version: 66.08
glider: 183
mission: 3
dive: 753
start: 1 13 111 3 45 21
data:
$ID,183
$MISSION,3
$DIVE,753
$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,-11438.188
$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,43
$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
$GPS1,130111,033924,6714.643,-5715.650,39,0.8,39,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.6
$GPS2,130111,034450,6714.669,-5715.684,12,1.1,12,-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,175.1,29440,-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,-146.0,0.0,0.0,0,159,0.00,0.00,-136.35,0.000,6,0.000,0.000,281,2780,3520,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.8,-11.2,24,176,8.23,2.28,0.00,0.000,4,0.235,0.041,2283,1373,3522,0,0,0,0,0,0
$GC,414,-0.61,-146.0,46.7,-9.6,68,421,0.00,2.33,0.00,0.000,6,0.000,0.057,2282,2779,3524,0,0,0,0,0,0
$GC,762,-0.65,-146.0,81.4,-9.9,129,768,0.00,1.92,0.00,0.000,4,0.000,0.067,2275,3927,3522,0,0,0,0,0,0
$GC,829,-0.70,-146.0,87.6,-9.7,140,836,0.00,1.83,0.00,0.000,6,0.000,0.043,2275,2785,3522,0,0,0,0,0,0
$GC,1170,-0.73,-146.0,117.6,-8.6,183,1175,0.10,2.25,0.00,0.000,4,0.109,0.046,2223,1368,3522,0,0,0,0,0,0
$GC,1222,-0.70,-146.0,123.6,-12.1,187,1226,0.00,2.33,0.00,0.000,6,0.000,0.057,2222,2783,3521,0,0,0,0,0,0
$GC,1554,-0.65,-146.0,162.9,-11.5,218,1556,0.15,0.00,0.00,0.000,6,0.166,0.000,2265,2783,3521,0,0,0,0,0,0
$GC,1872,-0.69,-146.0,191.4,-8.7,248,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2783,3521,0,0,0,0,0,0
$GC,2195,-0.74,-146.0,217.8,-8.3,278,2199,0.00,2.22,0.00,0.000,4,0.000,0.044,2265,1371,3521,0,0,0,0,0,0
$GC,2262,-0.80,-146.0,224.0,-8.9,283,2269,0.12,2.33,0.00,0.000,6,0.090,0.057,2199,2780,3521,0,0,0,0,0,0
$GC,2588,-0.72,-146.0,263.9,-12.5,314,2593,0.15,1.95,0.00,0.000,4,0.166,0.066,2233,3931,3522,0,0,0,0,0,0
$GC,2623,-0.70,-146.0,267.8,-11.1,317,2627,0.00,1.85,0.00,0.000,6,0.000,0.042,2234,2785,3522,0,0,0,0,0,0
$GC,2954,-0.70,-146.0,301.6,-10.0,348,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2785,3522,0,0,0,0,0,0
$GC,3273,-0.70,-146.0,332.4,-9.7,378,3277,0.00,2.20,0.00,0.000,4,0.000,0.044,2234,1370,3523,0,0,0,0,0,0
$GC,3357,-0.70,-146.0,341.0,-10.1,385,3361,0.00,2.33,0.00,0.000,6,0.000,0.055,2233,2788,3523,0,0,0,0,0,0
$GC,3683,-0.70,-146.0,374.1,-9.9,415,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2788,3523,0,0,0,0,0,0
$GC,4021,-0.70,-146.0,405.6,-8.6,443,4025,0.00,2.22,0.00,0.000,4,0.000,0.043,2233,1369,3524,0,0,0,0,0,0
$GC,4051,-0.70,-146.0,408.2,-8.6,444,4055,0.00,2.30,0.00,0.000,6,0.000,0.056,2233,2780,3523,0,0,0,0,0,0
$GC,4386,-0.70,-146.0,436.8,-8.3,455,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2780,3524,0,0,0,0,0,0
$GC,4693,-0.70,-146.0,461.7,-8.2,465,4697,0.00,2.28,0.00,0.000,4,0.000,0.044,2233,1362,3524,0,0,0,0,0,0
$GC,4723,-0.70,-146.0,464.1,-8.0,466,4727,0.00,2.33,0.00,0.000,6,0.000,0.055,2233,2775,3524,0,0,0,0,0,0
$STATE,4811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4811,begin apogee
$GC,4818,-0.14,0.0,471.8,8.3,469,4946,0.57,0.00,120.43,0.843,4,0.121,0.000,2425,2596,2923,0,0,0,0,0,0
$STATE,4947,end apogee,CONTROL_FINISHED_OK
$STATE,4947,begin climb
$GC,4950,0.57,146.0,474.7,0.0,473,5081,0.65,2.30,122.22,0.830,4,0.060,0.044,2669,1185,2327,0,0,0,0,0,0
$GC,5277,0.57,146.0,440.6,13.2,483,5281,0.00,2.30,0.00,0.000,6,0.000,0.050,2669,2602,2321,0,0,0,0,0,0
$GC,5593,0.52,146.0,397.7,13.4,494,5597,0.00,2.25,0.00,0.000,4,0.000,0.045,2673,1184,2318,0,0,0,0,0,0
$GC,5851,0.52,146.0,366.0,11.8,516,5858,0.12,2.30,0.00,0.000,6,0.176,0.050,2641,2614,2318,0,0,0,0,0,0
$GC,6176,0.52,146.0,329.4,11.1,547,6180,0.00,2.15,0.00,0.000,4,0.000,0.061,2642,3924,2317,0,0,0,0,0,0
$GC,6204,0.48,146.0,325.9,12.6,549,6211,0.00,2.08,0.00,0.000,6,0.000,0.039,2644,2612,2316,0,0,0,0,0,0
$GC,6530,0.48,146.0,289.0,10.9,580,6534,0.00,2.22,0.00,0.000,4,0.000,0.046,2645,1199,2316,0,0,0,0,0,0
$GC,6599,0.52,146.0,282.0,10.1,585,6605,0.00,2.28,0.00,0.000,6,0.000,0.049,2645,2612,2316,0,0,0,0,0,0
$GC,6924,0.52,146.0,248.7,10.4,616,6928,0.00,2.17,0.00,0.000,4,0.000,0.061,2645,3931,2316,0,0,0,0,0,0
$GC,6993,0.46,146.0,240.1,12.8,622,6997,0.00,2.08,0.00,0.000,6,0.000,0.039,2649,2618,2315,0,0,0,0,0,0
$GC,7324,0.46,146.0,204.3,10.3,653,7328,0.00,2.25,0.00,0.000,4,0.000,0.046,2652,1187,2315,0,0,0,0,0,0
$GC,7358,0.49,146.4,200.7,10.0,655,7365,0.00,2.30,0.00,0.000,6,0.000,0.050,2652,2614,2315,0,0,0,0,0,0
$GC,7684,0.49,146.4,166.6,10.0,686,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2614,2315,0,0,0,0,0,0
$GC,8004,0.49,149.1,133.8,9.9,716,8008,0.00,2.15,0.00,0.000,4,0.000,0.061,2652,3925,2315,0,0,0,0,0,0
$GC,8050,0.44,149.1,128.6,11.4,720,8055,0.15,2.08,0.00,0.000,6,0.185,0.039,2616,2604,2315,0,0,0,0,0,0
$GC,8382,0.54,188.4,102.5,8.2,751,8422,0.00,2.30,34.55,0.612,4,0.000,0.061,2616,3926,2154,0,0,0,0,0,0
$GC,8466,0.60,192.1,95.4,9.8,762,8480,0.15,2.08,4.10,0.451,6,0.087,0.039,2681,2622,2140,0,0,0,0,0,0
$GC,8821,0.60,192.1,54.2,11.2,824,8828,0.00,2.25,0.00,0.000,4,0.000,0.046,2686,1197,2137,0,0,0,0,0,0
$GC,8841,0.60,192.1,51.7,11.5,827,8848,0.00,2.30,0.00,0.000,6,0.000,0.050,2686,2626,2137,0,0,0,0,0,0
$GC,9188,0.60,192.1,16.2,10.2,888,9195,0.00,2.25,0.00,0.000,4,0.000,0.047,2686,1199,2136,0,0,0,0,0,0
$GC,9242,0.66,192.1,11.0,10.2,897,9249,0.00,2.28,0.00,0.000,6,0.000,0.049,2686,2611,2137,0,0,0,0,0,0
$FREEZE,8.99,2.077,-1.813,0,1,0
$FREEZE,8.48,2.077,-1.812,0,1,0
$FREEZE,7.91,2.074,-1.812,0,1,0
$FREEZE,7.38,2.070,-1.811,0,1,0
$FREEZE,7.01,2.063,-1.811,0,1,0
$FREEZE,6.56,2.063,-1.811,0,1,0
$FREEZE,6.17,2.065,-1.810,0,1,0
$FREEZE,5.86,2.061,-1.810,0,1,0
$FREEZE,5.45,2.062,-1.810,0,1,0
$FREEZE,5.00,2.063,-1.810,0,1,0
$FREEZE,4.57,2.061,-1.809,0,1,0
$FREEZE,4.08,2.066,-1.809,0,1,0
$FREEZE,3.58,2.062,-1.808,0,1,0
$FREEZE,3.10,2.055,-1.808,0,1,0
$FREEZE,2.59,2.064,-1.808,0,1,0
$STATE,9337,end climb,SURFACE_DEPTH_REACHED
$STATE,9337,begin surface coast
$FREEZE,1.78,2.060,-1.807,0,1,0
$FREEZE,1.33,2.053,-1.807,0,1,0
$FREEZE,0.96,2.055,-1.806,0,1,0
$FREEZE,0.97,2.063,-0.907,0,1,0
$FREEZE,0.96,2.060,-1.803,0,1,0
$FREEZE,0.93,2.075,-1.805,0,1,0
$FINISH,0.9,1.026310
$STATE,9368,end surface coast,CONTROL_FINISHED_OK
$STATE,9369,begin surface
$SM_CCo,9386,249.25,0.077,0,0,439,609.08
$SM_GC,1.60,0.00,0.00,249.25,0.000,0.000,0.077,285,2788,439,-6.84,0.23,609.08
$RAFOS_CLK,377
$RAFOS,6,1294894150,4.833333,4.819445,91,48,45,45,42,42,725,144,564,1785,282,1301
$RAFOS,5,1294893665,4.700000,4.684722,133,47,46,46,43,41,648,1132,649,1219,1918,26
$RAFOS,4,1294893187,4.566667,4.551944,73,43,42,42,42,41,836,1502,532,1831,1876,77
$RAFOS,3,1294892704,4.433333,4.417778,105,45,45,43,42,39,1006,1287,732,26,1648,1762
$RAFOS,2,1294892222,4.300000,4.283889,52,51,47,46,45,42,145,1086,1575,1854,578,499
$RAFOS,1,1294891744,4.166667,4.151111,46,41,41,41,40,39,1022,417,990,1035,1186,1921
$RAFOS,0,1294891262,4.033333,4.017222,49,46,45,44,42,38,1729,1379,611,363,1088,1935
$RAFOS_FIX,6715.839844,-5719.426758,130111,040428,4,100,1.05
$IRIDIUM_FIX,6641.98,-5720.23,130111,000022
$TT8_MAMPS,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.4
$24V_AH,22.8,85.201
$10V_AH,9.8,58.484
$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,16.925,79.825,281.300,249.250,0.000,28.366,18.497,129.178,1.250,0.000,14.990,2285.540,5006.581,653.181,1734.906,305.207,0.000,1500.145,0.000,1558.986,2520.000,11.641,0.000
$DEVICE_MAMPS,234.855,72.675,843.030,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,33433,920
$CAP_FILE_SIZE,111892,0
$CFSIZE,260165632,200441856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,130111,062737,6714.734,-5716.205,34,1.4,34,-37.9