version: 66.08
glider: 183
mission: 3
dive: 729
start: 1 10 111 10 13 14
data:
$ID,183
$MISSION,3
$DIVE,729
$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,-11406.098
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,100111,100637,6713.408,-5713.225,26,1.6,27,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.1
$GPS2,100111,101243,6713.436,-5713.341,12,1.6,29,-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,174.5,26616,-17.5,-10.000
$D_GRID,462
$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,-135.10,0.000,2,0.000,0.000,269,2774,3480,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.4,-11.5,24,175,8.38,2.30,-0.82,0.000,4,0.236,0.057,2284,1361,3522,0,0,0,0,0,0
$GC,301,-0.60,-146.0,32.9,-10.3,48,308,0.00,2.35,0.00,0.000,6,0.000,0.056,2277,2787,3523,0,0,0,0,0,0
$GC,647,-0.60,-146.0,69.6,-10.4,109,653,0.00,1.92,0.00,0.000,4,0.000,0.067,2271,3933,3522,0,0,0,0,0,0
$GC,747,-0.64,-146.0,80.5,-10.5,126,753,0.00,1.83,0.00,0.000,6,0.000,0.045,2270,2799,3522,0,0,0,0,0,0
$GC,1090,-0.66,-146.0,116.0,-10.1,174,1094,0.00,2.25,0.00,0.000,4,0.000,0.047,2270,1369,3521,0,0,0,0,0,0
$GC,1178,-0.71,-146.0,125.6,-10.8,181,1185,0.00,2.35,0.00,0.000,6,0.000,0.058,2262,2788,3521,0,0,0,0,0,0
$GC,1506,-0.73,-146.0,159.8,-9.8,212,1510,0.00,2.25,0.00,0.000,4,0.000,0.046,2262,1363,3521,0,0,0,0,0,0
$GC,1539,-0.76,-146.0,163.6,-10.0,214,1546,0.00,2.30,0.00,0.000,6,0.000,0.058,2261,2757,3521,0,0,0,0,0,0
$GC,1865,-0.79,-146.0,194.9,-9.4,245,1870,0.12,2.00,0.00,0.000,4,0.099,0.067,2191,3930,3521,0,0,0,0,0,0
$GC,1901,-0.69,-146.0,199.2,-13.8,248,1906,0.22,1.88,0.00,0.000,6,0.151,0.044,2255,2759,3521,0,0,0,0,0,0
$GC,2233,-0.72,-146.0,228.5,-8.1,279,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2759,3521,0,0,0,0,0,0
$GC,2552,-0.75,-146.0,254.8,-8.5,309,2556,0.00,2.17,0.00,0.000,4,0.000,0.045,2255,1369,3521,0,0,0,0,0,0
$GC,2617,-0.80,-146.0,260.8,-9.1,314,2621,0.00,2.33,0.00,0.000,6,0.000,0.057,2248,2778,3521,0,0,0,0,0,0
$GC,2943,-0.82,-146.0,292.3,-9.8,344,2948,0.12,1.95,0.00,0.000,4,0.097,0.067,2179,3928,3521,0,0,0,0,0,0
$GC,2972,-0.73,-146.0,296.1,-13.1,346,2979,0.20,1.88,0.00,0.000,6,0.156,0.042,2234,2753,3521,0,0,0,0,0,0
$GC,3298,-0.73,-146.0,329.1,-9.8,377,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2753,3522,0,0,0,0,0,0
$GC,3619,-0.73,-146.0,361.8,-10.5,407,3622,0.00,2.15,0.00,0.000,4,0.000,0.045,2234,1375,3523,0,0,0,0,0,0
$GC,3654,-0.73,-146.0,365.9,-11.2,410,3658,0.00,2.30,0.00,0.000,6,0.000,0.057,2234,2766,3523,0,0,0,0,0,0
$GC,3979,-0.73,-146.0,398.6,-10.5,440,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2766,3524,0,0,0,0,0,0
$GC,4307,-0.73,-146.0,429.2,-8.9,452,4311,0.00,2.22,0.00,0.000,4,0.000,0.045,2234,1366,3523,0,0,0,0,0,0
$GC,4337,-0.73,-146.0,431.8,-8.7,453,4341,0.00,2.30,0.00,0.000,6,0.000,0.056,2234,2761,3524,0,0,0,0,0,0
$GC,4674,-0.73,-146.0,461.2,-8.4,464,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2761,3524,0,0,0,0,0,0
$STATE,4701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4701,begin apogee
$GC,4708,-0.14,0.0,463.9,8.4,465,4836,0.57,0.00,120.20,0.840,4,0.123,0.000,2425,2596,2923,0,0,0,0,0,0
$STATE,4837,end apogee,CONTROL_FINISHED_OK
$STATE,4837,begin climb
$GC,4839,0.57,146.0,466.0,0.0,469,4970,0.65,2.30,121.80,0.826,4,0.061,0.045,2667,1190,2327,0,0,0,0,0,0
$GC,4977,0.54,146.0,455.6,11.1,473,4981,0.00,2.42,0.00,0.000,6,0.000,0.050,2667,2601,2325,0,0,0,0,0,0
$GC,5296,0.49,146.0,414.1,13.2,484,5301,0.12,2.22,0.00,0.000,4,0.183,0.062,2634,3936,2319,0,0,0,0,0,0
$GC,5318,0.44,146.0,410.9,13.4,484,5325,0.00,2.15,0.00,0.000,6,0.000,0.039,2638,2586,2318,0,0,0,0,0,0
$GC,5642,0.44,146.0,375.5,10.7,509,5647,0.00,2.22,0.00,0.000,4,0.000,0.062,2638,3932,2318,0,0,0,0,0,0
$GC,5687,0.39,146.0,369.3,13.3,512,5695,0.15,2.10,0.00,0.000,6,0.177,0.040,2603,2605,2317,0,0,0,0,0,0
$GC,6013,0.47,180.1,341.4,8.4,543,6047,0.00,0.00,28.33,0.746,6,0.000,0.000,2603,2604,2187,0,0,0,0,0,0
$GC,6367,0.59,226.9,312.4,7.8,576,6413,0.17,2.30,39.60,0.734,4,0.082,0.061,2682,3928,1996,0,0,0,0,0,0
$GC,6426,0.54,226.9,305.0,13.7,581,6431,0.15,2.10,0.00,0.000,6,0.174,0.039,2650,2607,1994,0,0,0,0,0,0
$GC,6752,0.57,226.9,268.9,10.5,611,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2606,1989,0,0,0,0,0,0
$GC,7070,0.61,226.9,234.5,10.7,641,7074,0.00,2.20,0.00,0.000,4,0.000,0.047,2650,1196,1989,0,0,0,0,0,0
$GC,7112,0.70,226.9,230.2,10.7,644,7117,0.15,2.30,0.00,0.000,6,0.086,0.050,2717,2625,1989,0,0,0,0,0,0
$GC,7441,0.62,226.9,174.8,17.7,674,7446,0.15,2.12,0.00,0.000,4,0.174,0.060,2676,3925,1989,0,0,0,0,0,0
$GC,7464,0.55,226.9,170.1,17.6,675,7470,0.00,2.08,0.00,0.000,6,0.000,0.040,2679,2613,1987,0,0,0,0,0,0
$GC,7789,0.55,226.9,120.6,14.5,706,7793,0.00,2.22,0.00,0.000,4,0.000,0.047,2679,1186,1987,0,0,0,0,0,0
$GC,7800,0.55,226.9,119.0,14.1,706,7807,0.00,2.33,0.00,0.000,6,0.000,0.049,2679,2631,1987,0,0,0,0,0,0
$GC,8137,0.58,226.9,74.6,13.1,754,8143,0.00,2.28,0.00,0.000,4,0.000,0.047,2679,1197,1987,0,0,0,0,0,0
$GC,8180,0.64,226.9,69.8,10.9,761,8187,0.00,2.28,0.00,0.000,6,0.000,0.050,2679,2610,1987,0,0,0,0,0,0
$GC,8528,0.68,229.6,33.8,9.9,822,8535,0.00,2.15,0.00,0.000,4,0.000,0.062,2679,3924,1987,0,0,0,0,0,0
$GC,8598,0.68,229.6,25.4,11.7,834,8605,0.00,2.08,0.00,0.000,6,0.000,0.041,2679,2612,1987,0,0,0,0,0,0
$FREEZE,8.71,2.429,-1.820,0,1,0
$FREEZE,8.22,2.423,-1.820,0,1,0
$FREEZE,7.73,2.429,-1.819,0,1,0
$FREEZE,7.16,2.432,-1.819,0,1,0
$FREEZE,6.67,2.424,-1.818,0,1,0
$FREEZE,6.27,2.419,-1.818,0,1,0
$FREEZE,5.81,2.418,-1.818,0,1,0
$FREEZE,5.26,2.418,-1.817,0,1,0
$FREEZE,4.77,2.418,-1.817,0,1,0
$FREEZE,4.31,2.419,-1.817,0,1,0
$FREEZE,3.89,2.421,-1.816,0,1,0
$FREEZE,3.27,2.416,-1.816,0,1,0
$FREEZE,2.94,2.417,-1.816,0,1,0
$STATE,8830,end climb,SURFACE_DEPTH_REACHED
$STATE,8830,begin surface coast
$FREEZE,2.52,2.414,-1.815,0,1,0
$FREEZE,2.04,2.417,-1.815,0,1,0
$FREEZE,1.47,2.416,-1.814,0,1,0
$FREEZE,1.00,2.434,-1.813,0,1,0
$FREEZE,1.23,2.402,-1.814,0,1,0
$FREEZE,0.88,2.408,-1.814,0,1,0
$FINISH,0.9,1.026413
$STATE,8864,end surface coast,CONTROL_FINISHED_OK
$STATE,8865,begin surface
$SM_CCo,8882,230.52,0.079,0,0,439,609.08
$SM_GC,1.67,0.00,0.00,230.52,0.000,0.000,0.079,292,2783,439,-6.81,0.08,609.08
$RAFOS_CLK,358
$RAFOS,4,1294662782,12.566667,12.550555,48,45,43,43,43,41,301,1850,635,603,879,1023
$RAFOS,3,1294662305,12.433333,12.418056,46,45,45,45,43,41,1915,1608,1188,1288,145,81
$RAFOS,2,1294661829,12.300000,12.285833,48,46,43,43,43,42,1015,752,1808,1908,137,1283
$RAFOS,1,1294661345,12.166667,12.151389,44,42,42,41,40,40,924,712,696,1313,1097,1896
$RAFOS,0,1294660867,12.033333,12.018611,46,43,41,40,38,36,471,1719,1593,1060,1476,1547
$RAFOS_FIX,6710.573242,-5707.835938,100111,080828,2,101,1.42
$IRIDIUM_FIX,6647.44,-5740.25,100111,070710
$TT8_MAMPS,0.029211
$HUMID,45.70
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,22.8,83.088
$10V_AH,9.7,57.043
$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,17.575,79.100,309.925,230.525,0.000,27.949,25.249,137.745,1.250,0.000,31.526,2137.183,4763.957,658.448,1627.272,298.649,0.000,1450.116,0.000,1421.395,1800.000,9.705,0.000
$DEVICE_MAMPS,236.385,69.615,839.970,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30060,882
$CAP_FILE_SIZE,108625,0
$CFSIZE,260165632,201818112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.1
$GPS,100111,124637,6713.192,-5713.387,38,1.4,39,-37.9