version: 66.08
glider: 183
mission: 3
dive: 743
start: 1 12 111 1 9 47
data:
$ID,183
$MISSION,3
$DIVE,743
$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,-11425.536
$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,42
$R_STBD_OVSHOOT,25
$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
$GPS1,120111,010024,6716.356,-5718.400,37,0.9,38,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.7
$GPS2,120111,010914,6716.376,-5718.606,13,1.0,13,-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,176.3,33199,-17.5,-10.000
$D_GRID,458
$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,-146.0,0.0,0.0,0,158,0.00,0.00,-137.30,0.000,2,0.000,0.000,281,2780,3494,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.1,-11.5,24,176,8.30,2.33,-0.52,0.000,4,0.236,0.058,2285,1367,3521,0,0,0,0,0,0
$GC,307,-0.62,-146.0,34.9,-10.6,49,314,0.00,2.33,0.00,0.000,6,0.000,0.056,2278,2779,3523,0,0,0,0,0,0
$GC,653,-0.62,-146.0,76.7,-11.0,110,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2779,3523,0,0,0,0,0,0
$GC,1001,-0.65,-146.0,111.5,-8.8,161,1005,0.00,2.25,0.00,0.000,4,0.000,0.046,2278,1369,3521,0,0,0,0,0,0
$GC,1031,-0.70,-146.0,114.3,-9.0,163,1036,0.00,2.35,0.00,0.000,6,0.000,0.057,2275,2789,3521,0,0,0,0,0,0
$GC,1363,-0.74,-146.0,141.2,-8.2,194,1365,0.12,0.00,0.00,0.000,6,0.097,0.000,2215,2790,3521,0,0,0,0,0,0
$GC,1681,-0.68,-146.0,179.2,-11.8,224,1686,0.15,2.28,0.00,0.000,4,0.159,0.046,2258,1377,3521,0,0,0,0,0,0
$GC,1710,-0.68,-146.0,182.3,-10.1,226,1714,0.00,2.35,0.00,0.000,6,0.000,0.058,2258,2808,3521,0,0,0,0,0,0
$GC,2036,-0.71,-146.0,211.6,-9.2,256,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2807,3521,0,0,0,0,0,0
$GC,2357,-0.75,-146.0,239.3,-8.6,286,2361,0.00,2.28,0.00,0.000,4,0.000,0.044,2258,1368,3521,0,0,0,0,0,0
$GC,2426,-0.80,-146.0,245.6,-9.1,292,2432,0.12,2.38,0.00,0.000,6,0.094,0.057,2197,2804,3521,0,0,0,0,0,0
$GC,2753,-0.72,-146.0,287.5,-13.4,322,2754,0.15,0.00,0.00,0.000,6,0.164,0.000,2239,2804,3521,0,0,0,0,0,0
$GC,3070,-0.72,-146.0,321.8,-10.1,352,3074,0.00,1.90,0.00,0.000,4,0.000,0.066,2235,3934,3521,0,0,0,0,0,0
$GC,3108,-0.72,-146.0,326.1,-11.1,355,3115,0.00,1.83,0.00,0.000,6,0.000,0.043,2235,2791,3521,0,0,0,0,0,0
$GC,3434,-0.72,-146.0,358.1,-9.9,386,3438,0.00,2.22,0.00,0.000,4,0.000,0.044,2235,1367,3522,0,0,0,0,0,0
$GC,3502,-0.74,-146.0,364.8,-9.6,391,3509,0.00,2.33,0.00,0.000,6,0.000,0.057,2235,2778,3522,0,0,0,0,0,0
$GC,3828,-0.74,-146.0,395.0,-9.0,422,3831,0.00,1.92,0.00,0.000,4,0.000,0.067,2235,3928,3523,0,0,0,0,0,0
$GC,3863,-0.74,-146.0,398.5,-9.5,425,3867,0.00,1.83,0.00,0.000,6,0.000,0.042,2235,2771,3523,0,0,0,0,0,0
$GC,4194,-0.74,-146.0,428.3,-9.0,437,4198,0.00,2.20,0.00,0.000,4,0.000,0.044,2234,1366,3523,0,0,0,0,0,0
$GC,4229,-0.74,-146.0,431.8,-9.1,438,4233,0.00,2.35,0.00,0.000,6,0.000,0.056,2235,2791,3523,0,0,0,0,0,0
$STATE,4561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4562,begin apogee
$GC,4569,-0.14,0.0,460.6,8.7,449,4698,0.57,0.00,120.05,0.837,4,0.120,0.000,2427,2598,2923,0,0,0,0,0,0
$STATE,4699,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4701,0.57,146.0,463.4,0.0,453,4833,0.65,2.30,121.62,0.824,4,0.058,0.044,2672,1188,2327,0,0,0,0,0,0
$GC,4981,0.57,146.0,436.6,11.6,461,4985,0.00,2.33,0.00,0.000,6,0.000,0.050,2671,2604,2321,0,0,0,0,0,0
$GC,5301,0.51,146.0,394.7,13.5,474,5306,0.12,2.25,0.00,0.000,4,0.182,0.046,2642,1192,2318,0,0,0,0,0,0
$GC,5504,0.55,146.7,372.9,10.0,491,5511,0.00,2.28,0.00,0.000,6,0.000,0.050,2642,2603,2318,0,0,0,0,0,0
$GC,5830,0.55,146.7,337.6,10.8,522,5833,0.00,2.20,0.00,0.000,4,0.000,0.062,2641,3929,2316,0,0,0,0,0,0
$GC,5888,0.49,146.7,330.7,12.8,527,5892,0.00,2.08,0.00,0.000,6,0.000,0.039,2646,2613,2316,0,0,0,0,0,0
$GC,6219,0.49,146.7,294.0,10.7,558,6223,0.00,2.20,0.00,0.000,4,0.000,0.063,2647,3927,2316,0,0,0,0,0,0
$GC,6242,0.45,146.7,291.3,12.3,560,6246,0.00,2.05,0.00,0.000,6,0.000,0.039,2650,2628,2315,0,0,0,0,0,0
$GC,6573,0.45,146.7,254.0,11.3,591,6578,0.00,2.28,0.00,0.000,4,0.000,0.047,2652,1187,2315,0,0,0,0,0,0
$GC,6607,0.48,146.7,250.0,11.1,593,6614,0.00,2.33,0.00,0.000,6,0.000,0.050,2652,2629,2316,0,0,0,0,0,0
$GC,6932,0.48,146.7,214.8,10.7,624,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2629,2315,0,0,0,0,0,0
$GC,7253,0.48,146.7,180.3,10.3,654,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2629,2316,0,0,0,0,0,0
$GC,7572,0.48,152.4,149.9,9.7,684,7585,0.00,2.17,4.93,0.524,4,0.000,0.061,2652,3930,2301,0,0,0,0,0,0
$GC,7609,0.44,152.4,145.6,11.3,687,7614,0.15,2.08,0.00,0.000,6,0.184,0.038,2616,2619,2301,0,0,0,0,0,0
$GC,7937,0.57,233.8,122.3,6.2,717,8014,0.12,2.33,68.43,0.623,4,0.093,0.047,2680,1192,1967,0,0,0,0,0,0
$GC,8075,0.63,233.8,108.3,10.5,729,8079,0.00,2.33,0.00,0.000,6,0.000,0.049,2680,2631,1963,0,0,0,0,0,0
$GC,8417,0.66,233.8,66.5,12.4,783,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2632,1958,0,0,0,0,0,0
$GC,8763,0.70,245.0,29.8,9.5,844,8777,0.00,2.22,8.85,0.552,4,0.000,0.062,2680,3934,1924,0,0,0,0,0,0
$GC,8812,0.70,245.0,24.5,11.6,852,8819,0.00,2.10,0.00,0.000,6,0.000,0.039,2680,2596,1921,0,0,0,0,0,0
$FREEZE,8.77,2.508,-1.821,0,1,0
$FREEZE,8.39,2.512,-1.820,0,1,0
$FREEZE,7.91,2.512,-1.820,0,1,0
$FREEZE,7.36,2.511,-1.820,0,1,0
$FREEZE,6.87,2.512,-1.819,0,1,0
$FREEZE,6.49,2.511,-1.819,0,1,0
$FREEZE,5.91,2.513,-1.819,0,1,0
$FREEZE,5.39,2.518,-1.818,0,1,0
$FREEZE,4.87,2.520,-1.818,0,1,0
$FREEZE,4.26,2.519,-1.817,0,1,0
$FREEZE,3.72,2.509,-1.817,0,1,0
$FREEZE,3.19,2.511,-1.816,0,1,0
$FREEZE,2.88,2.512,-1.816,0,1,0
$STATE,9034,end climb,SURFACE_DEPTH_REACHED
$STATE,9034,begin surface coast
$FREEZE,2.11,2.508,-1.816,0,1,0
$FREEZE,1.80,2.501,-1.816,0,1,0
$FREEZE,1.26,2.507,-1.815,0,1,0
$FREEZE,1.00,2.506,-1.801,0,1,0
$FREEZE,1.00,2.476,-1.816,0,1,0
$FREEZE,0.99,2.509,-1.812,0,1,0
$FINISH,1.0,1.026375
$STATE,9070,end surface coast,CONTROL_FINISHED_OK
$STATE,9070,begin surface
$SM_CCo,9087,216.02,0.078,0,0,440,609.08
$SM_GC,1.75,0.00,0.00,216.02,0.000,0.000,0.078,292,2786,440,-6.81,0.20,609.08
$RAFOS_CLK,360
$RAFOS,6,1294793347,0.833333,0.818611,68,48,46,45,44,43,728,715,1154,994,1572,469
$RAFOS_FIX,6718.090820,-5723.961426,120111,000022,3,97,0.00
$IRIDIUM_FIX,6647.44,-5707.88,120111,010143
$TT8_MAMPS,0.028462
$HUMID,45.27
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,22.9,84.333
$10V_AH,9.8,57.891
$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,16.750,71.200,323.875,216.025,0.000,50.792,118.268,138.330,1.250,0.000,16.027,2211.107,4886.682,639.914,1814.795,301.847,0.000,1466.606,0.000,1503.454,0.000,9.707,0.000
$DEVICE_MAMPS,235.620,66.555,836.910,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,30072,898
$CAP_FILE_SIZE,107153,0
$CFSIZE,260165632,201003008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.4
$GPS,120111,034630,6716.299,-5717.192,37,1.1,38,-38.0