version: 66.08
glider: 183
mission: 3
dive: 737
start: 1 11 111 8 30 21
data:
$ID,183
$MISSION,3
$DIVE,737
$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,-11417.997
$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,42
$R_STBD_OVSHOOT,27
$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
$GPS1,110111,082407,6716.212,-5717.117,34,1.0,35,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.9
$GPS2,110111,082950,6716.250,-5717.228,13,1.3,13,-38.0
$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,177.3,32367,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,160,0.00,0.00,-135.48,0.000,6,0.000,0.000,296,2786,3520,0,0,0,0,0,0
$GC,163,-0.57,-146.0,6.0,-12.7,24,177,8.20,2.25,0.00,0.000,4,0.234,0.040,2283,1372,3521,0,0,0,0,0,0
$GC,196,0.14,-146.0,22.9,-44.8,29,204,0.77,2.33,0.00,0.000,6,0.138,0.056,2513,2782,3522,0,0,0,0,0,0
$GC,545,-0.36,-146.0,50.0,-7.1,90,553,0.43,1.92,0.00,0.000,4,0.109,0.064,2364,3935,3521,0,0,0,0,0,0
$GC,809,-0.77,-146.0,70.7,-9.2,136,817,0.40,2.20,0.00,0.000,6,0.090,0.042,2219,2549,3521,0,0,0,0,0,0
$GC,1157,-0.71,-146.0,113.8,-13.5,189,1161,0.00,2.35,0.00,0.000,4,0.000,0.066,2210,3933,3521,0,0,0,0,0,0
$GC,1414,-0.64,-146.0,150.7,-14.3,211,1418,0.20,2.20,0.00,0.000,6,0.148,0.042,2268,2561,3521,0,0,0,0,0,0
$GC,1742,-0.69,-146.0,182.9,-9.1,241,1746,0.00,2.30,0.00,0.000,4,0.000,0.067,2261,3927,3520,0,0,0,0,0,0
$GC,1876,-0.75,-146.0,195.2,-9.1,252,1880,0.00,2.15,0.00,0.000,6,0.000,0.042,2261,2587,3520,0,0,0,0,0,0
$GC,2208,-0.80,-146.0,223.9,-8.6,283,2213,0.12,2.30,0.00,0.000,4,0.098,0.067,2191,3930,3520,0,0,0,0,0,0
$GC,2297,-0.71,-146.0,235.2,-13.5,290,2305,0.20,2.12,0.00,0.000,6,0.149,0.041,2248,2599,3520,0,0,0,0,0,0
$GC,2624,-0.73,-146.0,264.5,-8.6,321,2628,0.00,2.25,0.00,0.000,4,0.000,0.066,2247,3926,3521,0,0,0,0,0,0
$GC,2688,-0.77,-146.0,270.3,-8.6,326,2692,0.00,2.08,0.00,0.000,6,0.000,0.042,2247,2628,3520,0,0,0,0,0,0
$GC,3021,-0.80,-146.0,299.2,-8.4,357,3026,0.00,2.22,0.00,0.000,4,0.000,0.066,2247,3936,3521,0,0,0,0,0,0
$GC,3113,-0.83,-146.0,307.3,-8.2,365,3117,0.12,2.08,0.00,0.000,6,0.094,0.041,2180,2640,3522,0,0,0,0,0,0
$GC,3440,-0.73,-146.0,346.8,-12.3,395,3447,0.20,0.00,0.00,0.000,6,0.159,0.000,2236,2640,3522,0,0,0,0,0,0
$GC,3767,-0.73,-146.0,377.3,-9.9,426,3770,0.00,2.17,0.00,0.000,4,0.000,0.066,2235,3927,3523,0,0,0,0,0,0
$GC,3862,-0.75,-146.0,386.9,-9.6,434,3869,0.00,2.05,0.00,0.000,6,0.000,0.041,2235,2642,3523,0,0,0,0,0,0
$GC,4205,-0.75,-146.0,416.2,-8.5,455,4208,0.00,2.15,0.00,0.000,4,0.000,0.065,2235,3927,3523,0,0,0,0,0,0
$GC,4255,-0.75,-146.0,421.1,-8.4,456,4259,0.00,2.03,0.00,0.000,6,0.000,0.041,2235,2658,3523,0,0,0,0,0,0
$GC,4580,-0.75,-146.0,449.3,-8.0,467,4583,0.00,2.15,0.00,0.000,4,0.000,0.065,2235,3927,3523,0,0,0,0,0,0
$GC,4661,-0.75,-146.0,456.4,-9.2,469,4664,0.00,1.98,0.00,0.000,6,0.000,0.042,2235,2687,3523,0,0,0,0,0,0
$STATE,4835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4835,begin apogee
$GC,4841,-0.14,0.0,471.8,8.8,475,4969,0.55,0.00,119.97,0.844,4,0.118,0.000,2421,2596,2923,0,0,0,0,0,0
$STATE,4970,end apogee,CONTROL_FINISHED_OK
$STATE,4970,begin climb
$GC,4973,0.57,146.0,477.7,0.0,479,5104,0.65,2.30,122.15,0.834,4,0.063,0.045,2663,1188,2327,0,0,0,0,0,0
$GC,5289,0.57,146.0,450.1,11.3,488,5296,0.00,2.30,0.00,0.000,6,0.000,0.050,2663,2603,2320,0,0,0,0,0,0
$GC,5602,0.52,146.0,410.2,12.9,499,5606,0.00,2.20,0.00,0.000,4,0.000,0.061,2663,3932,2318,0,0,0,0,0,0
$GC,5835,0.43,146.0,374.9,14.4,514,5840,0.20,2.10,0.00,0.000,6,0.181,0.039,2612,2593,2316,0,0,0,0,0,0
$GC,6162,0.49,170.3,346.0,8.9,544,6188,0.00,2.30,20.12,0.744,4,0.000,0.062,2612,3929,2227,0,0,0,0,0,0
$GC,6218,0.51,170.3,340.6,10.3,549,6222,0.00,2.12,0.00,0.000,6,0.000,0.039,2612,2595,2225,0,0,0,0,0,0
$GC,6550,0.58,193.5,309.6,8.9,580,6581,0.15,2.30,20.38,0.725,4,0.086,0.046,2688,1184,2133,0,0,0,0,0,0
$GC,6587,0.54,193.5,305.0,13.4,583,6594,0.12,2.30,0.00,0.000,6,0.166,0.049,2655,2609,2132,0,0,0,0,0,0
$GC,6912,0.54,193.5,264.0,12.7,614,6916,0.00,2.17,0.00,0.000,4,0.000,0.061,2655,3934,2129,0,0,0,0,0,0
$GC,6959,0.51,193.5,257.2,15.4,618,6963,0.00,2.05,0.00,0.000,6,0.000,0.039,2656,2622,2128,0,0,0,0,0,0
$GC,7290,0.51,193.5,214.6,12.7,649,7294,0.00,2.17,0.00,0.000,4,0.000,0.061,2656,3926,2128,0,0,0,0,0,0
$GC,7329,0.47,193.5,208.9,14.2,652,7336,0.00,2.05,0.00,0.000,6,0.000,0.039,2657,2633,2127,0,0,0,0,0,0
$GC,7655,0.47,193.5,169.7,11.6,683,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2633,2127,0,0,0,0,0,0
$GC,7975,0.47,193.5,134.8,10.2,713,7979,0.00,2.28,0.00,0.000,4,0.000,0.047,2658,1187,2127,0,0,0,0,0,0
$GC,8009,0.53,197.0,131.2,9.8,715,8016,0.00,2.30,0.00,0.000,6,0.000,0.050,2658,2619,2127,0,0,0,0,0,0
$GC,8336,0.57,213.3,98.6,9.2,747,8360,0.00,0.00,17.17,0.608,6,0.000,0.000,2658,2619,2053,0,0,0,0,0,0
$GC,8701,0.63,213.3,64.0,10.0,811,8708,0.00,2.15,0.00,0.000,4,0.000,0.062,2658,3929,2049,0,0,0,0,0,0
$GC,8744,0.63,213.3,58.8,12.5,818,8751,0.00,2.08,0.00,0.000,6,0.000,0.039,2658,2619,2048,0,0,0,0,0,0
$GC,9092,0.71,238.4,26.7,8.8,879,9123,0.12,2.28,22.10,0.576,4,0.101,0.047,2715,1198,1948,0,0,0,0,0,0
$GC,9178,0.74,238.4,17.2,11.8,893,9185,0.00,2.33,0.00,0.000,6,0.000,0.050,2715,2636,1947,0,0,0,0,0,0
$FREEZE,8.33,2.312,-1.818,0,1,0
$FREEZE,7.67,2.304,-1.817,0,1,0
$FREEZE,7.03,2.304,-1.817,0,1,0
$FREEZE,6.58,2.305,-1.816,0,1,0
$FREEZE,5.86,2.300,-1.816,0,1,0
$FREEZE,5.26,2.290,-1.815,0,1,0
$FREEZE,4.66,2.284,-1.815,0,1,0
$FREEZE,4.08,2.283,-1.814,0,1,0
$FREEZE,3.50,2.263,-1.814,0,1,0
$FREEZE,2.75,2.276,-1.813,0,1,0
$STATE,9297,end climb,SURFACE_DEPTH_REACHED
$STATE,9297,begin surface coast
$FREEZE,1.54,2.254,-1.812,0,1,0
$FREEZE,0.99,2.222,-1.811,0,1,0
$FREEZE,1.10,2.216,-1.812,0,1,0
$FREEZE,0.98,2.104,-0.865,0,1,0
$FINISH,1.0,1.012757
$STATE,9319,end surface coast,CONTROL_FINISHED_OK
$STATE,9319,begin surface
$SM_CCo,9336,224.70,0.077,0,0,440,609.08
$SM_GC,1.85,0.00,0.00,224.70,0.000,0.000,0.077,293,2778,440,-6.82,-0.06,609.08
$RAFOS_CLK,373
$RAFOS,6,1294735742,8.833333,8.817223,116,45,44,43,43,42,751,348,1749,635,8,1514
$RAFOS,5,1294735264,8.700000,8.684444,70,45,44,42,41,40,667,652,1334,1718,1825,1285
$RAFOS,4,1294734789,8.566667,8.552500,89,45,44,42,42,39,832,1266,334,528,154,1577
$RAFOS,2,1294733821,8.300000,8.283611,44,42,41,41,40,39,794,1557,1498,1764,479,26
$RAFOS_FIX,6718.304688,-5724.298340,110111,080812,4,89,19.83
$IRIDIUM_FIX,6641.98,-5715.55,110111,050559
$TT8_MAMPS,0.028462
$HUMID,46.14
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,22.8,83.803
$10V_AH,9.8,57.527
$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,18.900,83.400,321.900,224.700,0.000,29.277,19.033,136.265,1.250,0.000,16.267,2264.378,4870.395,671.701,1806.281,314.322,0.000,1554.333,0.000,1618.010,1080.000,9.896,0.000
$DEVICE_MAMPS,234.090,82.620,843.795,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33336,918
$CAP_FILE_SIZE,115091,0
$CFSIZE,260165632,201347072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.5
$GPS,110111,111125,6715.961,-5718.605,37,1.1,37,-38.0