version: 66.08
glider: 183
mission: 3
dive: 748
start: 1 12 111 14 3 33
data:
$ID,183
$MISSION,3
$DIVE,748
$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,-11431.913
$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
$GPS1,120111,135656,6715.659,-5717.401,22,2.1,42,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-56.9
$GPS2,120111,140302,6715.673,-5717.530,11,1.9,11,-37.9
$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,175.6,31712,-17.5,-10.000
$D_GRID,470
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-136.20,0.000,2,0.000,0.000,281,2787,3499,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.7,-11.5,24,176,8.30,1.95,-0.43,0.000,4,0.236,0.072,2276,3935,3522,0,0,0,0,0,0
$GC,432,-0.57,-146.0,51.9,-11.3,71,438,0.00,1.88,0.00,0.000,6,0.000,0.045,2276,2774,3524,0,0,0,0,0,0
$GC,778,-0.59,-146.0,87.7,-9.7,132,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2774,3522,0,0,0,0,0,0
$GC,1117,-0.62,-146.0,122.2,-11.0,174,1121,0.00,2.22,0.00,0.000,4,0.000,0.047,2276,1362,3522,0,0,0,0,0,0
$GC,1168,-0.67,-146.0,127.5,-10.4,178,1175,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2768,3521,0,0,0,0,0,0
$GC,1495,-0.72,-146.0,158.3,-9.5,209,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2768,3521,0,0,0,0,0,0
$GC,1816,-0.77,-146.0,184.7,-7.6,239,1821,0.12,1.98,0.00,0.000,4,0.096,0.068,2207,3927,3521,0,0,0,0,0,0
$GC,1840,-0.77,-146.0,187.4,-9.7,241,1844,0.00,1.88,0.00,0.000,6,0.000,0.044,2207,2757,3521,0,0,0,0,0,0
$GC,2172,-0.69,-146.0,227.5,-11.9,272,2176,0.15,2.20,0.00,0.000,4,0.166,0.044,2248,1366,3521,0,0,0,0,0,0
$GC,2216,-0.73,-146.0,232.2,-8.8,275,2223,0.00,2.28,0.00,0.000,6,0.000,0.057,2248,2744,3521,0,0,0,0,0,0
$GC,2542,-0.73,-146.0,261.9,-9.0,306,2546,0.00,2.00,0.00,0.000,4,0.000,0.067,2239,3933,3522,0,0,0,0,0,0
$GC,2589,-0.73,-146.0,266.5,-9.6,310,2592,0.00,1.88,0.00,0.000,6,0.000,0.043,2239,2760,3522,0,0,0,0,0,0
$GC,2920,-0.73,-146.0,298.8,-10.4,341,2924,0.00,2.20,0.00,0.000,4,0.000,0.044,2239,1363,3522,0,0,0,0,0,0
$GC,2964,-0.75,-146.0,303.6,-10.2,344,2971,0.00,2.30,0.00,0.000,6,0.000,0.055,2235,2759,3522,0,0,0,0,0,0
$GC,3289,-0.75,-146.0,337.6,-10.1,375,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2759,3522,0,0,0,0,0,0
$GC,3612,-0.75,-146.0,369.0,-9.7,405,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2759,3523,0,0,0,0,0,0
$GC,3941,-0.75,-146.0,397.6,-8.0,436,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2759,3524,0,0,0,0,0,0
$GC,4276,-0.75,-146.0,425.6,-8.5,449,4280,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1370,3524,0,0,0,0,0,0
$GC,4315,-0.75,-146.0,429.3,-8.9,450,4319,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2753,3524,0,0,0,0,0,0
$GC,4640,-0.75,-146.0,458.9,-9.2,461,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2753,3524,0,0,0,0,0,0
$STATE,4789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4789,begin apogee
$GC,4796,-0.14,0.0,471.8,8.4,466,4924,0.57,0.00,120.45,0.843,4,0.122,0.000,2426,2603,2923,0,0,0,0,0,0
$STATE,4925,end apogee,CONTROL_FINISHED_OK
$STATE,4925,begin climb
$GC,4928,0.57,146.0,474.4,0.0,470,5059,0.65,2.33,121.90,0.832,4,0.060,0.044,2668,1182,2327,0,0,0,0,0,0
$GC,5227,0.57,146.0,445.9,11.3,479,5231,0.00,2.33,0.00,0.000,6,0.000,0.050,2669,2604,2321,0,0,0,0,0,0
$GC,5551,0.52,146.0,406.2,12.2,490,5555,0.00,2.25,0.00,0.000,4,0.000,0.045,2673,1184,2318,0,0,0,0,0,0
$GC,5794,0.52,146.0,377.9,11.3,508,5799,0.00,2.30,0.00,0.000,6,0.000,0.050,2673,2611,2318,0,0,0,0,0,0
$GC,6126,0.46,146.0,336.4,12.4,539,6131,0.17,2.17,0.00,0.000,4,0.173,0.061,2624,3929,2317,0,0,0,0,0,0
$GC,6160,0.46,146.0,332.3,11.5,542,6164,0.00,2.10,0.00,0.000,6,0.000,0.038,2624,2592,2316,0,0,0,0,0,0
$GC,6491,0.51,164.1,301.6,9.2,573,6514,0.00,2.28,14.70,0.709,4,0.000,0.062,2624,3921,2253,0,0,0,0,0,0
$GC,6528,0.53,164.1,297.9,10.5,576,6531,0.00,2.08,0.00,0.000,6,0.000,0.038,2625,2613,2251,0,0,0,0,0,0
$GC,6859,0.58,167.4,264.7,9.8,607,6872,0.10,2.25,4.20,0.522,4,0.109,0.045,2680,1196,2240,0,0,0,0,0,0
$GC,6889,0.58,167.4,260.9,12.5,609,6896,0.00,2.28,0.00,0.000,6,0.000,0.049,2680,2614,2240,0,0,0,0,0,0
$GC,7215,0.53,167.4,214.9,14.2,640,7217,0.12,0.00,0.00,0.000,6,0.181,0.000,2647,2614,2239,0,0,0,0,0,0
$GC,7537,0.56,167.4,176.8,10.9,670,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2614,2240,0,0,0,0,0,0
$GC,7865,0.58,167.4,143.3,11.1,701,7869,0.00,2.17,0.00,0.000,4,0.000,0.060,2647,3931,2240,0,0,0,0,0,0
$GC,7945,0.58,167.4,132.3,14.3,708,7949,0.00,2.10,0.00,0.000,6,0.000,0.038,2651,2601,2239,0,0,0,0,0,0
$GC,8275,0.61,167.4,93.8,10.5,743,8282,0.00,2.25,0.00,0.000,4,0.000,0.046,2652,1186,2239,0,0,0,0,0,0
$GC,8329,0.68,170.6,88.5,9.9,752,8342,0.12,2.30,4.50,0.486,6,0.097,0.050,2710,2613,2227,0,0,0,0,0,0
$GC,8683,0.63,170.6,45.5,11.0,814,8690,0.12,2.20,0.00,0.000,4,0.179,0.061,2677,3925,2226,0,0,0,0,0,0
$GC,8777,0.58,187.8,36.6,9.2,830,8801,0.00,2.08,15.55,0.576,6,0.000,0.039,2680,2612,2158,0,0,0,0,0,0
$FREEZE,8.38,1.981,-1.810,0,1,0
$FREEZE,7.77,1.983,-1.810,0,1,0
$FREEZE,7.24,1.976,-1.810,0,1,0
$FREEZE,6.75,1.973,-1.809,0,1,0
$FREEZE,6.29,1.964,-1.809,0,1,0
$FREEZE,5.81,1.967,-1.808,0,1,0
$FREEZE,5.15,1.968,-1.808,0,1,0
$FREEZE,4.64,1.969,-1.807,0,1,0
$FREEZE,4.07,1.970,-1.807,0,1,0
$FREEZE,3.63,1.969,-1.807,0,1,0
$FREEZE,3.21,1.968,-1.806,0,1,0
$FREEZE,2.66,1.963,-1.806,0,1,0
$STATE,9126,end climb,SURFACE_DEPTH_REACHED
$STATE,9126,begin surface coast
$FREEZE,2.09,1.963,-1.805,0,1,0
$FREEZE,1.60,1.966,-1.805,0,1,0
$FREEZE,1.19,2.010,-1.802,0,1,0
$FREEZE,0.92,1.966,-1.804,0,1,0
$FREEZE,0.92,1.938,-1.296,0,1,0
$FREEZE,1.00,2.065,-0.932,0,1,0
$FINISH,1.0,1.013739
$STATE,9159,end surface coast,CONTROL_FINISHED_OK
$STATE,9159,begin surface
$SM_CCo,9177,244.85,0.078,0,0,440,609.08
$SM_GC,1.54,0.00,0.00,244.85,0.000,0.000,0.078,274,2789,440,-6.86,0.25,609.08
$RAFOS_CLK,363
$RAFOS,3,1294849501,16.433332,16.416945,45,45,44,42,42,41,1270,1677,1022,183,865,144
$RAFOS,2,1294849021,16.299999,16.283611,47,43,43,41,41,39,535,1286,1850,1924,1939,896
$RAFOS,1,1294848544,16.166666,16.151112,48,46,45,45,44,41,614,470,243,743,1335,419
$RAFOS,0,1294848066,16.033333,16.018333,48,48,46,46,43,41,337,583,1550,1208,875,1686
$RAFOS_FIX,6718.797363,-5726.126465,120111,121228,2,70,1.85
$IRIDIUM_FIX,6647.44,-5737.27,120111,111159
$TT8_MAMPS,0.029211
$HUMID,45.23
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,22.8,84.768
$10V_AH,9.8,58.186
$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,16.700,65.475,281.300,244.850,0.000,29.044,38.630,140.094,1.250,0.000,13.466,2174.699,4977.281,647.580,1696.641,298.885,0.000,1461.058,0.000,1492.938,1800.000,9.707,0.000
$DEVICE_MAMPS,236.385,71.910,843.030,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,30012,898
$CAP_FILE_SIZE,105432,0
$CFSIZE,260165632,200728576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$GPS,120111,164226,6715.513,-5717.382,39,99.0,58,-37.9