version: 66.08
glider: 183
mission: 3
dive: 757
start: 1 13 111 15 42 42
data:
$ID,183
$MISSION,3
$DIVE,757
$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,-11446.723
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,130111,153537,6714.337,-5719.261,28,1.3,29,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.5
$GPS2,130111,154213,6714.390,-5719.363,8,1.3,13,-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,170.9,30950,-17.5,-10.000
$D_GRID,541
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-135.77,0.000,2,0.000,0.000,283,2798,3463,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.1,-11.3,24,181,8.27,2.35,-1.15,0.000,4,0.236,0.059,2286,1367,3521,0,0,0,0,0,0
$GC,346,-0.61,-146.0,38.6,-10.5,56,353,0.00,2.33,0.00,0.000,6,0.000,0.057,2285,2774,3523,0,0,0,0,0,0
$GC,694,-0.65,-146.0,74.7,-9.8,117,700,0.00,1.95,0.00,0.000,4,0.000,0.067,2277,3933,3521,0,0,0,0,0,0
$GC,783,-0.69,-146.0,83.5,-9.8,132,790,0.00,1.85,0.00,0.000,6,0.000,0.044,2277,2776,3521,0,0,0,0,0,0
$GC,1127,-0.73,-146.0,116.4,-9.9,178,1132,0.10,2.22,0.00,0.000,4,0.108,0.045,2227,1368,3520,0,0,0,0,0,0
$GC,1171,-0.69,-146.0,122.0,-12.5,181,1178,0.00,2.33,0.00,0.000,6,0.000,0.057,2222,2774,3521,0,0,0,0,0,0
$GC,1497,-0.64,-146.0,163.5,-12.7,212,1499,0.15,0.00,0.00,0.000,6,0.165,0.000,2264,2774,3521,0,0,0,0,0,0
$GC,1815,-0.68,-146.0,192.7,-8.3,242,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2774,3521,0,0,0,0,0,0
$GC,2134,-0.73,-146.0,219.0,-7.9,272,2138,0.00,1.95,0.00,0.000,4,0.000,0.067,2261,3940,3521,0,0,0,0,0,0
$GC,2169,-0.78,-146.0,222.2,-9.1,275,2174,0.08,1.90,0.00,0.000,6,0.064,0.042,2213,2767,3521,0,0,0,0,0,0
$GC,2500,-0.73,-146.0,261.1,-12.0,306,2504,0.00,2.20,0.00,0.000,4,0.000,0.044,2212,1366,3521,0,0,0,0,0,0
$GC,2549,-0.70,-146.0,266.7,-12.3,310,2554,0.15,2.33,0.00,0.000,6,0.164,0.056,2248,2776,3521,0,0,0,0,0,0
$GC,2877,-0.72,-146.0,298.3,-9.0,340,2881,0.00,2.22,0.00,0.000,4,0.000,0.044,2249,1362,3522,0,0,0,0,0,0
$GC,2920,-0.76,-146.0,302.4,-9.5,343,2925,0.00,2.30,0.00,0.000,6,0.000,0.054,2247,2760,3521,0,0,0,0,0,0
$GC,3247,-0.79,-146.0,331.4,-8.9,373,3250,0.00,1.95,0.00,0.000,4,0.000,0.065,2241,3927,3522,0,0,0,0,0,0
$GC,3298,-0.81,-146.0,336.2,-9.2,377,3305,0.00,1.88,0.00,0.000,6,0.000,0.041,2241,2753,3522,0,0,0,0,0,0
$GC,3624,-0.81,-146.0,364.2,-8.4,408,3625,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2753,3523,0,0,0,0,0,0
$GC,3943,-0.81,-146.0,390.5,-8.2,438,3947,0.00,2.17,0.00,0.000,4,0.000,0.044,2241,1370,3523,0,0,0,0,0,0
$GC,4006,-0.84,-146.0,395.9,-8.5,443,4011,0.10,2.28,0.00,0.000,6,0.106,0.055,2188,2758,3523,0,0,0,0,0,0
$GC,4322,-0.75,-146.0,432.6,-11.8,455,4324,0.15,0.00,0.00,0.000,6,0.164,0.000,2229,2758,3524,0,0,0,0,0,0
$GC,4627,-0.75,-146.0,460.8,-8.9,465,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2758,3524,0,0,0,0,0,0
$GC,4934,-0.75,-146.0,489.2,-9.3,475,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2758,3524,0,0,0,0,0,0
$GC,5239,-0.75,-146.0,516.5,-8.9,485,5243,0.00,1.98,0.00,0.000,4,0.000,0.064,2222,3921,3524,0,0,0,0,0,0
$GC,5275,-0.75,-146.0,519.9,-9.8,486,5278,0.00,1.88,0.00,0.000,6,0.000,0.041,2222,2743,3524,0,0,0,0,0,0
$STATE,5491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5491,begin apogee
$GC,5498,-0.14,0.0,542.1,10.2,493,5626,0.60,0.00,121.40,0.887,4,0.123,0.000,2421,2602,2924,0,0,0,0,0,0
$STATE,5627,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5630,0.57,146.0,545.7,0.0,497,5760,0.62,0.00,123.53,0.875,6,0.067,0.000,2660,2602,2327,0,0,0,0,0,0
$GC,6097,0.53,146.0,493.8,12.9,512,6101,0.00,2.20,0.00,0.000,4,0.000,0.060,2660,3929,2319,0,0,0,0,0,0
$GC,6153,0.43,146.0,485.0,15.8,513,6161,0.17,2.08,0.00,0.000,6,0.182,0.038,2616,2605,2317,0,0,0,0,0,0
$GC,6467,0.48,153.6,453.2,9.6,524,6479,0.00,2.28,6.50,0.692,4,0.000,0.061,2616,3928,2295,0,0,0,0,0,0
$GC,6501,0.48,153.6,449.6,10.2,525,6505,0.00,2.05,0.00,0.000,6,0.000,0.038,2616,2627,2294,0,0,0,0,0,0
$GC,6838,0.54,176.8,418.8,8.9,536,6865,0.10,2.28,20.90,0.785,4,0.109,0.044,2672,1187,2202,0,0,0,0,0,0
$GC,6887,0.54,176.8,412.8,12.2,536,6891,0.00,2.33,0.00,0.000,6,0.000,0.049,2672,2625,2202,0,0,0,0,0,0
$GC,7211,0.51,176.8,369.1,14.6,558,7216,0.12,2.30,0.00,0.000,4,0.182,0.047,2641,1195,2199,0,0,0,0,0,0
$GC,7255,0.57,176.8,362.8,11.4,561,7262,0.00,2.28,0.00,0.000,6,0.000,0.049,2642,2608,2199,0,0,0,0,0,0
$GC,7581,0.57,176.8,325.0,12.1,592,7585,0.00,2.17,0.00,0.000,4,0.000,0.062,2642,3924,2199,0,0,0,0,0,0
$GC,7614,0.54,176.8,320.4,14.0,594,7620,0.00,2.10,0.00,0.000,6,0.000,0.039,2646,2598,2198,0,0,0,0,0,0
$GC,7941,0.54,176.8,282.2,11.5,625,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2598,2198,0,0,0,0,0,0
$GC,8260,0.54,176.8,247.4,10.7,655,8264,0.00,2.20,0.00,0.000,4,0.000,0.046,2649,1188,2198,0,0,0,0,0,0
$GC,8290,0.58,176.8,244.1,10.1,657,8294,0.00,2.28,0.00,0.000,6,0.000,0.050,2648,2612,2198,0,0,0,0,0,0
$GC,8616,0.58,176.8,208.1,11.3,687,8620,0.00,2.15,0.00,0.000,4,0.000,0.060,2648,3924,2198,0,0,0,0,0,0
$GC,8649,0.55,176.8,203.8,12.9,689,8656,0.00,2.10,0.00,0.000,6,0.000,0.039,2652,2597,2197,0,0,0,0,0,0
$GC,8975,0.57,176.8,168.6,10.4,720,8979,0.00,2.20,0.00,0.000,4,0.000,0.060,2652,3926,2197,0,0,0,0,0,0
$GC,9015,0.54,176.8,163.9,12.4,723,9019,0.00,2.05,0.00,0.000,6,0.000,0.038,2655,2629,2196,0,0,0,0,0,0
$GC,9346,0.54,176.8,129.0,10.4,754,9350,0.00,2.25,0.00,0.000,4,0.000,0.046,2655,1186,2197,0,0,0,0,0,0
$GC,9399,0.60,176.8,123.9,10.2,758,9403,0.00,2.33,0.00,0.000,6,0.000,0.049,2655,2629,2197,0,0,0,0,0,0
$GC,9731,0.63,176.8,89.5,10.0,797,9738,0.00,2.28,0.00,0.000,4,0.000,0.045,2655,1195,2197,0,0,0,0,0,0
$GC,9763,0.70,200.6,86.7,8.9,802,9789,0.12,2.28,20.15,0.602,6,0.099,0.049,2712,2606,2105,0,0,0,0,0,0
$GC,10131,0.66,200.6,41.1,12.0,866,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2606,2101,0,0,0,0,0,0
$FREEZE,8.95,2.037,-1.813,0,1,0
$FREEZE,8.12,2.038,-1.813,0,1,0
$FREEZE,7.61,2.037,-1.812,0,1,0
$FREEZE,7.13,2.035,-1.812,0,1,0
$FREEZE,6.46,2.033,-1.811,0,1,0
$FREEZE,5.88,2.037,-1.811,0,1,0
$FREEZE,5.21,2.032,-1.810,0,1,0
$FREEZE,4.61,2.033,-1.810,0,1,0
$FREEZE,4.19,2.034,-1.809,0,1,0
$FREEZE,3.67,2.031,-1.809,0,1,0
$FREEZE,3.21,2.026,-1.809,0,1,0
$FREEZE,2.20,2.042,-1.808,0,1,0
$STATE,10474,end climb,SURFACE_DEPTH_REACHED
$STATE,10474,begin surface coast
$FREEZE,1.78,2.037,-1.808,0,1,0
$FREEZE,1.19,2.033,-1.807,0,1,0
$FREEZE,1.13,1.799,-1.103,0,1,0
$FREEZE,0.97,2.078,-1.802,0,1,0
$FREEZE,1.01,1.866,-0.883,0,1,0
$FINISH,1.0,1.013028
$STATE,10500,end surface coast,CONTROL_FINISHED_OK
$STATE,10500,begin surface
$SM_CCo,10517,243.05,0.078,0,0,441,609.08
$SM_GC,1.64,0.00,0.00,243.05,0.000,0.000,0.078,286,2785,441,-6.83,0.14,609.08
$RAFOS_CLK,410
$RAFOS,6,1294937343,16.833334,16.817499,124,48,43,42,42,41,753,1363,1077,1087,391,1346
$RAFOS,5,1294936866,16.700001,16.684999,143,44,41,41,38,37,636,1122,145,227,1585,1935
$RAFOS,4,1294936382,16.566668,16.550556,76,45,44,41,41,41,860,1884,1482,1305,26,1899
$RAFOS,3,1294935905,16.433332,16.418056,41,40,39,39,38,37,920,1885,1326,316,497,1893
$RAFOS,2,1294935430,16.299999,16.286112,53,53,47,47,46,41,1010,1202,150,879,1040,1650
$RAFOS,1,1294934951,16.166666,16.153055,47,46,45,44,42,38,1435,144,1183,519,1217,323
$RAFOS,0,1294934463,16.033333,16.017500,45,45,43,43,42,42,339,977,353,1807,26,905
$RAFOS_FIX,6715.763184,-5723.618164,130111,161640,3,114,1.09
$IRIDIUM_FIX,6647.44,-5717.22,130111,121213
$TT8_MAMPS,0.028462
$HUMID,44.92
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,22.6,85.579
$10V_AH,9.8,58.735
$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,17.175,82.675,292.475,243.050,0.000,27.811,44.209,155.949,1.500,0.000,16.439,2293.668,6131.149,653.145,1768.592,325.969,0.000,1505.827,0.000,1537.342,2520.000,11.484,0.000
$DEVICE_MAMPS,235.620,66.555,886.635,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,641.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151768
$DATA_FILE_SIZE,33389,932
$CAP_FILE_SIZE,119163,0
$CFSIZE,260165632,200196096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.0
$GPS,130111,184337,6714.541,-5718.905,31,0.9,31,-37.9