version: 66.08
glider: 183
mission: 3
dive: 725
start: 1 9 111 22 44 1
data:
$ID,183
$MISSION,3
$DIVE,725
$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,-11401.072
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,090111,223731,6712.164,-5712.951,53,1.1,54,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-57.0
$GPS2,090111,224332,6712.155,-5713.114,11,1.4,17,-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,171.0,24827,-17.5,-10.000
$D_GRID,521
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-133.98,0.000,2,0.000,0.000,268,2791,3471,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.6,-11.0,24,174,8.30,2.33,-0.95,0.000,4,0.235,0.055,2282,1355,3520,0,0,0,0,0,0
$GC,361,-0.60,-146.0,41.2,-11.6,59,368,0.00,2.35,0.00,0.000,6,0.000,0.058,2275,2777,3522,0,0,0,0,0,0
$GC,708,-0.60,-146.0,81.9,-10.4,120,714,0.00,1.95,0.00,0.000,4,0.000,0.068,2275,3935,3521,0,0,0,0,0,0
$GC,763,-0.64,-146.0,87.4,-9.6,129,770,0.00,1.85,0.00,0.000,6,0.000,0.045,2275,2782,3521,0,0,0,0,0,0
$GC,1103,-0.68,-146.0,118.8,-9.3,172,1107,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1365,3520,0,0,0,0,0,0
$GC,1157,-0.73,-146.0,123.9,-9.0,176,1161,0.10,2.33,0.00,0.000,6,0.106,0.058,2225,2780,3520,0,0,0,0,0,0
$GC,1489,-0.68,-146.0,164.7,-12.4,207,1493,0.00,2.28,0.00,0.000,4,0.000,0.047,2224,1368,3520,0,0,0,0,0,0
$GC,1539,-0.65,-146.0,171.1,-12.6,211,1546,0.15,2.30,0.00,0.000,6,0.165,0.057,2263,2760,3520,0,0,0,0,0,0
$GC,1866,-0.69,-146.0,202.0,-9.1,242,1870,0.00,1.98,0.00,0.000,4,0.000,0.067,2256,3920,3520,0,0,0,0,0,0
$GC,1901,-0.72,-146.0,205.2,-9.2,245,1905,0.00,1.88,0.00,0.000,6,0.000,0.044,2256,2766,3520,0,0,0,0,0,0
$GC,2233,-0.75,-146.0,234.3,-8.1,276,2237,0.00,2.20,0.00,0.000,4,0.000,0.047,2256,1368,3520,0,0,0,0,0,0
$GC,2284,-0.80,-146.0,238.7,-8.3,280,2291,0.00,2.28,0.00,0.000,6,0.000,0.057,2248,2745,3520,0,0,0,0,0,0
$GC,2610,-0.80,-146.0,265.6,-8.6,311,2614,0.00,2.00,0.00,0.000,4,0.000,0.067,2247,3920,3520,0,0,0,0,0,0
$GC,2673,-0.83,-146.0,271.4,-8.6,316,2680,0.12,1.88,0.00,0.000,6,0.097,0.044,2182,2749,3521,0,0,0,0,0,0
$GC,3000,-0.72,-146.0,312.2,-12.6,347,3005,0.20,2.20,0.00,0.000,4,0.163,0.045,2239,1360,3521,0,0,0,0,0,0
$GC,3063,-0.75,-146.0,318.4,-8.1,352,3068,0.00,2.28,0.00,0.000,6,0.000,0.056,2235,2744,3521,0,0,0,0,0,0
$GC,3389,-0.75,-146.0,345.7,-8.2,382,3393,0.00,2.00,0.00,0.000,4,0.000,0.067,2228,3921,3522,0,0,0,0,0,0
$GC,3417,-0.75,-146.0,348.4,-8.7,384,3424,0.00,1.90,0.00,0.000,6,0.000,0.042,2227,2731,3522,0,0,0,0,0,0
$GC,3744,-0.75,-146.0,379.2,-9.0,415,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2731,3522,0,0,0,0,0,0
$GC,4059,-0.75,-146.0,408.0,-8.8,439,4063,0.00,2.03,0.00,0.000,4,0.000,0.067,2222,3928,3522,0,0,0,0,0,0
$GC,4099,-0.72,-146.0,412.2,-10.1,440,4102,0.00,1.88,0.00,0.000,6,0.000,0.042,2222,2754,3523,0,0,0,0,0,0
$GC,4436,-0.70,-146.0,443.2,-8.9,451,4440,0.00,2.15,0.00,0.000,4,0.000,0.045,2222,1372,3523,0,0,0,0,0,0
$GC,4547,-0.70,-146.0,453.6,-9.3,454,4551,0.00,2.25,0.00,0.000,6,0.000,0.056,2222,2739,3523,0,0,0,0,0,0
$GC,4866,-0.70,-146.0,481.8,-9.1,465,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2739,3523,0,0,0,0,0,0
$GC,5172,-0.70,-146.0,508.9,-8.8,475,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2739,3524,0,0,0,0,0,0
$STATE,5322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5322,begin apogee
$GC,5329,-0.14,0.0,522.3,8.7,480,5457,0.62,0.00,120.97,0.877,4,0.126,0.000,2427,2604,2923,0,0,0,0,0,0
$STATE,5457,end apogee,CONTROL_FINISHED_OK
$STATE,5457,begin climb
$GC,5460,0.57,146.0,523.9,0.0,484,5591,0.65,2.35,123.00,0.864,4,0.062,0.045,2668,1181,2327,0,0,0,0,0,0
$GC,5737,0.57,146.0,495.6,12.8,492,5741,0.00,2.33,0.00,0.000,6,0.000,0.050,2668,2600,2321,0,0,0,0,0,0
$GC,6063,0.51,146.0,453.0,12.9,503,6068,0.00,2.22,0.00,0.000,4,0.000,0.047,2673,1180,2318,0,0,0,0,0,0
$GC,6316,0.48,146.0,422.8,11.8,510,6321,0.15,2.30,0.00,0.000,6,0.173,0.050,2635,2608,2318,0,0,0,0,0,0
$GC,6640,0.48,146.0,389.8,10.2,527,6644,0.00,2.15,0.00,0.000,4,0.000,0.061,2634,3924,2317,0,0,0,0,0,0
$GC,6680,0.44,146.0,385.1,12.2,530,6684,0.00,2.10,0.00,0.000,6,0.000,0.040,2636,2598,2316,0,0,0,0,0,0
$GC,7007,0.45,153.9,351.9,9.6,560,7020,0.00,2.22,6.35,0.659,4,0.000,0.060,2636,3928,2294,0,0,0,0,0,0
$GC,7048,0.41,153.9,346.9,12.1,563,7056,0.12,2.05,0.00,0.000,6,0.185,0.039,2607,2631,2294,0,0,0,0,0,0
$GC,7374,0.49,187.2,320.0,8.5,594,7406,0.00,0.00,29.50,0.745,6,0.000,0.000,2607,2631,2159,0,0,0,0,0,0
$GC,7723,0.60,218.1,291.1,8.6,627,7757,0.17,2.30,26.40,0.724,4,0.079,0.045,2692,1195,2033,0,0,0,0,0,0
$GC,7781,0.60,218.1,283.8,14.4,632,7785,0.00,2.33,0.00,0.000,6,0.000,0.050,2692,2626,2032,0,0,0,0,0,0
$GC,8107,0.55,218.1,234.4,14.6,662,8111,0.12,2.17,0.00,0.000,4,0.180,0.062,2658,3924,2028,0,0,0,0,0,0
$GC,8128,0.52,218.1,231.0,15.1,663,8135,0.00,2.08,0.00,0.000,6,0.000,0.040,2662,2612,2026,0,0,0,0,0,0
$GC,8454,0.52,218.1,189.3,12.8,694,8455,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2612,2026,0,0,0,0,0,0
$GC,8776,0.54,218.1,150.4,11.9,724,8780,0.00,2.22,0.00,0.000,4,0.000,0.047,2662,1188,2025,0,0,0,0,0,0
$GC,8822,0.62,218.1,144.8,11.2,728,8826,0.00,2.28,0.00,0.000,6,0.000,0.050,2662,2614,2026,0,0,0,0,0,0
$GC,9148,0.66,218.1,108.5,10.5,758,9152,0.00,2.15,0.00,0.000,4,0.000,0.061,2662,3928,2026,0,0,0,0,0,0
$GC,9206,0.66,218.1,101.4,13.5,763,9210,0.00,2.08,0.00,0.000,6,0.000,0.040,2662,2617,2025,0,0,0,0,0,0
$GC,9551,0.72,220.6,61.2,9.9,823,9559,0.12,2.28,0.00,0.000,4,0.103,0.047,2718,1187,2025,0,0,0,0,0,0
$GC,9611,0.72,220.6,54.2,12.3,833,9618,0.00,2.30,0.00,0.000,6,0.000,0.050,2718,2615,2025,0,0,0,0,0,0
$GC,9959,0.67,220.6,10.0,14.1,894,9965,0.00,2.15,0.00,0.000,4,0.000,0.063,2718,3922,2025,0,0,0,0,0,0
$FREEZE,7.56,2.358,-1.820,0,1,0
$FREEZE,6.97,2.360,-1.819,0,1,0
$FREEZE,6.06,2.359,-1.818,0,1,0
$FREEZE,5.50,2.355,-1.818,0,1,0
$FREEZE,4.83,2.354,-1.818,0,1,0
$GC,9995,0.61,220.6,4.8,14.0,900,10002,0.17,2.12,0.00,0.000,6,0.182,0.041,2673,2586,2025,0,0,0,0,0,0
$FREEZE,2.95,2.356,-1.816,0,1,0
$STATE,10008,end climb,SURFACE_DEPTH_REACHED
$STATE,10008,begin surface coast
$FREEZE,2.40,2.350,-1.816,0,1,0
$FREEZE,1.79,2.354,-1.815,0,1,0
$FREEZE,1.25,2.351,-1.815,0,1,0
$FREEZE,0.93,2.378,-1.615,0,1,0
$FINISH,0.9,1.023613
$STATE,10030,end surface coast,CONTROL_FINISHED_OK
$STATE,10030,begin surface
$SM_CCo,10046,235.75,0.079,0,0,440,609.08
$SM_GC,1.63,0.00,0.00,235.75,0.000,0.000,0.079,283,2785,440,-6.84,0.14,609.08
$RAFOS_CLK,398
$RAFOS,6,1294620548,0.833333,0.818889,88,51,48,41,41,41,747,745,1383,554,8,145
$RAFOS,5,1294620065,0.700000,0.684722,90,49,41,41,40,40,641,1488,1605,1630,26,1575
$RAFOS,4,1294619592,0.566667,0.553333,48,44,44,42,40,40,1204,443,549,1505,26,434
$RAFOS,3,1294619107,0.433333,0.418611,48,48,46,46,44,43,343,361,615,1731,1882,1037
$RAFOS,2,1294618627,0.300000,0.285278,49,48,46,44,43,41,1897,1201,324,1440,519,1741
$RAFOS,1,1294618149,0.166667,0.152500,44,44,43,42,39,38,1775,1901,1106,26,319,233
$RAFOS,0,1294617689,0.033333,0.024722,51,45,43,43,41,39,238,637,989,203,1827,1713
$RAFOS_FIX,6713.354980,-5717.477539,100111,000056,2,89,0.52
$IRIDIUM_FIX,6641.98,-5726.21,090111,191959
$TT8_MAMPS,0.029211
$HUMID,45.39
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.9
$24V_AH,22.6,82.733
$10V_AH,9.8,56.805
$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,17.225,91.200,306.225,235.750,0.000,29.480,24.365,139.695,1.500,0.000,19.733,2246.459,5642.900,661.778,1786.468,320.549,0.000,1535.879,0.000,1577.013,2520.000,11.479,0.000
$DEVICE_MAMPS,234.855,68.850,877.455,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,33420,906
$CAP_FILE_SIZE,119454,0
$CFSIZE,260165632,202035200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,100111,013700,6712.006,-5711.414,36,1.0,37,-37.8