version: 66.08
glider: 183
mission: 3
dive: 745
start: 1 12 111 6 43 21
data:
$ID,183
$MISSION,3
$DIVE,745
$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,-11428.143
$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,29
$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
$GPS1,120111,063636,6716.686,-5716.820,37,1.0,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-57.7
$GPS2,120111,064250,6716.704,-5716.878,12,1.5,12,-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,178.6,32849,-17.5,-10.000
$D_GRID,398
$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,-135.40,0.000,6,0.000,0.000,269,2784,3520,0,0,0,0,0,0
$GC,161,-0.57,-146.0,6.0,-11.8,24,175,8.25,2.30,0.00,0.000,4,0.233,0.042,2283,1373,3522,0,0,0,0,0,0
$GC,401,-0.61,-146.0,45.6,-10.6,66,408,0.00,2.33,0.00,0.000,6,0.000,0.057,2282,2779,3523,0,0,0,0,0,0
$GC,749,-0.66,-146.0,81.2,-10.0,127,756,0.00,2.22,0.00,0.000,4,0.000,0.045,2282,1370,3522,0,0,0,0,0,0
$GC,794,-0.72,-146.0,85.6,-9.5,134,801,0.10,2.30,0.00,0.000,6,0.105,0.057,2227,2763,3522,0,0,0,0,0,0
$GC,1134,-0.67,-146.0,129.2,-12.8,175,1138,0.10,2.00,0.00,0.000,4,0.176,0.067,2247,3937,3521,0,0,0,0,0,0
$GC,1171,-0.67,-146.0,134.1,-11.7,178,1178,0.00,1.90,0.00,0.000,6,0.000,0.042,2248,2750,3521,0,0,0,0,0,0
$GC,1497,-0.67,-146.0,169.7,-10.3,209,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2750,3520,0,0,0,0,0,0
$GC,1819,-0.67,-146.0,201.1,-8.9,239,1823,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1366,3521,0,0,0,0,0,0
$GC,1846,-0.67,-146.0,204.1,-9.7,241,1853,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2761,3521,0,0,0,0,0,0
$GC,2172,-0.67,-146.0,234.0,-9.4,272,2176,0.00,1.98,0.00,0.000,4,0.000,0.067,2245,3934,3521,0,0,0,0,0,0
$GC,2196,-0.67,-146.0,236.4,-9.7,274,2200,0.00,1.90,0.00,0.000,6,0.000,0.043,2244,2748,3521,0,0,0,0,0,0
$GC,2527,-0.67,-146.0,267.4,-9.6,305,2531,0.00,2.17,0.00,0.000,4,0.000,0.044,2244,1365,3521,0,0,0,0,0,0
$GC,2574,-0.70,-146.0,271.9,-9.6,309,2578,0.00,2.28,0.00,0.000,6,0.000,0.055,2243,2748,3521,0,0,0,0,0,0
$GC,2900,-0.70,-146.0,302.5,-9.3,339,2904,0.00,1.98,0.00,0.000,4,0.000,0.065,2235,3936,3521,0,0,0,0,0,0
$GC,2946,-0.70,-146.0,307.2,-10.3,343,2950,0.00,1.90,0.00,0.000,6,0.000,0.041,2235,2746,3522,0,0,0,0,0,0
$GC,3278,-0.70,-146.0,339.9,-9.9,374,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2746,3522,0,0,0,0,0,0
$GC,3598,-0.70,-146.0,371.6,-10.1,404,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2746,3523,0,0,0,0,0,0
$STATE,3880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3880,begin apogee
$GC,3887,-0.14,0.0,398.9,9.6,431,4015,0.57,0.00,119.18,0.798,4,0.121,0.000,2426,2591,2922,0,0,0,0,0,0
$STATE,4016,end apogee,CONTROL_FINISHED_OK
$STATE,4016,begin climb
$GC,4020,0.57,146.0,402.8,0.0,436,4149,0.65,2.28,120.47,0.787,4,0.064,0.044,2666,1188,2327,0,0,0,0,0,0
$GC,4341,0.57,146.0,373.3,12.6,459,4345,0.00,2.30,0.00,0.000,6,0.000,0.050,2667,2603,2320,0,0,0,0,0,0
$GC,4670,0.52,146.0,333.1,11.9,489,4674,0.00,2.22,0.00,0.000,4,0.000,0.045,2668,1188,2318,0,0,0,0,0,0
$GC,4895,0.52,146.0,307.8,10.6,508,4902,0.00,2.30,0.00,0.000,6,0.000,0.050,2668,2613,2319,0,0,0,0,0,0
$GC,5223,0.48,146.0,270.3,11.2,539,5227,0.12,2.15,0.00,0.000,4,0.186,0.060,2635,3926,2317,0,0,0,0,0,0
$GC,5285,0.45,146.0,263.0,11.8,544,5289,0.00,2.08,0.00,0.000,6,0.000,0.039,2639,2613,2316,0,0,0,0,0,0
$GC,5611,0.46,158.9,230.9,9.4,574,5628,0.00,2.30,10.40,0.655,4,0.000,0.046,2640,1191,2275,0,0,0,0,0,0
$GC,5658,0.52,165.6,226.6,9.7,578,5671,0.00,2.30,7.25,0.610,6,0.000,0.050,2640,2621,2248,0,0,0,0,0,0
$GC,5990,0.55,178.1,193.7,9.4,609,6012,0.00,2.22,12.48,0.648,4,0.000,0.061,2639,3926,2193,0,0,0,0,0,0
$GC,6018,0.55,178.1,190.6,10.8,611,6024,0.00,2.08,0.00,0.000,6,0.000,0.038,2642,2615,2192,0,0,0,0,0,0
$GC,6343,0.58,178.1,157.8,10.2,642,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2615,2191,0,0,0,0,0,0
$GC,6663,0.65,218.2,130.7,8.2,672,6702,0.12,0.00,33.58,0.633,6,0.100,0.000,2698,2615,2032,0,0,0,0,0,0
$GC,7027,0.65,218.2,83.8,12.4,717,7034,0.00,2.20,0.00,0.000,4,0.000,0.061,2698,3932,2026,0,0,0,0,0,0
$GC,7046,0.62,218.2,81.4,12.7,720,7053,0.00,2.05,0.00,0.000,6,0.000,0.038,2705,2631,2026,0,0,0,0,0,0
$GC,7393,0.60,218.2,37.4,13.1,781,7400,0.12,2.28,0.00,0.000,4,0.180,0.047,2671,1190,2025,0,0,0,0,0,0
$GC,7470,0.70,225.9,30.0,9.6,794,7483,0.00,2.28,7.10,0.535,6,0.000,0.050,2671,2600,2001,0,0,0,0,0,0
$FREEZE,8.79,2.204,-1.818,0,1,0
$FREEZE,8.18,2.206,-1.817,0,1,0
$FREEZE,7.68,2.206,-1.817,0,1,0
$FREEZE,7.05,2.205,-1.817,0,1,0
$FREEZE,6.60,2.203,-1.816,0,1,0
$FREEZE,6.10,2.201,-1.816,0,1,0
$FREEZE,5.55,2.200,-1.815,0,1,0
$FREEZE,5.03,2.200,-1.815,0,1,0
$FREEZE,4.62,2.200,-1.815,0,1,0
$FREEZE,4.10,2.196,-1.814,0,1,0
$FREEZE,3.79,2.197,-1.814,0,1,0
$FREEZE,3.42,2.197,-1.814,0,1,0
$FREEZE,3.13,2.195,-1.814,0,1,0
$FREEZE,2.59,2.191,-1.813,0,1,0
$STATE,7755,end climb,SURFACE_DEPTH_REACHED
$STATE,7755,begin surface coast
$FREEZE,2.33,2.191,-1.813,0,1,0
$FREEZE,1.91,2.200,-1.813,0,1,0
$FREEZE,1.40,2.195,-1.812,0,1,0
$FREEZE,0.98,2.189,-1.812,0,1,0
$FREEZE,0.94,2.112,-0.549,0,1,0
$FREEZE,0.99,2.136,-0.531,0,1,0
$FREEZE,0.91,2.246,-1.658,0,1,0
$FREEZE,1.12,2.195,-1.812,0,1,0
$FINISH,1.1,1.026397
$STATE,7800,end surface coast,CONTROL_FINISHED_OK
$STATE,7800,begin surface
$SM_CCo,7818,227.38,0.079,0,0,440,609.08
$SM_GC,1.68,0.00,0.00,227.38,0.000,0.000,0.079,272,2794,440,-6.87,0.40,609.08
$RAFOS_CLK,318
$RAFOS,5,1294821664,8.700000,8.684444,71,43,42,41,41,40,663,1035,1447,646,936,1824
$RAFOS,4,1294821186,8.566667,8.551666,47,43,43,42,41,40,803,752,794,183,26,1000
$RAFOS,3,1294820708,8.433333,8.418889,50,44,43,43,41,38,321,1436,1515,998,1756,322
$RAFOS,2,1294820222,8.300000,8.283889,54,50,44,43,42,41,673,1496,1186,999,828,1436
$RAFOS,1,1294819745,8.166667,8.151389,46,42,39,39,39,38,1613,202,184,531,1039,1868
$RAFOS,0,1294819265,8.033334,8.018056,43,43,42,42,41,41,1923,1318,923,302,1581,1354
$RAFOS_FIX,6717.770996,-5724.096680,120111,040400,2,102,1.83
$IRIDIUM_FIX,6647.44,-5712.55,120111,030333
$TT8_MAMPS,0.029211
$HUMID,45.11
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.7
$24V_AH,23.0,84.509
$10V_AH,9.8,58.012
$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,16.225,61.275,310.450,227.375,0.000,25.060,40.162,147.199,0.750,0.000,14.625,2055.937,3856.323,645.812,1591.609,276.280,0.000,1398.851,0.000,1381.801,2520.000,8.017,0.000
$DEVICE_MAMPS,233.325,70.380,797.895,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,30065,853
$CAP_FILE_SIZE,97100,0
$CFSIZE,260165632,200900608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.4
$GPS,120111,085852,6716.682,-5717.064,12,99.0,32,-38.0