version: 66.08
glider: 183
mission: 3
dive: 763
start: 1 14 111 9 24 47
data:
$ID,183
$MISSION,3
$DIVE,763
$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,-11454.262
$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,23
$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
$GPS1,140111,091736,6714.867,-5721.178,43,1.7,48,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-52.8
$GPS2,140111,092416,6714.851,-5721.413,10,2.1,29,-38.0
$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,170.3,32618,-17.5,-10.000
$D_GRID,546
$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,-146.0,0.0,0.0,0,164,0.00,0.00,-139.80,0.000,6,0.000,0.000,255,2780,3521,0,0,0,0,0,0
$GC,167,-0.57,-146.0,6.1,-15.2,25,181,8.50,2.30,0.00,0.000,4,0.238,0.040,2286,1360,3522,0,0,0,0,0,0
$GC,385,-0.60,-146.0,43.4,-11.4,63,392,0.00,2.35,0.00,0.000,6,0.000,0.057,2284,2784,3524,0,0,0,0,0,0
$GC,733,-0.64,-146.0,74.7,-8.2,124,740,0.00,2.25,0.00,0.000,4,0.000,0.044,2284,1370,3523,0,0,0,0,0,0
$GC,811,-0.70,-146.0,80.8,-8.1,137,818,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2777,3523,0,0,0,0,0,0
$GC,1151,-0.74,-146.0,111.9,-9.5,186,1156,0.12,1.95,0.00,0.000,4,0.094,0.067,2207,3927,3521,0,0,0,0,0,0
$GC,1209,-0.67,-146.0,120.0,-15.8,191,1213,0.17,1.83,0.00,0.000,6,0.156,0.044,2255,2784,3521,0,0,0,0,0,0
$GC,1539,-0.67,-146.0,157.1,-10.7,222,1543,0.00,2.22,0.00,0.000,4,0.000,0.044,2255,1367,3521,0,0,0,0,0,0
$GC,1591,-0.71,-146.0,162.5,-10.4,226,1596,0.00,2.35,0.00,0.000,6,0.000,0.057,2248,2789,3520,0,0,0,0,0,0
$GC,1917,-0.71,-146.0,198.5,-11.4,256,1921,0.00,2.22,0.00,0.000,4,0.000,0.044,2248,1375,3521,0,0,0,0,0,0
$GC,1949,-0.71,-146.0,202.4,-11.0,258,1956,0.00,2.30,0.00,0.000,6,0.000,0.057,2248,2767,3520,0,0,0,0,0,0
$GC,2276,-0.71,-146.0,236.6,-10.2,289,2280,0.00,1.95,0.00,0.000,4,0.000,0.067,2242,3927,3521,0,0,0,0,0,0
$GC,2311,-0.71,-146.0,240.3,-11.2,292,2315,0.00,1.85,0.00,0.000,6,0.000,0.042,2242,2770,3521,0,0,0,0,0,0
$GC,2642,-0.71,-146.0,272.2,-9.4,323,2646,0.00,2.17,0.00,0.000,4,0.000,0.043,2242,1372,3521,0,0,0,0,0,0
$GC,2684,-0.73,-146.0,276.1,-9.5,326,2688,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2766,3521,0,0,0,0,0,0
$GC,3010,-0.73,-146.0,307.4,-9.4,356,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2766,3521,0,0,0,0,0,0
$GC,3333,-0.73,-146.0,336.3,-8.8,386,3337,0.00,1.95,0.00,0.000,4,0.000,0.066,2235,3926,3523,0,0,0,0,0,0
$GC,3415,-0.73,-146.0,344.4,-9.8,393,3418,0.00,1.85,0.00,0.000,6,0.000,0.041,2235,2768,3523,0,0,0,0,0,0
$GC,3746,-0.73,-146.0,374.8,-9.4,424,3750,0.00,2.17,0.00,0.000,4,0.000,0.043,2235,1371,3523,0,0,0,0,0,0
$GC,3787,-0.73,-146.0,378.8,-9.6,427,3791,0.00,2.33,0.00,0.000,6,0.000,0.055,2234,2782,3523,0,0,0,0,0,0
$GC,4112,-0.73,-146.0,409.5,-9.6,451,4116,0.00,1.92,0.00,0.000,4,0.000,0.065,2235,3932,3524,0,0,0,0,0,0
$GC,4181,-0.73,-146.0,416.3,-9.9,453,4185,0.00,1.83,0.00,0.000,6,0.000,0.041,2235,2782,3523,0,0,0,0,0,0
$GC,4524,-0.73,-146.0,445.8,-8.2,464,4528,0.00,2.22,0.00,0.000,4,0.000,0.042,2235,1369,3524,0,0,0,0,0,0
$GC,4551,-0.73,-146.0,448.2,-8.2,464,4558,0.00,2.35,0.00,0.000,6,0.000,0.055,2234,2792,3524,0,0,0,0,0,0
$GC,4865,-0.73,-146.0,474.6,-8.3,475,4869,0.00,2.22,0.00,0.000,4,0.000,0.042,2234,1371,3524,0,0,0,0,0,0
$GC,4901,-0.73,-146.0,477.6,-8.7,476,4905,0.00,2.33,0.00,0.000,6,0.000,0.054,2234,2783,3524,0,0,0,0,0,0
$GC,5231,-0.73,-146.0,503.8,-8.2,487,5235,0.00,1.95,0.00,0.000,4,0.000,0.066,2232,3930,3524,0,0,0,0,0,0
$GC,5270,-0.73,-146.0,507.5,-8.6,488,5274,0.00,1.88,0.00,0.000,6,0.000,0.041,2232,2769,3524,0,0,0,0,0,0
$GC,5607,-0.73,-146.0,537.5,-9.1,499,5611,0.00,2.17,0.00,0.000,4,0.000,0.043,2232,1372,3524,0,0,0,0,0,0
$GC,5671,-0.75,-146.0,543.4,-9.2,501,5675,0.00,2.30,0.00,0.000,6,0.000,0.056,2229,2771,3524,0,0,0,0,0,0
$STATE,5695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5695,begin apogee
$GC,5703,-0.14,0.0,546.3,9.2,501,5836,0.60,0.00,121.90,0.889,4,0.122,0.000,2426,2604,2923,0,0,0,0,0,0
$STATE,5837,end apogee,CONTROL_FINISHED_OK
$STATE,5837,begin climb
$GC,5840,0.57,146.0,549.3,0.0,506,5973,0.65,2.33,123.60,0.881,4,0.055,0.043,2674,1187,2327,0,0,0,0,0,0
$GC,6182,0.55,146.0,514.2,13.0,516,6187,0.00,2.33,0.00,0.000,6,0.000,0.050,2673,2611,2320,0,0,0,0,0,0
$GC,6501,0.49,146.0,473.0,12.8,527,6506,0.15,2.25,0.00,0.000,4,0.179,0.045,2640,1180,2318,0,0,0,0,0,0
$GC,6708,0.52,146.0,452.4,10.4,533,6713,0.00,2.33,0.00,0.000,6,0.000,0.050,2640,2619,2318,0,0,0,0,0,0
$GC,7033,0.53,154.2,420.3,9.6,544,7044,0.00,2.17,6.07,0.675,4,0.000,0.060,2640,3925,2297,0,0,0,0,0,0
$GC,7090,0.48,154.2,413.8,11.5,545,7097,0.00,2.08,0.00,0.000,6,0.000,0.039,2645,2600,2295,0,0,0,0,0,0
$GC,7409,0.48,154.2,380.2,10.7,566,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2600,2295,0,0,0,0,0,0
$GC,7730,0.48,154.2,345.3,10.9,596,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2600,2295,0,0,0,0,0,0
$GC,8058,0.48,154.2,309.4,10.9,627,8062,0.00,2.25,0.00,0.000,4,0.000,0.061,2645,3930,2295,0,0,0,0,0,0
$GC,8160,0.44,154.2,296.3,13.0,635,8168,0.12,2.05,0.00,0.000,6,0.189,0.038,2617,2634,2294,0,0,0,0,0,0
$GC,8487,0.50,173.4,266.4,9.1,666,8510,0.00,2.35,18.23,0.704,4,0.000,0.045,2618,1197,2216,0,0,0,0,0,0
$GC,8560,0.63,205.6,260.1,8.5,672,8594,0.17,2.33,28.23,0.700,6,0.076,0.049,2695,2637,2084,0,0,0,0,0,0
$GC,8913,0.58,205.6,209.1,15.0,705,8917,0.12,2.12,0.00,0.000,4,0.177,0.060,2662,3925,2077,0,0,0,0,0,0
$GC,8953,0.55,205.6,202.8,15.2,708,8957,0.00,2.05,0.00,0.000,6,0.000,0.038,2662,2630,2076,0,0,0,0,0,0
$GC,9285,0.55,205.6,160.0,12.5,739,9289,0.00,2.25,0.00,0.000,4,0.000,0.046,2663,1194,2076,0,0,0,0,0,0
$GC,9326,0.61,205.6,154.9,11.8,742,9330,0.00,2.30,0.00,0.000,6,0.000,0.049,2663,2635,2076,0,0,0,0,0,0
$GC,9652,0.63,205.6,116.9,11.4,772,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2634,2076,0,0,0,0,0,0
$GC,9979,0.67,205.6,83.6,10.4,816,9986,0.00,2.12,0.00,0.000,4,0.000,0.060,2663,3924,2075,0,0,0,0,0,0
$GC,10011,0.67,205.6,79.9,12.4,821,10018,0.00,2.08,0.00,0.000,6,0.000,0.038,2665,2609,2075,0,0,0,0,0,0
$GC,10360,0.73,236.1,45.0,8.6,882,10391,0.12,2.33,25.50,0.584,4,0.103,0.047,2725,1191,1959,0,0,0,0,0,0
$GC,10487,0.73,236.1,29.5,12.1,904,10494,0.00,2.28,0.00,0.000,6,0.000,0.048,2725,2599,1956,0,0,0,0,0,0
$FREEZE,8.54,1.926,-1.817,0,1,0
$FREEZE,7.92,1.928,-1.817,0,1,0
$FREEZE,7.36,1.928,-1.816,0,1,0
$FREEZE,6.67,1.926,-1.816,0,1,0
$FREEZE,6.05,1.922,-1.816,0,1,0
$FREEZE,5.46,1.918,-1.815,0,1,0
$FREEZE,5.04,1.917,-1.815,0,1,0
$FREEZE,4.44,1.917,-1.814,0,1,0
$FREEZE,3.62,1.916,-1.814,0,1,0
$FREEZE,2.97,1.915,-1.813,0,1,0
$STATE,10693,end climb,SURFACE_DEPTH_REACHED
$STATE,10693,begin surface coast
$FREEZE,2.48,1.921,-1.813,0,1,0
$FREEZE,1.71,1.925,-1.812,0,1,0
$FREEZE,1.02,1.904,-1.812,0,1,0
$FREEZE,1.16,1.896,-1.812,0,1,0
$FINISH,1.2,1.026420
$STATE,10718,end surface coast,CONTROL_FINISHED_OK
$STATE,10718,begin surface
$SM_CCo,10736,220.85,0.078,0,0,440,609.08
$SM_GC,1.56,0.00,0.00,220.85,0.000,0.000,0.078,289,2792,440,-6.80,0.34,609.08
$RAFOS_CLK,422
$RAFOS,2,1295007424,12.300000,12.284445,49,48,44,43,41,41,788,525,1187,1080,1751,1451
$RAFOS,1,1295006946,12.166667,12.151667,49,47,44,43,41,41,698,700,1404,683,1298,838
$RAFOS,0,1295006471,12.033333,12.019722,47,43,42,42,41,40,900,1733,243,1274,1109,1288
$RAFOS_FIX,6716.009766,-5729.850098,140111,080856,2,81,1.05
$IRIDIUM_FIX,6647.44,-5732.58,140111,060626
$TT8_MAMPS,0.028462
$HUMID,46.02
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,22.6,86.120
$10V_AH,9.8,59.105
$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,17.250,100.375,323.525,220.850,0.000,23.594,39.537,155.719,1.500,0.000,33.082,2346.405,6083.422,668.362,1925.200,339.697,0.000,1600.927,0.000,1686.239,1080.000,11.680,0.000
$DEVICE_MAMPS,237.915,70.380,888.930,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,650.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,33381,945
$CAP_FILE_SIZE,124542,0
$CFSIZE,260165632,199831552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$GPS,140111,122855,6714.689,-5722.791,40,1.3,40,-38.0