version: 66.08
glider: 183
mission: 3
dive: 769
start: 1 15 111 3 52 46
data:
$ID,183
$MISSION,3
$DIVE,769
$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,-11461.805
$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,33
$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
$GPS1,150111,034106,6713.723,-5724.491,34,1.5,39,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.1
$GPS2,150111,035214,6713.771,-5724.590,9,1.6,9,-37.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,285.3,143710,-17.5,-10.000
$D_GRID,605
$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,-146.0,0.0,0.0,0,166,0.00,0.00,-142.82,0.000,2,0.000,0.000,274,2785,3476,0,0,0,0,0,0
$GC,169,-0.57,-146.0,5.3,-10.2,25,184,8.43,1.95,-0.90,0.000,4,0.238,0.073,2279,3929,3522,0,0,0,0,0,0
$GC,226,-0.44,-146.0,24.5,-17.5,34,234,0.17,1.83,0.00,0.000,6,0.143,0.044,2330,2775,3524,0,0,0,0,0,0
$GC,576,-0.55,-146.0,50.5,-7.4,95,583,0.00,2.20,0.00,0.000,4,0.000,0.047,2330,1373,3524,0,0,0,0,0,0
$GC,642,-0.67,-146.0,56.6,-9.2,106,650,0.20,2.30,0.00,0.000,6,0.071,0.057,2244,2766,3523,0,0,0,0,0,0
$GC,991,-0.63,-146.0,99.5,-12.1,167,997,0.00,2.22,0.00,0.000,4,0.000,0.046,2243,1366,3523,0,0,0,0,0,0
$GC,1049,-0.63,-146.0,107.0,-12.0,173,1053,0.00,2.33,0.00,0.000,6,0.000,0.058,2243,2775,3523,0,0,0,0,0,0
$GC,1382,-0.63,-146.0,144.5,-10.7,204,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2775,3521,0,0,0,0,0,0
$GC,1702,-0.63,-146.0,176.8,-9.8,234,1706,0.00,2.22,0.00,0.000,4,0.000,0.045,2242,1363,3521,0,0,0,0,0,0
$GC,1754,-0.65,-146.0,182.2,-9.6,238,1758,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2760,3521,0,0,0,0,0,0
$GC,2080,-0.65,-146.0,215.5,-10.0,268,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2760,3521,0,0,0,0,0,0
$GC,2398,-0.65,-146.0,248.1,-10.2,298,2402,0.00,2.20,0.00,0.000,4,0.000,0.044,2235,1373,3521,0,0,0,0,0,0
$GC,2437,-0.65,-146.0,252.4,-10.5,301,2444,0.00,2.28,0.00,0.000,6,0.000,0.056,2235,2750,3522,0,0,0,0,0,0
$GC,2763,-0.65,-146.0,283.5,-9.1,332,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2751,3522,0,0,0,0,0,0
$GC,3082,-0.65,-146.0,313.5,-9.6,362,3086,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1362,3523,0,0,0,0,0,0
$GC,3111,-0.65,-146.0,316.3,-9.5,364,3115,0.00,2.25,0.00,0.000,6,0.000,0.055,2235,2747,3523,0,0,0,0,0,0
$GC,3437,-0.65,-146.0,345.1,-8.9,394,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2747,3524,0,0,0,0,0,0
$GC,3759,-0.65,-146.0,373.1,-9.0,424,3763,0.00,1.98,0.00,0.000,4,0.000,0.066,2229,3935,3524,0,0,0,0,0,0
$GC,3794,-0.65,-146.0,376.7,-10.2,427,3799,0.12,1.88,0.00,0.000,6,0.153,0.041,2264,2739,3524,0,0,0,0,0,0
$GC,4147,-0.72,-146.0,402.9,-7.5,458,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2739,3525,0,0,0,0,0,0
$GC,4453,-0.78,-146.0,426.3,-7.6,468,4455,0.12,0.00,0.00,0.000,6,0.096,0.000,2202,2740,3525,0,0,0,0,0,0
$GC,4758,-0.73,-146.0,458.9,-10.7,478,4760,0.12,0.00,0.00,0.000,6,0.170,0.000,2236,2739,3526,0,0,0,0,0,0
$GC,5065,-0.73,-146.0,483.5,-8.2,488,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2739,3526,0,0,0,0,0,0
$GC,5370,-0.73,-146.0,509.5,-8.7,498,5374,0.00,2.12,0.00,0.000,4,0.000,0.043,2236,1372,3526,0,0,0,0,0,0
$GC,5405,-0.76,-146.0,512.6,-9.4,499,5409,0.00,2.25,0.00,0.000,6,0.000,0.055,2235,2751,3527,0,0,0,0,0,0
$GC,5742,-0.76,-146.0,543.5,-9.5,510,5746,0.00,2.15,0.00,0.000,4,0.000,0.043,2235,1376,3527,0,0,0,0,0,0
$GC,5782,-0.78,-146.0,547.6,-9.4,511,5786,0.00,2.25,0.00,0.000,6,0.000,0.055,2235,2751,3526,0,0,0,0,0,0
$GC,6112,-0.78,-146.0,578.0,-9.0,522,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2751,3527,0,0,0,0,0,0
$STATE,6415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6415,begin apogee
$GC,6423,-0.14,0.0,605.3,8.8,532,6553,0.57,0.00,123.12,0.936,4,0.125,0.000,2425,2604,2924,0,0,0,0,0,0
$STATE,6554,end apogee,CONTROL_FINISHED_OK
$STATE,6554,begin climb
$GC,6557,0.57,146.0,608.7,0.0,536,6692,0.62,0.00,126.20,0.923,6,0.068,0.000,2664,2603,2326,0,0,0,0,0,0
$GC,7018,-1.88,146.0,559.1,24829.9,551,7023,2.58,0.00,0.00,0.000,6,0.142,0.000,1877,2603,2317,0,0,0,0,0,0
$GC,7324,-1.88,146.0,510.2,24829.9,561,7328,0.00,2.22,0.00,0.000,4,0.000,0.065,1865,3933,2311,0,0,0,0,0,0
$GC,7385,-1.88,146.0,498.0,24829.9,562,7392,0.00,2.12,0.00,0.000,6,0.000,0.043,1865,2607,2310,0,0,0,0,0,0
$GC,7700,-1.88,146.0,441.2,24829.9,573,7704,0.00,2.25,0.00,0.000,4,0.000,0.047,1864,1183,2310,0,0,0,0,0,0
$GC,7958,-1.88,146.0,393.4,24829.9,582,7964,0.00,2.40,0.00,0.000,6,0.000,0.050,1851,2662,2309,0,0,0,0,0,0
$GC,8284,-1.88,146.0,334.1,24829.9,613,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,2663,2307,0,0,0,0,0,0
$GC,8607,-1.88,146.0,274.1,24829.9,643,8613,0.12,0.00,0.00,0.000,6,0.283,0.000,1864,2663,2309,0,0,0,0,0,0
$GC,8933,-1.88,146.0,212.4,24829.9,674,8937,0.00,2.05,0.00,0.000,4,0.000,0.052,1855,3944,2306,0,0,0,0,0,0
$GC,9195,-1.88,146.0,158.6,24829.9,697,9199,0.00,2.00,0.00,0.000,6,0.000,0.040,1853,2679,2306,0,0,0,0,0,0
$GC,9523,-1.37,146.0,96.5,17.4,729,9531,0.68,2.35,0.00,0.000,4,0.222,0.041,2024,1191,2309,0,0,0,0,0,0
$GC,9787,-0.23,146.0,57.0,15.2,775,9794,1.30,2.42,0.00,0.000,6,0.154,0.050,2393,2686,2310,0,0,0,0,0,0
$GC,10138,0.36,296.5,41.4,3.1,836,10269,0.55,2.45,120.32,0.592,4,0.119,0.044,2580,1184,1712,0,0,0,0,0,0
$FREEZE,8.59,2.189,-1.826,0,1,0
$FREEZE,7.87,2.190,-1.825,0,1,0
$GC,10527,0.79,296.5,7.9,11.2,903,10534,0.43,2.40,0.00,0.000,6,0.085,0.052,2735,2655,1701,0,0,0,0,0,0
$FREEZE,6.03,2.187,-1.824,0,1,0
$FREEZE,5.46,2.188,-1.823,0,1,0
$FREEZE,4.98,2.188,-1.823,0,1,0
$FREEZE,4.41,2.186,-1.822,0,1,0
$FREEZE,3.91,2.178,-1.822,0,1,0
$FREEZE,3.24,2.178,-1.821,0,1,0
$FREEZE,2.53,2.179,-1.821,0,1,0
$STATE,10572,end climb,SURFACE_DEPTH_REACHED
$STATE,10572,begin surface coast
$FREEZE,1.56,2.159,-1.820,0,1,0
$FREEZE,0.85,2.165,-1.819,0,1,0
$FREEZE,0.91,2.126,-1.817,0,1,0
$FREEZE,0.72,2.173,-1.817,0,1,0
$FREEZE,0.75,1.911,-0.991,0,1,0
$FINISH,0.8,1.014611
$STATE,10601,end surface coast,CONTROL_FINISHED_OK
$STATE,10601,begin surface
$SM_CCo,10619,183.50,0.081,0,0,440,609.08
$SM_GC,1.35,0.00,0.00,183.50,0.000,0.000,0.081,293,2786,440,-6.80,0.20,609.08
$RAFOS_CLK,435
$RAFOS,6,1295066947,4.833333,4.818611,95,45,42,41,41,40,703,1527,876,1550,1139,495
$RAFOS,5,1295066464,4.700000,4.684444,65,58,45,42,40,39,629,638,1784,1191,1061,1767
$RAFOS,4,1295065985,4.566667,4.551389,81,45,41,41,41,40,816,1170,1060,879,1825,1887
$RAFOS,3,1295065505,4.433333,4.418056,48,44,41,41,39,38,1674,1789,276,1767,351,1820
$RAFOS,2,1295065028,4.300000,4.285555,45,43,41,41,41,39,162,1886,1388,1671,588,1772
$RAFOS,1,1295064541,4.166667,4.150278,43,42,41,41,41,39,1867,318,763,1211,1422,1469
$RAFOS,0,1295064063,4.033333,4.017500,45,44,43,43,43,38,451,1914,517,1189,512,1910
$RAFOS_FIX,6714.142090,-5732.483887,150111,040444,3,80,1.85
$IRIDIUM_FIX,6641.98,-5730.88,150111,000055
$TT8_MAMPS,0.028462
$HUMID,46.73
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.4
$24V_AH,22.2,86.723
$10V_AH,9.8,59.478
$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,22.475,61.975,369.650,183.500,0.000,25.229,15.504,469.752,2.000,0.000,12.196,2228.480,6248.951,650.915,1905.303,454.702,0.000,1496.533,0.000,1536.839,2520.000,15.018,0.000
$DEVICE_MAMPS,283.050,78.795,936.360,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151748
$DATA_FILE_SIZE,33387,916
$CAP_FILE_SIZE,113250,0
$CFSIZE,260165632,199487488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.9
$GPS,150111,065444,6713.778,-5728.072,39,1.6,52,-38.0