version: 66.08
glider: 183
mission: 3
dive: 770
start: 1 15 111 7 1 33
data:
$ID,183
$MISSION,3
$DIVE,770
$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,-11463.063
$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,38
$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
$GPS1,150111,065444,6713.778,-5728.072,39,1.6,52,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.6
$GPS2,150111,070102,6713.816,-5728.184,10,1.3,10,-38.0
$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,285.0,141318,-17.5,-10.000
$D_GRID,637
$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,-146.0,0.0,0.0,0,165,0.00,0.00,-141.98,0.000,2,0.000,0.000,277,2787,3484,0,0,0,0,0,0
$GC,168,-0.57,-146.0,5.5,-13.2,25,183,8.40,1.95,-0.70,0.000,4,0.237,0.073,2279,3932,3521,0,0,0,0,0,0
$GC,202,0.09,-146.0,22.2,-42.6,30,209,0.73,1.83,0.00,0.000,6,0.140,0.043,2500,2775,3523,0,0,0,0,0,0
$GC,550,-0.35,-146.0,48.9,-8.9,91,558,0.38,1.95,0.00,0.000,4,0.097,0.067,2364,3924,3522,0,0,0,0,0,0
$GC,764,-0.75,-146.0,66.2,-7.9,128,772,0.38,1.65,0.00,0.000,6,0.100,0.045,2234,2914,3522,0,0,0,0,0,0
$GC,1110,-0.71,-146.0,104.1,-11.4,186,1114,0.00,2.42,0.00,0.000,4,0.000,0.044,2233,1375,3521,0,0,0,0,0,0
$GC,1245,-0.71,-146.0,120.0,-11.1,198,1249,0.00,2.50,0.00,0.000,6,0.000,0.058,2228,2883,3521,0,0,0,0,0,0
$GC,1577,-0.67,-146.0,160.1,-12.0,229,1582,0.12,2.45,0.00,0.000,4,0.177,0.046,2261,1366,3521,0,0,0,0,0,0
$GC,1657,-0.71,-146.0,168.1,-9.5,236,1662,0.00,2.50,0.00,0.000,6,0.000,0.058,2261,2871,3521,0,0,0,0,0,0
$GC,1989,-0.75,-146.0,198.9,-8.8,267,1994,0.00,2.40,0.00,0.000,4,0.000,0.045,2260,1367,3521,0,0,0,0,0,0
$GC,2084,-0.81,-146.0,206.9,-8.3,275,2089,0.12,2.47,0.00,0.000,6,0.093,0.058,2202,2859,3521,0,0,0,0,0,0
$GC,2412,-0.74,-146.0,244.4,-11.4,305,2417,0.12,2.40,0.00,0.000,4,0.177,0.044,2235,1372,3521,0,0,0,0,0,0
$GC,2446,-0.74,-146.0,248.2,-10.0,307,2453,0.00,2.45,0.00,0.000,6,0.000,0.057,2235,2857,3521,0,0,0,0,0,0
$GC,2772,-0.74,-146.0,279.2,-9.9,338,2776,0.00,2.35,0.00,0.000,4,0.000,0.044,2235,1369,3521,0,0,0,0,0,0
$GC,2835,-0.77,-146.0,285.4,-9.5,343,2842,0.00,2.42,0.00,0.000,6,0.000,0.057,2235,2834,3521,0,0,0,0,0,0
$GC,3161,-0.77,-146.0,315.4,-9.5,374,3165,0.00,2.30,0.00,0.000,4,0.000,0.044,2235,1372,3522,0,0,0,0,0,0
$GC,3191,-0.77,-146.0,318.3,-9.6,376,3195,0.00,2.40,0.00,0.000,6,0.000,0.057,2235,2832,3522,0,0,0,0,0,0
$GC,3517,-0.77,-146.0,349.1,-9.8,406,3522,0.00,2.33,0.00,0.000,4,0.000,0.043,2234,1369,3523,0,0,0,0,0,0
$GC,3552,-0.77,-146.0,352.9,-10.1,409,3556,0.00,2.40,0.00,0.000,6,0.000,0.057,2234,2831,3523,0,0,0,0,0,0
$GC,3878,-0.77,-146.0,383.4,-9.5,439,3882,0.00,2.30,0.00,0.000,4,0.000,0.043,2234,1367,3523,0,0,0,0,0,0
$GC,3907,-0.77,-146.0,386.3,-9.4,441,3912,0.00,2.40,0.00,0.000,6,0.000,0.056,2235,2819,3523,0,0,0,0,0,0
$GC,4250,-0.77,-146.0,417.2,-9.0,461,4254,0.00,2.28,0.00,0.000,4,0.000,0.043,2234,1370,3524,0,0,0,0,0,0
$GC,4306,-0.80,-146.0,423.0,-9.4,462,4313,0.00,2.40,0.00,0.000,6,0.000,0.056,2234,2822,3524,0,0,0,0,0,0
$GC,4621,-0.80,-146.0,451.2,-8.9,473,4625,0.00,2.30,0.00,0.000,4,0.000,0.044,2234,1371,3525,0,0,0,0,0,0
$GC,4666,-0.83,-146.0,455.3,-8.6,474,4671,0.00,2.35,0.00,0.000,6,0.000,0.056,2234,2805,3525,0,0,0,0,0,0
$GC,4987,-0.83,-146.0,483.6,-9.2,485,4991,0.00,2.25,0.00,0.000,4,0.000,0.043,2234,1372,3525,0,0,0,0,0,0
$GC,5037,-0.85,-146.0,488.4,-9.3,486,5041,0.00,2.35,0.00,0.000,6,0.000,0.055,2234,2805,3525,0,0,0,0,0,0
$GC,5351,-0.85,-146.0,515.7,-8.6,496,5355,0.00,2.28,0.00,0.000,4,0.000,0.044,2234,1371,3526,0,0,0,0,0,0
$GC,5413,-0.88,-146.0,521.2,-8.6,497,5420,0.12,2.33,0.00,0.000,6,0.093,0.055,2174,2788,3526,0,0,0,0,0,0
$GC,5726,-0.79,-146.0,559.1,-12.4,508,5728,0.17,0.00,0.00,0.000,6,0.163,0.000,2222,2788,3526,0,0,0,0,0,0
$GC,6034,-0.79,-146.0,587.5,-9.3,518,6038,0.00,2.22,0.00,0.000,4,0.000,0.044,2222,1374,3526,0,0,0,0,0,0
$GC,6063,-0.79,-146.0,590.5,-9.5,519,6067,0.00,2.30,0.00,0.000,6,0.000,0.057,2222,2779,3526,0,0,0,0,0,0
$GC,6399,-0.79,-146.0,623.3,-9.7,530,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2779,3526,0,0,0,0,0,0
$STATE,6549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6549,begin apogee
$GC,6557,-0.14,0.0,637.9,9.7,535,6687,0.62,0.00,123.90,0.965,4,0.129,0.000,2424,2602,2923,0,0,0,0,0,0
$STATE,6688,end apogee,CONTROL_FINISHED_OK
$STATE,6688,begin climb
$GC,6692,0.57,146.0,641.8,0.0,539,6828,0.65,2.35,127.78,0.949,4,0.062,0.046,2662,1185,2326,0,0,0,0,0,0
$GC,6987,0.57,146.0,616.7,10.8,548,6991,0.00,2.35,0.00,0.000,6,0.000,0.052,2662,2607,2319,0,0,0,0,0,0
$GC,7311,0.53,146.0,578.9,11.5,559,7315,0.00,2.25,0.00,0.000,4,0.000,0.049,2663,1188,2316,0,0,0,0,0,0
$GC,7552,0.53,146.0,552.6,11.1,566,7556,0.00,2.30,0.00,0.000,6,0.000,0.053,2663,2612,2315,0,0,0,0,0,0
$GC,7883,0.49,146.0,513.9,12.0,577,7885,0.12,0.00,0.00,0.000,6,0.192,0.000,2631,2613,2314,0,0,0,0,0,0
$GC,8190,0.49,147.2,482.6,9.9,587,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2613,2313,0,0,0,0,0,0
$GC,8495,0.49,148.6,452.2,9.9,597,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2613,2312,0,0,0,0,0,0
$GC,8801,0.49,148.9,421.8,10.0,607,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2613,2312,0,0,0,0,0,0
$GC,9111,0.51,148.9,390.7,10.1,621,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2612,2311,0,0,0,0,0,0
$GC,9432,0.53,149.6,358.7,10.0,651,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2613,2311,0,0,0,0,0,0
$GC,9761,0.56,163.3,326.6,9.4,682,9784,0.00,2.28,13.02,0.750,4,0.000,0.064,2631,3926,2257,0,0,0,0,0,0
$GC,9823,0.56,163.3,319.7,11.0,687,9830,0.00,2.12,0.00,0.000,6,0.000,0.041,2634,2595,2255,0,0,0,0,0,0
$GC,10149,0.58,163.3,286.2,10.7,718,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2594,2256,0,0,0,0,0,0
$GC,10471,0.60,163.3,253.3,10.4,748,10478,0.10,0.00,0.00,0.000,6,0.113,0.000,2684,2594,2255,0,0,0,0,0,0
$GC,10797,0.55,163.3,210.4,12.7,779,10799,0.12,0.00,0.00,0.000,6,0.172,0.000,2650,2594,2255,0,0,0,0,0,0
$GC,11115,0.55,163.3,176.9,10.9,809,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2594,2255,0,0,0,0,0,0
$GC,11437,0.55,163.3,143.3,10.8,839,11441,0.00,2.22,0.00,0.000,4,0.000,0.063,2650,3929,2255,0,0,0,0,0,0
$GC,11481,0.51,163.3,137.3,13.0,842,11488,0.00,2.08,0.00,0.000,6,0.000,0.039,2655,2602,2255,0,0,0,0,0,0
$GC,11807,0.51,163.3,101.8,10.6,873,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2601,2255,0,0,0,0,0,0
$GC,12144,0.55,182.0,68.2,9.1,931,12168,0.00,2.22,17.60,0.603,4,0.000,0.062,2654,3926,2179,0,0,0,0,0,0
$GC,12209,0.55,182.0,61.1,11.3,942,12216,0.00,2.08,0.00,0.000,6,0.000,0.040,2655,2614,2177,0,0,0,0,0,0
$GC,12558,0.63,243.8,31.6,7.1,1003,12616,0.00,0.00,51.35,0.584,6,0.000,0.000,2655,2614,1927,0,0,0,0,0,0
$FREEZE,8.93,2.034,-1.824,0,1,0
$FREEZE,8.69,2.034,-1.823,0,1,0
$FREEZE,8.24,2.006,-1.823,0,1,0
$FREEZE,7.94,2.009,-1.823,0,1,0
$FREEZE,7.52,2.012,-1.823,0,1,0
$FREEZE,7.12,2.015,-1.822,0,1,0
$FREEZE,6.57,2.026,-1.822,0,1,0
$FREEZE,6.07,2.023,-1.821,0,1,0
$FREEZE,5.50,2.022,-1.821,0,1,0
$FREEZE,5.08,2.009,-1.821,0,1,0
$FREEZE,4.78,2.003,-1.821,0,1,0
$FREEZE,4.53,2.004,-1.820,0,1,0
$FREEZE,4.10,2.003,-1.820,0,1,0
$FREEZE,3.77,1.998,-1.820,0,1,0
$FREEZE,3.30,2.003,-1.819,0,1,0
$FREEZE,2.68,2.007,-1.819,0,1,0
$STATE,12927,end climb,SURFACE_DEPTH_REACHED
$STATE,12927,begin surface coast
$FREEZE,2.01,2.013,-1.818,0,1,0
$FREEZE,1.43,2.019,-1.818,0,1,0
$FREEZE,0.75,2.007,-1.817,0,1,0
$FREEZE,0.60,1.802,-0.183,0,1,0
$FREEZE,0.63,2.047,-0.392,0,1,0
$FREEZE,0.89,2.004,-1.813,0,1,0
$FINISH,0.9,1.026434
$STATE,12962,end surface coast,CONTROL_FINISHED_OK
$STATE,12962,begin surface
$SM_CCo,12979,207.48,0.080,0,0,440,609.08
$SM_GC,1.38,0.00,0.00,207.48,0.000,0.000,0.080,294,2782,440,-6.80,0.06,609.08
$RAFOS_CLK,577
$RAFOS,6,1295081351,8.833333,8.819722,48,47,45,44,42,41,458,668,644,1800,739,1152
$RAFOS,5,1295080861,8.700000,8.683611,98,45,44,43,42,41,646,1384,1781,1470,26,1544
$RAFOS,4,1295080402,8.566667,8.556111,74,42,41,41,39,39,715,950,1762,1704,197,416
$RAFOS,3,1295079906,8.433333,8.418333,47,46,44,43,43,42,1313,26,488,990,1150,1288
$RAFOS,2,1295079448,8.300000,8.291111,49,46,44,43,43,41,1673,1039,1422,1845,26,999
$RAFOS,1,1295078943,8.166667,8.150833,44,43,41,40,38,38,1421,1916,1166,1225,757,1737
$RAFOS,0,1295078470,8.033334,8.019444,49,48,43,42,41,41,1418,1125,944,384,26,1443
$RAFOS_FIX,6713.093262,-5731.069336,150111,080828,2,86,0.42
$IRIDIUM_FIX,6641.98,-5723.22,150111,030327
$TT8_MAMPS,0.029211
$HUMID,46.29
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.6
$24V_AH,22.0,86.822
$10V_AH,9.8,59.550
$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,18.400,91.725,333.650,207.475,0.000,28.083,49.906,141.944,2.000,0.000,13.140,2662.998,7821.724,668.887,2066.895,360.634,0.000,1672.558,0.000,1842.108,2520.000,15.010,0.000
$DEVICE_MAMPS,237.150,72.675,964.665,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40005,1075
$CAP_FILE_SIZE,135782,0
$CFSIZE,260165632,199401472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.2
$GPS,150111,104301,6714.355,-5735.095,40,1.4,40,-38.0