version: 66.08
glider: 183
mission: 3
dive: 723
start: 1 9 111 16 50 26
data:
$ID,183
$MISSION,3
$DIVE,723
$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,-11398.557
$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,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
$GPS1,090111,164326,6711.886,-5711.667,51,99.0,71,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-58.9
$GPS2,090111,164955,6711.943,-5711.925,10,1.4,15,-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,171.6,23934,-17.5,-10.000
$D_GRID,519
$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,-146.0,0.0,0.0,0,158,0.00,0.00,-135.68,0.000,2,0.000,0.000,275,2787,3463,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.0,-10.8,24,181,8.35,2.33,-1.17,0.000,4,0.236,0.058,2284,1366,3522,0,0,0,0,0,0
$GC,357,-0.60,-146.0,38.6,-10.9,58,364,0.00,2.33,0.00,0.000,6,0.000,0.057,2277,2774,3523,0,0,0,0,0,0
$GC,704,-0.62,-146.0,77.0,-10.7,119,710,0.00,1.95,0.00,0.000,4,0.000,0.068,2274,3932,3522,0,0,0,0,0,0
$GC,826,-0.65,-146.0,90.3,-10.4,140,833,0.00,1.80,0.00,0.000,6,0.000,0.045,2275,2813,3521,0,0,0,0,0,0
$GC,1159,-0.68,-146.0,122.9,-9.8,179,1163,0.00,2.30,0.00,0.000,4,0.000,0.047,2275,1363,3521,0,0,0,0,0,0
$GC,1266,-0.73,-146.0,133.5,-9.3,188,1274,0.10,2.38,0.00,0.000,6,0.106,0.058,2224,2796,3521,0,0,0,0,0,0
$GC,1592,-0.69,-146.0,171.7,-11.6,219,1596,0.00,2.25,0.00,0.000,4,0.000,0.046,2223,1370,3521,0,0,0,0,0,0
$GC,1622,-0.65,-146.0,175.3,-11.7,221,1627,0.15,2.33,0.00,0.000,6,0.164,0.058,2263,2778,3521,0,0,0,0,0,0
$GC,1953,-0.69,-146.0,206.2,-9.7,252,1957,0.00,1.95,0.00,0.000,4,0.000,0.067,2256,3923,3521,0,0,0,0,0,0
$GC,1992,-0.72,-146.0,210.3,-10.4,255,1998,0.00,1.85,0.00,0.000,6,0.000,0.044,2256,2772,3521,0,0,0,0,0,0
$GC,2318,-0.75,-146.0,241.2,-9.2,286,2322,0.00,2.20,0.00,0.000,4,0.000,0.045,2256,1372,3521,0,0,0,0,0,0
$GC,2398,-0.80,-146.0,249.0,-9.2,293,2402,0.00,2.33,0.00,0.000,6,0.000,0.057,2248,2780,3522,0,0,0,0,0,0
$GC,2724,-0.80,-146.0,278.6,-8.8,323,2728,0.00,2.28,0.00,0.000,4,0.000,0.046,2248,1365,3523,0,0,0,0,0,0
$GC,2753,-0.82,-146.0,281.2,-8.9,325,2758,0.12,2.30,0.00,0.000,6,0.091,0.057,2187,2760,3522,0,0,0,0,0,0
$GC,3080,-0.72,-146.0,321.8,-12.4,355,3085,0.20,1.95,0.00,0.000,4,0.159,0.063,2236,3928,3523,0,0,0,0,0,0
$GC,3149,-0.72,-146.0,329.1,-9.0,360,3155,0.00,1.88,0.00,0.000,6,0.000,0.043,2236,2754,3523,0,0,0,0,0,0
$GC,3474,-0.72,-146.0,357.7,-8.6,391,3478,0.00,2.15,0.00,0.000,4,0.000,0.046,2236,1370,3523,0,0,0,0,0,0
$GC,3508,-0.72,-146.0,360.9,-8.9,393,3514,0.00,2.28,0.00,0.000,6,0.000,0.056,2235,2755,3523,0,0,0,0,0,0
$GC,3834,-0.72,-146.0,387.5,-7.8,424,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2755,3524,0,0,0,0,0,0
$GC,4146,-0.72,-146.0,412.7,-8.1,444,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2755,3524,0,0,0,0,0,0
$GC,4453,-0.72,-146.0,436.7,-8.1,454,4457,0.00,1.98,0.00,0.000,4,0.000,0.066,2228,3933,3524,0,0,0,0,0,0
$GC,4488,-0.72,-146.0,439.7,-8.9,455,4492,0.00,1.90,0.00,0.000,6,0.000,0.043,2228,2742,3525,0,0,0,0,0,0
$GC,4830,-0.72,-146.0,469.4,-8.9,466,4834,0.00,2.00,0.00,0.000,4,0.000,0.065,2222,3927,3525,0,0,0,0,0,0
$GC,4881,-0.72,-146.0,474.2,-10.5,467,4884,0.00,1.85,0.00,0.000,6,0.000,0.043,2222,2763,3524,0,0,0,0,0,0
$GC,5205,-0.72,-146.0,508.1,-11.2,478,5209,0.00,1.98,0.00,0.000,4,0.000,0.067,2222,3926,3525,0,0,0,0,0,0
$GC,5266,-0.72,-146.0,515.1,-10.6,479,5272,0.00,1.85,0.00,0.000,6,0.000,0.043,2222,2765,3525,0,0,0,0,0,0
$STATE,5331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5331,begin apogee
$GC,5339,-0.14,0.0,521.7,9.9,482,5466,0.60,0.00,121.00,0.876,4,0.126,0.000,2420,2596,2923,0,0,0,0,0,0
$STATE,5467,end apogee,CONTROL_FINISHED_OK
$STATE,5467,begin climb
$GC,5470,0.57,146.0,523.9,0.0,486,5603,0.68,2.30,123.15,0.866,4,0.066,0.045,2665,1186,2327,0,0,0,0,0,0
$GC,5773,0.57,146.0,495.9,10.8,495,5777,0.00,2.33,0.00,0.000,6,0.000,0.050,2665,2601,2321,0,0,0,0,0,0
$GC,6097,0.50,146.0,453.4,13.5,506,6101,0.00,2.17,0.00,0.000,4,0.000,0.061,2665,3928,2318,0,0,0,0,0,0
$GC,6317,0.39,146.0,419.9,14.8,512,6322,0.22,2.15,0.00,0.000,6,0.181,0.040,2606,2565,2316,0,0,0,0,0,0
$GC,6640,0.48,192.1,393.7,7.9,527,6685,0.00,2.30,37.92,0.783,4,0.000,0.060,2606,3926,2139,0,0,0,0,0,0
$GC,6704,0.55,197.2,387.9,9.8,532,6715,0.15,2.15,5.65,0.620,6,0.088,0.040,2675,2574,2119,0,0,0,0,0,0
$GC,7035,0.52,197.2,343.0,14.1,563,7040,0.12,2.28,0.00,0.000,4,0.178,0.062,2642,3936,2114,0,0,0,0,0,0
$GC,7088,0.52,197.2,335.6,13.8,567,7092,0.00,2.12,0.00,0.000,6,0.000,0.040,2642,2590,2114,0,0,0,0,0,0
$GC,7419,0.55,197.2,297.1,11.3,598,7423,0.00,2.22,0.00,0.000,4,0.000,0.061,2641,3928,2114,0,0,0,0,0,0
$GC,7449,0.55,197.2,293.5,13.2,600,7453,0.00,2.10,0.00,0.000,6,0.000,0.039,2642,2598,2114,0,0,0,0,0,0
$GC,7781,0.58,197.2,256.8,10.5,631,7785,0.00,2.17,0.00,0.000,4,0.000,0.047,2642,1199,2114,0,0,0,0,0,0
$GC,7800,0.62,197.2,254.8,10.6,632,7804,0.00,2.28,0.00,0.000,6,0.000,0.049,2642,2613,2114,0,0,0,0,0,0
$GC,8126,0.65,197.2,219.0,10.8,662,8128,0.12,0.00,0.00,0.000,6,0.099,0.000,2698,2613,2113,0,0,0,0,0,0
$GC,8444,0.60,197.2,173.6,14.5,692,8446,0.12,0.00,0.00,0.000,6,0.174,0.000,2665,2613,2114,0,0,0,0,0,0
$GC,8762,0.60,197.2,136.8,10.9,722,8766,0.00,2.15,0.00,0.000,4,0.000,0.061,2665,3926,2114,0,0,0,0,0,0
$GC,8818,0.56,197.2,129.6,13.2,726,8825,0.00,2.10,0.00,0.000,6,0.000,0.039,2665,2598,2112,0,0,0,0,0,0
$GC,9147,0.58,197.2,95.0,10.8,761,9153,0.00,2.22,0.00,0.000,4,0.000,0.047,2666,1184,2113,0,0,0,0,0,0
$GC,9196,0.66,210.2,90.3,9.4,769,9215,0.00,2.28,11.55,0.595,6,0.000,0.050,2665,2599,2065,0,0,0,0,0,0
$GC,9558,0.74,251.0,56.3,8.1,832,9601,0.12,2.22,35.17,0.594,4,0.101,0.060,2723,3934,1898,0,0,0,0,0,0
$GC,9684,0.67,251.0,39.6,15.4,853,9691,0.12,2.10,0.00,0.000,6,0.188,0.040,2694,2616,1894,0,0,0,0,0,0
$FREEZE,8.75,2.506,-1.820,0,1,0
$FREEZE,8.20,2.507,-1.819,0,1,0
$FREEZE,7.70,2.509,-1.819,0,1,0
$FREEZE,7.07,2.508,-1.818,0,1,0
$FREEZE,6.33,2.508,-1.818,0,1,0
$FREEZE,6.04,2.504,-1.817,0,1,0
$FREEZE,5.69,2.505,-1.817,0,1,0
$FREEZE,5.25,2.504,-1.817,0,1,0
$FREEZE,4.83,2.505,-1.817,0,1,0
$FREEZE,4.07,2.504,-1.816,0,1,0
$FREEZE,3.00,2.503,-1.815,0,1,0
$GC,10030,0.76,323.1,4.8,6.7,914,10047,0.00,0.00,14.43,0.565,2,0.000,0.000,2694,2617,1822,0,0,0,0,0,0
$STATE,10048,end climb,SURFACE_DEPTH_REACHED
$STATE,10048,begin surface coast
$FREEZE,1.78,2.501,-1.814,0,1,0
$FREEZE,1.25,2.503,-1.814,0,1,0
$FREEZE,1.01,2.460,-0.937,0,1,0
$FREEZE,1.00,2.451,-0.899,0,1,0
$FREEZE,1.01,2.456,-1.756,0,1,0
$FREEZE,1.00,2.445,-0.751,0,1,0
$FINISH,1.0,1.011062
$STATE,10080,end surface coast,CONTROL_FINISHED_OK
$STATE,10081,begin surface
$SM_CCo,10097,206.45,0.080,0,0,440,609.08
$SM_GC,1.70,0.00,0.00,206.45,0.000,0.000,0.080,284,2782,440,-6.84,0.06,609.08
$RAFOS_CLK,397
$RAFOS,4,1294590783,16.566668,16.550833,44,44,43,41,41,40,43,673,714,882,1631,979
$RAFOS_FIX,6709.722168,-5708.197754,090111,121228,2,84,0.43
$IRIDIUM_FIX,6641.98,-5715.55,090111,131301
$TT8_MAMPS,0.028462
$HUMID,45.39
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,22.6,82.547
$10V_AH,9.8,56.681
$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,17.525,90.525,348.875,206.450,0.000,25.010,38.277,156.643,1.500,0.000,18.503,2240.669,5634.346,666.725,1836.490,319.577,0.000,1558.290,0.000,1604.099,0.000,11.478,0.000
$DEVICE_MAMPS,236.385,72.675,875.925,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,33395,922
$CAP_FILE_SIZE,120113,0
$CFSIZE,260165632,202153984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.4
$GPS,090111,194336,6712.524,-5712.974,35,1.1,35,-37.9