version: 66.08
glider: 183
mission: 3
dive: 764
start: 1 14 111 12 36 9
data:
$ID,183
$MISSION,3
$DIVE,764
$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,-11455.52
$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,27
$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
$GPS1,140111,122855,6714.689,-5722.791,40,1.3,40,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.6
$GPS2,140111,123536,6714.674,-5723.063,13,1.2,29,-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,168.5,33296,-17.5,-10.000
$D_GRID,557
$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,-146.0,0.0,0.0,0,149,0.00,0.00,-130.48,0.000,2,0.000,0.000,275,2793,3348,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.3,-11.8,23,174,8.35,2.28,-3.42,0.000,4,0.239,0.057,2282,1363,3521,0,0,0,0,0,0
$GC,322,-0.59,-146.0,35.4,-11.5,52,329,0.00,2.33,0.00,0.000,6,0.000,0.055,2276,2776,3523,0,0,0,0,0,0
$GC,670,-0.59,-146.0,71.0,-9.6,113,677,0.00,2.22,0.00,0.000,4,0.000,0.045,2275,1368,3523,0,0,0,0,0,0
$GC,743,-0.63,-146.0,78.2,-9.4,125,750,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2755,3523,0,0,0,0,0,0
$GC,1089,-0.66,-146.0,110.3,-8.6,176,1092,0.00,1.98,0.00,0.000,4,0.000,0.068,2274,3927,3521,0,0,0,0,0,0
$GC,1152,-0.73,-146.0,116.2,-8.5,181,1159,0.00,1.90,0.00,0.000,6,0.000,0.044,2273,2749,3522,0,0,0,0,0,0
$GC,1478,-0.78,-146.0,143.3,-8.1,212,1483,0.15,2.20,0.00,0.000,4,0.085,0.047,2199,1371,3521,0,0,0,0,0,0
$GC,1495,-0.78,-146.0,145.2,-9.5,213,1502,0.12,2.25,0.00,0.000,6,0.169,0.057,2222,2733,3521,0,0,0,0,0,0
$GC,1821,-0.74,-146.0,182.0,-11.1,244,1824,0.00,2.03,0.00,0.000,4,0.000,0.067,2222,3931,3521,0,0,0,0,0,0
$GC,1848,-0.69,-146.0,185.6,-11.6,246,1855,0.00,1.92,0.00,0.000,6,0.000,0.043,2221,2727,3520,0,0,0,0,0,0
$GC,2175,-0.66,-146.0,222.0,-11.3,277,2177,0.15,0.00,0.00,0.000,6,0.161,0.000,2265,2726,3521,0,0,0,0,0,0
$GC,2493,-0.71,-146.0,249.3,-8.6,307,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2726,3521,0,0,0,0,0,0
$GC,2815,-0.77,-146.0,274.9,-7.7,337,2822,0.12,0.00,0.00,0.000,6,0.095,0.000,2203,2726,3522,0,0,0,0,0,0
$GC,3141,-0.70,-146.0,311.8,-11.2,368,3146,0.15,2.08,0.00,0.000,4,0.163,0.066,2238,3935,3523,0,0,0,0,0,0
$GC,3171,-0.70,-146.0,314.9,-9.6,370,3175,0.00,1.92,0.00,0.000,6,0.000,0.042,2238,2727,3523,0,0,0,0,0,0
$GC,3503,-0.70,-146.0,346.1,-9.4,401,3506,0.00,2.12,0.00,0.000,4,0.000,0.044,2238,1365,3523,0,0,0,0,0,0
$GC,3539,-0.70,-146.0,349.6,-9.3,404,3544,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2746,3523,0,0,0,0,0,0
$GC,3870,-0.70,-146.0,381.9,-10.1,435,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2746,3523,0,0,0,0,0,0
$GC,4204,-0.70,-146.0,417.5,-11.1,457,4208,0.00,2.17,0.00,0.000,4,0.000,0.043,2235,1358,3524,0,0,0,0,0,0
$GC,4233,-0.70,-146.0,421.0,-11.7,458,4237,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2742,3524,0,0,0,0,0,0
$GC,4574,-0.70,-146.0,458.6,-11.0,469,4578,0.00,1.98,0.00,0.000,4,0.000,0.066,2236,3927,3525,0,0,0,0,0,0
$GC,4625,-0.70,-146.0,464.4,-10.9,470,4629,0.00,1.90,0.00,0.000,6,0.000,0.041,2235,2735,3525,0,0,0,0,0,0
$GC,4950,-0.70,-146.0,496.3,-9.4,481,4953,0.00,2.03,0.00,0.000,4,0.000,0.067,2235,3927,3525,0,0,0,0,0,0
$GC,4985,-0.70,-146.0,499.6,-9.3,482,4990,0.00,1.88,0.00,0.000,6,0.000,0.041,2236,2751,3525,0,0,0,0,0,0
$GC,5327,-0.70,-146.0,528.6,-8.2,493,5331,0.00,2.15,0.00,0.000,4,0.000,0.043,2235,1369,3525,0,0,0,0,0,0
$GC,5405,-0.73,-146.0,535.4,-8.3,495,5409,0.00,2.30,0.00,0.000,6,0.000,0.055,2235,2764,3526,0,0,0,0,0,0
$STATE,5691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5691,begin apogee
$GC,5699,-0.14,0.0,559.6,8.6,505,5828,0.57,0.00,121.95,0.898,4,0.122,0.000,2426,2599,2923,0,0,0,0,0,0
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5833,0.57,146.0,564.0,0.0,509,5963,0.60,0.00,123.78,0.891,6,0.063,0.000,2662,2599,2327,0,0,0,0,0,0
$GC,6295,-1.70,146.0,517.1,22178.7,524,6304,2.33,2.28,0.00,0.000,4,0.143,0.060,1936,3927,2318,0,0,0,0,0,0
$GC,6558,-1.70,146.0,478.1,22178.7,531,6565,0.00,2.10,0.00,0.000,6,0.000,0.039,1936,2600,2310,0,0,0,0,0,0
$GC,6872,-1.70,146.0,429.1,22178.7,542,6876,0.00,2.20,0.00,0.000,4,0.000,0.043,1936,1195,2312,0,0,0,0,0,0
$GC,7103,-1.70,146.0,390.0,22178.7,550,7109,0.00,2.25,0.00,0.000,6,0.000,0.052,1932,2578,2312,0,0,0,0,0,0
$GC,7429,-1.70,146.0,338.3,22178.7,581,7433,0.00,2.20,0.00,0.000,4,0.000,0.050,1919,3945,2309,0,0,0,0,0,0
$GC,7631,-1.70,146.0,300.7,22178.7,598,7638,0.00,2.12,0.00,0.000,6,0.000,0.041,1919,2613,2310,0,0,0,0,0,0
$GC,7957,-1.70,146.0,248.0,22178.7,629,7960,0.00,2.15,0.00,0.000,4,0.000,0.049,1908,3942,2309,0,0,0,0,0,0
$GC,8217,-1.70,146.0,199.5,22178.7,652,8221,0.00,2.10,0.00,0.000,6,0.000,0.041,1906,2613,2310,0,0,0,0,0,0
$GC,8549,-1.70,146.0,141.5,22178.7,683,8553,0.00,2.20,0.00,0.000,4,0.000,0.065,1906,3926,2311,0,0,0,0,0,0
$GC,8810,-1.70,146.0,92.7,22178.7,708,8817,0.00,2.05,0.00,0.000,6,0.000,0.037,1905,2622,2309,0,0,0,0,0,0
$GC,9157,-1.70,146.0,36.9,22178.7,769,9164,0.00,2.15,0.00,0.000,4,0.000,0.054,1894,3936,2309,0,0,0,0,0,0
$FREEZE,8.46,2.078,-1.817,0,1,0
$FREEZE,7.56,2.179,-1.810,0,1,0
$FREEZE,6.87,2.145,-1.812,0,1,0
$FREEZE,5.65,2.174,-1.809,0,1,0
$FREEZE,4.63,2.105,-1.813,0,1,0
$FREEZE,3.79,2.117,-1.811,0,1,0
$FREEZE,2.74,2.069,-1.813,0,1,0
$STATE,9370,end climb,SURFACE_DEPTH_REACHED
$STATE,9370,begin surface coast
$FREEZE,1.63,2.092,-1.811,0,1,0
$FINISH,1.6,1.026393
$STATE,9376,end surface coast,CONTROL_FINISHED_OK
$STATE,9376,begin surface
$SM_CCo,9394,262.67,0.080,0,0,440,609.08
$SM_GC,1.68,0.00,0.00,262.67,0.000,0.000,0.080,283,2783,440,-6.83,0.08,609.08
$RAFOS_CLK,372
$RAFOS,6,1295009346,12.833333,12.818334,79,45,44,41,41,39,720,1724,1555,1048,1247,1861
$RAFOS,5,1295008866,12.700000,12.685000,100,48,43,42,42,41,635,798,1077,1267,1740,1530
$RAFOS_FIX,6715.894531,-5731.038086,140111,121200,2,90,8.28
$IRIDIUM_FIX,6652.93,-5718.90,140111,090957
$TT8_MAMPS,0.028462
$HUMID,44.84
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.5,86.200
$10V_AH,9.8,59.164
$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,16.675,72.400,245.725,262.675,0.000,30.974,39.734,148.509,1.750,0.000,31.663,2020.242,5375.110,629.872,1746.755,299.186,0.000,1447.168,0.000,1506.744,720.000,13.424,0.000
$DEVICE_MAMPS,238.680,68.085,898.110,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,30065,808
$CAP_FILE_SIZE,104752,0
$CFSIZE,260165632,199794688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.6
$GPS,140111,151837,6714.377,-5724.457,33,0.9,34,-38.0