version: 66.08
glider: 183
mission: 3
dive: 726
start: 1 10 111 1 43 38
data:
$ID,183
$MISSION,3
$DIVE,726
$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,-11402.327
$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,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
$GPS1,100111,013700,6712.006,-5711.414,36,1.0,37,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-58.1
$GPS2,100111,014307,6712.042,-5711.584,10,1.1,10,-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,172.3,23884,-17.5,-10.000
$D_GRID,500
$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,-146.0,0.0,0.0,0,159,0.00,0.00,-136.02,0.000,6,0.000,0.000,274,2786,3520,0,0,0,0,0,0
$GC,162,-0.57,-146.0,6.2,-14.7,24,176,8.30,2.30,0.00,0.000,4,0.235,0.040,2282,1362,3522,0,0,0,0,0,0
$GC,303,-0.60,-146.0,36.1,-10.7,48,310,0.00,2.33,0.00,0.000,6,0.000,0.057,2274,2776,3524,0,0,0,0,0,0
$GC,650,-0.60,-146.0,76.2,-9.8,109,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2776,3523,0,0,0,0,0,0
$GC,992,-0.63,-146.0,108.7,-8.7,161,996,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1366,3522,0,0,0,0,0,0
$GC,1021,-0.66,-146.0,111.2,-8.7,163,1025,0.00,2.30,0.00,0.000,6,0.000,0.058,2275,2761,3522,0,0,0,0,0,0
$GC,1353,-0.70,-146.0,136.7,-7.4,194,1357,0.00,2.00,0.00,0.000,4,0.000,0.068,2272,3930,3521,0,0,0,0,0,0
$GC,1404,-0.76,-146.0,140.8,-7.7,198,1411,0.12,1.88,0.00,0.000,6,0.096,0.044,2215,2763,3521,0,0,0,0,0,0
$GC,1730,-0.70,-146.0,175.8,-11.1,229,1732,0.12,0.00,0.00,0.000,6,0.168,0.000,2249,2763,3521,0,0,0,0,0,0
$GC,2048,-0.70,-146.0,204.5,-9.3,259,2052,0.00,2.20,0.00,0.000,4,0.000,0.045,2250,1369,3521,0,0,0,0,0,0
$GC,2097,-0.73,-146.0,208.9,-8.8,263,2101,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2760,3521,0,0,0,0,0,0
$GC,2424,-0.73,-146.0,238.9,-9.2,293,2428,0.00,2.20,0.00,0.000,4,0.000,0.045,2248,1362,3521,0,0,0,0,0,0
$GC,2454,-0.73,-146.0,241.8,-9.3,295,2458,0.00,2.28,0.00,0.000,6,0.000,0.056,2247,2743,3521,0,0,0,0,0,0
$GC,2781,-0.73,-146.0,272.0,-9.4,325,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2743,3521,0,0,0,0,0,0
$GC,3101,-0.75,-146.0,302.5,-9.6,355,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2743,3522,0,0,0,0,0,0
$GC,3430,-0.78,-146.0,333.0,-8.8,386,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2742,3523,0,0,0,0,0,0
$GC,3758,-0.80,-146.0,363.4,-9.5,417,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2743,3523,0,0,0,0,0,0
$GC,4088,-0.83,-146.0,392.1,-8.5,448,4095,0.12,0.00,0.00,0.000,6,0.099,0.000,2181,2743,3523,0,0,0,0,0,0
$GC,4404,-0.73,-146.0,432.0,-13.0,463,4409,0.20,2.00,0.00,0.000,4,0.156,0.063,2230,3936,3523,0,0,0,0,0,0
$GC,4443,-0.73,-146.0,436.5,-10.7,464,4447,0.00,1.95,0.00,0.000,6,0.000,0.042,2231,2728,3524,0,0,0,0,0,0
$GC,4779,-0.73,-146.0,468.6,-9.5,475,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2728,3524,0,0,0,0,0,0
$GC,5086,-0.73,-146.0,496.9,-9.0,485,5089,0.00,2.03,0.00,0.000,4,0.000,0.065,2224,3928,3524,0,0,0,0,0,0
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5128,-0.14,0.0,500.3,9.7,486,5256,0.60,0.00,120.88,0.863,4,0.126,0.000,2422,2591,2923,0,0,0,0,0,0
$STATE,5257,end apogee,CONTROL_FINISHED_OK
$STATE,5257,begin climb
$GC,5260,0.57,146.0,503.9,0.0,490,5392,0.68,2.30,122.62,0.851,4,0.064,0.044,2669,1191,2327,0,0,0,0,0,0
$GC,5565,0.57,146.0,474.1,12.2,499,5569,0.00,2.33,0.00,0.000,6,0.000,0.050,2669,2612,2321,0,0,0,0,0,0
$GC,5890,0.51,146.0,433.8,12.7,510,5894,0.00,2.25,0.00,0.000,4,0.000,0.047,2674,1183,2318,0,0,0,0,0,0
$GC,6149,0.49,146.0,400.5,12.6,517,6157,0.15,2.30,0.00,0.000,6,0.171,0.050,2635,2608,2318,0,0,0,0,0,0
$GC,6476,0.49,146.0,364.5,11.4,548,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2608,2317,0,0,0,0,0,0
$GC,6796,0.49,146.0,327.9,12.0,578,6800,0.00,2.17,0.00,0.000,4,0.000,0.062,2635,3935,2316,0,0,0,0,0,0
$GC,6824,0.46,146.0,323.9,13.4,580,6831,0.00,2.10,0.00,0.000,6,0.000,0.040,2638,2602,2315,0,0,0,0,0,0
$GC,7150,0.46,146.0,285.6,11.8,611,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2602,2316,0,0,0,0,0,0
$GC,7470,0.46,146.0,248.4,11.7,641,7474,0.00,2.22,0.00,0.000,4,0.000,0.061,2638,3930,2315,0,0,0,0,0,0
$GC,7487,0.46,146.0,246.0,12.4,642,7494,0.00,2.08,0.00,0.000,6,0.000,0.038,2639,2613,2315,0,0,0,0,0,0
$GC,7813,0.46,146.0,208.6,11.5,673,7817,0.00,2.22,0.00,0.000,4,0.000,0.046,2639,1191,2315,0,0,0,0,0,0
$GC,7841,0.49,146.0,205.6,10.0,675,7848,0.00,2.30,0.00,0.000,6,0.000,0.050,2639,2617,2315,0,0,0,0,0,0
$GC,8166,0.49,146.0,170.4,11.2,706,8170,0.00,2.15,0.00,0.000,4,0.000,0.061,2639,3927,2315,0,0,0,0,0,0
$GC,8202,0.45,146.0,166.3,12.3,709,8206,0.00,2.08,0.00,0.000,6,0.000,0.040,2642,2615,2315,0,0,0,0,0,0
$GC,8533,0.45,146.0,131.6,10.4,740,8537,0.00,2.17,0.00,0.000,4,0.000,0.062,2641,3925,2315,0,0,0,0,0,0
$GC,8561,0.43,146.0,128.3,11.6,742,8567,0.00,2.08,0.00,0.000,6,0.000,0.039,2642,2611,2315,0,0,0,0,0,0
$GC,8887,0.46,159.8,98.1,9.4,774,8905,0.00,0.00,11.05,0.596,6,0.000,0.000,2642,2611,2270,0,0,0,0,0,0
$GC,9245,0.51,179.5,65.9,9.1,837,9269,0.00,2.20,17.45,0.594,4,0.000,0.060,2642,3926,2192,0,0,0,0,0,0
$GC,9401,0.54,179.5,49.9,10.3,864,9408,0.00,2.00,0.00,0.000,6,0.000,0.039,2642,2649,2189,0,0,0,0,0,0
$GC,9750,0.68,280.8,24.9,5.3,925,9845,0.15,2.40,83.05,0.571,4,0.091,0.047,2707,1198,1776,0,0,0,0,0,0
$GC,9870,0.72,280.8,12.7,10.6,945,9877,0.00,2.35,0.00,0.000,6,0.000,0.050,2707,2643,1773,0,0,0,0,0,0
$FREEZE,8.26,2.390,-1.820,0,1,0
$FREEZE,7.45,2.391,-1.819,0,1,0
$FREEZE,6.71,2.384,-1.819,0,1,0
$FREEZE,6.03,2.385,-1.818,0,1,0
$FREEZE,5.54,2.384,-1.818,0,1,0
$FREEZE,5.12,2.382,-1.817,0,1,0
$FREEZE,4.68,2.377,-1.817,0,1,0
$FREEZE,4.33,2.376,-1.817,0,1,0
$FREEZE,3.93,2.376,-1.817,0,1,0
$FREEZE,3.58,2.376,-1.816,0,1,0
$FREEZE,3.13,2.380,-1.816,0,1,0
$FREEZE,2.48,2.380,-1.815,0,1,0
$STATE,9957,end climb,SURFACE_DEPTH_REACHED
$STATE,9957,begin surface coast
$FREEZE,1.73,2.382,-1.815,0,1,0
$FREEZE,1.23,2.377,-1.814,0,1,0
$FREEZE,1.05,2.387,-1.100,0,1,0
$FREEZE,1.06,2.372,-1.809,0,1,0
$FREEZE,0.95,2.379,-1.370,0,1,0
$FREEZE,1.19,2.378,-1.690,0,1,0
$FINISH,1.2,1.024662
$STATE,9989,end surface coast,CONTROL_FINISHED_OK
$STATE,9989,begin surface
$SM_CCo,10005,203.75,0.079,0,0,440,609.08
$SM_GC,1.68,0.00,0.00,203.75,0.000,0.000,0.079,275,2787,440,-6.86,0.20,609.08
$RAFOS_CLK,399
$RAFOS,2,1294633024,4.300000,4.284444,44,44,43,41,40,40,545,981,162,1090,209,1687
$RAFOS,1,1294632542,4.166667,4.150556,45,44,43,43,42,40,1631,1581,865,149,172,715
$RAFOS,0,1294632063,4.033333,4.017500,44,43,41,41,38,38,1546,704,198,1588,538,1793
$RAFOS_FIX,6713.354980,-5717.477539,100111,000056,2,89,0.52
$IRIDIUM_FIX,6641.98,-5706.23,090111,222257
$TT8_MAMPS,0.029211
$HUMID,45.39
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.7
$24V_AH,22.7,82.827
$10V_AH,9.8,56.868
$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,16.875,70.075,355.050,203.750,0.000,30.113,37.842,141.597,1.500,0.000,12.882,2327.607,5454.493,672.398,1814.539,313.788,0.000,1552.546,0.000,1607.250,1440.000,11.475,0.000
$DEVICE_MAMPS,234.855,77.265,862.920,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,33411,967
$CAP_FILE_SIZE,112358,0
$CFSIZE,260165632,201981952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.7
$GPS,100111,043507,6712.711,-5711.447,28,1.2,29,-37.9