version: 66.08
glider: 183
mission: 3
dive: 758
start: 1 13 111 18 49 57
data:
$ID,183
$MISSION,3
$DIVE,758
$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,-11447.979
$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,40
$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
$GPS1,130111,184337,6714.541,-5718.905,31,0.9,31,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-57.2
$GPS2,130111,184926,6714.587,-5718.981,8,1.3,8,-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,171.7,31001,-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,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,-135.25,0.000,2,0.000,0.000,279,2786,3483,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.6,-11.5,24,176,8.25,1.95,-0.73,0.000,4,0.235,0.072,2276,3935,3521,0,0,0,0,0,0
$GC,431,-0.60,-146.0,50.9,-11.0,71,438,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2782,3523,0,0,0,0,0,0
$GC,779,-0.63,-146.0,84.5,-9.3,132,786,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1366,3522,0,0,0,0,0,0
$GC,811,-0.66,-146.0,87.8,-9.7,137,818,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2759,3522,0,0,0,0,0,0
$GC,1153,-0.70,-146.0,117.9,-8.8,180,1157,0.00,2.20,0.00,0.000,4,0.000,0.045,2275,1365,3521,0,0,0,0,0,0
$GC,1186,-0.76,-146.0,121.2,-9.2,182,1194,0.12,2.30,0.00,0.000,6,0.091,0.057,2214,2756,3521,0,0,0,0,0,0
$GC,1513,-0.69,-146.0,160.5,-11.9,213,1518,0.12,2.22,0.00,0.000,4,0.171,0.044,2248,1372,3521,0,0,0,0,0,0
$GC,1546,-0.69,-146.0,164.3,-9.3,215,1553,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2762,3520,0,0,0,0,0,0
$GC,1873,-0.69,-146.0,193.5,-8.9,246,1876,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3932,3521,0,0,0,0,0,0
$GC,1923,-0.72,-146.0,198.5,-8.8,250,1930,0.00,1.90,0.00,0.000,6,0.000,0.043,2248,2746,3521,0,0,0,0,0,0
$GC,2250,-0.72,-146.0,227.6,-9.2,281,2254,0.00,2.15,0.00,0.000,4,0.000,0.044,2247,1369,3521,0,0,0,0,0,0
$GC,2295,-0.75,-146.0,232.1,-9.3,284,2302,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2746,3521,0,0,0,0,0,0
$GC,2622,-0.75,-146.0,262.2,-9.2,315,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2746,3521,0,0,0,0,0,0
$GC,2943,-0.75,-146.0,291.8,-9.4,345,2946,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3931,3522,0,0,0,0,0,0
$GC,3001,-0.78,-146.0,297.3,-9.1,350,3005,0.00,1.90,0.00,0.000,6,0.000,0.041,2247,2738,3522,0,0,0,0,0,0
$GC,3333,-0.81,-146.0,327.8,-9.5,381,3337,0.00,2.15,0.00,0.000,4,0.000,0.043,2247,1369,3522,0,0,0,0,0,0
$GC,3391,-0.86,-146.0,333.3,-9.7,386,3396,0.15,2.28,0.00,0.000,6,0.081,0.055,2176,2750,3522,0,0,0,0,0,0
$GC,3717,-0.75,-146.0,375.7,-12.7,416,3722,0.20,2.03,0.00,0.000,4,0.155,0.064,2226,3936,3523,0,0,0,0,0,0
$GC,3773,-0.75,-146.0,382.2,-10.7,420,3780,0.00,1.90,0.00,0.000,6,0.000,0.041,2226,2741,3523,0,0,0,0,0,0
$GC,4116,-0.75,-146.0,416.1,-10.4,443,4120,0.00,2.12,0.00,0.000,4,0.000,0.044,2225,1372,3524,0,0,0,0,0,0
$GC,4154,-0.75,-146.0,420.4,-10.0,444,4159,0.00,2.25,0.00,0.000,6,0.000,0.055,2222,2739,3523,0,0,0,0,0,0
$GC,4481,-0.75,-146.0,451.0,-9.6,455,4485,0.00,2.00,0.00,0.000,4,0.000,0.066,2222,3926,3524,0,0,0,0,0,0
$GC,4537,-0.75,-146.0,456.8,-9.8,456,4541,0.00,1.90,0.00,0.000,6,0.000,0.041,2222,2731,3524,0,0,0,0,0,0
$GC,4857,-0.75,-146.0,488.2,-10.2,467,4861,0.00,2.12,0.00,0.000,4,0.000,0.043,2221,1375,3524,0,0,0,0,0,0
$GC,4886,-0.75,-146.0,491.2,-10.2,468,4890,0.00,2.25,0.00,0.000,6,0.000,0.055,2222,2741,3524,0,0,0,0,0,0
$GC,5222,-0.75,-146.0,523.5,-9.4,479,5227,0.00,2.00,0.00,0.000,4,0.000,0.065,2220,3930,3524,0,0,0,0,0,0
$STATE,5230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5230,begin apogee
$GC,5239,-0.14,0.0,524.7,9.5,479,5368,0.62,0.00,121.22,0.875,4,0.125,0.000,2423,2590,2923,0,0,0,0,0,0
$STATE,5369,end apogee,CONTROL_FINISHED_OK
$STATE,5369,begin climb
$GC,5372,0.57,146.0,527.8,0.0,483,5507,0.65,2.28,123.20,0.862,4,0.060,0.044,2666,1191,2326,0,0,0,0,0,0
$GC,5693,0.57,146.0,495.8,12.3,493,5697,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2602,2321,0,0,0,0,0,0
$GC,6017,0.52,146.0,453.0,13.4,504,6021,0.00,2.25,0.00,0.000,4,0.000,0.045,2666,1185,2318,0,0,0,0,0,0
$GC,6236,0.52,146.0,425.9,11.6,510,6240,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2615,2318,0,0,0,0,0,0
$GC,6558,0.48,146.0,385.2,12.5,527,6564,0.12,2.17,0.00,0.000,4,0.188,0.060,2633,3932,2317,0,0,0,0,0,0
$GC,6610,0.44,146.0,378.6,12.7,531,6616,0.00,2.08,0.00,0.000,6,0.000,0.039,2636,2613,2316,0,0,0,0,0,0
$GC,6935,0.44,146.0,343.2,11.0,562,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2612,2316,0,0,0,0,0,0
$GC,7254,0.44,146.0,307.8,10.9,592,7258,0.00,2.20,0.00,0.000,4,0.000,0.061,2635,3929,2316,0,0,0,0,0,0
$GC,7275,0.44,146.0,304.9,12.5,593,7282,0.00,2.08,0.00,0.000,6,0.000,0.039,2639,2610,2315,0,0,0,0,0,0
$GC,7602,0.44,146.0,269.1,10.5,624,7606,0.00,2.17,0.00,0.000,4,0.000,0.060,2639,3928,2315,0,0,0,0,0,0
$GC,7647,0.40,146.0,263.6,12.2,627,7654,0.12,2.05,0.00,0.000,6,0.186,0.038,2610,2633,2315,0,0,0,0,0,0
$GC,7973,0.49,190.6,236.6,7.9,658,8017,0.00,2.33,36.42,0.689,4,0.000,0.046,2610,1191,2145,0,0,0,0,0,0
$GC,8035,0.63,238.3,231.4,7.8,663,8085,0.20,2.35,41.12,0.681,6,0.070,0.049,2695,2636,1949,0,0,0,0,0,0
$GC,8404,0.61,238.3,179.4,14.2,698,8408,0.00,2.30,0.00,0.000,4,0.000,0.046,2697,1196,1941,0,0,0,0,0,0
$GC,8457,0.64,238.3,172.5,12.8,702,8461,0.00,2.28,0.00,0.000,6,0.000,0.049,2697,2621,1941,0,0,0,0,0,0
$GC,8788,0.64,238.3,125.3,14.0,733,8792,0.00,2.15,0.00,0.000,4,0.000,0.060,2697,3925,1939,0,0,0,0,0,0
$GC,8810,0.60,238.3,121.6,15.7,734,8817,0.12,2.08,0.00,0.000,6,0.181,0.039,2668,2613,1937,0,0,0,0,0,0
$GC,9145,0.65,238.3,82.5,11.4,778,9152,0.00,2.22,0.00,0.000,4,0.000,0.046,2668,1185,1938,0,0,0,0,0,0
$GC,9183,0.73,238.3,78.5,10.5,784,9190,0.12,2.30,0.00,0.000,6,0.099,0.048,2723,2619,1938,0,0,0,0,0,0
$GC,9532,0.70,238.3,31.2,13.1,845,9538,0.00,2.25,0.00,0.000,4,0.000,0.047,2725,1186,1937,0,0,0,0,0,0
$GC,9619,0.70,238.3,20.3,11.9,860,9626,0.00,2.30,0.00,0.000,6,0.000,0.048,2724,2617,1937,0,0,0,0,0,0
$FREEZE,8.66,1.963,-1.813,0,1,0
$FREEZE,7.90,1.965,-1.812,0,1,0
$FREEZE,7.20,1.969,-1.811,0,1,0
$FREEZE,6.57,1.968,-1.811,0,1,0
$FREEZE,5.83,1.963,-1.810,0,1,0
$FREEZE,5.16,1.964,-1.810,0,1,0
$FREEZE,4.31,1.975,-1.809,0,1,0
$FREEZE,3.55,1.964,-1.808,0,1,0
$FREEZE,3.02,1.963,-1.808,0,1,0
$FREEZE,2.42,1.945,-1.808,0,1,0
$STATE,9758,end climb,SURFACE_DEPTH_REACHED
$STATE,9758,begin surface coast
$FREEZE,1.79,1.958,-1.807,0,1,0
$FREEZE,1.11,1.949,-1.807,0,1,0
$FREEZE,1.02,1.968,-0.941,0,1,0
$FREEZE,1.02,1.861,-0.860,0,1,0
$FINISH,1.0,1.012689
$STATE,9780,end surface coast,CONTROL_FINISHED_OK
$STATE,9780,begin surface
$SM_CCo,9798,221.82,0.078,0,0,440,609.08
$SM_GC,1.75,0.00,0.00,221.82,0.000,0.000,0.078,298,2786,440,-6.80,0.17,609.08
$RAFOS_CLK,386
$RAFOS,6,1294951742,20.833334,20.817223,85,53,49,43,41,41,761,884,837,1602,1161,1369
$RAFOS,5,1294951264,20.700001,20.684444,72,47,40,40,40,38,651,1636,992,1618,1499,1744
$RAFOS,4,1294950786,20.566668,20.551666,71,52,48,47,45,43,840,148,619,1617,1689,1216
$RAFOS,3,1294950305,20.433332,20.418056,59,47,42,42,42,40,1001,491,1169,1515,1729,1916
$RAFOS,2,1294949822,20.299999,20.283890,47,46,43,41,40,40,1385,1261,1561,1059,1781,27
$RAFOS,1,1294949359,20.166666,20.155277,52,44,43,42,40,39,1594,1624,128,540,751,1803
$RAFOS,0,1294948891,20.033333,20.025278,48,44,42,41,41,40,424,898,935,980,1278,1816
$RAFOS_FIX,6715.611816,-5722.672363,130111,202001,3,76,0.48
$IRIDIUM_FIX,6641.98,-5755.56,130111,151503
$TT8_MAMPS,0.029211
$HUMID,45.23
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.6
$24V_AH,22.7,85.670
$10V_AH,9.8,58.797
$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,17.350,99.375,321.975,221.825,0.000,26.312,19.987,142.731,1.500,0.000,11.226,2190.326,5445.516,676.330,1748.430,325.138,0.000,1553.034,0.000,1562.819,2520.000,11.475,0.000
$DEVICE_MAMPS,234.855,71.910,875.160,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.786,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,30047,889
$CAP_FILE_SIZE,118487,0
$CFSIZE,260165632,200142848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.5
$GPS,130111,213836,6714.784,-5719.136,36,1.0,37,-37.9