version: 66.08
glider: 183
mission: 3
dive: 736
start: 1 11 111 5 43 23
data:
$ID,183
$MISSION,3
$DIVE,736
$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,-11416.744
$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,22
$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
$GPS1,110111,053637,6715.851,-5715.949,39,1.1,40,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.0
$GPS2,110111,054252,6715.912,-5716.087,11,3.3,30,-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,177.6,31357,-17.5,-10.000
$D_GRID,456
$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,-136.20,0.000,6,0.000,0.000,286,2781,3520,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.6,-13.6,24,176,8.23,2.30,0.00,0.000,4,0.235,0.042,2285,1370,3522,0,0,0,0,0,0
$GC,234,-0.60,-146.0,27.5,-12.6,36,241,0.00,2.33,0.00,0.000,6,0.000,0.057,2279,2781,3524,0,0,0,0,0,0
$GC,581,-0.60,-146.0,63.3,-9.3,97,588,0.00,2.28,0.00,0.000,4,0.000,0.046,2279,1366,3522,0,0,0,0,0,0
$GC,641,-0.64,-146.0,68.9,-9.0,107,648,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2774,3522,0,0,0,0,0,0
$GC,989,-0.67,-146.0,98.1,-9.1,168,995,0.00,1.95,0.00,0.000,4,0.000,0.067,2275,3932,3521,0,0,0,0,0,0
$GC,1027,-0.72,-146.0,101.4,-9.1,173,1031,0.00,1.88,0.00,0.000,6,0.000,0.044,2275,2761,3521,0,0,0,0,0,0
$GC,1359,-0.77,-146.0,130.0,-8.7,204,1363,0.12,2.00,0.00,0.000,4,0.096,0.068,2209,3926,3521,0,0,0,0,0,0
$GC,1428,-0.70,-146.0,138.7,-13.7,210,1433,0.15,1.85,0.00,0.000,6,0.157,0.044,2250,2771,3520,0,0,0,0,0,0
$GC,1760,-0.70,-146.0,171.6,-9.0,241,1764,0.00,2.20,0.00,0.000,4,0.000,0.045,2250,1366,3520,0,0,0,0,0,0
$GC,1846,-0.73,-146.0,179.4,-9.2,248,1850,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2761,3521,0,0,0,0,0,0
$GC,2173,-0.73,-146.0,209.0,-9.0,278,2177,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3936,3521,0,0,0,0,0,0
$GC,2200,-0.73,-146.0,211.8,-9.4,280,2207,0.00,1.90,0.00,0.000,6,0.000,0.043,2247,2751,3521,0,0,0,0,0,0
$GC,2526,-0.73,-146.0,239.9,-8.6,311,2530,0.00,2.15,0.00,0.000,4,0.000,0.044,2247,1373,3521,0,0,0,0,0,0
$GC,2578,-0.77,-146.0,244.6,-9.1,315,2585,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2750,3521,0,0,0,0,0,0
$GC,2904,-0.79,-146.0,274.0,-9.2,346,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2750,3521,0,0,0,0,0,0
$GC,3226,-0.81,-146.0,302.0,-8.7,376,3232,0.10,0.00,0.00,0.000,6,0.112,0.000,2191,2750,3522,0,0,0,0,0,0
$GC,3552,-0.73,-146.0,342.4,-12.6,407,3556,0.17,2.00,0.00,0.000,4,0.156,0.065,2234,3934,3522,0,0,0,0,0,0
$GC,3586,-0.73,-146.0,346.4,-11.5,410,3590,0.00,1.92,0.00,0.000,6,0.000,0.042,2234,2743,3523,0,0,0,0,0,0
$GC,3918,-0.73,-146.0,378.6,-9.8,441,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2743,3523,0,0,0,0,0,0
$GC,4231,-0.73,-146.0,409.9,-10.2,465,4235,0.00,2.00,0.00,0.000,4,0.000,0.066,2226,3935,3523,0,0,0,0,0,0
$GC,4265,-0.73,-146.0,413.6,-10.8,466,4269,0.00,1.90,0.00,0.000,6,0.000,0.042,2226,2743,3523,0,0,0,0,0,0
$GC,4607,-0.73,-146.0,447.6,-10.0,477,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2743,3524,0,0,0,0,0,0
$STATE,4696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4696,begin apogee
$GC,4702,-0.14,0.0,457.1,10.3,480,4831,0.60,0.00,119.93,0.831,4,0.122,0.000,2424,2603,2923,0,0,0,0,0,0
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4834,0.57,146.0,460.8,0.0,484,4965,0.65,2.33,121.15,0.818,4,0.057,0.046,2670,1180,2329,0,0,0,0,0,0
$GC,5156,0.54,146.0,429.0,10.8,493,5162,0.00,2.33,0.00,0.000,6,0.000,0.050,2670,2602,2322,0,0,0,0,0,0
$GC,5472,0.48,146.0,389.1,13.2,508,5476,0.15,2.28,0.00,0.000,4,0.179,0.047,2631,1187,2320,0,0,0,0,0,0
$GC,5714,0.53,146.0,363.7,10.3,529,5718,0.00,2.28,0.00,0.000,6,0.000,0.050,2631,2608,2320,0,0,0,0,0,0
$GC,6045,0.53,146.0,328.4,10.5,560,6049,0.00,2.20,0.00,0.000,4,0.000,0.062,2631,3932,2319,0,0,0,0,0,0
$GC,6080,0.50,146.0,324.3,12.3,563,6084,0.00,2.10,0.00,0.000,6,0.000,0.040,2635,2594,2317,0,0,0,0,0,0
$GC,6410,0.50,146.0,289.2,10.5,594,6414,0.00,2.22,0.00,0.000,4,0.000,0.063,2635,3928,2318,0,0,0,0,0,0
$GC,6434,0.50,146.0,286.4,12.0,596,6438,0.00,2.10,0.00,0.000,6,0.000,0.040,2636,2601,2317,0,0,0,0,0,0
$GC,6766,0.50,146.0,251.2,10.1,627,6770,0.00,2.20,0.00,0.000,4,0.000,0.062,2635,3926,2317,0,0,0,0,0,0
$GC,6796,0.47,146.0,247.6,12.3,629,6800,0.00,2.10,0.00,0.000,6,0.000,0.040,2638,2602,2317,0,0,0,0,0,0
$GC,7128,0.48,152.1,214.1,9.7,660,7137,0.00,0.00,4.93,0.542,6,0.000,0.000,2638,2601,2303,0,0,0,0,0,0
$GC,7456,0.48,159.1,182.0,9.7,691,7469,0.00,2.28,7.82,0.614,4,0.000,0.061,2638,3924,2273,0,0,0,0,0,0
$GC,7505,0.45,159.1,176.8,11.7,695,7509,0.00,2.10,0.00,0.000,6,0.000,0.040,2639,2601,2272,0,0,0,0,0,0
$GC,7837,0.45,166.5,143.9,9.7,726,7850,0.00,2.28,7.55,0.591,4,0.000,0.061,2638,3925,2243,0,0,0,0,0,0
$GC,7890,0.43,166.5,137.9,12.0,730,7897,0.00,2.05,0.00,0.000,6,0.000,0.040,2639,2621,2242,0,0,0,0,0,0
$GC,8216,0.47,177.8,105.7,9.5,761,8232,0.00,2.17,11.20,0.601,4,0.000,0.060,2639,3924,2198,0,0,0,0,0,0
$GC,8257,0.47,177.8,101.6,10.9,764,8263,0.00,2.03,0.00,0.000,6,0.000,0.039,2642,2641,2196,0,0,0,0,0,0
$GC,8603,0.53,197.6,68.3,9.1,823,8626,0.00,0.00,17.15,0.594,6,0.000,0.000,2642,2641,2118,0,0,0,0,0,0
$GC,8971,0.65,265.8,38.8,6.9,887,9037,0.12,2.33,56.83,0.579,4,0.100,0.047,2700,1198,1838,0,0,0,0,0,0
$GC,9100,0.73,265.8,25.5,10.3,909,9107,0.00,2.38,0.00,0.000,6,0.000,0.050,2700,2653,1833,0,0,0,0,0,0
$FREEZE,8.99,2.431,-1.819,0,1,0
$FREEZE,8.30,2.431,-1.818,0,1,0
$FREEZE,7.66,2.425,-1.818,0,1,0
$FREEZE,7.02,2.412,-1.817,0,1,0
$FREEZE,6.40,2.410,-1.817,0,1,0
$FREEZE,5.79,2.403,-1.816,0,1,0
$FREEZE,5.28,2.397,-1.816,0,1,0
$FREEZE,4.68,2.394,-1.816,0,1,0
$FREEZE,4.16,2.398,-1.815,0,1,0
$FREEZE,3.56,2.409,-1.815,0,1,0
$FREEZE,2.89,2.407,-1.814,0,1,0
$STATE,9299,end climb,SURFACE_DEPTH_REACHED
$STATE,9299,begin surface coast
$FREEZE,2.25,2.404,-1.814,0,1,0
$FREEZE,1.61,2.369,-1.813,0,1,0
$FREEZE,1.05,2.368,-1.812,0,1,0
$FREEZE,0.95,2.270,-0.845,0,1,0
$FREEZE,1.04,2.376,-1.812,0,1,0
$FINISH,1.0,1.026388
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9330,begin surface
$SM_CCo,9347,210.55,0.079,0,0,440,609.08
$SM_GC,1.82,0.00,0.00,210.55,0.000,0.000,0.079,299,2786,440,-6.80,0.17,609.08
$RAFOS_CLK,375
$RAFOS,1,1294733343,8.166667,8.150833,82,46,45,42,42,41,1023,502,1032,720,759,26
$RAFOS,0,1294732864,8.033334,8.017777,52,45,44,41,41,40,149,1313,1365,894,482,1874
$RAFOS_FIX,6717.351562,-5721.134277,110111,040428,4,92,0.91
$IRIDIUM_FIX,6641.98,-5850.77,110111,020259
$TT8_MAMPS,0.029211
$HUMID,45.55
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,22.9,83.714
$10V_AH,9.8,57.466
$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,16.675,77.650,346.550,210.550,0.000,27.302,15.527,151.272,1.250,0.000,33.783,2296.125,4869.582,658.905,1799.560,317.001,0.000,1533.122,0.000,1586.911,1080.000,9.710,0.000
$DEVICE_MAMPS,234.855,78.030,830.790,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,652.999,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151752
$DATA_FILE_SIZE,33361,950
$CAP_FILE_SIZE,112443,0
$CFSIZE,260165632,201408512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$GPS,110111,082407,6716.212,-5717.117,34,1.0,35,-38.0