version: 66.08
glider: 183
mission: 3
dive: 730
start: 1 10 111 12 52 39
data:
$ID,183
$MISSION,3
$DIVE,730
$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,-11407.352
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,100111,124637,6713.192,-5713.387,38,1.4,39,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.8
$GPS2,100111,125208,6713.220,-5713.505,9,1.3,9,-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,173.7,26410,-17.5,-10.000
$D_GRID,502
$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,-135.00,0.000,2,0.000,0.000,285,2783,3476,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.4,-10.4,24,175,8.30,2.33,-0.88,0.000,4,0.236,0.057,2282,1365,3521,0,0,0,0,0,0
$GC,274,-0.61,-146.0,30.8,-11.6,43,281,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2773,3523,0,0,0,0,0,0
$GC,621,-0.61,-146.0,75.6,-13.7,104,627,0.00,1.95,0.00,0.000,4,0.000,0.068,2275,3928,3522,0,0,0,0,0,0
$GC,686,-0.65,-146.0,84.6,-12.8,115,693,0.00,1.85,0.00,0.000,6,0.000,0.045,2274,2777,3521,0,0,0,0,0,0
$GC,1021,-0.67,-146.0,120.8,-10.3,157,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2777,3521,0,0,0,0,0,0
$GC,1343,-0.72,-146.0,150.5,-8.8,187,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2777,3521,0,0,0,0,0,0
$GC,1672,-0.78,-146.0,175.3,-7.2,218,1677,0.15,2.22,0.00,0.000,4,0.087,0.047,2203,1373,3520,0,0,0,0,0,0
$GC,1729,-0.71,-146.0,181.6,-11.1,222,1736,0.15,2.35,0.00,0.000,6,0.168,0.058,2242,2789,3521,0,0,0,0,0,0
$GC,2055,-0.71,-146.0,212.5,-9.7,253,2059,0.00,2.28,0.00,0.000,4,0.000,0.045,2242,1361,3521,0,0,0,0,0,0
$GC,2085,-0.71,-146.0,215.5,-9.3,255,2089,0.00,2.35,0.00,0.000,6,0.000,0.057,2242,2783,3520,0,0,0,0,0,0
$GC,2410,-0.71,-146.0,248.7,-10.0,285,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2784,3520,0,0,0,0,0,0
$GC,2732,-0.71,-146.0,280.0,-9.5,315,2736,0.00,2.25,0.00,0.000,4,0.000,0.045,2242,1368,3521,0,0,0,0,0,0
$GC,2768,-0.71,-146.0,283.7,-9.4,318,2772,0.00,2.33,0.00,0.000,6,0.000,0.057,2235,2776,3521,0,0,0,0,0,0
$GC,3093,-0.71,-146.0,315.7,-10.7,348,3097,0.00,1.95,0.00,0.000,4,0.000,0.067,2231,3936,3522,0,0,0,0,0,0
$GC,3139,-0.71,-146.0,320.4,-10.8,352,3143,0.00,1.88,0.00,0.000,6,0.000,0.043,2230,2777,3521,0,0,0,0,0,0
$GC,3470,-0.71,-146.0,353.7,-9.8,383,3471,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,2777,3523,0,0,0,0,0,0
$GC,3790,-0.71,-146.0,383.9,-8.9,413,3794,0.00,2.20,0.00,0.000,4,0.000,0.044,2230,1369,3523,0,0,0,0,0,0
$GC,3825,-0.71,-146.0,387.3,-9.1,415,3831,0.00,2.33,0.00,0.000,6,0.000,0.056,2230,2779,3523,0,0,0,0,0,0
$GC,4154,-0.71,-146.0,416.9,-9.1,435,4158,0.00,2.22,0.00,0.000,4,0.000,0.044,2230,1361,3523,0,0,0,0,0,0
$GC,4198,-0.71,-146.0,421.3,-9.5,436,4202,0.00,2.33,0.00,0.000,6,0.000,0.055,2230,2776,3523,0,0,0,0,0,0
$GC,4518,-0.71,-146.0,450.4,-9.3,447,4522,0.00,1.95,0.00,0.000,4,0.000,0.065,2224,3947,3523,0,0,0,0,0,0
$GC,4557,-0.71,-146.0,454.6,-9.7,448,4561,0.00,1.90,0.00,0.000,6,0.000,0.042,2224,2773,3523,0,0,0,0,0,0
$GC,4894,-0.71,-146.0,485.7,-9.1,459,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2773,3524,0,0,0,0,0,0
$STATE,5074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5074,begin apogee
$GC,5080,-0.14,0.0,503.2,9.5,465,5209,0.60,0.00,120.90,0.861,4,0.127,0.000,2422,2600,2923,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5210,begin climb
$GC,5212,0.57,146.0,506.5,0.0,469,5344,0.68,2.30,122.72,0.851,4,0.065,0.044,2669,1185,2327,0,0,0,0,0,0
$GC,5495,0.57,146.0,480.0,11.9,477,5502,0.00,2.33,0.00,0.000,6,0.000,0.050,2668,2602,2320,0,0,0,0,0,0
$GC,5808,0.51,146.0,441.7,12.5,488,5812,0.00,2.22,0.00,0.000,4,0.000,0.047,2673,1195,2318,0,0,0,0,0,0
$GC,6067,0.49,146.0,410.9,12.3,495,6072,0.15,2.28,0.00,0.000,6,0.173,0.050,2634,2604,2318,0,0,0,0,0,0
$GC,6395,0.49,146.0,376.8,10.3,520,6399,0.00,2.22,0.00,0.000,4,0.000,0.046,2635,1183,2316,0,0,0,0,0,0
$GC,6425,0.53,148.0,373.7,9.9,522,6429,0.00,2.28,0.00,0.000,6,0.000,0.050,2635,2596,2317,0,0,0,0,0,0
$GC,6756,0.53,148.0,340.0,10.7,553,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2596,2316,0,0,0,0,0,0
$GC,7078,0.53,148.0,306.4,10.3,583,7082,0.00,2.17,0.00,0.000,4,0.000,0.062,2635,3925,2316,0,0,0,0,0,0
$GC,7152,0.48,148.0,297.2,12.2,589,7156,0.00,2.10,0.00,0.000,6,0.000,0.040,2640,2600,2316,0,0,0,0,0,0
$GC,7484,0.49,161.3,264.3,9.4,620,7503,0.00,0.00,12.38,0.686,6,0.000,0.000,2639,2599,2264,0,0,0,0,0,0
$GC,7823,0.49,161.3,229.8,10.1,652,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2599,2262,0,0,0,0,0,0
$GC,8142,0.50,169.2,198.9,9.6,682,8155,0.00,2.30,8.00,0.623,4,0.000,0.062,2640,3935,2233,0,0,0,0,0,0
$GC,8195,0.47,169.2,192.6,12.2,686,8202,0.00,2.10,0.00,0.000,6,0.000,0.040,2642,2609,2231,0,0,0,0,0,0
$GC,8521,0.50,169.2,159.7,10.2,717,8525,0.00,2.20,0.00,0.000,4,0.000,0.046,2642,1196,2231,0,0,0,0,0,0
$GC,8541,0.54,174.7,158.0,9.7,718,8554,0.00,2.30,6.55,0.578,6,0.000,0.050,2642,2623,2209,0,0,0,0,0,0
$GC,8873,0.58,191.5,124.9,9.2,749,8896,0.00,2.17,15.15,0.623,4,0.000,0.063,2642,3933,2141,0,0,0,0,0,0
$GC,8988,0.58,191.5,112.9,10.3,759,8992,0.00,2.05,0.00,0.000,6,0.000,0.040,2642,2636,2138,0,0,0,0,0,0
$GC,9326,0.65,224.9,84.4,8.5,806,9362,0.12,2.33,28.67,0.610,4,0.100,0.045,2700,1185,2005,0,0,0,0,0,0
$GC,9394,0.67,224.9,76.7,12.3,817,9400,0.00,2.33,0.00,0.000,6,0.000,0.050,2700,2632,2003,0,0,0,0,0,0
$GC,9740,0.67,224.9,35.7,11.9,878,9747,0.00,2.12,0.00,0.000,4,0.000,0.061,2700,3928,1999,0,0,0,0,0,0
$GC,9766,0.65,224.9,32.3,12.5,882,9773,0.00,2.08,0.00,0.000,6,0.000,0.040,2705,2619,1999,0,0,0,0,0,0
$FREEZE,8.65,2.441,-1.820,0,1,0
$FREEZE,8.00,2.439,-1.819,0,1,0
$FREEZE,7.51,2.439,-1.819,0,1,0
$FREEZE,6.82,2.438,-1.818,0,1,0
$FREEZE,6.25,2.438,-1.818,0,1,0
$FREEZE,5.70,2.438,-1.817,0,1,0
$FREEZE,5.14,2.438,-1.817,0,1,0
$FREEZE,4.59,2.436,-1.816,0,1,0
$FREEZE,3.92,2.436,-1.816,0,1,0
$FREEZE,3.47,2.434,-1.816,0,1,0
$FREEZE,3.03,2.430,-1.815,0,1,0
$FREEZE,2.36,2.428,-1.815,0,1,0
$STATE,10025,end climb,SURFACE_DEPTH_REACHED
$STATE,10025,begin surface coast
$FREEZE,1.86,2.431,-1.814,0,1,0
$FREEZE,1.27,2.421,-1.814,0,1,0
$FREEZE,1.07,2.327,-1.090,0,1,0
$FREEZE,1.05,2.422,-0.892,0,1,0
$FREEZE,0.91,2.393,-0.923,0,1,0
$FINISH,0.9,1.013598
$STATE,10054,end surface coast,CONTROL_FINISHED_OK
$STATE,10054,begin surface
$SM_CCo,10072,230.95,0.080,0,0,440,609.08
$SM_GC,1.66,0.00,0.00,230.95,0.000,0.000,0.080,295,2788,440,-6.80,0.23,609.08
$RAFOS_CLK,397
$RAFOS_FIX,6710.573242,-5707.835938,100111,080828,2,101,1.42
$IRIDIUM_FIX,6641.98,-5720.23,100111,101007
$TT8_MAMPS,0.028462
$HUMID,46.18
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$24V_AH,22.7,83.175
$10V_AH,9.9,57.104
$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,16.575,79.375,314.375,230.950,0.000,25.365,15.079,136.654,1.500,0.000,11.955,2267.347,5634.196,663.316,1765.896,309.921,0.000,1530.937,0.000,1588.094,0.000,11.477,0.000
$DEVICE_MAMPS,235.620,69.615,861.390,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,33431,934
$CAP_FILE_SIZE,112802,0
$CFSIZE,260165632,201752576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.9
$GPS,100111,154538,6713.804,-5713.977,25,1.7,27,-37.9