version: 66.08
glider: 183
mission: 3
dive: 744
start: 1 12 111 3 57 58
data:
$ID,183
$MISSION,3
$DIVE,744
$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,-11426.889
$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,31
$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
$GPS1,120111,034630,6716.299,-5717.192,37,1.1,38,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.1
$GPS2,120111,035725,6716.367,-5717.244,11,1.7,29,-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,177.5,32540,-17.5,-10.000
$D_GRID,442
$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,-137.10,0.000,2,0.000,0.000,275,2787,3477,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.3,-10.3,24,176,8.30,2.33,-0.88,0.000,4,0.235,0.056,2282,1365,3521,0,0,0,0,0,0
$GC,363,-0.61,-146.0,40.6,-10.1,59,370,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2775,3522,0,0,0,0,0,0
$GC,709,-0.61,-146.0,76.9,-8.9,120,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2774,3522,0,0,0,0,0,0
$GC,1058,-0.64,-146.0,107.3,-7.8,174,1062,0.00,1.92,0.00,0.000,4,0.000,0.068,2275,3928,3521,0,0,0,0,0,0
$GC,1094,-0.68,-146.0,110.4,-8.9,177,1098,0.00,1.88,0.00,0.000,6,0.000,0.044,2275,2760,3521,0,0,0,0,0,0
$GC,1425,-0.72,-146.0,136.9,-8.3,208,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2760,3521,0,0,0,0,0,0
$GC,1744,-0.77,-146.0,163.2,-8.6,238,1749,0.15,2.20,0.00,0.000,4,0.086,0.046,2201,1369,3521,0,0,0,0,0,0
$GC,1818,-0.71,-146.0,172.1,-12.4,244,1823,0.17,2.28,0.00,0.000,6,0.153,0.056,2239,2748,3521,0,0,0,0,0,0
$GC,2144,-0.71,-146.0,205.6,-9.6,274,2147,0.00,2.00,0.00,0.000,4,0.000,0.067,2232,3935,3521,0,0,0,0,0,0
$GC,2182,-0.71,-146.0,209.8,-10.2,277,2189,0.00,1.90,0.00,0.000,6,0.000,0.042,2232,2750,3521,0,0,0,0,0,0
$GC,2509,-0.71,-146.0,241.6,-9.4,308,2512,0.00,2.15,0.00,0.000,4,0.000,0.044,2232,1371,3521,0,0,0,0,0,0
$GC,2570,-0.71,-146.0,247.7,-9.4,313,2577,0.00,2.25,0.00,0.000,6,0.000,0.057,2230,2735,3521,0,0,0,0,0,0
$GC,2896,-0.71,-146.0,278.0,-9.1,344,2900,0.00,2.15,0.00,0.000,4,0.000,0.044,2231,1365,3522,0,0,0,0,0,0
$GC,2947,-0.71,-146.0,282.7,-9.1,348,2951,0.00,2.22,0.00,0.000,6,0.000,0.055,2230,2716,3522,0,0,0,0,0,0
$GC,3273,-0.71,-146.0,311.7,-9.0,378,3277,0.00,2.03,0.00,0.000,4,0.000,0.065,2223,3926,3523,0,0,0,0,0,0
$GC,3368,-0.71,-146.0,320.9,-9.6,386,3375,0.00,1.95,0.00,0.000,6,0.000,0.042,2223,2706,3523,0,0,0,0,0,0
$GC,3695,-0.69,-146.0,351.5,-9.6,417,3699,0.10,2.10,0.00,0.000,4,0.181,0.067,2242,3929,3523,0,0,0,0,0,0
$GC,3767,-0.72,-146.0,358.2,-8.6,423,3774,0.00,1.92,0.00,0.000,6,0.000,0.042,2242,2725,3523,0,0,0,0,0,0
$GC,4093,-0.72,-146.0,384.7,-7.9,454,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2725,3524,0,0,0,0,0,0
$GC,4431,-0.74,-146.0,413.9,-8.9,476,4434,0.00,2.05,0.00,0.000,4,0.000,0.066,2235,3933,3524,0,0,0,0,0,0
$GC,4492,-0.74,-146.0,420.1,-9.2,477,4499,0.00,1.92,0.00,0.000,6,0.000,0.043,2235,2728,3524,0,0,0,0,0,0
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4772,begin apogee
$GC,4779,-0.14,0.0,444.1,8.6,487,4907,0.57,0.00,120.20,0.826,4,0.118,0.000,2428,2602,2923,0,0,0,0,0,0
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4911,0.57,146.0,447.6,0.0,491,5042,0.65,2.33,121.40,0.814,4,0.060,0.044,2671,1181,2327,0,0,0,0,0,0
$GC,5250,0.57,146.0,415.4,10.9,501,5254,0.00,2.33,0.00,0.000,6,0.000,0.050,2671,2609,2320,0,0,0,0,0,0
$GC,5581,0.51,146.0,374.5,12.8,523,5585,0.00,2.22,0.00,0.000,4,0.000,0.045,2676,1189,2317,0,0,0,0,0,0
$GC,5840,0.49,146.0,342.2,12.8,545,5847,0.15,2.28,0.00,0.000,6,0.169,0.050,2637,2597,2317,0,0,0,0,0,0
$GC,6165,0.49,146.0,308.3,10.4,576,6169,0.00,2.17,0.00,0.000,4,0.000,0.061,2637,3925,2316,0,0,0,0,0,0
$GC,6200,0.46,146.0,304.3,12.2,578,6206,0.00,2.12,0.00,0.000,6,0.000,0.039,2639,2584,2315,0,0,0,0,0,0
$GC,6525,0.46,146.0,270.7,10.1,609,6529,0.00,2.25,0.00,0.000,4,0.000,0.061,2639,3930,2316,0,0,0,0,0,0
$GC,6554,0.42,146.0,267.2,13.0,611,6558,0.00,2.10,0.00,0.000,6,0.000,0.038,2641,2601,2315,0,0,0,0,0,0
$GC,6885,0.42,146.0,231.1,10.7,642,6889,0.00,2.22,0.00,0.000,4,0.000,0.046,2642,1186,2315,0,0,0,0,0,0
$GC,6927,0.48,160.7,227.1,9.3,645,6943,0.00,2.25,11.90,0.659,6,0.000,0.049,2642,2602,2267,0,0,0,0,0,0
$GC,7263,0.49,170.7,193.6,9.5,676,7279,0.00,2.25,9.57,0.631,4,0.000,0.061,2642,3929,2227,0,0,0,0,0,0
$GC,7286,0.49,170.7,191.2,10.8,678,7290,0.00,2.10,0.00,0.000,6,0.000,0.039,2646,2603,2226,0,0,0,0,0,0
$GC,7617,0.51,170.7,157.2,10.5,709,7621,0.00,2.20,0.00,0.000,4,0.000,0.061,2646,3932,2226,0,0,0,0,0,0
$GC,7635,0.51,170.7,155.2,10.5,710,7639,0.00,2.08,0.00,0.000,6,0.000,0.038,2649,2616,2225,0,0,0,0,0,0
$GC,7967,0.51,170.7,120.1,10.2,741,7971,0.00,2.22,0.00,0.000,4,0.000,0.045,2652,1200,2225,0,0,0,0,0,0
$GC,8030,0.57,170.7,113.5,10.4,746,8034,0.00,2.25,0.00,0.000,6,0.000,0.049,2652,2597,2225,0,0,0,0,0,0
$GC,8368,0.61,183.6,80.5,9.4,794,8387,0.00,2.20,12.35,0.594,4,0.000,0.060,2652,3926,2173,0,0,0,0,0,0
$GC,8441,0.61,183.6,73.3,10.8,806,8447,0.00,2.08,0.00,0.000,6,0.000,0.039,2653,2611,2171,0,0,0,0,0,0
$GC,8788,0.68,209.8,42.7,8.8,867,8818,0.12,0.00,22.65,0.584,6,0.103,0.000,2707,2611,2066,0,0,0,0,0,0
$FREEZE,8.49,2.288,-1.818,0,1,0
$FREEZE,7.95,2.286,-1.818,0,1,0
$FREEZE,7.34,2.285,-1.818,0,1,0
$FREEZE,6.63,2.285,-1.817,0,1,0
$FREEZE,6.01,2.283,-1.817,0,1,0
$FREEZE,5.37,2.283,-1.816,0,1,0
$FREEZE,4.69,2.283,-1.816,0,1,0
$FREEZE,4.16,2.283,-1.815,0,1,0
$FREEZE,3.73,2.283,-1.815,0,1,0
$FREEZE,3.29,2.283,-1.814,0,1,0
$FREEZE,2.81,2.281,-1.814,0,1,0
$STATE,9136,end climb,SURFACE_DEPTH_REACHED
$STATE,9136,begin surface coast
$FREEZE,2.28,2.282,-1.814,0,1,0
$FREEZE,1.65,2.281,-1.813,0,1,0
$FREEZE,1.04,2.281,-1.813,0,1,0
$FREEZE,1.02,2.376,-0.244,0,1,0
$FREEZE,0.92,2.123,-1.494,0,1,0
$FREEZE,1.00,2.274,-0.889,0,1,0
$FINISH,1.0,1.013101
$STATE,9168,end surface coast,CONTROL_FINISHED_OK
$STATE,9168,begin surface
$SM_CCo,9185,234.62,0.079,0,0,440,609.08
$SM_GC,1.72,0.00,0.00,234.62,0.000,0.000,0.079,284,2782,440,-6.84,0.06,609.08
$RAFOS_CLK,372
$RAFOS,6,1294807747,4.833333,4.818611,72,48,47,38,38,38,739,416,1443,1131,1616,1837
$RAFOS,5,1294807263,4.700000,4.684166,131,43,43,43,41,40,672,1839,44,1145,1181,665
$RAFOS,4,1294806787,4.566667,4.551944,56,49,47,43,43,41,845,324,856,732,1569,303
$RAFOS,3,1294806302,4.433333,4.417222,49,45,44,40,40,39,708,1097,1037,153,1040,25
$RAFOS,2,1294805824,4.300000,4.284444,45,44,43,42,41,39,1303,293,144,598,1941,253
$RAFOS,1,1294805345,4.166667,4.151389,46,45,41,40,39,39,154,430,1215,1270,194,1507
$RAFOS,0,1294804864,4.033333,4.017778,48,48,44,42,42,41,580,1217,1462,276,1736,26
$RAFOS_FIX,6717.770996,-5724.096680,120111,040400,2,102,1.83
$IRIDIUM_FIX,6641.98,-5732.58,120111,030345
$TT8_MAMPS,0.028462
$HUMID,45.23
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,22.9,84.426
$10V_AH,9.8,57.956
$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,16.500,77.675,298.075,234.625,0.000,60.081,64.865,259.236,1.000,0.000,31.930,2298.957,4809.250,646.748,2018.862,320.086,0.000,1509.955,0.000,1595.448,2520.000,7.941,0.000
$DEVICE_MAMPS,234.855,69.615,826.200,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,33390,935
$CAP_FILE_SIZE,115082,0
$CFSIZE,260165632,200937472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.6
$GPS,120111,063636,6716.686,-5716.820,37,1.0,38,-38.0