version: 66.08
glider: 183
mission: 3
dive: 751
start: 1 12 111 22 17 49
data:
$ID,183
$MISSION,3
$DIVE,751
$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,-11435.676
$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,39
$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
$GPS1,120111,221136,6715.586,-5716.877,31,1.2,32,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-60.4
$GPS2,120111,221720,6715.588,-5716.951,13,2.0,13,-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,176.0,31314,-17.5,-10.000
$D_GRID,456
$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,-146.0,0.0,0.0,0,161,0.00,0.00,-136.55,0.000,6,0.000,0.000,277,2786,3520,0,0,0,0,0,0
$GC,164,-0.57,-146.0,6.5,-17.2,25,178,8.35,1.95,0.00,0.000,4,0.235,0.055,2279,3932,3522,0,0,0,0,0,0
$GC,434,-0.61,-146.0,52.5,-11.1,72,440,0.00,1.85,0.00,0.000,6,0.000,0.045,2278,2784,3523,0,0,0,0,0,0
$GC,780,-0.64,-146.0,89.4,-10.2,133,786,0.00,2.22,0.00,0.000,4,0.000,0.046,2279,1367,3522,0,0,0,0,0,0
$GC,835,-0.71,-146.0,94.9,-10.0,142,842,0.00,2.30,0.00,0.000,6,0.000,0.058,2277,2761,3522,0,0,0,0,0,0
$GC,1166,-0.75,-146.0,127.4,-9.8,177,1167,0.12,0.00,0.00,0.000,6,0.095,0.000,2216,2760,3521,0,0,0,0,0,0
$GC,1483,-0.68,-146.0,169.3,-13.0,207,1487,0.12,2.00,0.00,0.000,4,0.168,0.067,2243,3933,3521,0,0,0,0,0,0
$GC,1511,-0.68,-146.0,172.9,-11.6,209,1518,0.00,1.90,0.00,0.000,6,0.000,0.044,2243,2749,3521,0,0,0,0,0,0
$GC,1837,-0.68,-146.0,206.4,-10.0,240,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2749,3521,0,0,0,0,0,0
$GC,2159,-0.68,-146.0,237.4,-9.5,270,2163,0.00,2.15,0.00,0.000,4,0.000,0.045,2243,1370,3521,0,0,0,0,0,0
$GC,2204,-0.71,-146.0,242.2,-9.0,273,2210,0.00,2.30,0.00,0.000,6,0.000,0.057,2243,2762,3521,0,0,0,0,0,0
$GC,2531,-0.71,-146.0,272.3,-9.0,304,2534,0.00,1.98,0.00,0.000,4,0.000,0.067,2238,3936,3521,0,0,0,0,0,0
$GC,2611,-0.71,-146.0,280.1,-9.3,311,2615,0.00,1.88,0.00,0.000,6,0.000,0.043,2238,2765,3521,0,0,0,0,0,0
$GC,2943,-0.71,-146.0,308.9,-9.0,342,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2765,3521,0,0,0,0,0,0
$GC,3264,-0.71,-146.0,337.4,-9.3,372,3268,0.00,2.17,0.00,0.000,4,0.000,0.044,2238,1369,3522,0,0,0,0,0,0
$GC,3286,-0.71,-146.0,339.9,-9.1,373,3293,0.00,2.30,0.00,0.000,6,0.000,0.055,2235,2772,3521,0,0,0,0,0,0
$GC,3611,-0.71,-146.0,371.7,-10.6,404,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2772,3522,0,0,0,0,0,0
$GC,3934,-0.71,-146.0,404.0,-9.9,432,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2772,3522,0,0,0,0,0,0
$GC,4235,-0.71,-146.0,433.8,-9.4,442,4239,0.00,2.22,0.00,0.000,4,0.000,0.043,2235,1368,3523,0,0,0,0,0,0
$GC,4292,-0.73,-146.0,439.2,-9.6,443,4298,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2764,3523,0,0,0,0,0,0
$STATE,4480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4480,begin apogee
$GC,4487,-0.14,0.0,456.5,9.3,450,4615,0.57,0.00,120.10,0.835,4,0.122,0.000,2425,2599,2923,0,0,0,0,0,0
$STATE,4616,end apogee,CONTROL_FINISHED_OK
$STATE,4616,begin climb
$GC,4619,0.57,146.0,460.0,0.0,454,4751,0.65,2.30,121.55,0.823,4,0.061,0.044,2668,1188,2327,0,0,0,0,0,0
$GC,4944,0.57,146.0,430.1,10.6,464,4948,0.00,2.30,0.00,0.000,6,0.000,0.050,2668,2602,2321,0,0,0,0,0,0
$GC,5261,0.52,146.0,391.6,12.1,477,5265,0.00,2.25,0.00,0.000,4,0.000,0.046,2673,1186,2318,0,0,0,0,0,0
$GC,5495,0.52,146.0,362.7,12.9,497,5502,0.00,2.30,0.00,0.000,6,0.000,0.050,2673,2613,2318,0,0,0,0,0,0
$GC,5821,0.47,146.0,318.4,13.6,528,5823,0.17,0.00,0.00,0.000,6,0.172,0.000,2624,2613,2317,0,0,0,0,0,0
$GC,6139,0.50,146.0,286.5,10.1,558,6143,0.00,2.17,0.00,0.000,4,0.000,0.062,2624,3929,2317,0,0,0,0,0,0
$GC,6219,0.50,146.0,277.1,12.6,565,6223,0.00,2.08,0.00,0.000,6,0.000,0.039,2624,2616,2316,0,0,0,0,0,0
$GC,6545,0.54,146.0,242.2,10.9,595,6549,0.00,2.20,0.00,0.000,4,0.000,0.062,2624,3930,2316,0,0,0,0,0,0
$GC,6562,0.54,146.0,239.9,11.7,596,6567,0.00,2.05,0.00,0.000,6,0.000,0.038,2624,2630,2316,0,0,0,0,0,0
$GC,6896,0.58,146.0,204.5,10.6,627,6901,0.10,2.25,0.00,0.000,4,0.110,0.045,2679,1195,2316,0,0,0,0,0,0
$GC,6948,0.58,146.0,197.8,13.2,631,6952,0.00,2.33,0.00,0.000,6,0.000,0.050,2679,2636,2316,0,0,0,0,0,0
$GC,7273,0.53,146.0,156.2,12.0,661,7275,0.12,0.00,0.00,0.000,6,0.182,0.000,2646,2636,2316,0,0,0,0,0,0
$GC,7592,0.54,163.9,125.1,9.2,691,7615,0.00,2.20,14.50,0.614,4,0.000,0.061,2646,3926,2253,0,0,0,0,0,0
$GC,7643,0.51,163.9,119.8,10.8,695,7650,0.00,2.08,0.00,0.000,6,0.000,0.038,2649,2614,2252,0,0,0,0,0,0
$GC,7976,0.56,186.1,89.8,9.0,736,8000,0.00,0.00,19.58,0.604,6,0.000,0.000,2649,2614,2164,0,0,0,0,0,0
$GC,8344,0.64,212.7,58.6,8.8,800,8374,0.00,2.28,23.12,0.590,4,0.000,0.044,2650,1194,2054,0,0,0,0,0,0
$GC,8409,0.77,244.3,53.0,8.5,811,8445,0.20,2.30,27.05,0.580,6,0.076,0.049,2739,2617,1926,0,0,0,0,0,0
$FREEZE,8.59,1.998,-1.812,0,1,0
$FREEZE,7.99,1.998,-1.812,0,1,0
$FREEZE,7.51,1.999,-1.812,0,1,0
$FREEZE,6.85,2.004,-1.811,0,1,0
$FREEZE,6.09,2.001,-1.811,0,1,0
$FREEZE,5.21,2.005,-1.810,0,1,0
$FREEZE,4.28,2.006,-1.809,0,1,0
$FREEZE,3.54,2.004,-1.809,0,1,0
$GC,8783,0.73,244.3,3.5,16.5,877,8790,0.00,2.15,0.00,0.000,4,0.000,0.061,2739,3924,1918,0,0,0,0,0,0
$FREEZE,1.28,2.006,-1.807,0,1,0
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$FREEZE,0.95,2.014,-1.191,0,1,0
$FINISH,0.9,1.017541
$STATE,8801,end surface coast,CONTROL_FINISHED_OK
$STATE,8801,begin surface
$SM_CCo,8820,220.20,0.078,0,0,440,609.08
$SM_GC,1.77,0.00,0.00,220.20,0.000,0.000,0.078,283,2781,440,-6.84,0.03,609.08
$RAFOS_CLK,349
$RAFOS,4,1294878782,0.566667,0.550556,60,41,41,38,38,38,870,1089,1308,228,1210,1275
$RAFOS,3,1294878306,0.433333,0.418333,71,48,42,40,40,39,999,1498,1011,782,1404,44
$RAFOS,2,1294877823,0.300000,0.284167,52,49,49,41,39,39,1278,26,1060,667,329,583
$RAFOS,1,1294877347,0.166667,0.151944,52,48,42,42,40,39,1002,732,459,826,595,564
$RAFOS,0,1294876863,0.033333,0.017500,50,49,49,45,44,42,1631,863,1166,145,1824,242
$RAFOS_FIX,6714.430176,-5714.027344,130111,000056,2,66,0.37
$IRIDIUM_FIX,6647.44,-5712.55,120111,191942
$TT8_MAMPS,0.029211
$HUMID,44.88
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$24V_AH,22.9,85.034
$10V_AH,9.8,58.363
$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,16.850,64.850,325.900,220.200,0.000,22.279,20.180,141.638,1.250,0.000,15.700,2100.108,4699.177,650.962,1653.741,293.979,0.000,1457.066,0.000,1467.679,2160.000,9.710,0.000
$DEVICE_MAMPS,234.855,67.320,835.380,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30049,880
$CAP_FILE_SIZE,103356,0
$CFSIZE,260165632,200560640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.8
$GPS,130111,005006,6715.113,-5716.344,38,1.2,38,-37.9