version: 66.08
glider: 183
mission: 3
dive: 761
start: 1 14 111 3 52 3
data:
$ID,183
$MISSION,3
$DIVE,761
$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,-11451.746
$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,28
$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
$GPS1,140111,034536,6714.114,-5718.168,42,1.3,54,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.7
$GPS2,140111,035132,6714.123,-5718.299,12,1.6,12,-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,171.2,30051,-17.5,-10.000
$D_GRID,541
$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,-137.43,0.000,2,0.000,0.000,276,2793,3473,0,0,0,0,0,0
$GC,163,-0.57,-146.0,5.5,-12.6,24,178,8.40,1.95,-0.93,0.000,4,0.239,0.075,2275,3931,3521,0,0,0,0,0,0
$GC,388,-0.59,-146.0,48.8,-11.8,63,395,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2777,3523,0,0,0,0,0,0
$GC,734,-0.59,-146.0,86.2,-9.9,124,741,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3921,3522,0,0,0,0,0,0
$GC,767,-0.62,-146.0,89.4,-9.7,129,773,0.00,1.83,0.00,0.000,6,0.000,0.044,2275,2785,3522,0,0,0,0,0,0
$GC,1103,-0.66,-146.0,120.2,-8.6,169,1107,0.00,2.25,0.00,0.000,4,0.000,0.045,2275,1366,3521,0,0,0,0,0,0
$GC,1202,-0.73,-146.0,128.4,-7.4,177,1207,0.10,2.30,0.00,0.000,6,0.103,0.057,2224,2755,3521,0,0,0,0,0,0
$GC,1527,-0.69,-146.0,163.2,-10.5,207,1529,0.10,0.00,0.00,0.000,6,0.181,0.000,2249,2755,3520,0,0,0,0,0,0
$GC,1846,-0.69,-146.0,190.4,-8.3,237,1850,0.00,2.17,0.00,0.000,4,0.000,0.044,2249,1371,3520,0,0,0,0,0,0
$GC,1899,-0.72,-146.0,194.7,-8.4,241,1903,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2751,3521,0,0,0,0,0,0
$GC,2231,-0.72,-146.0,224.5,-9.2,272,2234,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3925,3521,0,0,0,0,0,0
$GC,2301,-0.74,-146.0,231.0,-9.7,278,2305,0.00,1.88,0.00,0.000,6,0.000,0.042,2247,2754,3521,0,0,0,0,0,0
$GC,2633,-0.74,-146.0,261.4,-9.2,309,2636,0.00,2.00,0.00,0.000,4,0.000,0.067,2247,3932,3521,0,0,0,0,0,0
$GC,2673,-0.77,-146.0,265.4,-9.3,312,2680,0.00,1.85,0.00,0.000,6,0.000,0.041,2247,2771,3521,0,0,0,0,0,0
$GC,2999,-0.77,-146.0,297.1,-10.0,343,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3522,0,0,0,0,0,0
$GC,3323,-0.79,-146.0,328.7,-9.7,373,3326,0.00,2.17,0.00,0.000,4,0.000,0.043,2247,1375,3522,0,0,0,0,0,0
$GC,3396,-0.84,-146.0,336.7,-9.7,379,3404,0.12,2.28,0.00,0.000,6,0.090,0.055,2185,2757,3522,0,0,0,0,0,0
$GC,3722,-0.74,-146.0,379.2,-13.3,410,3724,0.17,0.00,0.00,0.000,6,0.158,0.000,2233,2756,3523,0,0,0,0,0,0
$GC,4036,-0.74,-146.0,408.0,-8.6,434,4040,0.00,2.17,0.00,0.000,4,0.000,0.042,2233,1368,3523,0,0,0,0,0,0
$GC,4076,-0.74,-146.0,411.5,-8.3,435,4080,0.00,2.22,0.00,0.000,6,0.000,0.055,2233,2737,3523,0,0,0,0,0,0
$GC,4407,-0.74,-146.0,440.0,-8.7,446,4411,0.00,1.98,0.00,0.000,4,0.000,0.067,2233,3925,3524,0,0,0,0,0,0
$GC,4462,-0.74,-146.0,445.2,-9.2,447,4466,0.00,1.92,0.00,0.000,6,0.000,0.041,2233,2735,3523,0,0,0,0,0,0
$GC,4781,-0.74,-146.0,472.8,-8.9,458,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2734,3524,0,0,0,0,0,0
$GC,5090,-0.74,-146.0,500.8,-9.2,468,5094,0.00,2.03,0.00,0.000,4,0.000,0.067,2233,3926,3524,0,0,0,0,0,0
$GC,5146,-0.74,-146.0,506.5,-9.9,469,5150,0.00,1.90,0.00,0.000,6,0.000,0.041,2233,2749,3524,0,0,0,0,0,0
$GC,5464,-0.74,-146.0,535.1,-9.2,480,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2749,3524,0,0,0,0,0,0
$STATE,5555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5555,begin apogee
$GC,5562,-0.14,0.0,543.4,9.1,483,5692,0.57,0.00,121.88,0.889,4,0.121,0.000,2425,2592,2923,0,0,0,0,0,0
$STATE,5693,end apogee,CONTROL_FINISHED_OK
$STATE,5693,begin climb
$GC,5696,0.57,146.0,547.5,0.0,487,5830,0.65,2.30,123.80,0.878,4,0.057,0.043,2670,1189,2327,0,0,0,0,0,0
$GC,5978,-1.60,146.0,522.3,20004.1,495,5986,2.33,2.33,0.00,0.000,6,0.142,0.049,1966,2605,2321,0,0,0,0,0,0
$GC,6292,-1.60,146.0,479.9,20004.1,506,6297,0.00,2.20,0.00,0.000,4,0.000,0.037,1965,1176,2312,0,0,0,0,0,0
$GC,6395,-1.60,146.0,463.6,20004.1,509,6399,0.00,2.28,0.00,0.000,6,0.000,0.050,1955,2589,2311,0,0,0,0,0,0
$GC,6738,-1.60,146.0,410.8,20004.1,520,6742,0.00,2.20,0.00,0.000,4,0.000,0.043,1952,1191,2310,0,0,0,0,0,0
$GC,6880,-1.60,146.0,387.7,20004.1,526,6887,0.00,2.25,0.00,0.000,6,0.000,0.053,1948,2571,2312,0,0,0,0,0,0
$GC,7206,-1.60,146.0,334.6,20004.1,557,7210,0.00,2.25,0.00,0.000,4,0.000,0.057,1934,3938,2311,0,0,0,0,0,0
$GC,7465,-1.60,146.0,287.0,20004.1,579,7472,0.00,2.20,0.00,0.000,6,0.000,0.041,1933,2558,2309,0,0,0,0,0,0
$GC,7791,-1.60,146.0,231.8,20004.1,610,7795,0.00,2.22,0.00,0.000,4,0.000,0.047,1920,3943,2309,0,0,0,0,0,0
$GC,8050,-1.60,146.0,181.8,20004.1,632,8058,0.15,2.12,0.00,0.000,6,0.178,0.041,1957,2595,2311,0,0,0,0,0,0
$GC,8376,-1.60,146.0,127.7,20004.1,663,8380,0.00,2.20,0.00,0.000,4,0.000,0.044,1957,1192,2311,0,0,0,0,0,0
$GC,8637,-1.60,146.0,82.9,20004.1,694,8644,0.00,2.20,0.00,0.000,6,0.000,0.047,1946,2575,2310,0,0,0,0,0,0
$GC,8985,-1.60,146.0,27.7,20004.1,755,8991,0.00,2.20,0.00,0.000,4,0.000,0.060,1933,3918,2311,0,0,0,0,0,0
$FREEZE,8.91,2.268,-1.810,0,1,0
$FREEZE,8.08,2.422,-1.800,0,1,0
$FREEZE,7.10,2.388,-1.801,0,1,0
$FREEZE,5.88,2.226,-1.810,0,1,0
$FREEZE,4.65,2.124,-1.815,0,1,0
$FREEZE,3.69,2.194,-1.810,0,1,0
$FREEZE,2.03,2.149,-1.811,0,1,0
$STATE,9109,end climb,SURFACE_DEPTH_REACHED
$STATE,9109,begin surface coast
$FREEZE,1.48,2.141,-1.811,0,1,0
$FINISH,1.5,1.026392
$STATE,9115,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9132,262.83,0.077,0,0,440,609.08
$SM_GC,1.58,0.00,0.00,262.83,0.000,0.000,0.077,280,2780,440,-6.84,0.00,609.08
$RAFOS_CLK,357
$RAFOS,6,1294980545,4.833333,4.818056,51,45,41,41,40,40,745,1280,1055,1064,489,577
$RAFOS,5,1294980066,4.700000,4.685000,100,41,41,40,40,40,637,480,1044,514,1735,981
$RAFOS,4,1294979583,4.566667,4.550833,50,48,44,41,41,39,856,1472,1042,1614,1715,1224
$RAFOS,3,1294979107,4.433333,4.418611,47,42,40,40,40,39,990,526,1341,1695,1656,336
$RAFOS,2,1294978626,4.300000,4.285000,53,52,48,42,40,40,1038,912,198,1326,501,1821
$RAFOS,1,1294978145,4.166667,4.151389,45,41,41,41,41,40,1544,1402,8,594,610,663
$RAFOS,0,1294977663,4.033333,4.017500,43,42,41,41,40,39,660,1595,1135,1652,1297,1657
$RAFOS_FIX,6716.733398,-5725.643066,140111,000028,2,76,0.00
$IRIDIUM_FIX,6641.98,-5707.88,140111,000004
$TT8_MAMPS,0.028462
$HUMID,45.62
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,22.6,85.931
$10V_AH,9.8,58.979
$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,16.825,71.975,245.675,262.825,0.000,23.712,17.956,145.113,1.500,0.000,14.732,1965.716,5229.360,628.451,1638.891,295.105,0.000,1414.992,0.000,1443.781,2520.000,11.483,0.000
$DEVICE_MAMPS,238.680,74.970,888.930,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151732
$DATA_FILE_SIZE,30061,778
$CAP_FILE_SIZE,104176,0
$CFSIZE,260165632,199970816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.3
$GPS,140111,063007,6714.348,-5719.105,36,1.1,37,-37.9