version: 66.08
glider: 183
mission: 3
dive: 755
start: 1 13 111 9 38 11
data:
$ID,183
$MISSION,3
$DIVE,755
$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,-11442.447
$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,24
$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
$GPS1,130111,092906,6714.937,-5717.505,38,1.5,39,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.5
$GPS2,130111,093738,6714.961,-5717.776,13,1.0,13,-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,173.8,30872,-17.5,-10.000
$D_GRID,511
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-135.65,0.000,2,0.000,0.000,279,2790,3453,0,0,0,0,0,0
$GC,160,-0.57,-146.0,5.1,-11.5,24,175,8.27,1.95,-1.35,0.000,4,0.233,0.073,2279,3935,3521,0,0,0,0,0,0
$GC,430,-0.59,-146.0,52.8,-12.3,71,437,0.00,1.85,0.00,0.000,6,0.000,0.045,2279,2787,3523,0,0,0,0,0,0
$GC,778,-0.63,-146.0,88.8,-8.9,132,784,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3929,3522,0,0,0,0,0,0
$GC,855,-0.68,-146.0,96.0,-9.2,145,862,0.00,1.85,0.00,0.000,6,0.000,0.045,2275,2779,3523,0,0,0,0,0,0
$GC,1185,-0.72,-146.0,125.3,-8.7,179,1189,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1373,3521,0,0,0,0,0,0
$GC,1235,-0.78,-146.0,129.9,-8.9,183,1243,0.15,2.33,0.00,0.000,6,0.083,0.058,2204,2773,3521,0,0,0,0,0,0
$GC,1561,-0.70,-146.0,170.4,-12.5,214,1563,0.15,0.00,0.00,0.000,6,0.168,0.000,2246,2773,3521,0,0,0,0,0,0
$GC,1879,-0.70,-146.0,201.3,-9.9,244,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2773,3521,0,0,0,0,0,0
$GC,2202,-0.70,-146.0,232.1,-9.5,274,2206,0.00,2.22,0.00,0.000,4,0.000,0.044,2245,1363,3522,0,0,0,0,0,0
$GC,2255,-0.74,-146.0,237.6,-9.8,278,2259,0.00,2.33,0.00,0.000,6,0.000,0.056,2245,2772,3522,0,0,0,0,0,0
$GC,2580,-0.74,-146.0,268.9,-10.0,308,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2772,3522,0,0,0,0,0,0
$GC,2905,-0.74,-146.0,300.7,-9.7,338,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2772,3523,0,0,0,0,0,0
$GC,3234,-0.74,-146.0,331.7,-9.5,369,3238,0.00,2.20,0.00,0.000,4,0.000,0.044,2245,1370,3523,0,0,0,0,0,0
$GC,3286,-0.78,-146.0,337.2,-9.3,373,3290,0.00,2.30,0.00,0.000,6,0.000,0.056,2245,2765,3523,0,0,0,0,0,0
$GC,3612,-0.80,-146.0,365.6,-8.5,403,3616,0.00,1.95,0.00,0.000,4,0.000,0.067,2246,3927,3524,0,0,0,0,0,0
$GC,3721,-0.84,-146.0,375.0,-8.7,412,3728,0.12,1.88,0.00,0.000,6,0.095,0.042,2181,2754,3524,0,0,0,0,0,0
$GC,4052,-0.74,-146.0,415.5,-12.5,436,4054,0.17,0.00,0.00,0.000,6,0.163,0.000,2229,2754,3524,0,0,0,0,0,0
$GC,4359,-0.74,-146.0,444.0,-8.9,446,4363,0.00,2.17,0.00,0.000,4,0.000,0.044,2229,1373,3525,0,0,0,0,0,0
$GC,4394,-0.74,-146.0,447.4,-9.3,447,4398,0.00,2.30,0.00,0.000,6,0.000,0.056,2230,2768,3524,0,0,0,0,0,0
$GC,4730,-0.74,-146.0,479.1,-9.5,458,4734,0.00,1.95,0.00,0.000,4,0.000,0.065,2222,3929,3525,0,0,0,0,0,0
$GC,4787,-0.74,-146.0,485.1,-10.8,459,4791,0.00,1.88,0.00,0.000,6,0.000,0.041,2222,2754,3525,0,0,0,0,0,0
$STATE,5072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5072,begin apogee
$GC,5079,-0.14,0.0,513.6,10.0,469,5208,0.60,0.00,121.55,0.867,4,0.123,0.000,2420,2597,2923,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5211,0.57,146.0,517.1,0.0,473,5341,0.62,0.00,123.30,0.855,6,0.068,0.000,2658,2597,2326,0,0,0,0,0,0
$GC,5678,0.53,146.0,471.1,10.9,488,5682,0.00,2.22,0.00,0.000,4,0.000,0.062,2658,3937,2318,0,0,0,0,0,0
$GC,5742,0.44,146.0,462.4,13.1,490,5747,0.15,2.12,0.00,0.000,6,0.187,0.039,2623,2597,2317,0,0,0,0,0,0
$GC,6084,0.49,165.9,431.5,9.1,501,6103,0.00,0.00,16.58,0.777,6,0.000,0.000,2623,2597,2246,0,0,0,0,0,0
$GC,6390,0.54,184.1,403.6,9.2,511,6408,0.00,0.00,16.85,0.765,6,0.000,0.000,2623,2597,2172,0,0,0,0,0,0
$GC,6710,0.60,194.7,373.8,9.5,537,6727,0.12,0.00,10.12,0.719,6,0.093,0.000,2682,2596,2128,0,0,0,0,0,0
$GC,7046,0.56,194.7,329.3,13.2,569,7050,0.00,2.20,0.00,0.000,4,0.000,0.061,2682,3928,2125,0,0,0,0,0,0
$GC,7102,0.48,194.7,320.6,15.8,573,7110,0.20,2.08,0.00,0.000,6,0.168,0.039,2634,2613,2124,0,0,0,0,0,0
$GC,7428,0.54,197.4,286.7,9.9,604,7432,0.00,2.20,0.00,0.000,4,0.000,0.046,2635,1199,2124,0,0,0,0,0,0
$GC,7471,0.63,207.5,282.8,9.5,607,7488,0.12,2.28,11.77,0.689,6,0.094,0.050,2693,2623,2077,0,0,0,0,0,0
$GC,7807,0.59,207.5,233.6,15.3,638,7811,0.00,2.15,0.00,0.000,4,0.000,0.060,2693,3925,2075,0,0,0,0,0,0
$GC,7855,0.50,207.5,225.6,17.8,642,7859,0.20,2.08,0.00,0.000,6,0.168,0.039,2638,2610,2073,0,0,0,0,0,0
$GC,8181,0.55,207.5,188.3,10.6,672,8185,0.00,2.22,0.00,0.000,4,0.000,0.046,2638,1199,2073,0,0,0,0,0,0
$GC,8237,0.64,207.5,182.5,10.2,676,8245,0.12,2.25,0.00,0.000,6,0.093,0.048,2695,2597,2073,0,0,0,0,0,0
$GC,8564,0.61,207.5,135.4,14.7,707,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2597,2073,0,0,0,0,0,0
$GC,8887,0.59,207.5,89.2,13.6,743,8893,0.00,2.17,0.00,0.000,4,0.000,0.061,2695,3925,2073,0,0,0,0,0,0
$GC,8942,0.52,207.5,80.7,16.0,752,8950,0.20,2.10,0.00,0.000,6,0.162,0.039,2643,2595,2073,0,0,0,0,0,0
$GC,9291,0.63,257.0,48.0,7.7,813,9339,0.10,2.30,42.03,0.585,4,0.110,0.046,2693,1199,1874,0,0,0,0,0,0
$GC,9414,0.72,257.0,34.4,10.1,834,9421,0.00,2.22,0.00,0.000,6,0.000,0.048,2693,2576,1870,0,0,0,0,0,0
$FREEZE,8.46,2.066,-1.812,0,1,0
$FREEZE,7.92,2.056,-1.812,0,1,0
$FREEZE,7.45,2.076,-1.811,0,1,0
$FREEZE,6.78,2.077,-1.811,0,1,0
$FREEZE,6.30,2.075,-1.810,0,1,0
$FREEZE,5.78,2.073,-1.810,0,1,0
$FREEZE,5.30,2.066,-1.810,0,1,0
$FREEZE,4.91,2.070,-1.809,0,1,0
$FREEZE,4.41,2.068,-1.809,0,1,0
$FREEZE,3.72,2.070,-1.808,0,1,0
$FREEZE,3.22,2.070,-1.808,0,1,0
$FREEZE,2.90,2.067,-1.808,0,1,0
$STATE,9739,end climb,SURFACE_DEPTH_REACHED
$STATE,9739,begin surface coast
$FREEZE,2.52,2.068,-1.807,0,1,0
$FREEZE,1.98,2.068,-1.807,0,1,0
$FREEZE,1.40,2.062,-1.807,0,1,0
$FREEZE,0.88,2.100,-1.805,0,1,0
$FREEZE,0.95,1.701,-1.552,0,1,0
$FREEZE,1.03,2.026,-1.771,0,1,0
$FINISH,1.0,1.025841
$STATE,9772,end surface coast,CONTROL_FINISHED_OK
$STATE,9772,begin surface
$SM_CCo,9789,214.48,0.078,0,0,440,609.08
$SM_GC,1.68,0.00,0.00,214.48,0.000,0.000,0.078,291,2788,440,-6.81,0.23,609.08
$RAFOS_CLK,383
$RAFOS,1,1294920547,12.166667,12.151944,47,45,45,42,41,40,539,884,991,744,679,259
$RAFOS,0,1294920061,12.033333,12.016945,46,46,45,43,41,40,1559,1279,742,1428,1416,372
$RAFOS_FIX,6714.707031,-5717.289062,130111,080828,2,80,0.09
$IRIDIUM_FIX,6647.44,-5724.91,130111,090927
$TT8_MAMPS,0.029211
$HUMID,45.43
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.0
$24V_AH,22.7,85.395
$10V_AH,9.8,58.608
$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,17.700,64.500,342.200,214.475,0.000,54.769,79.628,149.619,1.500,0.000,18.142,2180.831,5617.144,663.122,1756.987,304.442,0.000,1467.010,0.000,1469.148,1080.000,13.420,0.000
$DEVICE_MAMPS,233.325,72.675,866.745,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,33384,898
$CAP_FILE_SIZE,109362,0
$CFSIZE,260165632,200327168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,130111,122625,6714.589,-5718.722,40,1.1,41,-37.9