version: 66.08
glider: 183
mission: 3
dive: 693
start: 1 5 111 23 39 19
data:
$ID,183
$MISSION,3
$DIVE,693
$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,-11360.128
$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,39
$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
$GPS1,050111,231707,6700.228,-5705.302,40,1.7,40,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.2
$GPS2,050111,233846,6700.305,-5705.181,10,2.2,29,-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,105.7,13374,-17.5,-10.000
$D_GRID,716
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-146.07,0.000,2,0.000,0.000,286,2789,3491,0,0,0,0,0,0
$GC,170,-0.57,-146.0,5.7,-14.6,26,185,8.43,2.35,-0.57,0.000,4,0.244,0.063,2283,1374,3521,0,0,0,0,0,0
$GC,278,-0.61,-146.0,32.3,-11.2,44,285,0.00,2.30,0.00,0.000,6,0.000,0.058,2277,2774,3523,0,0,0,0,0,0
$GC,625,-0.61,-146.0,70.8,-9.4,105,632,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3927,3522,0,0,0,0,0,0
$GC,674,-0.64,-146.0,75.9,-10.1,113,681,0.00,1.83,0.00,0.000,6,0.000,0.047,2275,2780,3522,0,0,0,0,0,0
$GC,1014,-0.67,-146.0,110.4,-10.4,165,1018,0.00,2.28,0.00,0.000,4,0.000,0.049,2275,1370,3521,0,0,0,0,0,0
$GC,1049,-0.71,-146.0,114.1,-10.0,167,1056,0.00,2.38,0.00,0.000,6,0.000,0.060,2274,2796,3521,0,0,0,0,0,0
$GC,1375,-0.76,-146.0,140.1,-6.5,198,1380,0.12,2.30,0.00,0.000,4,0.100,0.048,2215,1369,3521,0,0,0,0,0,0
$GC,1460,-0.72,-146.0,148.2,-9.9,205,1468,0.12,2.30,0.00,0.000,6,0.181,0.059,2239,2767,3521,0,0,0,0,0,0
$GC,1790,-0.72,-146.0,176.0,-9.1,236,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2767,3522,0,0,0,0,0,0
$GC,2117,-0.72,-146.0,209.2,-10.2,267,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2767,3523,0,0,0,0,0,0
$GC,2433,-0.72,-146.0,243.5,-11.2,297,2438,0.00,2.20,0.00,0.000,4,0.000,0.046,2239,1369,3524,0,0,0,0,0,0
$GC,2513,-0.72,-146.0,252.5,-10.7,303,2520,0.00,2.30,0.00,0.000,6,0.000,0.057,2235,2763,3524,0,0,0,0,0,0
$GC,2838,-0.72,-146.0,289.0,-10.4,334,2842,0.00,1.95,0.00,0.000,4,0.000,0.067,2229,3936,3525,0,0,0,0,0,0
$GC,2884,-0.72,-146.0,293.9,-11.1,338,2888,0.00,1.90,0.00,0.000,6,0.000,0.043,2229,2748,3525,0,0,0,0,0,0
$GC,3216,-0.70,-146.0,325.2,-8.5,369,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2748,3526,0,0,0,0,0,0
$GC,3534,-0.70,-146.0,352.7,-8.6,399,3538,0.00,1.98,0.00,0.000,4,0.000,0.067,2222,3928,3527,0,0,0,0,0,0
$GC,3563,-0.67,-146.0,355.6,-9.0,401,3571,0.12,1.85,0.00,0.000,6,0.161,0.042,2256,2755,3527,0,0,0,0,0,0
$GC,3890,-0.71,-146.0,380.2,-7.7,432,3894,0.00,2.15,0.00,0.000,4,0.000,0.045,2256,1372,3528,0,0,0,0,0,0
$GC,3924,-0.76,-146.0,383.0,-8.3,434,3931,0.00,2.28,0.00,0.000,6,0.000,0.057,2256,2767,3528,0,0,0,0,0,0
$GC,4246,-0.80,-146.0,407.5,-7.5,459,4250,0.12,1.95,0.00,0.000,4,0.100,0.067,2188,3929,3529,0,0,0,0,0,0
$GC,4271,-0.76,-146.0,410.0,-9.6,459,4276,0.15,1.85,0.00,0.000,6,0.159,0.041,2228,2753,3529,0,0,0,0,0,0
$GC,4590,-0.76,-146.0,439.9,-9.0,470,4594,0.00,2.15,0.00,0.000,4,0.000,0.045,2229,1373,3529,0,0,0,0,0,0
$GC,4613,-0.76,-146.0,441.9,-8.5,470,4617,0.00,2.28,0.00,0.000,6,0.000,0.057,2229,2755,3529,0,0,0,0,0,0
$GC,4927,-0.76,-146.0,468.3,-8.6,480,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2755,3530,0,0,0,0,0,0
$GC,5232,-0.76,-146.0,496.0,-9.1,490,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2755,3530,0,0,0,0,0,0
$GC,5538,-0.76,-146.0,523.5,-8.7,500,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2755,3530,0,0,0,0,0,0
$GC,5846,-0.76,-146.0,550.8,-9.1,510,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2755,3531,0,0,0,0,0,0
$GC,6151,-0.76,-146.0,579.4,-9.7,520,6154,0.00,2.17,0.00,0.000,4,0.000,0.047,2228,1375,3530,0,0,0,0,0,0
$GC,6173,-0.76,-146.0,581.8,-9.9,520,6177,0.00,2.28,0.00,0.000,6,0.000,0.057,2229,2760,3531,0,0,0,0,0,0
$GC,6487,-0.76,-146.0,610.3,-9.0,530,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2760,3531,0,0,0,0,0,0
$GC,6792,-0.76,-146.0,637.3,-9.0,540,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2760,3531,0,0,0,0,0,0
$GC,7098,-0.76,-146.0,664.4,-8.8,550,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2760,3531,0,0,0,0,0,0
$GC,7406,-0.76,-146.0,691.1,-8.5,560,7410,0.00,2.22,0.00,0.000,4,0.000,0.047,2229,1365,3530,0,0,0,0,0,0
$GC,7441,-0.76,-146.0,694.4,-9.1,561,7445,0.00,2.30,0.00,0.000,6,0.000,0.058,2229,2753,3530,0,0,0,0,0,0
$STATE,7681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7681,begin apogee
$GC,7689,-0.14,0.0,716.3,9.2,569,7824,0.60,0.00,126.40,1.027,4,0.130,0.000,2424,2606,2922,0,0,0,0,0,0
$STATE,7825,end apogee,CONTROL_FINISHED_OK
$STATE,7825,begin climb
$GC,7827,0.57,146.0,720.0,0.0,573,7969,0.68,2.40,131.68,1.007,4,0.060,0.047,2669,1188,2326,0,0,0,0,0,0
$GC,8138,0.55,146.0,692.7,10.8,582,8145,0.00,2.38,0.00,0.000,6,0.000,0.054,2669,2600,2318,0,0,0,0,0,0
$GC,8452,0.49,146.0,653.7,12.6,593,8457,0.12,2.30,0.00,0.000,4,0.197,0.050,2640,1188,2315,0,0,0,0,0,0
$GC,8650,0.52,146.0,633.5,10.5,599,8654,0.00,2.30,0.00,0.000,6,0.000,0.054,2640,2608,2314,0,0,0,0,0,0
$GC,8986,0.52,146.0,597.6,10.8,610,8990,0.00,2.20,0.00,0.000,4,0.000,0.065,2640,3926,2313,0,0,0,0,0,0
$GC,9025,0.45,146.0,592.5,13.7,611,9029,0.00,2.10,0.00,0.000,6,0.000,0.043,2645,2602,2311,0,0,0,0,0,0
$GC,9361,0.43,146.0,554.2,11.3,622,9366,0.12,2.22,0.00,0.000,4,0.193,0.066,2614,3932,2311,0,0,0,0,0,0
$GC,9400,0.43,146.0,549.4,11.3,623,9403,0.00,2.08,0.00,0.000,6,0.000,0.042,2613,2619,2310,0,0,0,0,0,0
$GC,9730,0.47,150.7,517.3,9.8,634,9734,0.00,2.25,0.00,0.000,4,0.000,0.050,2614,1191,2310,0,0,0,0,0,0
$GC,9761,0.54,163.3,514.4,9.4,635,9781,0.10,2.30,13.02,0.874,6,0.115,0.054,2662,2618,2258,0,0,0,0,0,0
$GC,10103,0.50,163.3,471.8,12.7,646,10106,0.00,2.17,0.00,0.000,4,0.000,0.065,2662,3929,2256,0,0,0,0,0,0
$GC,10182,0.42,163.3,460.2,15.1,648,10187,0.20,2.08,0.00,0.000,6,0.187,0.043,2613,2635,2254,0,0,0,0,0,0
$GC,10512,0.48,174.0,429.1,9.5,659,10528,0.00,2.17,10.98,0.817,4,0.000,0.065,2613,3926,2213,0,0,0,0,0,0
$GC,10557,0.48,174.0,424.4,11.0,660,10561,0.00,2.08,0.00,0.000,6,0.000,0.043,2613,2635,2211,0,0,0,0,0,0
$GC,10873,0.56,203.0,395.7,8.7,672,10903,0.12,0.00,25.95,0.825,6,0.100,0.000,2670,2634,2095,0,0,0,0,0,0
$GC,11222,0.53,203.0,351.4,13.9,705,11225,0.00,2.17,0.00,0.000,4,0.000,0.065,2670,3934,2091,0,0,0,0,0,0
$GC,11280,0.46,203.0,342.3,16.2,710,11284,0.17,2.05,0.00,0.000,6,0.183,0.042,2626,2640,2089,0,0,0,0,0,0
$GC,11607,0.52,203.0,308.1,10.3,740,11611,0.00,2.30,0.00,0.000,4,0.000,0.050,2626,1181,2088,0,0,0,0,0,0
$GC,11629,0.59,208.9,305.6,9.7,741,11640,0.12,2.38,5.75,0.663,6,0.096,0.052,2681,2654,2071,0,0,0,0,0,0
$GC,11967,0.55,208.9,259.3,13.7,773,11970,0.00,2.12,0.00,0.000,4,0.000,0.063,2681,3933,2069,0,0,0,0,0,0
$GC,11995,0.48,208.9,254.8,15.4,775,12002,0.20,2.03,0.00,0.000,6,0.177,0.041,2633,2649,2068,0,0,0,0,0,0
$GC,12320,0.54,208.9,222.1,10.4,806,12325,0.00,2.30,0.00,0.000,4,0.000,0.048,2632,1185,2068,0,0,0,0,0,0
$GC,12378,0.66,238.2,216.7,8.6,810,12411,0.15,2.35,26.23,0.712,6,0.088,0.051,2696,2637,1951,0,0,0,0,0,0
$GC,12737,0.63,238.2,165.8,13.9,844,12741,0.00,2.33,0.00,0.000,4,0.000,0.048,2697,1184,1946,0,0,0,0,0,0
$GC,12758,0.63,238.2,162.7,14.0,845,12765,0.00,2.35,0.00,0.000,6,0.000,0.051,2697,2634,1946,0,0,0,0,0,0
$GC,13084,0.60,238.2,117.7,14.0,876,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2634,1945,0,0,0,0,0,0
$GC,13414,0.60,238.2,73.8,14.4,923,13421,0.00,2.12,0.00,0.000,4,0.000,0.063,2697,3926,1945,0,0,0,0,0,0
$GC,13451,0.54,238.2,68.2,15.3,929,13458,0.17,2.08,0.00,0.000,6,0.176,0.041,2653,2622,1944,0,0,0,0,0,0
$GC,13801,0.66,286.3,34.4,7.8,990,13849,0.10,2.30,40.05,0.608,4,0.112,0.047,2698,1188,1754,0,0,0,0,0,0
$GC,13888,0.75,286.3,25.3,10.3,1004,13895,0.00,2.35,0.00,0.000,6,0.000,0.052,2698,2625,1752,0,0,0,0,0,0
$FREEZE,8.78,-0.295,-1.815,0,1,0
$FREEZE,8.18,-0.466,-1.814,0,1,0
$FREEZE,7.74,-0.433,-1.811,0,1,0
$FREEZE,7.10,-0.474,-1.811,0,1,0
$FREEZE,6.59,-0.526,-1.810,0,1,0
$FREEZE,5.94,-0.532,-1.806,0,1,0
$FREEZE,5.36,-0.628,-1.808,0,1,0
$FREEZE,4.80,-0.628,-1.808,0,1,0
$FREEZE,4.26,-0.625,-1.807,0,1,0
$FREEZE,3.70,-0.618,-1.806,0,1,0
$FREEZE,3.11,-0.628,-1.806,0,1,0
$FREEZE,2.27,-0.577,-1.805,0,1,0
$STATE,14091,end climb,SURFACE_DEPTH_REACHED
$STATE,14091,begin surface coast
$FREEZE,1.88,-0.625,-1.804,0,1,0
$FREEZE,1.27,-0.626,-1.804,0,1,0
$FREEZE,1.04,-0.441,-1.619,0,1,0
$FREEZE,1.15,-0.558,-1.802,0,1,0
$FINISH,1.2,1.026418
$STATE,14117,end surface coast,CONTROL_FINISHED_OK
$STATE,14117,begin surface
$SM_CCo,14134,206.57,0.083,0,0,440,609.08
$SM_GC,1.76,0.00,0.00,206.57,0.000,0.000,0.083,294,2785,440,-6.81,0.14,609.08
$RAFOS_CLK,710
$RAFOS,6,1294274941,0.833333,0.816944,114,50,46,42,40,39,824,1645,910,153,485,291
$RAFOS,5,1294274465,0.700000,0.684722,131,47,44,44,43,42,629,1170,1508,762,745,1657
$RAFOS,4,1294273983,0.566667,0.550833,50,50,48,46,41,41,869,1260,1161,1482,778,1848
$RAFOS,3,1294273510,0.433333,0.419444,50,49,46,43,43,42,1832,1173,613,413,1829,195
$RAFOS,2,1294273031,0.300000,0.286389,50,49,47,46,45,45,1248,623,26,188,1291,145
$RAFOS,1,1294272542,0.166667,0.150556,56,43,43,42,42,41,162,1745,26,552,899,314
$RAFOS,0,1294272067,0.033333,0.018611,50,45,45,43,38,36,1350,145,678,1183,1444,716
$RAFOS_FIX,6705.306641,-5707.723145,060111,000056,2,122,2.31
$IRIDIUM_FIX,6631.12,-5659.72,050111,232309
$TT8_MAMPS,0.028462
$HUMID,44.80
$INTERNAL_PRESSURE,8.49489
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,21.6,79.674
$10V_AH,9.7,54.788
$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,18.250,114.200,380.050,206.575,0.000,91.818,128.849,549.629,2.500,0.000,33.218,2629.797,9082.029,720.499,2601.793,618.565,0.000,1745.919,0.000,1829.945,2520.000,18.550,0.000
$DEVICE_MAMPS,244.035,70.380,1026.630,83.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.067,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,40059,1045
$CAP_FILE_SIZE,154728,0
$CFSIZE,260165632,203898880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.9
$GPS,060111,034006,6701.753,-5701.442,36,0.8,47,-37.6