0,1,0
$FREEZE,5.26,2.180,-1.814,0,1,0
$FREEZE,4.83,2.180,-1.813,0,1,0
$FREEZE,4.25,2.176,-1.813,0,1,0
$FREEZE,3.88,2.177,-1.813,0,1,0
$FREEZE,3.54,2.175,-1.812,0,1,0
$FREEZE,3.14,2.162,-1.812,0,1,0
$FREEZE,2.68,2.167,-1.812,0,1,0
$STATE,9371,end climb,SURFACE_DEPTH_REACHED
$STATE,9371,begin surface coast
$FREEZE,1.95,2.164,-1.811,0,1,0
$FREEZE,1.52,2.163,-1.811,0,1,0
$FREEZE,1.17,2.164,-1.811,0,1,0
$FREEZE,0.96,2.154,-0.894,0,1,0
$FREEZE,1.00,2.150,-0.856,0,1,0
$FREEZE,0.97,2.153,-0.896,0,1,0
$FREEZE,0.98,2.100,-0.866,0,1,0
$FREEZE,1.00,2.180,-0.903,0,1,0
$FINISH,1.0,1.013311
$STATE,9413,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9430,230.30,0.080,0,0,440,609.08
$SM_GC,1.66,0.00,0.00,230.30,0.000,0.000,0.080,295,2790,440,-6.81,0.31,609.08
$RAFOS_CLK,374
$RAFOS,6,1294764542,16.833334,16.817223,76,45,43,41,38,37,753,492,1406,1346,1163,464
$RAFOS_FIX,6717.824219,-5725.130371,110111,161650,5,80,0.00
$IRIDIUM_FIX,6647.44,-5704.86,110111,141448
$TT8_MAMPS,0.028462
$HUMID,45.47
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$24V_AH,22.8,84.067
$10V_AH,9.8,57.713
$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,16.600,60.900,312.025,230.300,0.000,22.933,39.258,138.442,1.250,0.000,38.085,2243.460,5094.599,637.729,1790.032,302.917,0.000,1485.201,0.000,1566.780,0.000,9.710,0.000
$DEVICE_MAMPS,235.620,68.850,844.560,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.498,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151796
$DATA_FILE_SIZE,33341,923
$CAP_FILE_SIZE,107720,0
$CFSIZE,260165632,201170944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.0
$GPS,110111,194737,6716.815,-5720.107,33,1.3,34,-38.0