version: 66.08
glider: 183
mission: 3
dive: 739
start: 1 11 111 14 7 7
data:
$ID,183
$MISSION,3
$DIVE,739
$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,-11420.51
$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,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
$GPS1,110111,140016,6715.784,-5719.362,8,99.0,27,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-65.1
$GPS2,110111,140636,6715.829,-5719.514,41,1.0,41,-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,174.2,32899,-17.5,-10.000
$D_GRID,498
$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,-135.45,0.000,2,0.000,0.000,301,2794,3500,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.4,-13.4,24,175,8.23,2.33,-0.40,0.000,4,0.236,0.055,2284,1366,3521,0,0,0,0,0,0
$GC,346,-0.60,-146.0,39.8,-11.4,56,353,0.00,2.33,0.00,0.000,6,0.000,0.057,2276,2778,3523,0,0,0,0,0,0
$GC,693,-0.63,-146.0,79.2,-10.8,117,700,0.00,2.22,0.00,0.000,4,0.000,0.047,2276,1368,3522,0,0,0,0,0,0
$GC,732,-0.66,-146.0,83.2,-10.4,123,738,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2775,3522,0,0,0,0,0,0
$GC,1074,-0.70,-146.0,116.4,-9.6,169,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2775,3521,0,0,0,0,0,0
$GC,1395,-0.74,-146.0,145.0,-8.7,199,1400,0.12,2.25,0.00,0.000,4,0.096,0.046,2215,1363,3521,0,0,0,0,0,0
$GC,1424,-0.71,-146.0,148.5,-12.0,201,1429,0.15,2.35,0.00,0.000,6,0.164,0.056,2246,2789,3521,0,0,0,0,0,0
$GC,1752,-0.71,-146.0,183.0,-9.9,231,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2789,3521,0,0,0,0,0,0
$GC,2071,-0.71,-146.0,214.2,-10.1,261,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2789,3521,0,0,0,0,0,0
$GC,2399,-0.71,-146.0,243.8,-8.4,292,2403,0.00,2.22,0.00,0.000,4,0.000,0.044,2246,1373,3521,0,0,0,0,0,0
$GC,2452,-0.75,-146.0,248.5,-8.8,296,2456,0.00,2.30,0.00,0.000,6,0.000,0.057,2246,2776,3521,0,0,0,0,0,0
$GC,2783,-0.75,-146.0,274.5,-7.7,327,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2776,3521,0,0,0,0,0,0
$GC,3106,-0.77,-146.0,300.3,-8.5,357,3109,0.00,1.95,0.00,0.000,4,0.000,0.067,2246,3935,3521,0,0,0,0,0,0
$GC,3145,-0.79,-146.0,304.0,-8.9,360,3151,0.00,1.85,0.00,0.000,6,0.000,0.042,2246,2775,3521,0,0,0,0,0,0
$GC,3471,-0.82,-146.0,330.8,-8.3,391,3476,0.10,2.22,0.00,0.000,4,0.111,0.045,2192,1365,3522,0,0,0,0,0,0
$GC,3504,-0.74,-146.0,334.5,-11.0,393,3511,0.15,2.33,0.00,0.000,6,0.163,0.056,2229,2775,3522,0,0,0,0,0,0
$GC,3830,-0.74,-146.0,365.5,-9.2,424,3834,0.00,2.20,0.00,0.000,4,0.000,0.044,2229,1373,3523,0,0,0,0,0,0
$GC,3882,-0.74,-146.0,370.4,-9.7,428,3886,0.00,2.30,0.00,0.000,6,0.000,0.056,2229,2768,3523,0,0,0,0,0,0
$GC,4207,-0.74,-146.0,399.5,-8.9,458,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2768,3523,0,0,0,0,0,0
$GC,4524,-0.74,-146.0,429.1,-9.5,469,4528,0.00,2.20,0.00,0.000,4,0.000,0.044,2229,1364,3523,0,0,0,0,0,0
$GC,4559,-0.74,-146.0,432.5,-9.2,470,4564,0.00,2.33,0.00,0.000,6,0.000,0.055,2229,2777,3523,0,0,0,0,0,0
$GC,4896,-0.74,-146.0,463.8,-9.4,481,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2777,3524,0,0,0,0,0,0
$GC,5202,-0.74,-146.0,490.4,-8.6,491,5206,0.00,2.22,0.00,0.000,4,0.000,0.044,2229,1372,3524,0,0,0,0,0,0
$GC,5235,-0.74,-146.0,493.6,-9.0,492,5239,0.00,2.30,0.00,0.000,6,0.000,0.056,2229,2768,3524,0,0,0,0,0,0
$STATE,5318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5318,begin apogee
$GC,5325,-0.14,0.0,500.7,8.4,495,5453,0.57,0.00,121.00,0.861,4,0.123,0.000,2421,2602,2923,0,0,0,0,0,0
$STATE,5454,end apogee,CONTROL_FINISHED_OK
$STATE,5454,begin climb
$GC,5457,0.57,146.0,503.8,0.0,499,5589,0.65,2.33,122.90,0.848,4,0.063,0.044,2662,1186,2327,0,0,0,0,0,0
$GC,5769,0.57,146.0,474.2,11.4,508,5773,0.00,2.33,0.00,0.000,6,0.000,0.050,2663,2610,2321,0,0,0,0,0,0
$GC,6083,0.52,146.0,434.7,12.5,518,6087,0.00,2.25,0.00,0.000,4,0.000,0.046,2666,1180,2318,0,0,0,0,0,0
$GC,6318,0.52,146.0,407.4,10.9,525,6323,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2604,2318,0,0,0,0,0,0
$GC,6648,0.47,146.0,367.0,12.6,551,6653,0.15,2.17,0.00,0.000,4,0.183,0.061,2625,3925,2316,0,0,0,0,0,0
$GC,6671,0.43,146.0,364.1,12.1,552,6678,0.00,2.10,0.00,0.000,6,0.000,0.040,2625,2588,2316,0,0,0,0,0,0
$GC,6997,0.46,148.2,331.0,9.9,583,7001,0.00,2.20,0.00,0.000,4,0.000,0.045,2625,1185,2316,0,0,0,0,0,0
$GC,7027,0.52,155.1,328.2,9.7,585,7040,0.00,2.28,7.28,0.666,6,0.000,0.050,2625,2595,2290,0,0,0,0,0,0
$GC,7360,0.56,166.5,296.5,9.5,616,7376,0.00,2.20,11.20,0.695,4,0.000,0.060,2625,3925,2244,0,0,0,0,0,0
$GC,7467,0.56,166.5,284.2,11.9,625,7471,0.00,2.12,0.00,0.000,6,0.000,0.040,2625,2589,2241,0,0,0,0,0,0
$GC,7802,0.62,207.3,254.5,8.1,656,7845,0.15,0.00,35.55,0.701,6,0.088,0.000,2693,2588,2075,0,0,0,0,0,0
$GC,8164,0.58,207.3,201.6,15.2,690,8169,0.12,2.22,0.00,0.000,4,0.171,0.062,2660,3926,2070,0,0,0,0,0,0
$GC,8192,0.55,207.3,197.2,15.6,692,8199,0.00,2.08,0.00,0.000,6,0.000,0.039,2662,2618,2068,0,0,0,0,0,0
$GC,8518,0.55,207.3,156.4,12.3,723,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2618,2068,0,0,0,0,0,0
$GC,8837,0.57,207.3,120.5,11.0,753,8841,0.00,2.20,0.00,0.000,4,0.000,0.062,2662,3932,2068,0,0,0,0,0,0
$GC,8855,0.57,207.3,118.3,11.7,754,8858,0.00,2.05,0.00,0.000,6,0.000,0.039,2662,2636,2067,0,0,0,0,0,0
$GC,9190,0.61,211.3,83.7,9.8,799,9197,0.00,2.28,0.00,0.000,4,0.000,0.046,2662,1191,2067,0,0,0,0,0,0
$GC,9238,0.72,252.2,79.7,8.1,807,9281,0.12,2.33,36.55,0.602,6,0.098,0.050,2719,2635,1894,0,0,0,0,0,0
$GC,9621,0.72,252.2,32.1,12.7,874,9627,0.00,2.15,0.00,0.000,4,0.000,0.062,2719,3931,1888,0,0,0,0,0,0
$GC,9657,0.66,252.2,27.2,14.3,880,9665,0.12,2.03,0.00,0.000,6,0.187,0.039,2690,2649,1888,0,0,0,0,0,0
$FREEZE,8.94,2.141,-1.816,0,1,0
$FREEZE,8.51,2.151,-1.816,0,1,0
$FREEZE,8.04,2.161,-1.815,0,1,0
$FREEZE,7.53,2.153,-1.815,0,1,0
$FREEZE,7.05,2.158,-1.814,0,1,0
$FREEZE,6.53,2.149,-1.814,0,1,0
$FREEZE,6.01,2.150,-1.814,0,1,0
$FREEZE,5.48,2.152,-1.813,0,1,0
$FREEZE,4.86,2.138,-1.813,0,1,0
$FREEZE,4.28,2.142,-1.812,0,1,0
$FREEZE,3.84,2.147,-1.812,0,1,0
$FREEZE,3.12,2.139,-1.812,0,1,0
$FREEZE,2.74,2.134,-1.811,0,1,0
$STATE,9895,end climb,SURFACE_DEPTH_REACHED
$STATE,9895,begin surface coast
$FREEZE,1.89,2.135,-1.811,0,1,0
$FREEZE,1.41,2.116,-1.810,0,1,0
$FREEZE,0.97,2.051,-0.885,0,1,0
$FREEZE,1.00,1.797,-0.863,0,1,0
$FREEZE,0.92,2.113,-0.859,0,1,0
$FINISH,0.9,1.012671
$STATE,9923,end surface coast,CONTROL_FINISHED_OK
$STATE,9924,begin surface
$SM_CCo,9940,217.52,0.078,0,0,440,609.08
$SM_GC,1.67,0.00,0.00,217.52,0.000,0.000,0.078,295,2785,440,-6.81,0.14,609.08
$RAFOS_CLK,394
$RAFOS,5,1294764070,16.700001,16.686111,98,47,45,43,40,38,625,967,566,1016,855,450
$RAFOS,4,1294763587,16.566668,16.551945,96,46,43,43,41,41,843,1662,1522,1114,1418,1540
$RAFOS,3,1294763109,16.433332,16.419167,63,50,48,44,42,42,987,429,1772,1148,897,1799
$RAFOS,2,1294762623,16.299999,16.284166,67,50,42,42,40,39,1055,1855,1233,1354,1189,1354
$RAFOS,1,1294762150,16.166666,16.152779,56,52,48,43,43,42,981,1829,1942,1349,1127,1906
$RAFOS,0,1294761662,16.033333,16.017221,53,48,45,42,42,39,1828,1242,799,1665,162,586
$RAFOS_FIX,6715.821777,-5718.764160,110111,161600,4,81,0.06
$IRIDIUM_FIX,6647.44,-5729.59,110111,111157
$TT8_MAMPS,0.029211
$HUMID,45.39
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,22.7,83.980
$10V_AH,9.8,57.653
$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,17.000,80.300,334.475,217.525,0.000,30.694,20.920,137.176,1.500,0.000,44.084,2274.701,5505.294,661.005,1792.683,321.595,0.000,1528.592,0.000,1578.542,2520.000,14.226,0.000
$DEVICE_MAMPS,235.620,78.030,861.390,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,33339,928
$CAP_FILE_SIZE,116191,0
$CFSIZE,260165632,201224192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.4
$GPS,110111,165758,6716.186,-5719.799,9,99.0,28,-38.0