version: 66.08
glider: 183
mission: 3
dive: 719
start: 1 9 111 5 26 12
data:
$ID,183
$MISSION,3
$DIVE,719
$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,-11393.535
$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,37
$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
$GPS1,090111,051922,6711.805,-5707.917,24,1.8,40,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-57.7
$GPS2,090111,052541,6711.833,-5708.134,13,2.0,22,-37.8
$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,176.2,21886,-17.5,-10.000
$D_GRID,437
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-135.98,0.000,2,0.000,0.000,269,2785,3499,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.5,-10.2,24,176,8.35,2.33,-0.40,0.000,4,0.236,0.058,2284,1367,3522,0,0,0,0,0,0
$GC,318,-0.60,-146.0,35.9,-10.6,51,325,0.00,2.33,0.00,0.000,6,0.000,0.057,2283,2776,3523,0,0,0,0,0,0
$GC,666,-0.63,-146.0,69.4,-8.7,112,672,0.00,2.22,0.00,0.000,4,0.000,0.047,2282,1367,3522,0,0,0,0,0,0
$GC,705,-0.67,-146.0,72.8,-8.8,118,712,0.00,2.33,0.00,0.000,6,0.000,0.057,2277,2776,3522,0,0,0,0,0,0
$GC,1056,-0.70,-146.0,104.5,-9.8,176,1060,0.00,2.22,0.00,0.000,4,0.000,0.047,2277,1367,3521,0,0,0,0,0,0
$GC,1090,-0.74,-146.0,108.0,-9.8,178,1097,0.10,2.33,0.00,0.000,6,0.105,0.057,2223,2776,3521,0,0,0,0,0,0
$GC,1417,-0.69,-146.0,150.5,-12.0,209,1421,0.10,1.95,0.00,0.000,4,0.181,0.067,2242,3928,3521,0,0,0,0,0,0
$GC,1466,-0.69,-146.0,156.6,-10.6,213,1473,0.00,1.85,0.00,0.000,6,0.000,0.044,2241,2773,3521,0,0,0,0,0,0
$GC,1793,-0.69,-146.0,187.1,-9.0,244,1797,0.00,2.20,0.00,0.000,4,0.000,0.047,2241,1369,3521,0,0,0,0,0,0
$GC,1826,-0.69,-146.0,190.5,-9.5,246,1832,0.00,2.33,0.00,0.000,6,0.000,0.058,2241,2773,3521,0,0,0,0,0,0
$GC,2152,-0.69,-146.0,219.2,-8.7,277,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2773,3521,0,0,0,0,0,0
$GC,2473,-0.69,-146.0,247.7,-9.3,307,2477,0.00,2.22,0.00,0.000,4,0.000,0.045,2241,1369,3521,0,0,0,0,0,0
$GC,2534,-0.71,-146.0,253.6,-8.7,312,2541,0.00,2.30,0.00,0.000,6,0.000,0.057,2242,2762,3521,0,0,0,0,0,0
$GC,2860,-0.71,-146.0,285.2,-9.5,343,2864,0.00,1.95,0.00,0.000,4,0.000,0.066,2236,3928,3522,0,0,0,0,0,0
$GC,2888,-0.71,-146.0,288.1,-9.4,345,2895,0.00,1.85,0.00,0.000,6,0.000,0.043,2235,2754,3522,0,0,0,0,0,0
$GC,3214,-0.71,-146.0,317.7,-8.8,376,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2754,3523,0,0,0,0,0,0
$GC,3536,-0.71,-146.0,345.6,-8.7,406,3540,0.00,2.00,0.00,0.000,4,0.000,0.067,2235,3921,3523,0,0,0,0,0,0
$GC,3630,-0.71,-146.0,355.3,-9.7,414,3637,0.00,1.85,0.00,0.000,6,0.000,0.043,2235,2761,3523,0,0,0,0,0,0
$GC,3957,-0.71,-146.0,386.5,-9.5,445,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3523,0,0,0,0,0,0
$GC,4288,-0.71,-146.0,417.5,-9.5,465,4292,0.00,1.98,0.00,0.000,4,0.000,0.067,2234,3927,3524,0,0,0,0,0,0
$GC,4316,-0.71,-146.0,420.3,-9.1,465,4323,0.00,1.85,0.00,0.000,6,0.000,0.042,2234,2770,3524,0,0,0,0,0,0
$STATE,4504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4504,begin apogee
$GC,4511,-0.14,0.0,438.8,9.6,472,4639,0.57,0.00,119.62,0.825,4,0.124,0.000,2424,2598,2923,0,0,0,0,0,0
$STATE,4640,end apogee,CONTROL_FINISHED_OK
$STATE,4640,begin climb
$GC,4642,0.57,146.0,442.5,0.0,476,4771,0.62,0.00,121.20,0.814,6,0.073,0.000,2661,2598,2326,0,0,0,0,0,0
$GC,5074,0.52,146.0,397.7,11.9,490,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2598,2319,0,0,0,0,0,0
$GC,5395,0.48,146.0,360.0,11.5,520,5400,0.12,2.22,0.00,0.000,4,0.188,0.062,2629,3932,2318,0,0,0,0,0,0
$GC,5450,0.45,146.0,352.9,11.9,524,5457,0.00,2.10,0.00,0.000,6,0.000,0.040,2629,2601,2317,0,0,0,0,0,0
$GC,5776,0.45,153.2,321.2,9.7,555,5789,0.00,2.22,5.78,0.615,4,0.000,0.060,2629,3935,2298,0,0,0,0,0,0
$GC,5824,0.43,153.2,316.0,12.2,559,5828,0.00,2.08,0.00,0.000,6,0.000,0.040,2630,2624,2297,0,0,0,0,0,0
$GC,6156,0.45,153.2,281.2,10.7,590,6160,0.00,2.17,0.00,0.000,4,0.000,0.062,2630,3928,2297,0,0,0,0,0,0
$GC,6179,0.45,153.2,278.3,12.4,592,6183,0.00,2.05,0.00,0.000,6,0.000,0.039,2633,2627,2296,0,0,0,0,0,0
$GC,6511,0.45,153.2,242.6,10.3,623,6515,0.00,2.25,0.00,0.000,4,0.000,0.047,2635,1195,2296,0,0,0,0,0,0
$GC,6543,0.50,169.2,239.7,9.3,625,6566,0.00,2.28,14.68,0.685,6,0.000,0.050,2635,2624,2234,0,0,0,0,0,0
$GC,6885,0.54,186.6,206.5,9.2,657,6905,0.00,0.00,16.05,0.671,6,0.000,0.000,2634,2624,2162,0,0,0,0,0,0
$GC,7224,0.59,195.9,176.1,9.6,689,7239,0.00,2.20,8.88,0.621,4,0.000,0.061,2635,3925,2123,0,0,0,0,0,0
$GC,7252,0.62,197.7,173.2,9.9,691,7259,0.12,2.08,0.00,0.000,6,0.099,0.040,2688,2612,2122,0,0,0,0,0,0
$GC,7579,0.59,197.7,129.6,14.0,722,7583,0.00,2.17,0.00,0.000,4,0.000,0.061,2688,3932,2122,0,0,0,0,0,0
$GC,7630,0.53,197.7,121.4,16.5,726,7635,0.17,2.00,0.00,0.000,6,0.172,0.040,2645,2651,2120,0,0,0,0,0,0
$GC,7964,0.61,227.6,89.4,8.6,767,8000,0.00,2.38,27.50,0.614,4,0.000,0.047,2645,1192,1995,0,0,0,0,0,0
$GC,8066,0.77,264.4,80.7,8.3,784,8104,0.22,2.33,31.42,0.604,6,0.073,0.050,2742,2642,1845,0,0,0,0,0,0
$GC,8442,0.73,264.4,26.6,14.5,850,8450,0.12,2.10,0.00,0.000,4,0.178,0.061,2709,3928,1836,0,0,0,0,0,0
$GC,8475,0.73,264.4,21.8,14.7,855,8482,0.00,2.05,0.00,0.000,6,0.000,0.041,2709,2640,1835,0,0,0,0,0,0
$FREEZE,8.33,2.317,-1.817,0,1,0
$FREEZE,7.43,2.317,-1.816,0,1,0
$FREEZE,6.65,2.316,-1.816,0,1,0
$FREEZE,6.08,2.317,-1.815,0,1,0
$FREEZE,5.32,2.320,-1.815,0,1,0
$FREEZE,4.78,2.314,-1.814,0,1,0
$FREEZE,4.11,2.316,-1.814,0,1,0
$FREEZE,3.57,2.316,-1.813,0,1,0
$FREEZE,3.02,2.318,-1.813,0,1,0
$FREEZE,2.39,2.318,-1.812,0,1,0
$STATE,8625,end climb,SURFACE_DEPTH_REACHED
$STATE,8625,begin surface coast
$FREEZE,1.86,2.317,-1.812,0,1,0
$FREEZE,1.24,2.318,-1.811,0,1,0
$FREEZE,1.04,2.316,-1.811,0,1,0
$FREEZE,1.01,2.286,-1.813,0,1,0
$FREEZE,0.92,2.321,-1.811,0,1,0
$FINISH,0.9,1.026376
$STATE,8653,end surface coast,CONTROL_FINISHED_OK
$STATE,8653,begin surface
$SM_CCo,8671,211.50,0.078,0,0,440,609.08
$SM_GC,1.80,0.00,0.00,211.50,0.000,0.000,0.078,283,2789,440,-6.84,0.25,609.08
$RAFOS_CLK,347
$RAFOS_FIX,6713.738770,-5713.928711,090111,040444,3,84,0.85
$IRIDIUM_FIX,6641.98,-5713.89,090111,020231
$TT8_MAMPS,0.02996
$HUMID,45.66
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$24V_AH,22.8,82.178
$10V_AH,9.8,56.431
$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,16.850,73.225,345.125,211.500,0.000,29.855,44.955,135.530,1.000,0.000,24.696,2127.181,4537.156,674.526,1634.558,294.860,0.000,1465.687,0.000,1421.338,0.000,7.939,0.000
$DEVICE_MAMPS,236.385,71.145,825.435,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.266,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,30061,887
$CAP_FILE_SIZE,105270,0
$CFSIZE,260165632,202403840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.4
$GPS,090111,075537,6711.774,-5708.979,33,1.2,34,-37.8