version: 66.08
glider: 183
mission: 3
dive: 759
start: 1 13 111 21 45 33
data:
$ID,183
$MISSION,3
$DIVE,759
$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,-11449.234
$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,33
$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
$GPS1,130111,213836,6714.784,-5719.136,36,1.0,37,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.5
$GPS2,130111,214502,6714.789,-5719.270,12,1.1,12,-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,171.9,31410,-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,-135.20,0.000,2,0.000,0.000,287,2787,3435,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.0,-9.1,24,181,8.23,2.30,-1.75,0.000,4,0.233,0.057,2282,1372,3522,0,0,0,0,0,0
$GC,346,-0.60,-146.0,38.7,-11.3,56,353,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2777,3524,0,0,0,0,0,0
$GC,693,-0.63,-146.0,75.9,-9.3,117,700,0.00,2.25,0.00,0.000,4,0.000,0.045,2275,1365,3523,0,0,0,0,0,0
$GC,772,-0.68,-146.0,83.4,-9.6,130,779,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2760,3522,0,0,0,0,0,0
$GC,1116,-0.72,-146.0,114.5,-8.8,177,1120,0.00,1.98,0.00,0.000,4,0.000,0.067,2275,3931,3522,0,0,0,0,0,0
$GC,1152,-0.77,-146.0,117.8,-9.3,180,1156,0.15,1.90,0.00,0.000,6,0.085,0.042,2204,2744,3521,0,0,0,0,0,0
$GC,1484,-0.69,-146.0,163.0,-13.5,211,1488,0.17,2.05,0.00,0.000,4,0.158,0.066,2247,3937,3521,0,0,0,0,0,0
$GC,1527,-0.69,-146.0,168.9,-11.9,214,1534,0.00,1.90,0.00,0.000,6,0.000,0.042,2247,2743,3521,0,0,0,0,0,0
$GC,1854,-0.69,-146.0,202.8,-9.9,245,1858,0.00,2.15,0.00,0.000,4,0.000,0.044,2247,1365,3521,0,0,0,0,0,0
$GC,1929,-0.72,-146.0,210.5,-10.1,251,1934,0.00,2.28,0.00,0.000,6,0.000,0.056,2246,2744,3521,0,0,0,0,0,0
$GC,2255,-0.72,-146.0,240.8,-9.0,281,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2744,3522,0,0,0,0,0,0
$GC,2576,-0.72,-146.0,267.7,-8.0,311,2580,0.00,2.00,0.00,0.000,4,0.000,0.067,2247,3929,3521,0,0,0,0,0,0
$GC,2604,-0.74,-146.0,270.2,-7.7,313,2611,0.00,1.92,0.00,0.000,6,0.000,0.041,2247,2722,3522,0,0,0,0,0,0
$GC,2931,-0.76,-146.0,296.3,-8.4,344,2934,0.00,2.05,0.00,0.000,4,0.000,0.067,2247,3931,3523,0,0,0,0,0,0
$GC,2970,-0.79,-146.0,299.8,-8.3,347,2978,0.00,1.90,0.00,0.000,6,0.000,0.041,2247,2740,3523,0,0,0,0,0,0
$GC,3296,-0.82,-146.0,326.5,-8.6,378,3301,0.10,2.17,0.00,0.000,4,0.112,0.044,2191,1369,3523,0,0,0,0,0,0
$GC,3327,-0.77,-146.0,329.7,-10.7,380,3331,0.15,2.28,0.00,0.000,6,0.157,0.055,2222,2752,3523,0,0,0,0,0,0
$GC,3652,-0.77,-146.0,362.8,-10.1,410,3656,0.00,1.95,0.00,0.000,4,0.000,0.065,2222,3928,3524,0,0,0,0,0,0
$GC,3714,-0.77,-146.0,369.2,-10.1,415,3721,0.00,1.88,0.00,0.000,6,0.000,0.041,2222,2750,3524,0,0,0,0,0,0
$GC,4060,-0.77,-146.0,403.9,-10.1,446,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2749,3524,0,0,0,0,0,0
$GC,4366,-0.77,-146.0,434.5,-9.8,456,4370,0.00,2.00,0.00,0.000,4,0.000,0.065,2219,3933,3524,0,0,0,0,0,0
$GC,4403,-0.74,-146.0,438.3,-10.8,457,4406,0.00,1.88,0.00,0.000,6,0.000,0.041,2219,2754,3524,0,0,0,0,0,0
$GC,4745,-0.72,-146.0,472.0,-9.4,468,4749,0.00,2.15,0.00,0.000,4,0.000,0.044,2219,1372,3524,0,0,0,0,0,0
$GC,4790,-0.72,-146.0,476.5,-9.2,469,4794,0.00,2.30,0.00,0.000,6,0.000,0.055,2216,2767,3524,0,0,0,0,0,0
$GC,5110,-0.69,-146.0,507.2,-9.6,480,5112,0.12,0.00,0.00,0.000,6,0.171,0.000,2251,2768,3525,0,0,0,0,0,0
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5351,begin apogee
$GC,5358,-0.14,0.0,526.4,8.0,488,5487,0.50,0.00,121.68,0.874,4,0.116,0.000,2423,2602,2924,0,0,0,0,0,0
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5488,begin climb
$GC,5490,0.57,146.0,529.7,0.0,492,5624,0.65,2.30,123.32,0.864,4,0.059,0.044,2666,1189,2327,0,0,0,0,0,0
$GC,5788,0.57,146.0,501.8,11.4,501,5792,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2608,2320,0,0,0,0,0,0
$GC,6119,0.52,146.0,460.0,12.4,512,6123,0.00,2.25,0.00,0.000,4,0.000,0.045,2666,1191,2318,0,0,0,0,0,0
$GC,6331,0.52,146.0,435.8,10.7,518,6335,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2605,2318,0,0,0,0,0,0
$GC,6652,0.47,146.0,397.5,12.2,529,6656,0.15,2.17,0.00,0.000,4,0.180,0.060,2625,3929,2317,0,0,0,0,0,0
$GC,6695,0.47,146.0,391.7,12.1,532,6702,0.00,2.10,0.00,0.000,6,0.000,0.038,2625,2595,2316,0,0,0,0,0,0
$GC,7022,0.50,148.4,359.5,9.9,563,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2595,2315,0,0,0,0,0,0
$GC,7342,0.53,148.4,328.0,10.1,593,7346,0.00,2.20,0.00,0.000,4,0.000,0.060,2625,3928,2316,0,0,0,0,0,0
$GC,7405,0.53,148.4,320.7,11.6,598,7409,0.00,2.08,0.00,0.000,6,0.000,0.038,2625,2613,2315,0,0,0,0,0,0
$GC,7737,0.57,159.0,287.3,9.5,629,7752,0.00,2.25,10.45,0.686,4,0.000,0.046,2624,1192,2273,0,0,0,0,0,0
$GC,7778,0.63,168.4,283.5,9.6,632,7794,0.15,2.30,9.45,0.667,6,0.084,0.049,2693,2630,2237,0,0,0,0,0,0
$GC,8120,0.57,168.4,235.9,14.4,664,8125,0.12,2.17,0.00,0.000,4,0.184,0.060,2660,3931,2235,0,0,0,0,0,0
$GC,8143,0.50,168.4,232.7,13.8,665,8150,0.00,2.08,0.00,0.000,6,0.000,0.038,2662,2615,2234,0,0,0,0,0,0
$GC,8469,0.50,168.4,193.6,11.9,696,8473,0.00,2.17,0.00,0.000,4,0.000,0.060,2662,3931,2234,0,0,0,0,0,0
$GC,8499,0.45,168.4,189.7,13.3,698,8505,0.10,2.05,0.00,0.000,6,0.145,0.038,2624,2643,2233,0,0,0,0,0,0
$GC,8832,0.52,188.2,157.7,9.1,729,8856,0.00,2.35,17.73,0.642,4,0.000,0.045,2624,1200,2155,0,0,0,0,0,0
$GC,8919,0.65,219.9,150.2,8.5,736,8952,0.17,2.30,27.73,0.639,6,0.076,0.048,2700,2626,2025,0,0,0,0,0,0
$GC,9272,0.62,219.9,101.1,13.2,769,9276,0.00,2.15,0.00,0.000,4,0.000,0.060,2700,3925,2020,0,0,0,0,0,0
$GC,9296,0.57,219.9,97.7,14.1,771,9303,0.17,2.05,0.00,0.000,6,0.171,0.038,2657,2626,2018,0,0,0,0,0,0
$GC,9644,0.65,236.9,61.8,9.2,832,9663,0.00,2.33,14.50,0.586,4,0.000,0.045,2657,1198,1956,0,0,0,0,0,0
$GC,9752,0.77,256.7,52.2,9.1,850,9777,0.17,2.25,17.85,0.580,6,0.081,0.049,2733,2606,1875,0,0,0,0,0,0
$FREEZE,8.73,1.931,-1.812,0,1,0
$FREEZE,8.11,1.930,-1.812,0,1,0
$FREEZE,7.55,1.935,-1.811,0,1,0
$FREEZE,6.87,1.937,-1.811,0,1,0
$FREEZE,6.10,1.940,-1.810,0,1,0
$FREEZE,5.39,1.942,-1.810,0,1,0
$FREEZE,4.62,1.943,-1.809,0,1,0
$FREEZE,3.96,1.942,-1.808,0,1,0
$FREEZE,3.10,1.942,-1.808,0,1,0
$FREEZE,2.49,1.937,-1.807,0,1,0
$STATE,10110,end climb,SURFACE_DEPTH_REACHED
$STATE,10111,begin surface coast
$FREEZE,1.68,1.939,-1.807,0,1,0
$FREEZE,0.92,1.933,-1.806,0,1,0
$FREEZE,0.86,1.917,-0.978,0,1,0
$FREEZE,0.96,1.942,-0.728,0,1,0
$FINISH,1.0,1.010729
$STATE,10135,end surface coast,CONTROL_FINISHED_OK
$STATE,10136,begin surface
$SM_CCo,10153,211.95,0.079,0,0,440,609.08
$SM_GC,1.64,0.00,0.00,211.95,0.000,0.000,0.079,294,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,397
$RAFOS,3,1294964705,0.433333,0.418056,64,43,42,41,41,40,997,523,1130,367,1888,1784
$RAFOS,2,1294964221,0.300000,0.283611,43,43,42,42,41,37,414,1624,1781,1295,1673,1826
$RAFOS,1,1294963750,0.166667,0.152778,49,48,47,47,40,39,1422,604,608,1180,1195,1822
$RAFOS,0,1294963262,0.033333,0.017222,54,49,49,45,42,41,1429,1791,446,922,1388,163
$RAFOS_FIX,6715.611816,-5722.672363,130111,202001,3,76,0.48
$IRIDIUM_FIX,6641.98,-5738.53,130111,181801
$TT8_MAMPS,0.030709
$HUMID,45.23
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,22.7,85.765
$10V_AH,9.8,58.859
$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,17.650,90.575,342.700,211.950,0.000,22.263,21.465,165.667,1.500,0.000,15.170,2237.564,5715.922,662.323,1809.075,331.976,0.000,1542.679,0.000,1587.113,1800.000,11.474,0.000
$DEVICE_MAMPS,233.325,74.970,873.630,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33349,918
$CAP_FILE_SIZE,120524,0
$CFSIZE,260165632,200073216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.4
$GPS,140111,003937,6714.519,-5718.851,27,1.5,28,-37.9