version: 66.08
glider: 183
mission: 3
dive: 682
start: 1 4 111 6 43 3
data:
$ID,183
$MISSION,3
$DIVE,682
$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,-11347.093
$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,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,4
$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
$GPS1,040111,062804,6653.160,-5744.000,7,99.0,27,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.9
$GPS2,040111,064232,6653.097,-5743.897,13,1.0,13,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,103.2,44337,-17.5,-10.000
$D_GRID,762
$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,-146.0,0.0,0.0,0,164,0.00,0.00,-142.32,0.000,2,0.000,0.000,303,2792,3360,0,0,0,0,0,0
$GC,167,-0.57,-146.0,5.5,-13.4,25,186,8.48,1.95,-3.22,0.000,4,0.249,0.085,2276,3928,3522,0,0,0,0,0,0
$GC,274,-0.57,-146.0,33.5,-12.7,43,281,0.00,1.90,0.00,0.000,6,0.000,0.051,2276,2776,3524,0,0,0,0,0,0
$GC,620,-0.57,-146.0,76.5,-11.7,104,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2776,3523,0,0,0,0,0,0
$GC,959,-0.57,-146.0,114.4,-10.7,153,963,0.00,2.28,0.00,0.000,4,0.000,0.053,2275,1361,3523,0,0,0,0,0,0
$GC,1045,-0.61,-146.0,123.2,-9.7,160,1049,0.00,2.35,0.00,0.000,6,0.000,0.063,2275,2769,3523,0,0,0,0,0,0
$GC,1371,-0.64,-146.0,154.6,-9.5,190,1375,0.00,2.28,0.00,0.000,4,0.000,0.053,2275,1370,3522,0,0,0,0,0,0
$GC,1428,-0.69,-146.0,160.1,-9.8,194,1435,0.00,2.35,0.00,0.000,6,0.000,0.065,2275,2759,3522,0,0,0,0,0,0
$GC,1754,-0.73,-146.0,189.5,-8.6,225,1756,0.10,0.00,0.00,0.000,6,0.117,0.000,2229,2759,3523,0,0,0,0,0,0
$GC,2072,-0.68,-146.0,224.9,-11.3,255,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2759,3523,0,0,0,0,0,0
$GC,2395,-0.63,-146.0,259.9,-10.5,285,2400,0.15,2.30,0.00,0.000,4,0.164,0.052,2271,1363,3524,0,0,0,0,0,0
$GC,2425,-0.66,-146.0,263.3,-9.1,287,2429,0.00,2.33,0.00,0.000,6,0.000,0.063,2271,2758,3523,0,0,0,0,0,0
$GC,2756,-0.71,-146.0,289.2,-8.2,318,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2758,3524,0,0,0,0,0,0
$GC,3078,-0.76,-146.0,315.7,-8.1,348,3083,0.12,2.28,0.00,0.000,4,0.103,0.052,2215,1369,3524,0,0,0,0,0,0
$GC,3135,-0.72,-146.0,322.2,-11.3,352,3142,0.12,2.30,0.00,0.000,6,0.182,0.062,2239,2738,3524,0,0,0,0,0,0
$GC,3461,-0.72,-146.0,355.0,-9.6,383,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2738,3524,0,0,0,0,0,0
$GC,3781,-0.72,-146.0,387.6,-10.6,413,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2738,3525,0,0,0,0,0,0
$GC,4090,-0.72,-146.0,420.1,-10.3,431,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2738,3525,0,0,0,0,0,0
$GC,4399,-0.72,-146.0,450.6,-9.9,441,4403,0.00,2.03,0.00,0.000,4,0.000,0.073,2232,3932,3525,0,0,0,0,0,0
$GC,4449,-0.72,-146.0,456.5,-10.2,442,4452,0.00,1.98,0.00,0.000,6,0.000,0.049,2232,2712,3525,0,0,0,0,0,0
$GC,4774,-0.72,-146.0,490.2,-10.5,453,4778,0.00,2.08,0.00,0.000,4,0.000,0.073,2226,3928,3526,0,0,0,0,0,0
$GC,4836,-0.72,-146.0,497.3,-11.5,455,4840,0.00,1.92,0.00,0.000,6,0.000,0.049,2226,2737,3526,0,0,0,0,0,0
$STATE,4864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4864,begin apogee
$GC,4872,-0.14,0.0,500.5,11.0,455,5004,0.62,0.00,123.18,0.913,4,0.135,0.000,2426,2604,2923,0,0,0,0,0,0
$STATE,5004,end apogee,CONTROL_FINISHED_OK
$STATE,5004,begin climb
$GC,5007,0.57,146.0,506.4,0.0,460,5140,0.62,0.00,128.40,0.894,6,0.078,0.000,2653,2604,2327,0,0,0,0,0,0
$GC,5472,0.54,146.0,469.4,10.1,475,5475,0.00,2.30,0.00,0.000,4,0.000,0.068,2653,3932,2317,0,0,0,0,0,0
$GC,5592,0.46,146.0,455.4,12.4,478,5597,0.12,2.15,0.00,0.000,6,0.207,0.046,2626,2609,2314,0,0,0,0,0,0
$GC,5911,0.51,191.5,429.5,7.9,489,5951,0.00,0.00,38.25,0.853,6,0.000,0.000,2626,2608,2142,0,0,0,0,0,0
$GC,6248,0.59,227.9,401.6,8.3,500,6283,0.12,0.00,32.00,0.835,6,0.101,0.000,2679,2608,1993,0,0,0,0,0,0
$GC,6598,0.59,227.9,359.4,12.5,531,6603,0.00,2.25,0.00,0.000,4,0.000,0.054,2680,1195,1985,0,0,0,0,0,0
$GC,6638,0.62,227.9,354.5,11.6,534,6644,0.00,2.33,0.00,0.000,6,0.000,0.057,2680,2617,1985,0,0,0,0,0,0
$GC,6963,0.62,227.9,313.0,13.1,565,6967,0.00,2.30,0.00,0.000,4,0.000,0.054,2680,1192,1984,0,0,0,0,0,0
$GC,6993,0.64,227.9,309.5,12.9,567,6997,0.00,2.28,0.00,0.000,6,0.000,0.056,2680,2588,1984,0,0,0,0,0,0
$GC,7318,0.64,227.9,268.4,12.3,597,7322,0.00,2.25,0.00,0.000,4,0.000,0.068,2680,3933,1983,0,0,0,0,0,0
$GC,7371,0.60,227.9,261.1,14.9,601,7375,0.00,2.15,0.00,0.000,6,0.000,0.046,2680,2595,1982,0,0,0,0,0,0
$GC,7697,0.60,227.9,219.1,12.6,631,7701,0.00,2.25,0.00,0.000,4,0.000,0.054,2680,1188,1982,0,0,0,0,0,0
$GC,7733,0.63,227.9,214.9,11.4,634,7737,0.00,2.33,0.00,0.000,6,0.000,0.057,2680,2602,1982,0,0,0,0,0,0
$GC,8063,0.63,227.9,174.1,12.1,665,8067,0.00,2.25,0.00,0.000,4,0.000,0.068,2680,3932,1982,0,0,0,0,0,0
$GC,8099,0.59,227.9,169.4,13.9,668,8103,0.00,2.15,0.00,0.000,6,0.000,0.046,2680,2595,1980,0,0,0,0,0,0
$GC,8430,0.59,227.9,128.7,12.1,699,8435,0.00,2.25,0.00,0.000,4,0.000,0.069,2680,3928,1981,0,0,0,0,0,0
$GC,8463,0.57,227.9,124.1,13.5,701,8470,0.00,2.15,0.00,0.000,6,0.000,0.045,2680,2589,1980,0,0,0,0,0,0
$GC,8795,0.59,227.9,87.0,10.9,742,8802,0.00,2.22,0.00,0.000,4,0.000,0.053,2680,1192,1980,0,0,0,0,0,0
$GC,8844,0.67,237.7,82.2,9.5,750,8858,0.00,2.30,7.90,0.638,6,0.000,0.056,2680,2594,1953,0,0,0,0,0,0
$GC,9200,0.73,257.2,46.7,9.1,812,9225,0.00,2.25,17.52,0.649,4,0.000,0.067,2680,3926,1877,0,0,0,0,0,0
$GC,9266,0.73,257.2,39.9,10.5,823,9273,0.00,2.20,0.00,0.000,6,0.000,0.045,2680,2579,1874,0,0,0,0,0,0
$FREEZE,8.70,-1.733,-1.792,0,1,0
$GC,9614,0.81,267.7,10.1,9.5,884,9635,0.15,2.33,10.77,0.627,4,0.100,0.054,2747,1184,1829,0,0,0,0,0,0
$FREEZE,6.75,-1.728,-1.791,0,1,0
$FREEZE,5.93,-1.729,-1.790,0,1,0
$FREEZE,5.47,-1.725,-1.789,0,1,0
$FREEZE,4.98,-1.722,-1.789,0,1,0
$GC,9659,0.81,267.7,5.0,12.2,891,9666,0.00,2.33,0.00,0.000,6,0.000,0.057,2747,2592,1829,0,0,0,0,0,0
$FREEZE,3.59,-1.719,-1.788,0,1,0
$FREEZE,2.88,-1.720,-1.788,0,1,0
$STATE,9677,end climb,SURFACE_DEPTH_REACHED
$STATE,9677,begin surface coast
$FREEZE,2.17,-1.723,-1.787,0,1,0
$FREEZE,1.52,-1.719,-1.787,0,1,0
$FREEZE,0.93,-1.720,-1.786,0,1,0
$FREEZE,0.91,-1.696,-1.784,0,1,0
$FREEZE,1.08,-1.719,-1.785,0,1,0
$FREEZE,0.92,-1.657,-0.222,0,1,0
$FINISH,0.9,1.003008
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9710,begin surface
$SM_CCo,9727,219.12,0.083,0,0,440,609.08
$SM_GC,1.55,0.00,0.00,219.12,0.000,0.000,0.083,301,2785,440,-6.80,0.14,609.08
$RAFOS_CLK,519
$RAFOS,6,1294130950,8.833333,8.819445,97,51,45,44,44,40,716,1752,1589,515,1465,324
$RAFOS,5,1294130465,8.700000,8.684722,127,56,42,41,41,40,553,554,26,432,1318,1871
$RAFOS,4,1294129985,8.566667,8.551389,107,50,49,43,43,40,755,1638,755,580,235,1128
$RAFOS,3,1294129504,8.433333,8.417778,46,45,42,42,42,40,1041,785,607,587,814,944
$RAFOS,2,1294129046,8.300000,8.290556,62,43,42,41,41,41,810,1313,729,1332,548,1645
$RAFOS,1,1294128545,8.166667,8.151389,50,48,45,44,42,40,1871,312,26,488,1649,1755
$RAFOS,0,1294128092,8.033334,8.025556,48,46,45,44,43,43,483,1747,391,1478,144,597
$RAFOS_FIX,6654.250488,-5743.056152,040111,080820,4,98,0.32
$IRIDIUM_FIX,6625.71,-5746.88,040111,060607
$TT8_MAMPS,0.029211
$HUMID,45.58
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,500.5,9.4
$24V_AH,21.7,78.379
$10V_AH,9.7,53.995
$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,17.275,75.825,358.025,219.125,0.000,55.271,84.202,344.661,2.000,0.000,16.235,2217.015,5482.001,689.519,1965.711,483.721,0.000,1523.956,0.000,1494.579,2520.000,16.970,0.000
$DEVICE_MAMPS,248.625,84.915,913.410,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,33393,900
$CAP_FILE_SIZE,115184,0
$CFSIZE,260165632,204636160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$GPS,040111,093031,6653.363,-5739.701,39,1.2,39,-37.6