version: 66.08
glider: 183
mission: 3
dive: 731
start: 1 10 111 15 51 56
data:
$ID,183
$MISSION,3
$DIVE,731
$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,-11408.61
$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,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
$GPS1,100111,154538,6713.804,-5713.977,25,1.7,27,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-64.0
$GPS2,100111,155125,6713.881,-5714.144,13,1.3,13,-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,174.8,27614,-17.5,-10.000
$D_GRID,484
$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,-135.62,0.000,2,0.000,0.000,286,2788,3487,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.2,-12.3,24,176,8.25,2.33,-0.68,0.000,4,0.235,0.057,2283,1365,3522,0,0,0,0,0,0
$GC,324,-0.61,-146.0,36.8,-10.4,52,331,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2774,3523,0,0,0,0,0,0
$GC,670,-0.61,-146.0,73.6,-10.5,113,677,0.00,2.20,0.00,0.000,4,0.000,0.045,2275,1376,3522,0,0,0,0,0,0
$GC,696,-0.63,-146.0,76.2,-10.1,117,703,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2781,3523,0,0,0,0,0,0
$GC,1040,-0.67,-146.0,108.4,-9.6,170,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2781,3522,0,0,0,0,0,0
$GC,1371,-0.71,-146.0,137.4,-8.3,201,1375,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1373,3521,0,0,0,0,0,0
$GC,1393,-0.75,-146.0,140.0,-8.9,202,1401,0.12,2.30,0.00,0.000,6,0.092,0.058,2215,2760,3521,0,0,0,0,0,0
$GC,1719,-0.69,-146.0,178.6,-12.6,233,1724,0.12,1.98,0.00,0.000,4,0.170,0.067,2242,3928,3521,0,0,0,0,0,0
$GC,1844,-0.69,-146.0,192.0,-10.0,244,1848,0.00,1.90,0.00,0.000,6,0.000,0.044,2242,2761,3521,0,0,0,0,0,0
$GC,2176,-0.69,-146.0,224.0,-9.4,275,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2760,3521,0,0,0,0,0,0
$GC,2494,-0.69,-146.0,253.9,-9.4,305,2498,0.00,2.20,0.00,0.000,4,0.000,0.044,2242,1369,3521,0,0,0,0,0,0
$GC,2528,-0.69,-146.0,257.3,-9.9,307,2534,0.00,2.33,0.00,0.000,6,0.000,0.057,2241,2773,3521,0,0,0,0,0,0
$GC,2853,-0.69,-146.0,288.8,-9.5,338,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2773,3521,0,0,0,0,0,0
$GC,3172,-0.69,-146.0,318.4,-8.7,368,3176,0.00,2.22,0.00,0.000,4,0.000,0.044,2241,1370,3522,0,0,0,0,0,0
$GC,3202,-0.69,-146.0,321.0,-9.4,370,3206,0.00,2.33,0.00,0.000,6,0.000,0.057,2241,2780,3522,0,0,0,0,0,0
$GC,3528,-0.69,-146.0,348.4,-8.4,400,3531,0.00,1.95,0.00,0.000,4,0.000,0.067,2237,3928,3523,0,0,0,0,0,0
$GC,3553,-0.69,-146.0,350.5,-8.5,402,3556,0.00,1.85,0.00,0.000,6,0.000,0.043,2237,2769,3523,0,0,0,0,0,0
$GC,3884,-0.69,-146.0,379.6,-9.0,433,3888,0.00,2.20,0.00,0.000,4,0.000,0.044,2237,1370,3523,0,0,0,0,0,0
$GC,3963,-0.72,-146.0,386.8,-8.9,439,3970,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2766,3523,0,0,0,0,0,0
$GC,4303,-0.72,-146.0,417.7,-9.5,460,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2766,3523,0,0,0,0,0,0
$GC,4610,-0.72,-146.0,447.2,-9.5,470,4614,0.00,1.95,0.00,0.000,4,0.000,0.067,2235,3927,3524,0,0,0,0,0,0
$GC,4645,-0.72,-146.0,450.8,-10.0,471,4649,0.00,1.88,0.00,0.000,6,0.000,0.042,2235,2750,3524,0,0,0,0,0,0
$GC,4987,-0.72,-146.0,482.3,-7.5,482,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2750,3524,0,0,0,0,0,0
$STATE,5044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5045,begin apogee
$GC,5052,-0.14,0.0,485.8,6.0,484,5179,0.57,0.00,120.57,0.850,4,0.120,0.000,2427,2594,2923,0,0,0,0,0,0
$STATE,5180,end apogee,CONTROL_FINISHED_OK
$STATE,5180,begin climb
$GC,5183,0.57,146.0,488.1,0.0,488,5315,0.65,2.33,122.12,0.838,4,0.060,0.045,2669,1178,2327,0,0,0,0,0,0
$GC,5447,0.54,146.0,462.1,13.1,496,5451,0.00,2.35,0.00,0.000,6,0.000,0.050,2669,2604,2321,0,0,0,0,0,0
$GC,5778,0.48,146.0,421.6,12.1,507,5782,0.15,2.20,0.00,0.000,4,0.179,0.061,2628,3925,2318,0,0,0,0,0,0
$GC,6010,0.45,146.0,392.0,12.9,516,6014,0.00,2.12,0.00,0.000,6,0.000,0.040,2628,2587,2316,0,0,0,0,0,0
$GC,6336,0.45,146.0,354.7,11.2,546,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2586,2316,0,0,0,0,0,0
$GC,6659,0.45,146.0,319.3,11.1,576,6663,0.00,2.25,0.00,0.000,4,0.000,0.062,2628,3933,2316,0,0,0,0,0,0
$GC,6699,0.41,146.0,313.9,12.6,579,6704,0.00,2.10,0.00,0.000,6,0.000,0.040,2632,2593,2316,0,0,0,0,0,0
$GC,7025,0.41,146.0,277.7,11.1,609,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2592,2316,0,0,0,0,0,0
$GC,7345,0.41,146.0,244.0,10.4,639,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2592,2316,0,0,0,0,0,0
$GC,7666,0.42,157.9,212.3,9.5,669,7681,0.00,2.28,9.48,0.642,4,0.000,0.062,2632,3922,2279,0,0,0,0,0,0
$GC,7704,0.42,157.9,207.9,10.9,672,7710,0.00,2.10,0.00,0.000,6,0.000,0.040,2635,2601,2277,0,0,0,0,0,0
$GC,8030,0.44,179.3,178.7,9.0,703,8056,0.00,2.28,19.48,0.653,4,0.000,0.061,2635,3926,2190,0,0,0,0,0,0
$GC,8085,0.44,179.3,173.0,11.1,708,8089,0.00,2.10,0.00,0.000,6,0.000,0.039,2636,2607,2188,0,0,0,0,0,0
$GC,8417,0.49,202.4,142.4,8.9,739,8439,0.00,0.00,20.17,0.633,6,0.000,0.000,2636,2606,2097,0,0,0,0,0,0
$GC,8756,0.57,232.9,112.6,8.6,771,8790,0.00,2.25,25.98,0.619,4,0.000,0.062,2635,3933,1972,0,0,0,0,0,0
$GC,8803,0.65,251.4,108.2,9.1,775,8827,0.12,2.05,16.77,0.598,6,0.097,0.039,2689,2630,1897,0,0,0,0,0,0
$GC,9163,0.65,251.4,63.7,11.4,832,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2630,1891,0,0,0,0,0,0
$GC,9510,0.69,251.4,24.1,10.3,893,9517,0.00,2.28,0.00,0.000,4,0.000,0.047,2691,1190,1891,0,0,0,0,0,0
$GC,9602,0.76,251.4,14.0,10.4,909,9608,0.00,2.35,0.00,0.000,6,0.000,0.050,2691,2643,1891,0,0,0,0,0,0
$FREEZE,8.75,2.440,-1.820,0,1,0
$FREEZE,8.24,2.447,-1.819,0,1,0
$FREEZE,7.66,2.434,-1.819,0,1,0
$FREEZE,7.06,2.424,-1.818,0,1,0
$FREEZE,6.65,2.424,-1.818,0,1,0
$FREEZE,5.91,2.433,-1.817,0,1,0
$FREEZE,5.24,2.436,-1.817,0,1,0
$FREEZE,4.72,2.439,-1.816,0,1,0
$FREEZE,4.19,2.439,-1.816,0,1,0
$FREEZE,3.51,2.437,-1.816,0,1,0
$FREEZE,2.99,2.437,-1.815,0,1,0
$STATE,9702,end climb,SURFACE_DEPTH_REACHED
$STATE,9702,begin surface coast
$FREEZE,2.17,2.426,-1.815,0,1,0
$FREEZE,1.50,2.428,-1.814,0,1,0
$FREEZE,0.97,2.452,-1.812,0,1,0
$FREEZE,1.07,2.393,-1.510,0,1,0
$FREEZE,1.06,2.293,-1.589,0,1,0
$FINISH,1.1,1.023246
$STATE,9729,end surface coast,CONTROL_FINISHED_OK
$STATE,9730,begin surface
$SM_CCo,9746,217.55,0.080,0,0,440,609.08
$SM_GC,1.76,0.00,0.00,217.55,0.000,0.000,0.080,293,2787,440,-6.81,0.20,609.08
$RAFOS_CLK,390
$RAFOS,6,1294678145,16.833334,16.818056,85,46,43,42,42,40,748,576,758,1591,1848,144
$RAFOS,5,1294677662,16.700001,16.683889,142,57,51,45,40,40,666,667,1250,785,750,1675
$RAFOS,4,1294677186,16.566668,16.551666,88,42,42,42,41,40,846,835,945,1266,1884,1939
$RAFOS,3,1294676708,16.433332,16.418888,72,44,42,42,39,39,989,1429,594,1929,612,911
$RAFOS,2,1294676230,16.299999,16.286112,52,52,44,43,39,37,1320,1080,1495,153,1348,1731
$RAFOS,1,1294675750,16.166666,16.152779,45,44,43,43,41,40,595,965,1321,1201,1187,1472
$RAFOS,0,1294675266,16.033333,16.018333,46,43,43,42,42,40,1274,801,968,1586,1536,691
$RAFOS_FIX,6715.939453,-5721.170410,100111,161628,4,97,2.19
$IRIDIUM_FIX,6647.44,-5712.55,100111,121255
$TT8_MAMPS,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.7,83.265
$10V_AH,9.8,57.166
$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,16.350,70.225,334.575,217.550,0.000,30.625,16.313,139.820,1.250,0.000,15.908,2271.014,5345.426,656.893,1751.746,307.774,0.000,1512.103,0.000,1564.318,2520.000,9.708,0.000
$DEVICE_MAMPS,234.855,77.265,849.915,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,641.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,33331,932
$CAP_FILE_SIZE,111535,0
$CFSIZE,260165632,201695232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.4
$GPS,100111,183936,6714.909,-5715.579,29,0.9,30,-37.9