version: 66.08
glider: 183
mission: 3
dive: 724
start: 1 9 111 19 50 3
data:
$ID,183
$MISSION,3
$DIVE,724
$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,-11399.814
$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,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
$GPS1,090111,194336,6712.524,-5712.974,35,1.1,35,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-56.7
$GPS2,090111,194932,6712.533,-5713.170,11,1.2,11,-37.9
$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,172.1,25339,-17.5,-10.000
$D_GRID,523
$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,-135.23,0.000,2,0.000,0.000,273,2784,3485,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.3,-12.3,24,175,8.27,1.95,-0.70,0.000,4,0.236,0.075,2279,3929,3522,0,0,0,0,0,0
$GC,431,-0.59,-146.0,50.3,-10.7,71,438,0.00,1.85,0.00,0.000,6,0.000,0.045,2279,2775,3523,0,0,0,0,0,0
$GC,778,-0.62,-146.0,86.5,-10.0,132,784,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3922,3522,0,0,0,0,0,0
$GC,882,-0.67,-146.0,97.8,-10.9,150,889,0.00,1.88,0.00,0.000,6,0.000,0.046,2275,2776,3522,0,0,0,0,0,0
$GC,1219,-0.70,-146.0,129.6,-9.9,183,1223,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1361,3521,0,0,0,0,0,0
$GC,1317,-0.76,-146.0,139.3,-9.4,191,1322,0.12,2.30,0.00,0.000,6,0.091,0.058,2215,2755,3521,0,0,0,0,0,0
$GC,1643,-0.70,-146.0,182.8,-13.7,221,1647,0.12,2.00,0.00,0.000,4,0.170,0.067,2242,3932,3521,0,0,0,0,0,0
$GC,1726,-0.70,-146.0,193.1,-11.4,228,1733,0.00,1.88,0.00,0.000,6,0.000,0.044,2242,2762,3521,0,0,0,0,0,0
$GC,2051,-0.70,-146.0,228.2,-10.4,259,2055,0.00,2.20,0.00,0.000,4,0.000,0.045,2242,1370,3521,0,0,0,0,0,0
$GC,2092,-0.70,-146.0,232.3,-10.4,262,2096,0.00,2.28,0.00,0.000,6,0.000,0.057,2235,2761,3521,0,0,0,0,0,0
$GC,2418,-0.70,-146.0,264.4,-9.5,292,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3521,0,0,0,0,0,0
$GC,2737,-0.70,-146.0,296.9,-10.1,322,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3521,0,0,0,0,0,0
$GC,3055,-0.70,-146.0,332.4,-11.9,352,3060,0.00,2.20,0.00,0.000,4,0.000,0.044,2235,1362,3522,0,0,0,0,0,0
$GC,3100,-0.70,-146.0,338.0,-11.6,356,3104,0.00,2.25,0.00,0.000,6,0.000,0.056,2235,2743,3522,0,0,0,0,0,0
$GC,3433,-0.70,-146.0,374.5,-10.3,387,3437,0.00,1.98,0.00,0.000,4,0.000,0.067,2229,3932,3523,0,0,0,0,0,0
$GC,3482,-0.70,-146.0,380.2,-11.1,391,3489,0.00,1.90,0.00,0.000,6,0.000,0.043,2229,2742,3523,0,0,0,0,0,0
$GC,3807,-0.70,-146.0,412.6,-10.3,414,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2742,3523,0,0,0,0,0,0
$GC,4110,-0.70,-146.0,440.2,-9.7,424,4114,0.00,2.12,0.00,0.000,4,0.000,0.044,2229,1370,3523,0,0,0,0,0,0
$GC,4140,-0.70,-146.0,443.4,-10.7,425,4144,0.00,2.28,0.00,0.000,6,0.000,0.055,2222,2759,3524,0,0,0,0,0,0
$GC,4481,-0.70,-146.0,478.1,-9.6,436,4485,0.00,1.98,0.00,0.000,4,0.000,0.065,2222,3925,3524,0,0,0,0,0,0
$GC,4531,-0.70,-146.0,483.3,-9.6,437,4535,0.00,1.88,0.00,0.000,6,0.000,0.042,2222,2749,3524,0,0,0,0,0,0
$GC,4857,-0.70,-146.0,515.4,-10.1,448,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2749,3524,0,0,0,0,0,0
$STATE,4945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4945,begin apogee
$GC,4951,-0.14,0.0,524.6,9.9,451,5080,0.62,0.00,120.95,0.880,4,0.128,0.000,2426,2594,2923,0,0,0,0,0,0
$STATE,5080,end apogee,CONTROL_FINISHED_OK
$STATE,5081,begin climb
$GC,5083,0.57,146.0,528.0,0.0,455,5215,0.65,2.30,123.05,0.868,4,0.062,0.045,2666,1187,2327,0,0,0,0,0,0
$GC,5373,0.57,146.0,500.8,12.6,464,5377,0.00,2.33,0.00,0.000,6,0.000,0.051,2666,2599,2321,0,0,0,0,0,0
$GC,5715,0.51,146.0,454.3,13.8,475,5719,0.00,2.22,0.00,0.000,4,0.000,0.047,2668,1184,2318,0,0,0,0,0,0
$GC,5947,0.51,146.0,423.5,11.8,482,5951,0.00,2.30,0.00,0.000,6,0.000,0.051,2668,2606,2318,0,0,0,0,0,0
$GC,6269,0.46,146.0,379.3,13.1,501,6274,0.15,2.20,0.00,0.000,4,0.181,0.061,2627,3936,2317,0,0,0,0,0,0
$GC,6299,0.42,146.0,375.3,12.8,503,6303,0.00,2.12,0.00,0.000,6,0.000,0.040,2628,2593,2316,0,0,0,0,0,0
$GC,6625,0.42,146.0,339.9,10.7,533,6629,0.00,2.22,0.00,0.000,4,0.000,0.062,2628,3935,2316,0,0,0,0,0,0
$GC,6658,0.39,146.0,336.0,12.1,535,6666,0.12,2.10,0.00,0.000,6,0.186,0.039,2601,2604,2315,0,0,0,0,0,0
$GC,6985,0.48,175.1,308.3,8.7,566,7014,0.00,0.00,23.85,0.730,6,0.000,0.000,2601,2604,2209,0,0,0,0,0,0
$GC,7333,0.57,175.1,273.8,10.7,599,7338,0.17,2.22,0.00,0.000,4,0.080,0.047,2681,1190,2206,0,0,0,0,0,0
$GC,7351,0.61,175.1,271.6,11.0,600,7355,0.00,2.30,0.00,0.000,6,0.000,0.050,2681,2619,2206,0,0,0,0,0,0
$GC,7677,0.56,175.1,220.0,16.1,630,7681,0.00,2.15,0.00,0.000,4,0.000,0.061,2681,3923,2205,0,0,0,0,0,0
$GC,7734,0.47,175.1,209.7,18.7,635,7739,0.22,2.05,0.00,0.000,6,0.170,0.040,2626,2624,2204,0,0,0,0,0,0
$GC,8060,0.52,175.1,172.0,10.3,665,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2623,2204,0,0,0,0,0,0
$GC,8381,0.59,178.3,141.0,9.9,695,8386,0.10,2.25,0.00,0.000,4,0.107,0.047,2679,1194,2204,0,0,0,0,0,0
$GC,8414,0.59,178.3,136.8,11.6,697,8421,0.00,2.30,0.00,0.000,6,0.000,0.049,2679,2628,2204,0,0,0,0,0,0
$GC,8741,0.59,178.3,98.1,11.4,729,8748,0.00,2.12,0.00,0.000,4,0.000,0.062,2680,3922,2204,0,0,0,0,0,0
$GC,8783,0.50,178.3,92.7,13.7,736,8791,0.15,2.05,0.00,0.000,6,0.182,0.040,2641,2622,2203,0,0,0,0,0,0
$GC,9133,0.59,235.8,63.2,7.3,797,9190,0.00,0.00,50.40,0.594,6,0.000,0.000,2641,2622,1960,0,0,0,0,0,0
$GC,9530,0.74,288.8,27.3,7.6,867,9577,0.20,0.00,43.55,0.576,6,0.076,0.000,2725,2622,1743,0,0,0,0,0,0
$FREEZE,8.61,2.425,-1.821,0,1,0
$FREEZE,7.68,2.426,-1.820,0,1,0
$FREEZE,6.89,2.425,-1.820,0,1,0
$FREEZE,6.02,2.425,-1.819,0,1,0
$FREEZE,5.27,2.425,-1.819,0,1,0
$FREEZE,4.40,2.424,-1.818,0,1,0
$FREEZE,3.70,2.424,-1.817,0,1,0
$FREEZE,2.93,2.423,-1.817,0,1,0
$STATE,9703,end climb,SURFACE_DEPTH_REACHED
$STATE,9703,begin surface coast
$FREEZE,2.03,2.422,-1.816,0,1,0
$FREEZE,1.45,2.423,-1.816,0,1,0
$FREEZE,0.94,2.404,-1.816,0,1,0
$FINISH,0.9,1.026438
$STATE,9721,end surface coast,CONTROL_FINISHED_OK
$STATE,9721,begin surface
$SM_CCo,9738,197.68,0.079,0,0,440,609.08
$SM_GC,1.75,0.00,0.00,197.68,0.000,0.000,0.079,277,2790,440,-6.86,0.25,609.08
$RAFOS_CLK,385
$RAFOS,6,1294606143,20.833334,20.817499,63,43,43,41,40,37,771,1313,1095,144,1482,1359
$RAFOS,5,1294605662,20.700001,20.683889,122,47,43,43,43,42,656,1594,1133,1813,1485,1587
$RAFOS,4,1294605188,20.566668,20.552221,51,45,44,43,42,39,611,548,765,844,1578,443
$RAFOS,3,1294604711,20.433332,20.419722,48,48,46,43,42,41,959,986,182,1715,584,1294
$RAFOS,2,1294604222,20.299999,20.283890,51,44,44,43,43,41,1073,1640,934,1491,1720,312
$RAFOS,1,1294603745,20.166666,20.151388,47,43,42,41,41,38,469,1349,1182,1587,26,660
$RAFOS,0,1294603264,20.033333,20.017778,43,42,41,40,40,40,1283,1864,1136,194,375,1071
$RAFOS_FIX,6712.995605,-5717.425781,090111,202056,2,92,0.92
$IRIDIUM_FIX,6641.98,-5707.88,090111,161648
$TT8_MAMPS,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,22.6,82.644
$10V_AH,9.8,56.742
$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,17.400,72.825,361.800,197.675,0.000,25.152,28.597,143.037,1.500,0.000,13.967,2173.374,5425.734,653.582,1749.045,304.560,0.000,1508.417,0.000,1547.228,2520.000,11.674,0.000
$DEVICE_MAMPS,235.620,74.970,879.750,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,619.014,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151724
$DATA_FILE_SIZE,33389,901
$CAP_FILE_SIZE,111405,0
$CFSIZE,260165632,202100736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$GPS,090111,223731,6712.164,-5712.951,53,1.1,54,-37.9