version: 66.08
glider: 183
mission: 3
dive: 772
start: 1 15 111 14 38 55
data:
$ID,183
$MISSION,3
$DIVE,772
$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,-11464.319
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,150111,124656,6713.835,-5744.570,0,2098.0,0,-38.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.57
$_SM_ANGLEo,4.9
$GPS2,150111,124656,6713.835,-5744.570,0,2098.0,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,282.9,130383,-17.5,-10.000
$D_GRID,769
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-5.57,0.000,2,0.000,0.000,2492,3928,3071,0,0,0,0,0,0
$GC,28,-0.57,-146.0,20.1,-0.0,1,47,0.60,4.25,-7.18,0.000,4,0.125,0.050,2295,1363,3524,0,0,0,0,0,0
$GC,169,-0.65,-146.0,31.9,-8.4,25,176,0.00,2.35,0.00,0.000,6,0.000,0.056,2293,2780,3525,0,0,0,0,0,0
$GC,516,-0.72,-146.0,60.0,-8.5,86,524,0.15,2.28,0.00,0.000,4,0.092,0.047,2226,1374,3525,0,0,0,0,0,0
$GC,594,-0.69,-146.0,68.9,-11.3,99,601,0.00,2.33,0.00,0.000,6,0.000,0.057,2222,2771,3524,0,0,0,0,0,0
$GC,936,-0.65,-146.0,112.0,-12.1,151,938,0.15,0.00,0.00,0.000,6,0.170,0.000,2264,2771,3524,0,0,0,0,0,0
$GC,1256,-0.68,-146.0,142.5,-9.4,181,1260,0.00,2.25,0.00,0.000,4,0.000,0.046,2264,1369,3525,0,0,0,0,0,0
$GC,1310,-0.74,-146.0,147.8,-10.1,185,1314,0.00,2.30,0.00,0.000,6,0.000,0.057,2261,2767,3524,0,0,0,0,0,0
$GC,1636,-0.78,-146.0,178.9,-9.9,215,1638,0.12,0.00,0.00,0.000,6,0.101,0.000,2201,2767,3524,0,0,0,0,0,0
$GC,1954,-0.71,-146.0,219.8,-12.9,245,1959,0.15,2.25,0.00,0.000,4,0.164,0.046,2242,1375,3523,0,0,0,0,0,0
$GC,2006,-0.75,-146.0,225.5,-9.7,249,2012,0.00,2.33,0.00,0.000,6,0.000,0.057,2242,2769,3523,0,0,0,0,0,0
$GC,2331,-0.75,-146.0,256.6,-10.1,280,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2768,3523,0,0,0,0,0,0
$GC,2654,-0.77,-146.0,285.7,-9.0,310,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2768,3523,0,0,0,0,0,0
$GC,2982,-0.80,-146.0,313.4,-8.5,341,2986,0.00,2.22,0.00,0.000,4,0.000,0.046,2242,1367,3523,0,0,0,0,0,0
$GC,3022,-0.83,-146.0,317.1,-8.6,344,3029,0.12,2.33,0.00,0.000,6,0.094,0.057,2184,2767,3523,0,0,0,0,0,0
$GC,3348,-0.75,-146.0,356.5,-12.5,375,3353,0.17,2.25,0.00,0.000,4,0.164,0.044,2232,1373,3523,0,0,0,0,0,0
$GC,3382,-0.75,-146.0,360.4,-9.9,377,3389,0.00,2.30,0.00,0.000,6,0.000,0.057,2233,2758,3524,0,0,0,0,0,0
$GC,3708,-0.75,-146.0,389.9,-8.8,408,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2758,3524,0,0,0,0,0,0
$GC,4020,-0.75,-146.0,416.4,-8.6,426,4024,0.00,2.22,0.00,0.000,4,0.000,0.044,2233,1362,3524,0,0,0,0,0,0
$GC,4054,-0.77,-146.0,419.5,-9.2,427,4059,0.00,2.30,0.00,0.000,6,0.000,0.056,2233,2751,3524,0,0,0,0,0,0
$GC,4385,-0.77,-146.0,448.7,-8.9,438,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2751,3524,0,0,0,0,0,0
$GC,4691,-0.77,-146.0,476.6,-9.1,448,4695,0.00,2.03,0.00,0.000,4,0.000,0.068,2231,3928,3524,0,0,0,0,0,0
$GC,4726,-0.77,-146.0,479.9,-9.8,449,4730,0.00,1.88,0.00,0.000,6,0.000,0.044,2230,2749,3524,0,0,0,0,0,0
$GC,5068,-0.77,-146.0,510.2,-8.8,460,5072,0.00,2.17,0.00,0.000,4,0.000,0.046,2230,1370,3524,0,0,0,0,0,0
$GC,5096,-0.77,-146.0,512.8,-8.5,460,5103,0.00,2.28,0.00,0.000,6,0.000,0.057,2229,2751,3524,0,0,0,0,0,0
$GC,5413,-0.77,-146.0,539.5,-8.4,471,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2751,3524,0,0,0,0,0,0
$GC,5717,-0.77,-146.0,565.8,-8.9,481,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2752,3524,0,0,0,0,0,0
$GC,6022,-0.77,-146.0,593.2,-9.0,491,6025,0.00,1.98,0.00,0.000,4,0.000,0.069,2222,3926,3524,0,0,0,0,0,0
$GC,6049,-0.77,-146.0,596.1,-10.8,491,6056,0.00,1.88,0.00,0.000,6,0.000,0.044,2222,2748,3524,0,0,0,0,0,0
$GC,6364,-0.77,-146.0,626.0,-9.5,502,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2748,3524,0,0,0,0,0,0
$GC,6669,-0.77,-146.0,654.5,-9.3,512,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2748,3524,0,0,0,0,0,0
$GC,6975,-0.77,-146.0,681.8,-9.0,522,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2749,3523,0,0,0,0,0,0
$GC,7283,-0.77,-146.0,708.8,-8.9,532,7287,0.00,2.20,0.00,0.000,4,0.000,0.048,2222,1372,3523,0,0,0,0,0,0
$GC,7310,-0.77,-146.0,711.8,-9.5,532,7317,0.00,2.33,0.00,0.000,6,0.000,0.060,2222,2756,3523,0,0,0,0,0,0
$GC,7624,-0.77,-146.0,740.5,-9.3,543,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2756,3522,0,0,0,0,0,0
$GC,7932,-1.00,-146.0,759.5,-1.3,553,7934,0.20,0.00,0.00,0.000,6,0.096,0.000,2147,2757,3522,0,0,0,0,0,0
$STATE,8080,end dive,NO_VERTICAL_VELOCITY
$STATE,8080,begin apogee
$GC,8087,-0.14,0.0,759.5,0.0,558,8218,0.80,0.00,126.53,1.057,4,0.087,0.000,2431,2598,2923,0,0,0,0,0,0
$STATE,8219,end apogee,CONTROL_FINISHED_OK
$STATE,8219,begin climb
$GC,8222,0.57,146.0,759.6,0.0,562,8361,0.62,0.00,134.00,1.030,6,0.074,0.000,2659,2598,2328,0,0,0,0,0,0
$GC,8681,0.57,146.0,713.3,29385.4,577,8685,0.00,2.28,0.00,0.000,4,0.000,0.067,2659,3935,2318,0,0,0,0,0,0
$GC,8748,0.57,146.0,703.9,29385.4,579,8752,0.00,2.15,0.00,0.000,6,0.000,0.044,2662,2598,2316,0,0,0,0,0,0
$GC,9079,0.57,146.0,663.8,29385.4,590,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2597,2316,0,0,0,0,0,0
$GC,9384,0.57,146.0,626.9,29385.4,600,9388,0.00,2.25,0.00,0.000,4,0.000,0.068,2662,3930,2315,0,0,0,0,0,0
$GC,9417,0.57,146.0,622.2,29385.4,601,9421,0.00,2.10,0.00,0.000,6,0.000,0.044,2662,2611,2314,0,0,0,0,0,0
$GC,9749,0.57,146.0,581.3,29385.4,612,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2611,2314,0,0,0,0,0,0
$GC,10054,0.57,146.0,544.3,29385.4,622,10058,0.00,2.25,0.00,0.000,4,0.000,0.068,2662,3930,2313,0,0,0,0,0,0
$GC,10089,0.57,146.0,539.6,29385.4,623,10093,0.00,2.10,0.00,0.000,6,0.000,0.044,2665,2612,2313,0,0,0,0,0,0
$GC,10432,0.57,146.0,496.2,29385.4,634,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2612,2313,0,0,0,0,0,0
$GC,10737,0.57,146.0,458.6,29385.4,644,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2612,2313,0,0,0,0,0,0
$GC,11044,0.57,146.0,422.2,29385.4,654,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2612,2313,0,0,0,0,0,0
$GC,11353,0.57,146.0,385.9,29385.4,670,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2612,2312,0,0,0,0,0,0
$GC,11674,0.57,146.0,349.6,29385.4,700,11678,0.00,2.30,0.00,0.000,4,0.000,0.052,2666,1184,2312,0,0,0,0,0,0
$GC,11707,0.57,146.0,345.4,29385.4,702,11714,0.00,2.35,0.00,0.000,6,0.000,0.055,2666,2614,2312,0,0,0,0,0,0
$GC,12034,0.57,146.0,307.7,29385.4,733,12038,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3926,2311,0,0,0,0,0,0
$GC,12109,0.57,146.0,297.4,29385.4,739,12113,0.00,2.12,0.00,0.000,6,0.000,0.045,2666,2611,2310,0,0,0,0,0,0
$GC,12436,0.57,146.0,258.2,29385.4,769,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2610,2310,0,0,0,0,0,0
$GC,12755,0.57,146.0,220.2,29385.4,799,12759,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3926,2310,0,0,0,0,0,0
$GC,12811,0.57,146.0,212.2,29385.4,803,12818,0.00,2.10,0.00,0.000,6,0.000,0.043,2666,2616,2310,0,0,0,0,0,0
$GC,13137,0.57,146.0,175.0,29385.4,834,13141,0.00,2.28,0.00,0.000,4,0.000,0.050,2666,1191,2311,0,0,0,0,0,0
$GC,13172,0.57,146.0,171.4,29385.4,836,13179,0.00,2.35,0.00,0.000,6,0.000,0.053,2666,2637,2311,0,0,0,0,0,0
$GC,13498,0.57,146.0,138.5,29385.4,867,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2637,2311,0,0,0,0,0,0
$GC,13821,0.57,146.0,106.6,29385.4,897,13827,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2637,2312,0,0,0,0,0,0
$GC,14163,0.56,159.3,72.8,9.4,952,14176,0.00,0.00,10.23,0.604,6,0.000,0.000,2666,2637,2273,0,0,0,0,0,0
$GC,14516,0.56,159.3,36.4,10.6,1014,14523,0.00,2.17,0.00,0.000,4,0.000,0.063,2666,3932,2272,0,0,0,0,0,0
$GC,14656,0.51,159.3,20.3,11.3,1038,14664,0.00,2.10,0.00,0.000,6,0.000,0.041,2666,2616,2272,0,0,0,0,0,0
$FREEZE,8.77,1.301,-1.827,0,2,0
$FREEZE,8.26,1.301,-1.826,0,2,0
$FREEZE,7.89,1.296,-1.826,0,2,0
$FREEZE,7.50,1.291,-1.826,0,2,0
$FREEZE,7.20,1.293,-1.825,0,2,0
$FREEZE,6.96,1.295,-1.825,0,2,0
$FREEZE,6.56,1.301,-1.825,0,2,0
$FREEZE,6.28,1.293,-1.825,0,2,0
$FREEZE,5.73,1.299,-1.824,0,2,0
$FREEZE,5.58,1.293,-1.824,0,2,0
$FREEZE,5.12,1.293,-1.824,0,2,0
$FREEZE,4.74,1.296,-1.824,0,2,0
$FREEZE,4.42,1.298,-1.823,0,2,0
$FREEZE,4.04,1.294,-1.823,0,2,0
$FREEZE,3.52,1.291,-1.823,0,2,0
$FREEZE,3.07,1.299,-1.822,0,2,0
$FREEZE,2.61,1.296,-1.822,0,2,0
$STATE,14876,end climb,SURFACE_DEPTH_REACHED
$STATE,14876,begin surface coast
$FREEZE,2.08,1.277,-1.822,0,2,0
$FREEZE,1.65,1.292,-1.822,0,2,0
$FREEZE,1.27,1.273,-1.822,0,2,0
$FREEZE,0.71,1.269,-1.821,0,2,0
$FREEZE,0.61,1.126,-0.772,0,2,0
$FREEZE,0.62,0.816,-0.449,0,2,0
$FREEZE,0.63,1.085,-1.831,0,2,0
$FINISH,0.6,1.026757
$STATE,14915,end surface coast,CONTROL_FINISHED_OK
$STATE,14915,begin surface
$SM_CCo,14933,253.50,0.081,0,0,439,609.08
$SM_GC,1.42,0.00,0.00,253.50,0.000,0.000,0.081,292,2782,439,-6.80,0.08,609.08
$RAFOS_CLK,832
$RAFOS,6,1295110170,16.833334,16.825001,104,47,43,42,41,39,535,144,1438,1672,1400,438
$RAFOS,5,1295109680,16.700001,16.688889,73,54,51,43,43,42,534,548,1454,1714,926,1194
$RAFOS,4,1295109185,16.566668,16.551390,104,49,45,44,43,42,782,162,1623,574,331,1756
$RAFOS,3,1295108725,16.433332,16.423611,43,41,41,40,39,39,366,1184,641,1884,1316,1095
$RAFOS,2,1295108231,16.299999,16.286388,43,42,42,40,39,39,689,170,183,1362,26,468
$RAFOS,1,1295107742,16.166666,16.150555,50,46,44,44,42,42,371,1537,616,1672,52,1112
$RAFOS,0,1295107277,16.033333,16.021389,47,46,45,43,42,41,44,1065,26,572,1580,556
$RAFOS_FIX,6713.761230,-5746.978516,150111,161622,3,94,0.12
$IRIDIUM_FIX,6647.44,-5740.25,150111,101029
$TT8_MAMPS,0.029211
$HUMID,46.25
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.3
$24V_AH,21.3,87.000
$10V_AH,9.8,59.688
$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,9.375,86.550,270.750,253.500,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2731.361,9917.130,565.705,1771.010,276.177,0.000,1513.990,0.000,1765.106,2520.000,20.312,0.000
$DEVICE_MAMPS,169.830,78.030,1057.230,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40061,1085
$CAP_FILE_SIZE,133350,0
$CFSIZE,260165632,199278592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,150111,185355,6713.704,-5746.215,50,1.1,50,-38.0