version: 66.08
glider: 183
mission: 3
dive: 722
start: 1 9 111 13 38 3
data:
$ID,183
$MISSION,3
$DIVE,722
$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,-11397.298
$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,42
$R_STBD_OVSHOOT,39
$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
$GPS1,090111,133136,6710.970,-5710.338,38,1.1,45,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-57.4
$GPS2,090111,133732,6710.999,-5710.521,12,1.1,12,-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,170.1,21999,-17.5,-10.000
$D_GRID,537
$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,-146.0,0.0,0.0,0,150,0.00,0.00,-129.05,0.000,2,0.000,0.000,275,2793,3378,0,0,0,0,0,0
$GC,155,-0.57,-146.0,5.5,-11.5,23,174,8.25,2.28,-2.88,0.000,4,0.235,0.057,2283,1365,3521,0,0,0,0,0,0
$GC,351,-0.61,-146.0,38.5,-9.5,57,357,0.00,2.30,0.00,0.000,6,0.000,0.057,2277,2763,3523,0,0,0,0,0,0
$GC,697,-0.64,-146.0,73.9,-10.4,118,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2764,3521,0,0,0,0,0,0
$GC,1045,-0.66,-146.0,108.0,-8.9,172,1048,0.00,1.98,0.00,0.000,4,0.000,0.067,2271,3938,3521,0,0,0,0,0,0
$GC,1107,-0.70,-146.0,114.5,-10.5,177,1114,0.00,1.85,0.00,0.000,6,0.000,0.045,2270,2786,3521,0,0,0,0,0,0
$GC,1434,-0.73,-146.0,144.2,-8.4,208,1438,0.00,2.25,0.00,0.000,4,0.000,0.047,2271,1368,3521,0,0,0,0,0,0
$GC,1536,-0.78,-146.0,152.5,-7.6,216,1543,0.12,2.30,0.00,0.000,6,0.092,0.058,2202,2759,3521,0,0,0,0,0,0
$GC,1862,-0.70,-146.0,192.1,-12.6,247,1866,0.17,2.00,0.00,0.000,4,0.164,0.067,2245,3931,3521,0,0,0,0,0,0
$GC,1925,-0.70,-146.0,198.6,-9.1,252,1932,0.00,1.88,0.00,0.000,6,0.000,0.044,2245,2749,3521,0,0,0,0,0,0
$GC,2251,-0.70,-146.0,229.0,-9.0,283,2255,0.00,2.17,0.00,0.000,4,0.000,0.046,2245,1359,3521,0,0,0,0,0,0
$GC,2307,-0.72,-146.0,234.3,-9.3,287,2314,0.00,2.30,0.00,0.000,6,0.000,0.057,2243,2751,3521,0,0,0,0,0,0
$GC,2633,-0.72,-146.0,264.5,-9.2,318,2637,0.00,1.98,0.00,0.000,4,0.000,0.067,2242,3926,3521,0,0,0,0,0,0
$GC,2729,-0.72,-146.0,273.4,-9.4,326,2736,0.00,1.88,0.00,0.000,6,0.000,0.044,2242,2756,3521,0,0,0,0,0,0
$GC,3055,-0.72,-146.0,302.1,-8.8,357,3059,0.00,2.17,0.00,0.000,4,0.000,0.045,2242,1362,3522,0,0,0,0,0,0
$GC,3120,-0.76,-146.0,307.8,-8.8,362,3124,0.00,2.28,0.00,0.000,6,0.000,0.056,2235,2744,3522,0,0,0,0,0,0
$GC,3446,-0.76,-146.0,337.9,-9.2,392,3450,0.00,2.00,0.00,0.000,4,0.000,0.067,2235,3942,3523,0,0,0,0,0,0
$GC,3485,-0.76,-146.0,341.9,-10.2,395,3492,0.00,1.92,0.00,0.000,6,0.000,0.043,2235,2735,3523,0,0,0,0,0,0
$GC,3810,-0.76,-146.0,374.7,-10.1,426,3814,0.00,2.15,0.00,0.000,4,0.000,0.044,2235,1368,3523,0,0,0,0,0,0
$GC,3861,-0.76,-146.0,380.0,-10.5,430,3868,0.00,2.25,0.00,0.000,6,0.000,0.056,2235,2737,3523,0,0,0,0,0,0
$GC,4184,-0.76,-146.0,412.2,-10.0,453,4188,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1363,3524,0,0,0,0,0,0
$GC,4213,-0.76,-146.0,415.5,-10.9,454,4217,0.00,2.25,0.00,0.000,6,0.000,0.055,2235,2738,3524,0,0,0,0,0,0
$GC,4555,-0.76,-146.0,449.4,-9.8,465,4562,0.00,2.00,0.00,0.000,4,0.000,0.067,2235,3926,3524,0,0,0,0,0,0
$GC,4596,-0.76,-146.0,453.9,-10.3,466,4600,0.00,1.92,0.00,0.000,6,0.000,0.042,2235,2736,3524,0,0,0,0,0,0
$GC,4933,-0.76,-146.0,485.0,-9.1,477,4936,0.00,2.03,0.00,0.000,4,0.000,0.067,2234,3928,3524,0,0,0,0,0,0
$GC,4972,-0.76,-146.0,489.1,-9.9,478,4975,0.00,1.90,0.00,0.000,6,0.000,0.042,2234,2724,3525,0,0,0,0,0,0
$GC,5307,-0.76,-146.0,520.6,-9.2,489,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2724,3525,0,0,0,0,0,0
$STATE,5519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5519,begin apogee
$GC,5526,-0.14,0.0,539.4,8.9,496,5654,0.57,0.00,121.15,0.890,4,0.125,0.000,2424,2601,2922,0,0,0,0,0,0
$STATE,5655,end apogee,CONTROL_FINISHED_OK
$STATE,5655,begin climb
$GC,5657,0.57,146.0,542.6,0.0,500,5793,0.65,2.33,123.62,0.879,4,0.064,0.046,2662,1185,2327,0,0,0,0,0,0
$GC,5958,0.57,146.0,515.4,10.2,509,5962,0.00,2.35,0.00,0.000,6,0.000,0.051,2662,2610,2321,0,0,0,0,0,0
$GC,6288,0.52,146.0,477.7,12.3,520,6292,0.00,2.28,0.00,0.000,4,0.000,0.047,2666,1183,2318,0,0,0,0,0,0
$GC,6546,0.52,146.0,447.4,11.0,527,6553,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2593,2318,0,0,0,0,0,0
$GC,6860,0.47,146.0,409.8,11.9,538,6865,0.15,2.22,0.00,0.000,4,0.184,0.061,2626,3936,2317,0,0,0,0,0,0
$GC,6887,0.44,146.0,406.3,12.1,538,6894,0.00,2.12,0.00,0.000,6,0.000,0.040,2626,2593,2316,0,0,0,0,0,0
$GC,7215,0.47,158.7,375.3,9.4,565,7230,0.00,2.25,10.40,0.737,4,0.000,0.063,2625,3929,2275,0,0,0,0,0,0
$GC,7249,0.47,158.7,371.3,10.1,568,7253,0.00,2.10,0.00,0.000,6,0.000,0.039,2625,2605,2273,0,0,0,0,0,0
$GC,7581,0.50,162.1,339.3,9.8,599,7593,0.00,2.28,4.07,0.546,4,0.000,0.047,2625,1195,2262,0,0,0,0,0,0
$GC,7607,0.55,164.5,336.8,9.9,601,7619,0.00,2.25,4.18,0.547,6,0.000,0.050,2625,2606,2252,0,0,0,0,0,0
$GC,7937,0.59,164.5,304.4,10.2,632,7942,0.12,2.22,0.00,0.000,4,0.096,0.062,2685,3935,2251,0,0,0,0,0,0
$GC,7959,0.54,164.5,301.3,13.2,633,7966,0.15,2.12,0.00,0.000,6,0.186,0.040,2653,2595,2250,0,0,0,0,0,0
$GC,8285,0.54,164.5,261.3,11.7,664,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2595,2250,0,0,0,0,0,0
$GC,8606,0.54,164.5,224.6,11.7,694,8610,0.00,2.22,0.00,0.000,4,0.000,0.061,2653,3926,2250,0,0,0,0,0,0
$GC,8624,0.51,164.5,222.1,11.9,695,8628,0.00,2.08,0.00,0.000,6,0.000,0.040,2655,2611,2249,0,0,0,0,0,0
$GC,8952,0.51,164.5,183.4,11.8,725,8956,0.00,2.17,0.00,0.000,4,0.000,0.062,2655,3926,2249,0,0,0,0,0,0
$GC,8968,0.49,164.5,181.1,11.4,726,8975,0.00,2.08,0.00,0.000,6,0.000,0.039,2655,2612,2250,0,0,0,0,0,0
$GC,9293,0.49,164.5,144.1,11.0,757,9297,0.00,2.20,0.00,0.000,4,0.000,0.046,2655,1201,2250,0,0,0,0,0,0
$GC,9315,0.49,164.5,141.5,11.6,758,9322,0.00,2.30,0.00,0.000,6,0.000,0.048,2655,2627,2250,0,0,0,0,0,0
$GC,9641,0.49,168.0,106.3,9.8,789,9654,0.00,2.17,4.75,0.510,4,0.000,0.062,2655,3925,2236,0,0,0,0,0,0
$GC,9684,0.45,168.0,101.7,11.4,792,9691,0.12,2.08,0.00,0.000,6,0.191,0.040,2624,2612,2235,0,0,0,0,0,0
$GC,10033,0.59,262.1,79.2,5.7,851,10119,0.12,2.30,78.03,0.607,4,0.094,0.046,2686,1197,1852,0,0,0,0,0,0
$GC,10140,0.65,262.1,69.0,11.0,869,10147,0.00,2.28,0.00,0.000,6,0.000,0.050,2686,2601,1849,0,0,0,0,0,0
$GC,10488,0.71,262.1,31.6,11.3,930,10495,0.00,2.20,0.00,0.000,4,0.000,0.062,2686,3928,1844,0,0,0,0,0,0
$GC,10611,0.71,262.1,15.7,14.6,951,10618,0.00,2.05,0.00,0.000,6,0.000,0.040,2686,2617,1841,0,0,0,0,0,0
$FREEZE,8.78,2.437,-1.820,0,1,0
$FREEZE,8.26,2.437,-1.820,0,1,0
$FREEZE,7.99,2.435,-1.819,0,1,0
$FREEZE,7.56,2.442,-1.819,0,1,0
$FREEZE,6.95,2.443,-1.819,0,1,0
$FREEZE,6.49,2.442,-1.818,0,1,0
$FREEZE,6.06,2.436,-1.818,0,1,0
$FREEZE,5.65,2.442,-1.818,0,1,0
$FREEZE,5.07,2.439,-1.817,0,1,0
$FREEZE,4.62,2.442,-1.817,0,1,0
$FREEZE,3.67,2.441,-1.816,0,1,0
$FREEZE,3.02,2.437,-1.816,0,1,0
$FREEZE,2.55,2.437,-1.815,0,1,0
$STATE,10744,end climb,SURFACE_DEPTH_REACHED
$STATE,10744,begin surface coast
$FREEZE,1.98,2.435,-1.815,0,1,0
$FREEZE,1.76,2.430,-1.815,0,1,0
$FREEZE,1.31,2.432,-1.814,0,1,0
$FREEZE,0.94,2.463,-1.813,0,1,0
$FREEZE,1.28,2.428,-1.814,0,1,0
$FINISH,1.3,1.026413
$STATE,10771,end surface coast,CONTROL_FINISHED_OK
$STATE,10772,begin surface
$SM_CCo,10788,211.12,0.079,0,0,441,609.08
$SM_GC,1.71,0.00,0.00,211.12,0.000,0.000,0.079,294,2786,441,-6.80,0.17,609.08
$RAFOS_CLK,431
$RAFOS,3,1294590306,16.433332,16.418333,51,48,42,41,41,40,686,280,1861,26,248,563
$RAFOS,2,1294589826,16.299999,16.285000,44,42,40,38,37,37,1593,392,553,1524,296,1865
$RAFOS,1,1294589351,16.166666,16.153055,43,43,42,41,40,38,551,257,169,983,1881,1264
$RAFOS,0,1294588862,16.033333,16.017221,49,47,46,45,41,40,889,1349,537,511,26,1159
$RAFOS_FIX,6709.722168,-5708.197754,090111,121228,2,84,0.43
$IRIDIUM_FIX,6641.98,-5718.55,090111,101029
$TT8_MAMPS,0.029211
$HUMID,45.98
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,22.5,82.450
$10V_AH,9.8,56.619
$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,16.875,103.575,346.200,211.125,0.000,29.022,22.357,141.235,1.500,0.000,15.651,2391.130,6025.364,697.998,1913.537,335.829,0.000,1648.463,0.000,1712.114,1800.000,11.473,0.000
$DEVICE_MAMPS,234.855,69.615,890.460,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,673.124,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,36704,980
$CAP_FILE_SIZE,127114,0
$CFSIZE,260165632,202207232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$GPS,090111,164326,6711.886,-5711.667,51,99.0,71,-37.8