version: 66.08
glider: 183
mission: 3
dive: 732
start: 1 10 111 18 48 41
data:
$ID,183
$MISSION,3
$DIVE,732
$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,-11411.728
$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
$GPS1,100111,183936,6714.909,-5715.579,29,0.9,30,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-61.3
$GPS2,100111,184808,6715.000,-5715.799,11,1.2,11,-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,175.8,29949,-17.5,-10.000
$D_GRID,470
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,154,0.00,0.00,-135.27,0.000,2,0.000,0.000,279,2788,3480,0,0,0,0,0,0
$GC,160,-0.57,-146.0,5.4,-9.7,24,174,8.35,2.33,-0.80,0.000,4,0.237,0.056,2282,1365,3521,0,0,0,0,0,0
$GC,285,-0.60,-146.0,32.1,-10.5,45,292,0.00,2.33,0.00,0.000,6,0.000,0.056,2275,2778,3524,0,0,0,0,0,0
$GC,631,-0.60,-146.0,69.8,-10.9,106,638,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1369,3522,0,0,0,0,0,0
$GC,669,-0.63,-146.0,73.9,-10.8,112,676,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2774,3523,0,0,0,0,0,0
$GC,1019,-0.66,-146.0,106.0,-8.6,168,1023,0.00,1.95,0.00,0.000,4,0.000,0.068,2275,3918,3521,0,0,0,0,0,0
$GC,1080,-0.72,-146.0,111.9,-8.8,173,1087,0.00,1.85,0.00,0.000,6,0.000,0.045,2275,2770,3521,0,0,0,0,0,0
$GC,1408,-0.76,-146.0,139.3,-8.7,204,1410,0.12,0.00,0.00,0.000,6,0.095,0.000,2213,2770,3521,0,0,0,0,0,0
$GC,1725,-0.70,-146.0,178.8,-12.0,234,1727,0.12,0.00,0.00,0.000,6,0.171,0.000,2247,2770,3521,0,0,0,0,0,0
$GC,2043,-0.70,-146.0,209.5,-9.7,264,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3521,0,0,0,0,0,0
$GC,2364,-0.70,-146.0,240.4,-9.5,294,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3521,0,0,0,0,0,0
$GC,2694,-0.70,-146.0,268.8,-8.1,325,2698,0.00,2.22,0.00,0.000,4,0.000,0.045,2246,1360,3522,0,0,0,0,0,0
$GC,2716,-0.72,-146.0,271.2,-8.6,326,2723,0.00,2.35,0.00,0.000,6,0.000,0.056,2247,2788,3522,0,0,0,0,0,0
$GC,3042,-0.72,-146.0,297.6,-8.0,357,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2788,3523,0,0,0,0,0,0
$GC,3364,-0.74,-146.0,321.8,-7.6,387,3368,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1368,3523,0,0,0,0,0,0
$GC,3406,-0.78,-146.0,325.0,-7.5,390,3410,0.00,2.35,0.00,0.000,6,0.000,0.056,2247,2796,3523,0,0,0,0,0,0
$GC,3733,-0.81,-146.0,349.3,-7.4,420,3737,0.00,2.25,0.00,0.000,4,0.000,0.044,2247,1369,3523,0,0,0,0,0,0
$GC,3767,-0.84,-146.0,352.0,-7.2,423,3772,0.12,2.33,0.00,0.000,6,0.090,0.056,2185,2784,3523,0,0,0,0,0,0
$GC,4099,-0.74,-146.0,390.4,-12.0,454,4104,0.17,1.92,0.00,0.000,4,0.161,0.065,2226,3928,3524,0,0,0,0,0,0
$GC,4167,-0.74,-146.0,397.5,-9.5,460,4171,0.00,1.85,0.00,0.000,6,0.000,0.042,2226,2767,3524,0,0,0,0,0,0
$GC,4507,-0.74,-146.0,429.6,-9.6,473,4511,0.00,2.17,0.00,0.000,4,0.000,0.044,2226,1374,3524,0,0,0,0,0,0
$GC,4553,-0.74,-146.0,434.2,-9.9,474,4557,0.00,2.30,0.00,0.000,6,0.000,0.056,2222,2775,3524,0,0,0,0,0,0
$GC,4883,-0.74,-146.0,466.4,-9.9,485,4887,0.00,2.20,0.00,0.000,4,0.000,0.043,2222,1369,3525,0,0,0,0,0,0
$GC,4918,-0.74,-146.0,469.9,-9.6,486,4922,0.00,2.12,0.00,0.000,3,0.000,0.055,2222,2666,3524,0,0,0,0,0,0
$STATE,4923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4923,begin apogee
$GC,4930,-0.14,0.0,470.7,10.1,486,5058,0.62,0.00,120.68,0.842,4,0.125,0.000,2428,2599,2923,0,0,0,0,0,0
$STATE,5059,end apogee,CONTROL_FINISHED_OK
$STATE,5059,begin climb
$GC,5063,0.57,146.0,474.9,0.0,490,5194,0.65,2.30,122.10,0.830,4,0.057,0.044,2672,1186,2327,0,0,0,0,0,0
$GC,5384,0.54,146.0,445.4,11.7,500,5389,0.00,2.33,0.00,0.000,6,0.000,0.050,2672,2608,2320,0,0,0,0,0,0
$GC,5705,0.47,146.0,403.7,13.5,511,5710,0.15,2.25,0.00,0.000,4,0.178,0.045,2637,1182,2318,0,0,0,0,0,0
$GC,5886,0.51,147.1,384.6,9.9,525,5890,0.00,2.30,0.00,0.000,6,0.000,0.050,2637,2610,2318,0,0,0,0,0,0
$GC,6212,0.51,147.1,351.3,10.2,555,6216,0.00,2.17,0.00,0.000,4,0.000,0.062,2637,3928,2316,0,0,0,0,0,0
$GC,6292,0.46,147.1,341.5,12.9,562,6296,0.00,2.08,0.00,0.000,6,0.000,0.039,2642,2614,2315,0,0,0,0,0,0
$GC,6618,0.46,147.1,306.2,10.5,592,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2613,2316,0,0,0,0,0,0
$GC,6936,0.46,147.1,273.6,10.5,622,6940,0.00,2.20,0.00,0.000,4,0.000,0.061,2642,3930,2316,0,0,0,0,0,0
$GC,6965,0.43,147.1,270.3,11.5,624,6970,0.12,2.05,0.00,0.000,6,0.187,0.039,2613,2634,2315,0,0,0,0,0,0
$GC,7291,0.51,193.6,243.4,7.9,654,7332,0.00,0.00,39.05,0.698,6,0.000,0.000,2613,2634,2132,0,0,0,0,0,0
$GC,7650,0.59,193.6,210.9,10.0,688,7651,0.15,0.00,0.00,0.000,6,0.085,0.000,2683,2634,2126,0,0,0,0,0,0
$GC,7969,0.56,193.6,166.3,13.7,718,7973,0.00,2.28,0.00,0.000,4,0.000,0.047,2688,1185,2126,0,0,0,0,0,0
$GC,7993,0.56,193.6,163.1,12.9,720,7998,0.12,2.33,0.00,0.000,6,0.163,0.049,2655,2630,2126,0,0,0,0,0,0
$GC,8320,0.58,193.6,127.6,10.3,750,8323,0.00,2.12,0.00,0.000,4,0.000,0.060,2654,3930,2126,0,0,0,0,0,0
$GC,8360,0.58,193.6,122.5,12.9,753,8364,0.00,2.08,0.00,0.000,6,0.000,0.039,2655,2619,2124,0,0,0,0,0,0
$GC,8693,0.63,219.1,89.8,8.8,793,8723,0.00,2.30,21.40,0.610,4,0.000,0.047,2655,1202,2028,0,0,0,0,0,0
$GC,8753,0.72,245.6,84.3,8.8,803,8784,0.15,2.30,23.50,0.599,6,0.090,0.050,2723,2626,1920,0,0,0,0,0,0
$GC,9125,0.70,245.6,37.3,11.9,868,9131,0.00,2.15,0.00,0.000,4,0.000,0.062,2723,3924,1914,0,0,0,0,0,0
$GC,9235,0.63,245.6,22.3,14.5,887,9243,0.17,2.03,0.00,0.000,6,0.176,0.040,2678,2644,1912,0,0,0,0,0,0
$FREEZE,8.95,2.458,-1.819,0,1,0
$FREEZE,8.40,2.450,-1.819,0,1,0
$FREEZE,7.73,2.449,-1.819,0,1,0
$FREEZE,7.38,2.448,-1.818,0,1,0
$FREEZE,7.05,2.451,-1.818,0,1,0
$FREEZE,6.57,2.450,-1.818,0,1,0
$FREEZE,6.14,2.452,-1.817,0,1,0
$FREEZE,5.47,2.454,-1.817,0,1,0
$FREEZE,4.89,2.454,-1.816,0,1,0
$FREEZE,4.36,2.453,-1.816,0,1,0
$FREEZE,3.89,2.452,-1.816,0,1,0
$FREEZE,3.36,2.443,-1.815,0,1,0
$FREEZE,3.05,2.443,-1.815,0,1,0
$FREEZE,2.43,2.445,-1.815,0,1,0
$STATE,9433,end climb,SURFACE_DEPTH_REACHED
$STATE,9433,begin surface coast
$FREEZE,1.90,2.448,-1.814,0,1,0
$FREEZE,1.53,2.454,-1.814,0,1,0
$FREEZE,1.01,2.437,-1.814,0,1,0
$FREEZE,1.05,2.317,-1.297,0,1,0
$FREEZE,1.02,2.394,-0.765,0,1,0
$FREEZE,1.06,2.298,-0.862,0,1,0
$FINISH,1.1,1.012699
$STATE,9468,end surface coast,CONTROL_FINISHED_OK
$STATE,9468,begin surface
$SM_CCo,9485,220.02,0.079,0,0,440,609.08
$SM_GC,1.64,0.00,0.00,220.02,0.000,0.000,0.079,288,2781,440,-6.83,0.03,609.08
$RAFOS_CLK,378
$RAFOS,6,1294692545,20.833334,20.818056,83,46,42,42,41,41,745,1897,1430,154,804,1371
$RAFOS,5,1294692063,20.700001,20.684166,150,58,41,41,40,39,662,663,161,432,1296,1777
$RAFOS,4,1294691588,20.566668,20.552221,79,48,47,46,45,41,833,818,470,1835,466,265
$RAFOS,3,1294691103,20.433332,20.417500,67,46,45,44,43,41,1019,886,338,1451,547,135
$RAFOS,2,1294690626,20.299999,20.285000,42,41,39,39,39,39,1926,1563,464,476,607,1866
$RAFOS,1,1294690170,20.166666,20.158333,42,42,41,40,40,38,1858,1633,1462,81,1845,8
$RAFOS,0,1294689672,20.033333,20.020000,49,46,46,46,45,43,1545,1048,1263,916,878,1461
$RAFOS_FIX,6716.730957,-5721.775391,100111,202028,4,95,0.80
$IRIDIUM_FIX,6647.44,-5707.88,100111,181801
$TT8_MAMPS,0.028462
$HUMID,45.78
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.8,83.358
$10V_AH,9.8,57.228
$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,17.375,74.900,326.725,220.025,0.000,60.059,88.027,142.578,1.250,0.000,15.529,2269.541,5174.463,647.574,1838.113,310.432,0.000,1496.364,0.000,1546.301,2520.000,9.906,0.000
$DEVICE_MAMPS,237.150,91.035,841.500,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,33338,929
$CAP_FILE_SIZE,114047,0
$CFSIZE,260165632,201637888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,100111,213207,6715.276,-5716.262,35,1.0,36,-37.9