version: 66.08
glider: 183
mission: 3
dive: 747
start: 1 12 111 11 29 59
data:
$ID,183
$MISSION,3
$DIVE,747
$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,-11430.658
$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
$GPS1,120111,112337,6716.258,-5717.381,32,1.2,33,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-64.0
$GPS2,120111,112928,6716.257,-5717.495,10,2.2,29,-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,177.1,32503,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,163,0.00,0.00,-137.43,0.000,6,0.000,0.000,269,2790,3520,0,0,0,0,0,0
$GC,166,-0.57,-146.0,6.6,-14.3,25,180,8.32,1.92,0.00,0.000,4,0.234,0.054,2279,3930,3522,0,0,0,0,0,0
$GC,435,-0.60,-146.0,51.6,-10.1,72,442,0.00,1.85,0.00,0.000,6,0.000,0.045,2279,2780,3523,0,0,0,0,0,0
$GC,782,-0.63,-146.0,84.7,-8.8,133,789,0.00,2.25,0.00,0.000,4,0.000,0.047,2278,1365,3522,0,0,0,0,0,0
$GC,821,-0.67,-146.0,88.2,-8.7,139,828,0.00,2.35,0.00,0.000,6,0.000,0.058,2275,2785,3522,0,0,0,0,0,0
$GC,1157,-0.70,-146.0,120.1,-9.8,181,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2785,3521,0,0,0,0,0,0
$GC,1476,-0.75,-146.0,151.8,-9.5,211,1483,0.12,0.00,0.00,0.000,6,0.096,0.000,2214,2785,3521,0,0,0,0,0,0
$GC,1802,-0.68,-146.0,194.1,-12.8,242,1807,0.15,2.25,0.00,0.000,4,0.161,0.045,2257,1373,3521,0,0,0,0,0,0
$GC,1877,-0.72,-146.0,201.3,-9.2,248,1881,0.00,2.33,0.00,0.000,6,0.000,0.057,2250,2782,3521,0,0,0,0,0,0
$GC,2202,-0.72,-146.0,231.5,-9.5,278,2206,0.00,2.25,0.00,0.000,4,0.000,0.044,2250,1369,3521,0,0,0,0,0,0
$GC,2255,-0.76,-146.0,236.6,-9.8,282,2259,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2762,3521,0,0,0,0,0,0
$GC,2581,-0.76,-146.0,265.6,-8.9,312,2585,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3935,3522,0,0,0,0,0,0
$GC,2684,-0.78,-146.0,275.0,-9.1,321,2688,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2761,3521,0,0,0,0,0,0
$GC,3016,-0.78,-146.0,305.7,-9.9,352,3019,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1373,3522,0,0,0,0,0,0
$GC,3066,-0.82,-146.0,310.9,-9.9,356,3073,0.10,2.28,0.00,0.000,6,0.104,0.056,2193,2754,3522,0,0,0,0,0,0
$GC,3392,-0.74,-146.0,354.6,-13.8,387,3396,0.15,2.00,0.00,0.000,4,0.165,0.066,2227,3931,3522,0,0,0,0,0,0
$GC,3448,-0.74,-146.0,362.0,-12.6,391,3454,0.00,1.88,0.00,0.000,6,0.000,0.042,2227,2753,3522,0,0,0,0,0,0
$GC,3773,-0.74,-146.0,398.9,-11.0,422,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2753,3523,0,0,0,0,0,0
$GC,4091,-0.74,-146.0,431.8,-10.1,433,4095,0.00,2.17,0.00,0.000,4,0.000,0.044,2227,1365,3523,0,0,0,0,0,0
$GC,4135,-0.74,-146.0,436.4,-9.5,434,4139,0.00,2.28,0.00,0.000,6,0.000,0.055,2222,2758,3523,0,0,0,0,0,0
$STATE,4217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4217,begin apogee
$GC,4223,-0.14,0.0,444.9,10.4,437,4352,0.62,0.00,119.62,0.826,4,0.123,0.000,2428,2595,2923,0,0,0,0,0,0
$STATE,4353,end apogee,CONTROL_FINISHED_OK
$STATE,4353,begin climb
$GC,4355,0.57,146.0,447.7,0.0,441,4486,0.65,2.30,121.20,0.813,4,0.060,0.044,2670,1188,2327,0,0,0,0,0,0
$GC,4617,0.57,146.0,424.3,11.2,449,4621,0.00,2.30,0.00,0.000,6,0.000,0.050,2671,2604,2321,0,0,0,0,0,0
$GC,4946,0.52,146.0,382.4,13.4,467,4950,0.00,2.22,0.00,0.000,4,0.000,0.045,2676,1189,2318,0,0,0,0,0,0
$GC,5188,0.50,146.0,351.7,12.7,488,5193,0.15,2.28,0.00,0.000,6,0.166,0.050,2635,2602,2317,0,0,0,0,0,0
$GC,5514,0.50,146.0,315.6,11.1,518,5518,0.00,2.17,0.00,0.000,4,0.000,0.062,2635,3928,2317,0,0,0,0,0,0
$GC,5569,0.46,146.0,308.5,13.1,522,5576,0.00,2.10,0.00,0.000,6,0.000,0.038,2638,2598,2316,0,0,0,0,0,0
$GC,5895,0.46,146.0,271.9,11.2,553,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2597,2316,0,0,0,0,0,0
$GC,6218,0.47,156.9,237.9,9.5,583,6233,0.00,2.28,8.68,0.643,4,0.000,0.062,2638,3922,2283,0,0,0,0,0,0
$GC,6290,0.44,156.9,229.3,11.2,589,6297,0.00,2.10,0.00,0.000,6,0.000,0.038,2641,2597,2281,0,0,0,0,0,0
$GC,6616,0.45,171.1,197.7,9.3,620,6639,0.00,2.28,13.43,0.654,4,0.000,0.046,2641,1199,2225,0,0,0,0,0,0
$GC,6700,0.55,217.5,190.4,7.9,627,6750,0.00,2.25,39.67,0.662,6,0.000,0.049,2641,2596,2035,0,0,0,0,0,0
$GC,7069,0.60,217.5,157.2,10.0,662,7073,0.00,2.17,0.00,0.000,4,0.000,0.061,2641,3925,2028,0,0,0,0,0,0
$GC,7110,0.63,217.5,152.8,11.4,665,7114,0.10,2.10,0.00,0.000,6,0.115,0.039,2685,2599,2027,0,0,0,0,0,0
$GC,7435,0.63,217.5,112.1,12.4,695,7439,0.00,2.22,0.00,0.000,4,0.000,0.046,2686,1194,2027,0,0,0,0,0,0
$GC,7513,0.67,217.5,102.6,11.4,701,7520,0.00,2.22,0.00,0.000,6,0.000,0.050,2686,2588,2026,0,0,0,0,0,0
$GC,7856,0.67,217.5,64.2,10.3,760,7863,0.00,2.20,0.00,0.000,4,0.000,0.060,2686,3930,2025,0,0,0,0,0,0
$GC,7893,0.67,217.5,60.0,12.1,766,7900,0.00,2.12,0.00,0.000,6,0.000,0.039,2690,2590,2025,0,0,0,0,0,0
$GC,8240,0.70,224.0,23.5,9.7,827,8253,0.00,2.22,5.53,0.506,4,0.000,0.047,2693,1188,2009,0,0,0,0,0,0
$GC,8336,0.78,239.8,14.7,9.3,843,8360,0.00,2.28,14.90,0.568,6,0.000,0.050,2693,2597,1944,0,0,0,0,0,0
$FREEZE,8.81,1.966,-1.811,0,1,0
$FREEZE,8.15,1.964,-1.811,0,1,0
$FREEZE,7.64,1.964,-1.810,0,1,0
$FREEZE,7.13,1.964,-1.810,0,1,0
$FREEZE,6.63,1.959,-1.809,0,1,0
$FREEZE,6.19,1.960,-1.809,0,1,0
$FREEZE,5.77,1.960,-1.809,0,1,0
$FREEZE,5.15,1.961,-1.808,0,1,0
$FREEZE,4.62,1.959,-1.808,0,1,0
$FREEZE,3.81,1.963,-1.807,0,1,0
$FREEZE,3.16,1.963,-1.807,0,1,0
$FREEZE,2.63,1.961,-1.806,0,1,0
$STATE,8447,end climb,SURFACE_DEPTH_REACHED
$STATE,8447,begin surface coast
$FREEZE,1.94,1.959,-1.806,0,1,0
$FREEZE,1.47,1.958,-1.806,0,1,0
$FREEZE,0.99,1.954,-1.805,0,1,0
$FREEZE,1.02,1.980,-1.804,0,1,0
$FREEZE,0.94,1.981,-1.731,0,1,0
$FINISH,0.9,1.025278
$STATE,8474,end surface coast,CONTROL_FINISHED_OK
$STATE,8474,begin surface
$SM_CCo,8491,222.57,0.078,0,0,440,609.08
$SM_GC,1.70,0.00,0.00,222.57,0.000,0.000,0.078,293,2787,440,-6.80,0.20,609.08
$RAFOS_CLK,346
$RAFOS,6,1294836559,12.833333,12.821944,67,44,43,39,38,38,662,1547,1612,902,1279,1778
$RAFOS,5,1294836062,12.700000,12.683888,52,49,45,43,41,41,668,1057,1490,1854,329,705
$RAFOS,4,1294835581,12.566667,12.550278,54,50,48,47,44,43,876,1595,261,450,26,968
$RAFOS,3,1294835103,12.433333,12.417500,73,43,42,41,40,38,1020,1783,322,1154,1838,8
$RAFOS,2,1294834631,12.300000,12.286389,50,45,44,42,40,39,842,145,1516,778,1458,1667
$RAFOS,1,1294834143,12.166667,12.150833,48,48,47,46,46,41,163,1864,801,1803,627,1344
$RAFOS,0,1294833662,12.033333,12.017222,49,48,48,43,41,41,1899,1219,145,825,26,1156
$RAFOS_FIX,6718.797363,-5726.126465,120111,121228,2,70,1.85
$IRIDIUM_FIX,6647.44,-5726.60,120111,090904
$TT8_MAMPS,0.029211
$HUMID,45.15
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.9
$24V_AH,22.9,84.687
$10V_AH,9.8,58.127
$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,16.625,74.500,323.025,222.575,0.000,30.273,21.893,128.357,1.000,0.000,33.274,2116.766,4326.300,663.868,1687.366,286.651,0.000,1487.017,0.000,1484.839,2520.000,7.939,0.000
$DEVICE_MAMPS,234.090,70.380,826.200,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151668
$DATA_FILE_SIZE,30063,868
$CAP_FILE_SIZE,106694,0
$CFSIZE,260165632,200781824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.1
$GPS,120111,135656,6715.659,-5717.401,22,2.1,42,-37.9