version: 66.08
glider: 183
mission: 3
dive: 768
start: 1 15 111 0 48 40
data:
$ID,183
$MISSION,3
$DIVE,768
$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,-11460.552
$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,41
$R_STBD_OVSHOOT,23
$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
$GPS1,150111,004131,6714.092,-5724.249,38,0.9,38,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.0
$GPS2,150111,004808,6714.127,-5724.400,13,0.9,13,-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,166.1,33401,-17.5,-10.000
$D_GRID,584
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,165,0.00,0.00,-141.27,0.000,2,0.000,0.000,283,2781,3497,0,0,0,0,0,0
$GC,168,-0.57,-146.0,5.6,-11.7,25,182,8.30,1.95,-0.47,0.000,4,0.236,0.072,2276,3934,3522,0,0,0,0,0,0
$GC,437,-0.57,-146.0,51.9,-11.9,72,444,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2777,3524,0,0,0,0,0,0
$GC,784,-0.59,-146.0,87.8,-10.3,133,791,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1372,3523,0,0,0,0,0,0
$GC,817,-0.62,-146.0,91.2,-9.9,138,823,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2779,3523,0,0,0,0,0,0
$GC,1156,-0.67,-146.0,122.4,-8.9,177,1160,0.00,2.22,0.00,0.000,4,0.000,0.045,2275,1369,3522,0,0,0,0,0,0
$GC,1186,-0.72,-146.0,125.2,-9.1,179,1190,0.00,2.33,0.00,0.000,6,0.000,0.058,2274,2773,3522,0,0,0,0,0,0
$GC,1512,-0.77,-146.0,154.2,-8.8,209,1517,0.12,2.25,0.00,0.000,4,0.096,0.045,2212,1372,3521,0,0,0,0,0,0
$GC,1541,-0.74,-146.0,157.6,-12.0,211,1546,0.00,2.30,0.00,0.000,6,0.000,0.057,2206,2763,3521,0,0,0,0,0,0
$GC,1868,-0.67,-146.0,200.3,-12.1,241,1872,0.17,1.98,0.00,0.000,4,0.164,0.066,2250,3929,3521,0,0,0,0,0,0
$GC,1929,-0.70,-146.0,207.0,-9.6,246,1936,0.00,1.88,0.00,0.000,6,0.000,0.043,2250,2757,3521,0,0,0,0,0,0
$GC,2256,-0.72,-146.0,237.1,-9.2,277,2259,0.00,2.17,0.00,0.000,4,0.000,0.044,2250,1372,3522,0,0,0,0,0,0
$GC,2303,-0.76,-146.0,241.4,-8.7,281,2307,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2764,3521,0,0,0,0,0,0
$GC,2629,-0.78,-146.0,271.8,-9.2,311,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2764,3521,0,0,0,0,0,0
$GC,2951,-0.80,-146.0,299.7,-8.4,341,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2764,3523,0,0,0,0,0,0
$GC,3280,-0.83,-146.0,326.6,-8.2,372,3287,0.12,0.00,0.00,0.000,6,0.099,0.000,2181,2764,3523,0,0,0,0,0,0
$GC,3606,-0.73,-146.0,368.1,-12.7,403,3608,0.20,0.00,0.00,0.000,6,0.155,0.000,2238,2765,3524,0,0,0,0,0,0
$GC,3924,-0.73,-146.0,398.1,-8.2,433,3928,0.00,2.17,0.00,0.000,4,0.000,0.044,2238,1372,3524,0,0,0,0,0,0
$GC,3962,-0.75,-146.0,401.2,-8.5,436,3966,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2755,3524,0,0,0,0,0,0
$GC,4297,-0.75,-146.0,430.3,-8.4,447,4301,0.00,1.98,0.00,0.000,4,0.000,0.064,2228,3934,3525,0,0,0,0,0,0
$GC,4325,-0.75,-146.0,433.0,-9.2,447,4332,0.00,1.85,0.00,0.000,6,0.000,0.041,2228,2750,3525,0,0,0,0,0,0
$GC,4639,-0.75,-146.0,462.7,-9.3,458,4642,0.00,2.15,0.00,0.000,4,0.000,0.043,2228,1364,3525,0,0,0,0,0,0
$GC,4678,-0.75,-146.0,466.3,-9.1,459,4682,0.00,2.28,0.00,0.000,6,0.000,0.054,2222,2752,3525,0,0,0,0,0,0
$GC,5008,-0.75,-146.0,496.2,-9.2,470,5012,0.00,2.15,0.00,0.000,4,0.000,0.043,2222,1373,3525,0,0,0,0,0,0
$GC,5037,-0.75,-146.0,499.3,-10.7,470,5043,0.00,2.25,0.00,0.000,6,0.000,0.054,2222,2741,3525,0,0,0,0,0,0
$GC,5350,-0.75,-146.0,529.7,-9.9,481,5354,0.00,2.00,0.00,0.000,4,0.000,0.065,2219,3932,3526,0,0,0,0,0,0
$GC,5394,-0.75,-146.0,534.5,-10.4,482,5398,0.00,1.90,0.00,0.000,6,0.000,0.041,2219,2724,3526,0,0,0,0,0,0
$GC,5725,-0.75,-146.0,567.3,-9.7,493,5729,0.00,2.10,0.00,0.000,4,0.000,0.044,2219,1371,3526,0,0,0,0,0,0
$GC,5747,-0.75,-146.0,569.9,-10.2,493,5751,0.00,2.22,0.00,0.000,6,0.000,0.055,2216,2739,3526,0,0,0,0,0,0
$STATE,5905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5905,begin apogee
$GC,5912,-0.14,0.0,585.5,10.1,498,6043,0.65,0.00,122.72,0.920,4,0.129,0.000,2426,2605,2923,0,0,0,0,0,0
$STATE,6043,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6046,0.57,146.0,589.6,0.0,502,6184,0.65,2.33,125.12,0.910,4,0.059,0.044,2669,1186,2326,0,0,0,0,0,0
$GC,6353,-1.77,146.0,561.8,22651.2,511,6362,2.50,2.30,0.00,0.000,6,0.142,0.050,1911,2602,2319,0,0,0,0,0,0
$GC,6677,-1.77,146.0,513.0,22651.2,522,6681,0.00,2.28,0.00,0.000,4,0.000,0.050,1910,1180,2311,0,0,0,0,0,0
$GC,6750,-1.77,146.0,499.2,22651.2,524,6755,0.00,2.33,0.00,0.000,6,0.000,0.053,1899,2608,2313,0,0,0,0,0,0
$GC,7076,-1.77,146.0,444.7,22651.2,535,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2609,2309,0,0,0,0,0,0
$GC,7383,-1.77,146.0,391.0,22651.2,547,7386,0.00,2.20,0.00,0.000,4,0.000,0.037,1892,1180,2309,0,0,0,0,0,0
$GC,7559,-1.77,146.0,359.6,22651.2,562,7566,0.00,2.38,0.00,0.000,6,0.000,0.052,1882,2636,2310,0,0,0,0,0,0
$GC,7886,-1.77,146.0,301.4,22651.2,593,7889,0.00,2.12,0.00,0.000,4,0.000,0.062,1870,3932,2310,0,0,0,0,0,0
$GC,8146,-1.77,146.0,249.6,22651.2,616,8151,0.17,1.98,0.00,0.000,6,0.269,0.040,1902,2681,2307,0,0,0,0,0,0
$GC,8478,-1.77,146.0,192.7,22651.2,647,8482,0.00,2.03,0.00,0.000,4,0.000,0.048,1885,3946,2307,0,0,0,0,0,0
$GC,8738,-1.77,146.0,144.2,22651.2,670,8742,0.00,2.00,0.00,0.000,6,0.000,0.042,1882,2675,2310,0,0,0,0,0,0
$GC,9069,-0.44,146.0,84.8,19.2,707,9076,1.58,2.12,0.00,0.000,4,0.178,0.055,2314,3937,2309,0,0,0,0,0,0
$GC,9244,0.24,222.6,71.5,6.5,737,9315,0.73,1.95,61.05,0.602,6,0.107,0.041,2552,2708,2015,0,0,0,0,0,0
$GC,9655,0.73,285.4,44.7,7.1,809,9715,0.40,2.08,51.47,0.590,4,0.091,0.063,2703,3932,1758,0,0,0,0,0,0
$GC,9882,0.73,285.4,19.7,11.1,848,9888,0.00,1.92,0.00,0.000,6,0.000,0.040,2704,2720,1750,0,0,0,0,0,0
$FREEZE,8.34,2.197,-1.824,0,1,0
$FREEZE,7.74,2.179,-1.824,0,1,0
$FREEZE,7.15,2.176,-1.824,0,1,0
$FREEZE,6.73,2.174,-1.823,0,1,0
$FREEZE,6.03,2.181,-1.823,0,1,0
$FREEZE,5.42,2.192,-1.822,0,1,0
$FREEZE,4.70,2.184,-1.822,0,1,0
$FREEZE,4.21,2.180,-1.821,0,1,0
$FREEZE,3.26,2.188,-1.821,0,1,0
$FREEZE,2.65,2.191,-1.820,0,1,0
$STATE,10019,end climb,SURFACE_DEPTH_REACHED
$STATE,10019,begin surface coast
$FREEZE,1.82,2.176,-1.820,0,1,0
$FREEZE,1.59,2.180,-1.819,0,1,0
$FREEZE,1.27,2.170,-1.819,0,1,0
$FREEZE,0.90,2.166,-1.819,0,1,0
$FINISH,0.9,1.026502
$STATE,10041,end surface coast,CONTROL_FINISHED_OK
$STATE,10041,begin surface
$SM_CCo,10059,189.30,0.079,0,0,440,609.08
$SM_GC,1.35,0.00,0.00,189.30,0.000,0.000,0.079,299,2783,440,-6.79,0.08,609.08
$RAFOS_CLK,396
$RAFOS,6,1295052550,0.833333,0.819444,95,46,41,40,40,38,695,75,157,1554,813,496
$RAFOS,4,1295051583,0.566667,0.550833,69,44,43,41,39,39,832,170,1696,392,180,1518
$RAFOS_FIX,6717.048828,-5731.639648,150111,000040,2,82,0.00
$IRIDIUM_FIX,6641.98,-5727.90,140111,212131
$TT8_MAMPS,0.028462
$HUMID,46.29
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,22.4,86.602
$10V_AH,9.8,59.412
$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,22.075,81.400,360.375,189.300,0.000,25.562,41.808,168.555,1.750,0.000,15.513,2162.698,5725.864,661.141,1771.191,339.154,0.000,1531.861,0.000,1552.102,360.000,13.238,0.000
$DEVICE_MAMPS,268.515,107.865,920.295,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,602.129,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,33388,877
$CAP_FILE_SIZE,113820,0
$CFSIZE,260165632,199544832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.0
$GPS,150111,034106,6713.723,-5724.491,34,1.5,39,-37.9