version: 66.08
glider: 183
mission: 3
dive: 746
start: 1 12 111 9 8 7
data:
$ID,183
$MISSION,3
$DIVE,746
$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,-11429.4
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,120111,085852,6716.682,-5717.064,12,99.0,32,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.5
$GPS2,120111,090736,6716.673,-5717.195,10,1.8,26,-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,178.2,32950,-17.5,-10.000
$D_GRID,398
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-136.12,0.000,2,0.000,0.000,259,2794,3468,0,0,0,0,0,0
$GC,160,-0.57,-146.0,5.3,-10.0,24,175,8.38,1.92,-1.05,0.000,4,0.236,0.073,2277,3928,3521,0,0,0,0,0,0
$GC,430,-0.59,-146.0,50.2,-11.2,71,437,0.00,1.85,0.00,0.000,6,0.000,0.044,2277,2775,3523,0,0,0,0,0,0
$GC,777,-0.62,-146.0,85.5,-9.5,132,784,0.00,2.22,0.00,0.000,4,0.000,0.047,2277,1373,3522,0,0,0,0,0,0
$GC,821,-0.66,-146.0,89.7,-9.5,139,828,0.00,2.30,0.00,0.000,6,0.000,0.059,2275,2762,3522,0,0,0,0,0,0
$GC,1155,-0.69,-146.0,120.8,-8.9,179,1158,0.00,1.98,0.00,0.000,4,0.000,0.068,2275,3930,3521,0,0,0,0,0,0
$GC,1205,-0.76,-146.0,125.4,-8.5,183,1213,0.12,1.88,0.00,0.000,6,0.093,0.044,2216,2763,3521,0,0,0,0,0,0
$GC,1531,-0.69,-146.0,165.1,-13.3,214,1533,0.12,0.00,0.00,0.000,6,0.168,0.000,2250,2763,3521,0,0,0,0,0,0
$GC,1849,-0.69,-146.0,199.9,-11.3,244,1853,0.00,2.17,0.00,0.000,4,0.000,0.045,2250,1372,3521,0,0,0,0,0,0
$GC,1905,-0.73,-146.0,206.3,-11.5,248,1912,0.00,2.33,0.00,0.000,6,0.000,0.057,2247,2778,3521,0,0,0,0,0,0
$GC,2231,-0.73,-146.0,241.7,-9.8,279,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2778,3521,0,0,0,0,0,0
$GC,2554,-0.73,-146.0,273.3,-9.8,309,2558,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3936,3521,0,0,0,0,0,0
$GC,2590,-0.73,-146.0,277.3,-9.9,312,2594,0.00,1.85,0.00,0.000,6,0.000,0.042,2247,2778,3522,0,0,0,0,0,0
$GC,2922,-0.75,-146.0,308.1,-9.6,343,2926,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1369,3522,0,0,0,0,0,0
$GC,2963,-0.78,-146.0,311.9,-9.4,346,2967,0.00,2.35,0.00,0.000,6,0.000,0.057,2247,2790,3522,0,0,0,0,0,0
$GC,3289,-0.78,-146.0,341.1,-8.6,376,3292,0.00,1.92,0.00,0.000,4,0.000,0.066,2244,3936,3523,0,0,0,0,0,0
$GC,3336,-0.81,-146.0,345.5,-9.2,380,3339,0.00,1.83,0.00,0.000,6,0.000,0.043,2244,2795,3523,0,0,0,0,0,0
$GC,3667,-0.81,-146.0,375.2,-8.9,411,3671,0.00,2.22,0.00,0.000,4,0.000,0.044,2244,1367,3524,0,0,0,0,0,0
$GC,3715,-0.84,-146.0,379.4,-9.4,415,3720,0.12,2.33,0.00,0.000,6,0.090,0.056,2180,2794,3524,0,0,0,0,0,0
$STATE,3868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3868,begin apogee
$GC,3876,-0.14,0.0,398.9,12.8,429,4004,0.77,0.00,119.05,0.798,4,0.136,0.000,2425,2599,2922,0,0,0,0,0,0
$STATE,4004,end apogee,CONTROL_FINISHED_OK
$STATE,4004,begin climb
$GC,4008,0.57,146.0,402.1,0.0,434,4139,0.65,2.30,120.20,0.787,4,0.066,0.044,2664,1186,2327,0,0,0,0,0,0
$GC,4293,0.57,146.0,377.1,11.5,455,4300,0.00,2.33,0.00,0.000,6,0.000,0.050,2664,2608,2321,0,0,0,0,0,0
$GC,4618,0.53,146.0,339.4,11.4,486,4622,0.00,2.22,0.00,0.000,4,0.000,0.045,2666,1191,2318,0,0,0,0,0,0
$GC,4876,0.53,146.0,312.1,10.1,508,4883,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2600,2318,0,0,0,0,0,0
$GC,5202,0.49,146.0,274.4,12.7,539,5207,0.12,2.20,0.00,0.000,4,0.187,0.061,2634,3934,2317,0,0,0,0,0,0
$GC,5226,0.46,146.0,271.5,12.2,541,5230,0.00,2.15,0.00,0.000,6,0.000,0.039,2635,2578,2316,0,0,0,0,0,0
$GC,5558,0.46,150.0,237.4,9.8,572,5562,0.00,2.22,0.00,0.000,4,0.000,0.061,2635,3925,2316,0,0,0,0,0,0
$GC,5632,0.43,150.0,228.8,12.1,578,5636,0.00,2.08,0.00,0.000,6,0.000,0.039,2638,2612,2315,0,0,0,0,0,0
$GC,5964,0.44,156.9,197.3,9.7,609,5979,0.00,2.30,8.70,0.624,4,0.000,0.045,2638,1190,2283,0,0,0,0,0,0
$GC,6014,0.51,169.6,192.2,9.4,613,6032,0.00,2.30,12.35,0.640,6,0.000,0.050,2639,2615,2231,0,0,0,0,0,0
$GC,6351,0.55,169.6,158.2,10.2,645,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2614,2228,0,0,0,0,0,0
$GC,6673,0.60,182.3,127.8,9.4,675,6691,0.00,2.33,11.95,0.614,4,0.000,0.046,2639,1195,2178,0,0,0,0,0,0
$GC,6705,0.67,201.2,124.7,9.1,678,6729,0.15,2.28,17.15,0.611,6,0.089,0.050,2706,2607,2102,0,0,0,0,0,0
$GC,7056,0.63,201.2,79.6,12.4,724,7063,0.00,2.15,0.00,0.000,4,0.000,0.060,2706,3925,2097,0,0,0,0,0,0
$GC,7132,0.55,201.2,68.9,14.8,737,7139,0.20,2.08,0.00,0.000,6,0.170,0.039,2652,2613,2096,0,0,0,0,0,0
$GC,7482,0.63,218.8,38.8,9.2,798,7507,0.00,2.30,15.05,0.579,4,0.000,0.046,2652,1199,2030,0,0,0,0,0,0
$GC,7591,0.78,276.7,30.4,7.3,816,7645,0.20,2.22,48.55,0.573,6,0.076,0.049,2738,2596,1795,0,0,0,0,0,0
$FREEZE,8.59,2.202,-1.818,0,1,0
$FREEZE,7.93,2.210,-1.817,0,1,0
$FREEZE,7.25,2.206,-1.817,0,1,0
$FREEZE,6.61,2.196,-1.816,0,1,0
$FREEZE,5.94,2.194,-1.815,0,1,0
$FREEZE,5.21,2.185,-1.815,0,1,0
$FREEZE,4.64,2.192,-1.815,0,1,0
$FREEZE,3.99,2.190,-1.814,0,1,0
$FREEZE,3.32,2.186,-1.813,0,1,0
$FREEZE,2.70,2.185,-1.813,0,1,0
$STATE,7794,end climb,SURFACE_DEPTH_REACHED
$STATE,7794,begin surface coast
$FREEZE,1.87,2.197,-1.812,0,1,0
$FREEZE,1.23,2.195,-1.812,0,1,0
$FREEZE,0.82,2.178,-1.073,0,1,0
$FREEZE,0.93,2.132,-0.966,0,1,0
$FINISH,0.9,1.014237
$STATE,7820,end surface coast,CONTROL_FINISHED_OK
$STATE,7820,begin surface
$SM_CCo,7837,202.10,0.077,0,0,440,609.08
$SM_GC,1.63,0.00,0.00,202.10,0.000,0.000,0.077,280,2789,440,-6.85,0.25,609.08
$RAFOS_CLK,316
$RAFOS,6,1294822145,8.833333,8.818055,60,44,42,42,42,41,744,652,389,1330,1572,1391
$RAFOS_FIX,6717.586914,-5723.498047,120111,080856,2,66,0.00
$IRIDIUM_FIX,6647.44,-5721.91,120111,090916
$TT8_MAMPS,0.028462
$HUMID,45.27
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,23.1,84.601
$10V_AH,9.8,58.068
$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,17.275,69.625,353.000,202.100,0.000,56.801,95.033,136.560,0.750,0.000,29.409,2048.152,3881.372,655.562,1703.419,289.636,0.000,1430.040,0.000,1403.209,0.000,7.989,0.000
$DEVICE_MAMPS,235.620,73.440,797.895,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,30093,856
$CAP_FILE_SIZE,101546,0
$CFSIZE,260165632,200843264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,120111,112337,6716.258,-5717.381,32,1.2,33,-38.0