version: 66.08
glider: 183
mission: 3
dive: 756
start: 1 13 111 12 35 34
data:
$ID,183
$MISSION,3
$DIVE,756
$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,-11445.465
$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,31
$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
$GPS1,130111,122625,6714.589,-5718.722,40,1.1,41,-37.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-58.9
$GPS2,130111,123501,6714.618,-5719.001,9,1.1,14,-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,171.8,31051,-17.5,-10.000
$D_GRID,524
$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,-138.18,0.000,6,0.000,0.000,277,2789,3520,0,0,0,0,0,0
$GC,165,-0.57,-146.0,6.8,-14.7,25,179,8.27,2.33,0.00,0.000,4,0.236,0.041,2283,1365,3522,0,0,0,0,0,0
$GC,390,-0.59,-146.0,45.5,-10.5,64,397,0.00,2.33,0.00,0.000,6,0.000,0.057,2276,2772,3523,0,0,0,0,0,0
$GC,736,-0.62,-146.0,82.4,-11.1,125,743,0.00,2.22,0.00,0.000,4,0.000,0.045,2275,1376,3522,0,0,0,0,0,0
$GC,768,-0.65,-146.0,86.0,-10.7,130,775,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2780,3522,0,0,0,0,0,0
$GC,1109,-0.69,-146.0,120.0,-9.6,173,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2780,3521,0,0,0,0,0,0
$GC,1426,-0.73,-146.0,147.5,-8.7,203,1428,0.10,0.00,0.00,0.000,6,0.109,0.000,2224,2780,3521,0,0,0,0,0,0
$GC,1744,-0.69,-146.0,183.7,-11.1,233,1748,0.00,2.25,0.00,0.000,4,0.000,0.045,2224,1370,3521,0,0,0,0,0,0
$GC,1784,-0.67,-146.0,188.5,-11.8,236,1789,0.12,2.30,0.00,0.000,6,0.171,0.057,2255,2766,3520,0,0,0,0,0,0
$GC,2111,-0.70,-146.0,217.0,-8.2,266,2114,0.00,1.95,0.00,0.000,4,0.000,0.067,2248,3928,3521,0,0,0,0,0,0
$GC,2160,-0.70,-146.0,221.5,-8.7,270,2167,0.00,1.85,0.00,0.000,6,0.000,0.043,2247,2770,3521,0,0,0,0,0,0
$GC,2486,-0.70,-146.0,248.6,-8.5,301,2490,0.00,2.22,0.00,0.000,4,0.000,0.044,2248,1363,3521,0,0,0,0,0,0
$GC,2516,-0.72,-146.0,251.2,-8.6,303,2520,0.00,2.33,0.00,0.000,6,0.000,0.056,2248,2773,3521,0,0,0,0,0,0
$GC,2842,-0.72,-146.0,278.4,-8.5,333,2845,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3930,3521,0,0,0,0,0,0
$GC,2900,-0.75,-146.0,283.8,-9.0,338,2903,0.00,1.85,0.00,0.000,6,0.000,0.042,2247,2770,3521,0,0,0,0,0,0
$GC,3231,-0.75,-146.0,312.6,-8.6,369,3235,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1362,3523,0,0,0,0,0,0
$GC,3282,-0.79,-146.0,317.6,-9.3,373,3289,0.00,2.30,0.00,0.000,6,0.000,0.055,2247,2760,3522,0,0,0,0,0,0
$GC,3609,-0.82,-146.0,346.8,-9.2,404,3613,0.10,2.22,0.00,0.000,4,0.111,0.044,2191,1361,3524,0,0,0,0,0,0
$GC,3655,-0.75,-146.0,352.3,-11.9,408,3660,0.15,2.28,0.00,0.000,6,0.162,0.055,2230,2745,3523,0,0,0,0,0,0
$GC,3982,-0.75,-146.0,385.2,-9.9,438,3986,0.00,2.00,0.00,0.000,4,0.000,0.064,2223,3937,3523,0,0,0,0,0,0
$GC,4010,-0.75,-146.0,388.3,-10.0,440,4017,0.00,1.92,0.00,0.000,6,0.000,0.041,2223,2729,3524,0,0,0,0,0,0
$GC,4339,-0.75,-146.0,422.8,-10.6,458,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2729,3523,0,0,0,0,0,0
$GC,4644,-0.75,-146.0,455.5,-11.4,468,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2729,3524,0,0,0,0,0,0
$GC,4950,-0.75,-146.0,487.0,-10.2,478,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2729,3524,0,0,0,0,0,0
$GC,5259,-0.75,-146.0,516.9,-9.6,488,5263,0.00,2.15,0.00,0.000,4,0.000,0.044,2223,1366,3524,0,0,0,0,0,0
$GC,5287,-0.75,-146.0,520.1,-9.8,488,5294,0.00,2.28,0.00,0.000,6,0.000,0.054,2222,2747,3524,0,0,0,0,0,0
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5352,begin apogee
$GC,5359,-0.14,0.0,526.3,9.3,491,5488,0.62,0.00,121.53,0.876,4,0.123,0.000,2428,2600,2923,0,0,0,0,0,0
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5489,begin climb
$GC,5491,0.57,146.0,529.6,0.0,495,5624,0.65,2.33,123.10,0.865,4,0.057,0.044,2673,1180,2327,0,0,0,0,0,0
$GC,5804,0.55,146.0,499.3,12.3,504,5809,0.00,2.33,0.00,0.000,6,0.000,0.050,2673,2603,2321,0,0,0,0,0,0
$GC,6119,0.49,146.0,459.4,12.6,514,6124,0.15,2.25,0.00,0.000,4,0.178,0.045,2638,1185,2318,0,0,0,0,0,0
$GC,6321,0.55,170.3,440.3,8.9,520,6348,0.00,2.30,20.40,0.793,6,0.000,0.050,2637,2610,2227,0,0,0,0,0,0
$GC,6655,0.55,170.3,404.8,11.1,531,6659,0.00,2.17,0.00,0.000,4,0.000,0.062,2638,3932,2224,0,0,0,0,0,0
$GC,6671,0.55,170.3,402.6,11.0,531,6674,0.00,2.10,0.00,0.000,6,0.000,0.038,2642,2603,2223,0,0,0,0,0,0
$GC,6996,0.55,170.3,367.4,10.5,559,7000,0.00,2.20,0.00,0.000,4,0.000,0.046,2641,1196,2223,0,0,0,0,0,0
$GC,7023,0.58,170.3,364.4,10.3,561,7030,0.00,2.30,0.00,0.000,6,0.000,0.049,2642,2623,2224,0,0,0,0,0,0
$GC,7350,0.58,170.3,330.3,11.3,592,7353,0.00,2.15,0.00,0.000,4,0.000,0.061,2642,3925,2223,0,0,0,0,0,0
$GC,7373,0.58,170.3,327.4,11.9,594,7377,0.00,2.05,0.00,0.000,6,0.000,0.039,2647,2628,2222,0,0,0,0,0,0
$GC,7705,0.58,170.3,290.9,10.8,625,7709,0.00,2.22,0.00,0.000,4,0.000,0.046,2649,1198,2222,0,0,0,0,0,0
$GC,7746,0.63,170.3,286.8,10.1,628,7750,0.00,2.30,0.00,0.000,6,0.000,0.050,2649,2629,2222,0,0,0,0,0,0
$GC,8071,0.63,170.3,251.3,11.1,658,8075,0.00,2.12,0.00,0.000,4,0.000,0.060,2649,3923,2222,0,0,0,0,0,0
$GC,8119,0.60,170.3,245.5,13.1,662,8123,0.00,2.03,0.00,0.000,6,0.000,0.040,2652,2644,2222,0,0,0,0,0,0
$GC,8450,0.60,170.3,209.6,10.3,693,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2643,2222,0,0,0,0,0,0
$GC,8772,0.60,170.3,177.1,10.6,723,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2643,2222,0,0,0,0,0,0
$GC,9099,0.60,173.8,143.1,9.8,754,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2644,2222,0,0,0,0,0,0
$GC,9428,0.62,173.8,111.0,10.2,785,9432,0.00,2.30,0.00,0.000,4,0.000,0.045,2653,1186,2222,0,0,0,0,0,0
$GC,9462,0.68,174.7,107.3,10.0,787,9473,0.12,2.38,4.28,0.483,6,0.097,0.050,2710,2655,2211,0,0,0,0,0,0
$GC,9812,0.61,174.7,62.7,11.9,844,9818,0.15,0.00,0.00,0.000,6,0.172,0.000,2669,2654,2211,0,0,0,0,0,0
$GC,10159,0.68,241.4,33.5,6.9,905,10223,0.00,2.15,56.00,0.578,4,0.000,0.062,2669,3923,1937,0,0,0,0,0,0
$GC,10305,0.71,241.4,18.8,11.6,930,10313,0.10,1.98,0.00,0.000,6,0.113,0.039,2712,2683,1931,0,0,0,0,0,0
$FREEZE,8.62,2.015,-1.812,0,1,0
$FREEZE,8.16,2.014,-1.812,0,1,0
$FREEZE,7.63,2.014,-1.811,0,1,0
$FREEZE,7.01,2.013,-1.811,0,1,0
$FREEZE,6.43,2.016,-1.810,0,1,0
$FREEZE,5.82,2.011,-1.810,0,1,0
$FREEZE,5.24,2.028,-1.809,0,1,0
$FREEZE,4.44,2.030,-1.809,0,1,0
$FREEZE,3.85,2.029,-1.808,0,1,0
$FREEZE,3.11,2.027,-1.808,0,1,0
$FREEZE,2.48,2.017,-1.807,0,1,0
$STATE,10460,end climb,SURFACE_DEPTH_REACHED
$STATE,10460,begin surface coast
$FREEZE,2.02,2.017,-1.807,0,1,0
$FREEZE,1.42,2.022,-1.807,0,1,0
$FREEZE,0.94,2.001,-1.806,0,1,0
$FREEZE,0.99,1.867,-1.075,0,1,0
$FINISH,1.0,1.015854
$STATE,10483,end surface coast,CONTROL_FINISHED_OK
$STATE,10483,begin surface
$SM_CCo,10501,222.02,0.078,0,0,440,609.08
$SM_GC,1.57,0.00,0.00,222.02,0.000,0.000,0.078,297,2797,440,-6.80,0.48,609.08
$RAFOS_CLK,407
$RAFOS,6,1294922942,12.833333,12.817223,97,43,41,41,40,39,754,1569,671,26,1655,1918
$RAFOS,5,1294922464,12.700000,12.684444,58,44,43,41,39,38,651,1067,1331,26,741,1257
$RAFOS,2,1294921024,12.300000,12.284445,43,43,41,39,38,38,26,597,962,789,446,1670
$RAFOS_FIX,6714.707031,-5717.289062,130111,080828,2,80,0.09
$IRIDIUM_FIX,6652.93,-5726.60,130111,121258
$TT8_MAMPS,0.029211
$HUMID,45.27
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.6
$24V_AH,22.7,85.490
$10V_AH,9.8,58.672
$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,16.850,83.300,325.300,222.025,0.000,58.160,89.777,142.242,1.500,0.000,19.229,2332.115,6007.179,664.640,1909.267,334.449,0.000,1557.290,0.000,1614.925,720.000,11.484,0.000
$DEVICE_MAMPS,235.620,84.150,875.925,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.573,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,33367,962
$CAP_FILE_SIZE,118624,0
$CFSIZE,260165632,200261632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.6
$GPS,130111,153537,6714.337,-5719.261,28,1.3,29,-37.9