version: 66.08
glider: 183
mission: 3
dive: 754
start: 1 13 111 6 36 35
data:
$ID,183
$MISSION,3
$DIVE,754
$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,-11439.445
$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,28
$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
$GPS1,130111,062737,6714.734,-5716.205,34,1.4,34,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-60.8
$GPS2,130111,063602,6714.760,-5716.387,13,1.8,13,-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,174.6,29910,-17.5,-10.000
$D_GRID,493
$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,-146.0,0.0,0.0,0,162,0.00,0.00,-138.50,0.000,6,0.000,0.000,275,2789,3520,0,0,0,0,0,0
$GC,165,-0.57,-146.0,6.6,-17.9,25,179,8.32,2.33,0.00,0.000,4,0.235,0.042,2285,1368,3522,0,0,0,0,0,0
$GC,401,-0.63,-146.0,45.8,-9.2,66,408,0.00,2.33,0.00,0.000,6,0.000,0.057,2282,2777,3523,0,0,0,0,0,0
$GC,749,-0.67,-146.0,77.5,-8.7,127,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2777,3522,0,0,0,0,0,0
$GC,1096,-0.72,-146.0,108.1,-9.2,181,1098,0.12,0.00,0.00,0.000,6,0.093,0.000,2222,2777,3521,0,0,0,0,0,0
$GC,1413,-0.67,-146.0,148.0,-12.3,211,1415,0.12,0.00,0.00,0.000,6,0.165,0.000,2256,2777,3521,0,0,0,0,0,0
$GC,1733,-0.69,-146.0,177.5,-9.5,241,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2777,3521,0,0,0,0,0,0
$GC,2053,-0.72,-146.0,203.6,-7.9,271,2057,0.00,2.22,0.00,0.000,4,0.000,0.044,2256,1368,3521,0,0,0,0,0,0
$GC,2088,-0.76,-146.0,206.8,-8.1,273,2095,0.00,2.35,0.00,0.000,6,0.000,0.056,2255,2789,3521,0,0,0,0,0,0
$GC,2414,-0.78,-146.0,233.8,-8.5,304,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2790,3521,0,0,0,0,0,0
$GC,2736,-0.81,-146.0,261.7,-8.8,334,2741,0.12,2.28,0.00,0.000,4,0.099,0.044,2188,1369,3522,0,0,0,0,0,0
$GC,2786,-0.73,-146.0,268.0,-12.4,338,2793,0.20,2.35,0.00,0.000,6,0.160,0.056,2232,2793,3521,0,0,0,0,0,0
$GC,3112,-0.73,-146.0,299.6,-9.7,369,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2793,3522,0,0,0,0,0,0
$GC,3432,-0.73,-146.0,331.3,-10.0,399,3436,0.00,2.25,0.00,0.000,4,0.000,0.044,2232,1370,3523,0,0,0,0,0,0
$GC,3460,-0.73,-146.0,334.3,-10.3,401,3467,0.00,2.35,0.00,0.000,6,0.000,0.055,2233,2794,3523,0,0,0,0,0,0
$GC,3786,-0.73,-146.0,364.6,-8.7,432,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2794,3524,0,0,0,0,0,0
$GC,4109,-0.73,-146.0,393.9,-9.8,462,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2794,3524,0,0,0,0,0,0
$GC,4445,-0.73,-146.0,426.5,-9.7,477,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2794,3524,0,0,0,0,0,0
$GC,4752,-0.73,-146.0,456.4,-9.6,487,4756,0.00,2.22,0.00,0.000,4,0.000,0.043,2232,1376,3524,0,0,0,0,0,0
$GC,4790,-0.73,-146.0,460.3,-9.1,488,4795,0.00,2.33,0.00,0.000,6,0.000,0.055,2232,2786,3524,0,0,0,0,0,0
$GC,5115,-0.73,-146.0,488.9,-9.0,499,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2786,3524,0,0,0,0,0,0
$STATE,5173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5181,-0.14,0.0,494.4,9.0,501,5308,0.57,0.00,121.30,0.856,4,0.122,0.000,2425,2608,2923,0,0,0,0,0,0
$STATE,5309,end apogee,CONTROL_FINISHED_OK
$STATE,5309,begin climb
$GC,5312,0.57,146.0,498.3,0.0,505,5445,0.65,2.33,123.22,0.843,4,0.060,0.044,2669,1186,2327,0,0,0,0,0,0
$GC,5592,0.57,146.0,473.3,11.3,513,5596,0.00,2.33,0.00,0.000,6,0.000,0.050,2669,2605,2321,0,0,0,0,0,0
$GC,5905,0.52,146.0,434.0,12.6,523,5909,0.00,2.28,0.00,0.000,4,0.000,0.045,2673,1177,2318,0,0,0,0,0,0
$GC,6164,0.52,146.0,403.0,12.3,530,6169,0.12,2.30,0.00,0.000,6,0.176,0.049,2641,2602,2318,0,0,0,0,0,0
$GC,6488,0.52,146.0,368.2,10.6,558,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2602,2316,0,0,0,0,0,0
$GC,6811,0.52,146.0,335.5,10.2,588,6815,0.00,2.17,0.00,0.000,4,0.000,0.061,2641,3925,2316,0,0,0,0,0,0
$GC,6921,0.47,146.0,322.0,12.2,597,6925,0.00,2.12,0.00,0.000,6,0.000,0.040,2642,2587,2315,0,0,0,0,0,0
$GC,7252,0.47,146.0,286.5,10.4,628,7256,0.00,2.25,0.00,0.000,4,0.000,0.061,2642,3929,2315,0,0,0,0,0,0
$GC,7270,0.47,146.0,284.5,11.2,629,7274,0.00,2.10,0.00,0.000,6,0.000,0.038,2648,2600,2315,0,0,0,0,0,0
$GC,7596,0.47,146.0,249.5,10.7,659,7600,0.00,2.20,0.00,0.000,4,0.000,0.046,2648,1190,2315,0,0,0,0,0,0
$GC,7629,0.50,149.2,246.1,9.9,661,7636,0.00,2.28,0.00,0.000,6,0.000,0.050,2649,2597,2315,0,0,0,0,0,0
$GC,7958,0.50,149.2,213.0,10.3,692,7962,0.00,2.17,0.00,0.000,4,0.000,0.061,2649,3925,2315,0,0,0,0,0,0
$GC,8002,0.44,149.2,207.2,12.8,695,8010,0.15,2.10,0.00,0.000,6,0.184,0.039,2614,2600,2314,0,0,0,0,0,0
$GC,8330,0.52,181.0,179.3,8.5,726,8364,0.00,2.30,28.60,0.653,4,0.000,0.061,2614,3925,2183,0,0,0,0,0,0
$GC,8400,0.56,181.0,172.5,10.5,732,8405,0.12,2.08,0.00,0.000,6,0.096,0.038,2676,2606,2180,0,0,0,0,0,0
$GC,8726,0.56,181.0,133.8,10.9,762,8730,0.00,2.22,0.00,0.000,4,0.000,0.046,2679,1194,2180,0,0,0,0,0,0
$GC,8745,0.56,181.0,131.8,11.3,763,8749,0.00,2.30,0.00,0.000,6,0.000,0.049,2679,2623,2179,0,0,0,0,0,0
$GC,9073,0.56,181.0,95.3,10.9,796,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2624,2179,0,0,0,0,0,0
$GC,9419,0.56,181.0,57.8,10.0,857,9426,0.00,2.28,0.00,0.000,4,0.000,0.046,2680,1191,2179,0,0,0,0,0,0
$GC,9461,0.62,204.4,53.8,8.9,864,9487,0.00,2.28,20.02,0.585,6,0.000,0.050,2680,2599,2089,0,0,0,0,0,0
$GC,9829,0.64,235.2,20.7,8.6,928,9861,0.00,2.33,26.15,0.569,4,0.000,0.046,2680,1187,1963,0,0,0,0,0,0
$GC,9904,0.75,283.3,14.6,7.8,940,9952,0.10,2.22,40.40,0.559,6,0.110,0.050,2727,2572,1767,0,0,0,0,0,0
$FREEZE,8.77,2.086,-1.812,0,1,0
$FREEZE,8.20,2.077,-1.812,0,1,0
$FREEZE,7.53,2.079,-1.812,0,1,0
$FREEZE,6.83,2.076,-1.811,0,1,0
$FREEZE,6.29,2.078,-1.811,0,1,0
$FREEZE,5.35,2.081,-1.810,0,1,0
$FREEZE,4.48,2.080,-1.809,0,1,0
$FREEZE,3.99,2.079,-1.809,0,1,0
$FREEZE,3.49,2.078,-1.809,0,1,0
$FREEZE,2.87,2.077,-1.808,0,1,0
$STATE,10006,end climb,SURFACE_DEPTH_REACHED
$STATE,10006,begin surface coast
$FREEZE,2.36,2.077,-1.808,0,1,0
$FREEZE,1.73,2.077,-1.807,0,1,0
$FREEZE,1.00,2.077,-1.806,0,1,0
$FREEZE,1.03,1.868,-0.168,0,1,0
$FREEZE,0.85,2.062,-0.691,0,1,0
$FINISH,0.8,1.010186
$STATE,10033,end surface coast,CONTROL_FINISHED_OK
$STATE,10033,begin surface
$SM_CCo,10051,203.27,0.078,0,0,440,609.08
$SM_GC,1.67,0.00,0.00,203.27,0.000,0.000,0.078,289,2790,440,-6.81,0.28,609.08
$RAFOS_CLK,399
$RAFOS,6,1294908547,8.833333,8.818611,47,46,43,42,40,39,736,527,857,712,1656,43
$RAFOS,5,1294908072,8.700000,8.686666,92,50,48,46,46,43,611,739,77,1345,1190,1910
$RAFOS,4,1294907589,8.566667,8.552500,68,46,44,43,40,40,826,1649,668,1658,609,1611
$RAFOS,3,1294907102,8.433333,8.417222,57,48,47,42,41,40,1023,1248,1668,613,1628,1908
$RAFOS,2,1294906622,8.300000,8.283889,49,48,43,43,42,41,531,1060,1045,1156,1493,1090
$RAFOS,1,1294906145,8.166667,8.151389,47,46,46,46,43,43,1278,684,1867,1898,318,1689
$RAFOS,0,1294905677,8.033334,8.021389,52,46,43,42,39,39,924,1096,841,1901,613,1312
$RAFOS_FIX,6714.707031,-5717.289062,130111,080828,2,80,0.09
$IRIDIUM_FIX,6647.44,-5732.58,130111,060603
$TT8_MAMPS,0.028462
$HUMID,44.88
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$24V_AH,22.7,85.298
$10V_AH,9.8,58.548
$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,16.950,68.250,359.700,203.275,0.000,57.804,82.216,141.119,1.250,0.000,15.965,2331.238,5577.922,661.482,1881.104,323.416,0.000,1536.494,0.000,1602.212,2520.000,9.899,0.000
$DEVICE_MAMPS,234.855,69.615,856.035,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,33371,963
$CAP_FILE_SIZE,113912,0
$CFSIZE,260165632,200384512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.8
$GPS,130111,092906,6714.937,-5717.505,38,1.5,39,-37.9