version: 66.08
glider: 183
mission: 3
dive: 721
start: 1 9 111 10 44 44
data:
$ID,183
$MISSION,3
$DIVE,721
$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,-11396.042
$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,41
$R_STBD_OVSHOOT,45
$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
$GPS1,090111,103807,6711.184,-5709.833,27,1.0,28,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-59.5
$GPS2,090111,104413,6711.157,-5710.052,12,1.5,29,-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,171.3,21950,-17.5,-10.000
$D_GRID,499
$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,-146.0,0.0,0.0,0,156,0.00,0.00,-135.43,0.000,2,0.000,0.000,282,2803,3498,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.6,-9.9,24,176,8.38,2.35,-0.43,0.000,4,0.239,0.057,2282,1367,3521,0,0,0,0,0,0
$GC,341,-0.60,-146.0,36.7,-10.0,55,347,0.00,2.30,0.00,0.000,6,0.000,0.057,2276,2760,3523,0,0,0,0,0,0
$GC,687,-0.60,-146.0,76.9,-11.7,116,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2760,3522,0,0,0,0,0,0
$GC,1034,-0.60,-146.0,110.8,-9.2,167,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2760,3521,0,0,0,0,0,0
$GC,1354,-0.62,-146.0,139.5,-9.3,197,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2760,3521,0,0,0,0,0,0
$GC,1682,-0.66,-146.0,167.7,-8.0,228,1686,0.00,1.98,0.00,0.000,4,0.000,0.069,2275,3928,3521,0,0,0,0,0,0
$GC,1753,-0.73,-146.0,173.3,-8.1,234,1757,0.10,1.85,0.00,0.000,6,0.108,0.045,2227,2766,3521,0,0,0,0,0,0
$GC,2085,-0.70,-146.0,208.2,-11.4,265,2089,0.00,2.22,0.00,0.000,4,0.000,0.047,2226,1363,3521,0,0,0,0,0,0
$GC,2114,-0.67,-146.0,211.7,-11.5,267,2119,0.12,2.33,0.00,0.000,6,0.171,0.058,2255,2772,3521,0,0,0,0,0,0
$GC,2446,-0.69,-146.0,241.6,-9.3,298,2450,0.00,1.95,0.00,0.000,4,0.000,0.068,2247,3943,3521,0,0,0,0,0,0
$GC,2496,-0.69,-146.0,247.0,-10.4,302,2503,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2776,3521,0,0,0,0,0,0
$GC,2821,-0.69,-146.0,280.0,-10.0,333,2825,0.00,2.22,0.00,0.000,4,0.000,0.046,2247,1370,3521,0,0,0,0,0,0
$GC,2856,-0.72,-146.0,283.8,-10.3,335,2863,0.00,2.33,0.00,0.000,6,0.000,0.057,2247,2776,3521,0,0,0,0,0,0
$GC,3182,-0.72,-146.0,318.5,-10.6,366,3185,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3934,3522,0,0,0,0,0,0
$GC,3210,-0.74,-146.0,321.6,-10.6,368,3217,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2766,3522,0,0,0,0,0,0
$GC,3536,-0.77,-146.0,354.5,-10.3,399,3540,0.00,2.17,0.00,0.000,4,0.000,0.045,2247,1370,3523,0,0,0,0,0,0
$GC,3599,-0.81,-146.0,360.7,-9.8,404,3603,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2761,3523,0,0,0,0,0,0
$GC,3930,-0.83,-146.0,389.8,-8.5,435,3935,0.12,2.22,0.00,0.000,4,0.099,0.045,2180,1361,3523,0,0,0,0,0,0
$GC,3958,-0.77,-146.0,393.1,-11.3,437,3965,0.17,2.28,0.00,0.000,6,0.169,0.056,2225,2745,3523,0,0,0,0,0,0
$GC,4274,-0.77,-146.0,425.4,-10.1,452,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2745,3523,0,0,0,0,0,0
$GC,4583,-0.77,-146.0,454.4,-9.2,462,4587,0.00,2.17,0.00,0.000,4,0.000,0.044,2224,1370,3524,0,0,0,0,0,0
$GC,4613,-0.77,-146.0,457.6,-9.6,463,4617,0.00,2.22,0.00,0.000,6,0.000,0.056,2222,2731,3524,0,0,0,0,0,0
$GC,4955,-0.77,-146.0,489.0,-9.1,474,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2731,3524,0,0,0,0,0,0
$STATE,5078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5078,begin apogee
$GC,5084,-0.14,0.0,500.0,9.1,478,5212,0.62,0.00,120.80,0.864,4,0.128,0.000,2426,2602,2923,0,0,0,0,0,0
$STATE,5213,end apogee,CONTROL_FINISHED_OK
$STATE,5213,begin climb
$GC,5216,0.57,146.0,502.1,0.0,482,5348,0.65,2.35,122.80,0.854,4,0.063,0.045,2666,1178,2327,0,0,0,0,0,0
$GC,5517,0.57,146.0,471.2,11.5,491,5521,0.00,2.35,0.00,0.000,6,0.000,0.050,2665,2607,2321,0,0,0,0,0,0
$GC,5842,0.51,146.0,429.5,12.8,502,5846,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1186,2318,0,0,0,0,0,0
$GC,6032,0.51,146.0,405.2,11.7,507,6039,0.00,2.33,0.00,0.000,6,0.000,0.051,2666,2624,2318,0,0,0,0,0,0
$GC,6358,0.46,146.0,363.0,13.3,534,6363,0.15,2.28,0.00,0.000,4,0.184,0.047,2626,1184,2316,0,0,0,0,0,0
$GC,6375,0.46,146.0,360.6,12.0,535,6380,0.00,2.33,0.00,0.000,6,0.000,0.050,2626,2626,2317,0,0,0,0,0,0
$GC,6701,0.48,173.3,330.7,8.7,565,6731,0.00,0.00,22.85,0.747,6,0.000,0.000,2626,2626,2215,0,0,0,0,0,0
$GC,7051,0.53,185.9,297.9,9.4,598,7069,0.00,0.00,11.27,0.700,6,0.000,0.000,2626,2626,2165,0,0,0,0,0,0
$GC,7388,0.59,185.9,264.6,10.2,630,7390,0.10,0.00,0.00,0.000,6,0.112,0.000,2677,2626,2162,0,0,0,0,0,0
$GC,7706,0.55,185.9,222.4,13.3,660,7710,0.00,2.12,0.00,0.000,4,0.000,0.062,2678,3924,2162,0,0,0,0,0,0
$GC,7762,0.46,185.9,213.9,15.4,664,7770,0.20,2.10,0.00,0.000,6,0.176,0.041,2627,2597,2160,0,0,0,0,0,0
$GC,8088,0.54,207.2,183.3,9.0,695,8112,0.00,2.30,18.65,0.664,4,0.000,0.062,2627,3930,2077,0,0,0,0,0,0
$GC,8136,0.59,207.2,178.4,11.1,699,8141,0.12,2.08,0.00,0.000,6,0.097,0.040,2681,2623,2075,0,0,0,0,0,0
$GC,8462,0.59,207.2,136.6,12.3,729,8466,0.00,2.25,0.00,0.000,4,0.000,0.048,2681,1195,2075,0,0,0,0,0,0
$GC,8506,0.63,207.2,131.5,10.3,732,8513,0.00,2.25,0.00,0.000,6,0.000,0.050,2681,2607,2074,0,0,0,0,0,0
$GC,8835,0.63,207.2,93.4,12.2,767,8841,0.00,2.15,0.00,0.000,4,0.000,0.061,2681,3924,2073,0,0,0,0,0,0
$GC,8888,0.59,207.2,86.3,14.2,776,8895,0.00,2.05,0.00,0.000,6,0.000,0.040,2686,2622,2073,0,0,0,0,0,0
$GC,9235,0.59,207.2,45.1,10.5,837,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2622,2073,0,0,0,0,0,0
$FREEZE,8.32,2.360,-1.820,0,1,0
$FREEZE,7.73,2.359,-1.819,0,1,0
$GC,9581,0.59,207.2,7.7,11.3,898,9587,0.00,2.25,0.00,0.000,4,0.000,0.048,2688,1198,2073,0,0,0,0,0,0
$FREEZE,6.14,2.360,-1.818,0,1,0
$FREEZE,5.55,2.361,-1.818,0,1,0
$FREEZE,4.80,2.360,-1.817,0,1,0
$FREEZE,4.21,2.361,-1.817,0,1,0
$FREEZE,3.62,2.360,-1.816,0,1,0
$GC,9617,0.62,207.2,3.6,12.8,904,9624,0.00,2.28,0.00,0.000,6,0.000,0.044,2688,2632,2073,0,0,0,0,0,0
$FREEZE,1.61,2.385,-1.813,0,1,0
$STATE,9629,end climb,SURFACE_DEPTH_REACHED
$STATE,9629,begin surface coast
$FREEZE,1.19,2.357,-1.815,0,1,0
$FREEZE,1.05,2.236,-0.491,0,1,0
$FREEZE,1.03,2.221,-1.787,0,1,0
$FREEZE,1.23,2.366,-1.811,0,1,0
$FINISH,1.2,1.026368
$STATE,9652,end surface coast,CONTROL_FINISHED_OK
$STATE,9652,begin surface
$SM_CCo,9668,241.48,0.080,0,0,441,609.08
$SM_GC,1.60,0.00,0.00,241.48,0.000,0.000,0.080,288,2791,441,-6.82,0.31,609.08
$RAFOS_CLK,385
$RAFOS,6,1294577343,12.833333,12.817500,57,48,46,43,42,41,778,1549,987,1191,271,1654
$RAFOS,5,1294576867,12.700000,12.685278,101,52,44,43,42,40,623,632,1545,892,1840,1291
$RAFOS,4,1294576391,12.566667,12.553056,66,53,43,41,40,40,821,1728,450,1537,1368,708
$RAFOS,3,1294575903,12.433333,12.417500,45,44,43,43,43,40,1134,1680,377,959,1782,440
$RAFOS,2,1294575446,12.300000,12.290556,47,44,42,42,42,40,1763,406,207,672,1522,1036
$RAFOS,1,1294574959,12.166667,12.155278,46,43,40,40,40,38,1816,1566,317,712,873,1677
$RAFOS,0,1294574461,12.033333,12.016945,49,46,44,43,41,40,993,1751,1604,1639,1908,1867
$RAFOS_FIX,6709.722168,-5708.197754,090111,121228,2,84,0.43
$IRIDIUM_FIX,6641.98,-5646.26,090111,070704
$TT8_MAMPS,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,22.6,82.355
$10V_AH,9.8,56.552
$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,17.175,74.700,296.375,241.475,0.000,27.328,20.005,140.142,1.500,0.000,32.022,2233.822,5345.109,670.541,1742.919,300.200,0.000,1508.384,0.000,1529.239,2520.000,14.100,0.000
$DEVICE_MAMPS,238.680,70.380,863.685,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,626.473,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,33393,910
$CAP_FILE_SIZE,111699,0
$CFSIZE,260165632,202280960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.4
$GPS,090111,133136,6710.970,-5710.338,38,1.1,45,-37.8