version: 66.08
glider: 183
mission: 3
dive: 720
start: 1 9 111 8 1 54
data:
$ID,183
$MISSION,3
$DIVE,720
$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,-11394.79
$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,34
$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
$GPS1,090111,075537,6711.774,-5708.979,33,1.2,34,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.8
$GPS2,090111,080125,6711.782,-5709.135,10,1.2,15,-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,174.6,22304,-17.5,-10.000
$D_GRID,458
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-136.98,0.000,6,0.000,0.000,271,2790,3520,0,0,0,0,0,0
$GC,166,-0.57,-146.0,6.4,-16.7,25,179,8.38,1.92,0.00,0.000,4,0.238,0.054,2276,3926,3522,0,0,0,0,0,0
$GC,437,-0.60,-146.0,54.5,-11.1,72,444,0.00,1.85,0.00,0.000,6,0.000,0.047,2276,2777,3523,0,0,0,0,0,0
$GC,784,-0.60,-146.0,89.9,-10.0,133,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2777,3522,0,0,0,0,0,0
$GC,1121,-0.62,-146.0,123.8,-9.8,173,1125,0.00,2.22,0.00,0.000,4,0.000,0.048,2276,1374,3521,0,0,0,0,0,0
$GC,1172,-0.67,-146.0,129.4,-10.8,177,1180,0.00,2.30,0.00,0.000,6,0.000,0.060,2275,2760,3521,0,0,0,0,0,0
$GC,1498,-0.71,-146.0,162.2,-10.2,208,1501,0.00,1.98,0.00,0.000,4,0.000,0.069,2274,3929,3520,0,0,0,0,0,0
$GC,1591,-0.78,-146.0,171.3,-9.3,216,1595,0.10,1.85,0.00,0.000,6,0.058,0.047,2217,2797,3521,0,0,0,0,0,0
$GC,1922,-0.72,-146.0,210.2,-11.9,247,1926,0.00,2.25,0.00,0.000,4,0.000,0.046,2217,1362,3520,0,0,0,0,0,0
$GC,1967,-0.69,-146.0,215.6,-11.4,250,1975,0.15,2.38,0.00,0.000,6,0.167,0.058,2248,2796,3520,0,0,0,0,0,0
$GC,2293,-0.69,-146.0,244.6,-8.9,281,2297,0.00,2.28,0.00,0.000,4,0.000,0.045,2248,1367,3520,0,0,0,0,0,0
$GC,2323,-0.71,-146.0,247.1,-8.8,283,2328,0.00,2.35,0.00,0.000,6,0.000,0.057,2248,2787,3520,0,0,0,0,0,0
$GC,2649,-0.71,-146.0,275.7,-8.6,313,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2787,3520,0,0,0,0,0,0
$GC,2968,-0.71,-146.0,304.0,-9.2,343,2972,0.00,2.25,0.00,0.000,4,0.000,0.045,2247,1359,3521,0,0,0,0,0,0
$GC,3012,-0.75,-146.0,308.3,-9.7,346,3019,0.00,2.35,0.00,0.000,6,0.000,0.057,2247,2782,3521,0,0,0,0,0,0
$GC,3338,-0.77,-146.0,339.9,-10.5,377,3342,0.00,1.92,0.00,0.000,4,0.000,0.067,2247,3931,3522,0,0,0,0,0,0
$GC,3419,-0.81,-146.0,347.9,-9.9,384,3423,0.00,1.85,0.00,0.000,6,0.000,0.044,2247,2771,3522,0,0,0,0,0,0
$GC,3751,-0.83,-146.0,379.3,-9.1,415,3755,0.12,1.98,0.00,0.000,4,0.099,0.067,2179,3927,3523,0,0,0,0,0,0
$GC,3809,-0.73,-146.0,386.8,-13.7,420,3813,0.15,1.85,0.00,0.000,6,0.142,0.043,2240,2781,3523,0,0,0,0,0,0
$GC,4154,-0.73,-146.0,419.5,-8.9,439,4158,0.00,2.20,0.00,0.000,4,0.000,0.045,2240,1370,3523,0,0,0,0,0,0
$GC,4239,-0.76,-146.0,426.9,-7.9,441,4243,0.00,2.33,0.00,0.000,6,0.000,0.057,2235,2780,3523,0,0,0,0,0,0
$GC,4552,-0.76,-146.0,454.7,-9.2,451,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2780,3523,0,0,0,0,0,0
$STATE,4610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4611,begin apogee
$GC,4617,-0.14,0.0,460.2,9.1,453,4745,0.57,0.00,119.97,0.842,4,0.122,0.000,2425,2602,2923,0,0,0,0,0,0
$STATE,4746,end apogee,CONTROL_FINISHED_OK
$STATE,4746,begin climb
$GC,4749,0.57,146.0,464.0,0.0,457,4880,0.65,2.33,121.70,0.831,4,0.063,0.045,2666,1181,2327,0,0,0,0,0,0
$GC,5038,0.57,146.0,437.9,11.7,466,5042,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2605,2321,0,0,0,0,0,0
$GC,5359,0.52,146.0,396.3,12.7,477,5363,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1188,2318,0,0,0,0,0,0
$GC,5549,0.52,146.0,374.7,11.3,493,5556,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2612,2318,0,0,0,0,0,0
$GC,5875,0.47,146.0,335.6,11.9,524,5880,0.15,2.17,0.00,0.000,4,0.184,0.062,2625,3927,2317,0,0,0,0,0,0
$GC,5932,0.47,146.0,328.8,11.9,529,5936,0.00,2.08,0.00,0.000,6,0.000,0.041,2625,2601,2316,0,0,0,0,0,0
$GC,6263,0.50,146.8,296.5,10.0,560,6267,0.00,2.22,0.00,0.000,4,0.000,0.063,2625,3932,2315,0,0,0,0,0,0
$GC,6286,0.50,146.8,293.9,11.8,561,6293,0.00,2.08,0.00,0.000,6,0.000,0.040,2625,2613,2316,0,0,0,0,0,0
$GC,6613,0.53,151.5,261.2,9.8,592,6625,0.00,2.25,4.22,0.527,4,0.000,0.063,2625,3922,2305,0,0,0,0,0,0
$GC,6649,0.53,151.5,257.0,11.6,595,6653,0.00,2.08,0.00,0.000,6,0.000,0.040,2625,2613,2304,0,0,0,0,0,0
$GC,6982,0.57,161.3,225.8,9.5,626,6994,0.10,0.00,9.98,0.659,6,0.112,0.000,2677,2611,2265,0,0,0,0,0,0
$GC,7310,0.53,161.3,187.2,11.4,657,7315,0.12,2.20,0.00,0.000,4,0.173,0.062,2643,3926,2262,0,0,0,0,0,0
$GC,7344,0.50,161.3,183.3,11.0,659,7350,0.00,2.05,0.00,0.000,6,0.000,0.040,2643,2631,2262,0,0,0,0,0,0
$GC,7670,0.56,211.1,156.8,7.7,690,7718,0.00,2.20,42.35,0.653,4,0.000,0.062,2643,3929,2061,0,0,0,0,0,0
$GC,7761,0.59,211.1,148.9,10.1,698,7765,0.00,2.00,0.00,0.000,6,0.000,0.039,2643,2661,2057,0,0,0,0,0,0
$GC,8093,0.69,261.7,121.9,7.7,729,8141,0.15,2.38,42.00,0.631,4,0.090,0.047,2707,1199,1855,0,0,0,0,0,0
$GC,8185,0.74,261.7,111.5,11.7,737,8189,0.00,2.38,0.00,0.000,6,0.000,0.050,2707,2653,1851,0,0,0,0,0,0
$GC,8527,0.74,261.7,68.1,12.2,789,8533,0.00,2.33,0.00,0.000,4,0.000,0.047,2707,1195,1847,0,0,0,0,0,0
$GC,8569,0.79,261.7,63.0,11.7,796,8576,0.00,2.30,0.00,0.000,6,0.000,0.050,2707,2632,1847,0,0,0,0,0,0
$GC,8917,0.79,261.7,19.8,14.3,857,8924,0.00,2.28,0.00,0.000,4,0.000,0.047,2707,1189,1846,0,0,0,0,0,0
$GC,8948,0.83,261.7,15.6,13.5,862,8956,0.10,2.33,0.00,0.000,6,0.112,0.053,2756,2622,1846,0,0,0,0,0,0
$FREEZE,8.76,2.356,-1.819,0,1,0
$FREEZE,8.05,2.349,-1.818,0,1,0
$FREEZE,7.22,2.342,-1.817,0,1,0
$FREEZE,6.40,2.344,-1.816,0,1,0
$FREEZE,5.60,2.340,-1.816,0,1,0
$FREEZE,4.89,2.340,-1.816,0,1,0
$FREEZE,4.21,2.340,-1.815,0,1,0
$FREEZE,3.38,2.339,-1.814,0,1,0
$FREEZE,2.53,2.339,-1.814,0,1,0
$STATE,9035,end climb,SURFACE_DEPTH_REACHED
$STATE,9035,begin surface coast
$FREEZE,1.44,2.335,-1.813,0,1,0
$FREEZE,0.88,2.290,-0.932,0,1,0
$FREEZE,0.96,2.288,-0.975,0,1,0
$FREEZE,0.93,2.268,-0.755,0,1,0
$FINISH,0.9,1.011130
$STATE,9058,end surface coast,CONTROL_FINISHED_OK
$STATE,9059,begin surface
$SM_CCo,9076,211.18,0.080,0,0,441,609.08
$SM_GC,1.74,0.00,0.00,211.18,0.000,0.000,0.080,293,2803,441,-6.80,0.65,609.08
$RAFOS_CLK,367
$RAFOS,6,1294562952,8.833333,8.820000,85,42,42,41,39,39,736,963,1556,1730,1933,1909
$RAFOS,5,1294562463,8.700000,8.684167,83,49,46,40,40,39,655,916,470,1271,1823,1507
$RAFOS,4,1294561990,8.566667,8.552778,47,46,45,45,43,42,303,145,865,1370,307,1228
$RAFOS,3,1294561503,8.433333,8.417500,48,47,43,42,41,38,1485,1103,1827,960,514,1890
$RAFOS,2,1294561030,8.300000,8.286111,48,42,40,40,40,39,1089,1540,293,1567,1317,905
$RAFOS,1,1294560545,8.166667,8.151389,48,45,44,43,41,40,1032,1386,757,1599,243,759
$RAFOS_FIX,6713.484863,-5714.036621,090111,080856,2,84,1.73
$IRIDIUM_FIX,6641.98,-5709.24,090111,050545
$TT8_MAMPS,0.028462
$HUMID,46.37
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,22.8,82.269
$10V_AH,9.9,56.491
$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,17.300,83.125,340.225,211.175,0.000,27.906,28.914,136.743,1.250,0.000,17.779,2167.949,4806.499,658.581,1719.235,295.447,0.000,1503.377,0.000,1516.593,2160.000,12.328,0.000
$DEVICE_MAMPS,237.915,68.850,841.500,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,33405,881
$CAP_FILE_SIZE,111804,0
$CFSIZE,260165632,202338304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.1
$GPS,090111,103807,6711.184,-5709.833,27,1.0,28,-37.8