version: 66.08
glider: 183
mission: 3
dive: 741
start: 1 11 111 19 53 56
data:
$ID,183
$MISSION,3
$DIVE,741
$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,-11423.025
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,110111,194737,6716.815,-5720.107,33,1.3,34,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.2
$GPS2,110111,195325,6716.848,-5720.194,8,1.3,13,-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,175.8,34615,-17.5,-10.000
$D_GRID,448
$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,-135.20,0.000,2,0.000,0.000,293,2791,3469,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.1,-11.5,24,175,8.18,2.33,-1.05,0.000,4,0.235,0.057,2282,1370,3521,0,0,0,0,0,0
$GC,341,-0.60,-146.0,37.2,-9.6,55,347,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2777,3523,0,0,0,0,0,0
$GC,687,-0.60,-146.0,72.2,-9.5,116,694,0.00,1.95,0.00,0.000,4,0.000,0.067,2272,3935,3522,0,0,0,0,0,0
$GC,709,-0.60,-146.0,74.3,-9.7,119,715,0.00,1.88,0.00,0.000,6,0.000,0.043,2272,2766,3522,0,0,0,0,0,0
$GC,1056,-0.63,-146.0,107.0,-8.7,174,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2766,3521,0,0,0,0,0,0
$GC,1374,-0.68,-146.0,137.1,-9.9,204,1378,0.00,2.17,0.00,0.000,4,0.000,0.045,2272,1371,3521,0,0,0,0,0,0
$GC,1414,-0.74,-146.0,141.0,-9.5,207,1419,0.10,2.35,0.00,0.000,6,0.108,0.057,2222,2789,3521,0,0,0,0,0,0
$GC,1740,-0.69,-146.0,178.8,-11.6,237,1745,0.12,2.28,0.00,0.000,4,0.165,0.044,2256,1362,3521,0,0,0,0,0,0
$GC,1794,-0.73,-146.0,183.9,-9.0,241,1798,0.00,2.33,0.00,0.000,6,0.000,0.057,2250,2772,3521,0,0,0,0,0,0
$GC,2119,-0.73,-146.0,214.4,-10.3,271,2123,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3928,3521,0,0,0,0,0,0
$GC,2227,-0.76,-146.0,225.6,-11.0,280,2233,0.00,1.85,0.00,0.000,6,0.000,0.043,2247,2773,3521,0,0,0,0,0,0
$GC,2553,-0.76,-146.0,256.5,-9.3,311,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3521,0,0,0,0,0,0
$GC,2871,-0.76,-146.0,283.5,-8.6,341,2875,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1364,3522,0,0,0,0,0,0
$GC,2927,-0.80,-146.0,288.8,-9.6,345,2934,0.00,2.35,0.00,0.000,6,0.000,0.056,2247,2790,3522,0,0,0,0,0,0
$GC,3255,-0.82,-146.0,318.4,-9.4,376,3259,0.10,1.92,0.00,0.000,4,0.112,0.067,2191,3934,3523,0,0,0,0,0,0
$GC,3293,-0.73,-146.0,323.1,-12.1,379,3300,0.17,1.83,0.00,0.000,6,0.151,0.041,2240,2789,3523,0,0,0,0,0,0
$GC,3619,-0.73,-146.0,353.6,-8.9,410,3623,0.00,2.22,0.00,0.000,4,0.000,0.044,2240,1365,3523,0,0,0,0,0,0
$GC,3661,-0.76,-146.0,357.4,-9.3,413,3665,0.00,2.33,0.00,0.000,6,0.000,0.056,2235,2776,3523,0,0,0,0,0,0
$GC,3987,-0.76,-146.0,386.9,-8.8,443,3991,0.00,2.22,0.00,0.000,4,0.000,0.044,2235,1370,3524,0,0,0,0,0,0
$GC,4020,-0.76,-146.0,390.0,-8.9,445,4027,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2766,3524,0,0,0,0,0,0
$GC,4360,-0.76,-146.0,419.4,-8.8,464,4363,0.00,1.95,0.00,0.000,4,0.000,0.067,2235,3927,3524,0,0,0,0,0,0
$GC,4429,-0.76,-146.0,425.8,-9.7,466,4432,0.00,1.85,0.00,0.000,6,0.000,0.042,2235,2770,3523,0,0,0,0,0,0
$STATE,4675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4675,begin apogee
$GC,4683,-0.14,0.0,448.1,9.2,474,4810,0.57,0.00,120.05,0.827,4,0.122,0.000,2425,2597,2923,0,0,0,0,0,0
$STATE,4811,end apogee,CONTROL_FINISHED_OK
$STATE,4811,begin climb
$GC,4814,0.57,146.0,452.5,0.0,478,4945,0.65,2.30,121.12,0.815,4,0.058,0.045,2671,1187,2327,0,0,0,0,0,0
$GC,5129,0.57,146.0,425.3,11.7,487,5134,0.00,2.30,0.00,0.000,6,0.000,0.050,2671,2602,2321,0,0,0,0,0,0
$GC,5447,0.51,146.0,386.0,12.2,503,5451,0.00,2.25,0.00,0.000,4,0.000,0.045,2676,1184,2318,0,0,0,0,0,0
$GC,5703,0.49,146.0,356.8,11.4,525,5708,0.15,2.30,0.00,0.000,6,0.169,0.050,2636,2608,2318,0,0,0,0,0,0
$GC,6031,0.49,149.9,323.9,9.8,555,6035,0.00,2.17,0.00,0.000,4,0.000,0.061,2636,3932,2317,0,0,0,0,0,0
$GC,6094,0.45,149.9,316.2,12.2,560,6098,0.00,2.08,0.00,0.000,6,0.000,0.039,2639,2621,2316,0,0,0,0,0,0
$GC,6426,0.45,149.9,281.9,10.2,591,6430,0.00,2.17,0.00,0.000,4,0.000,0.062,2639,3934,2316,0,0,0,0,0,0
$GC,6493,0.41,149.9,273.6,13.0,596,6500,0.12,2.05,0.00,0.000,6,0.184,0.039,2610,2638,2315,0,0,0,0,0,0
$GC,6820,0.48,170.0,245.6,9.1,627,6846,0.00,2.22,19.35,0.688,4,0.000,0.062,2610,3927,2230,0,0,0,0,0,0
$GC,6876,0.51,170.8,240.2,10.0,632,6880,0.00,2.03,0.00,0.000,6,0.000,0.039,2610,2637,2228,0,0,0,0,0,0
$GC,7208,0.61,195.6,209.9,8.9,663,7241,0.17,2.35,22.55,0.669,4,0.079,0.046,2693,1196,2124,0,0,0,0,0,0
$GC,7301,0.61,195.6,198.0,13.2,671,7305,0.00,2.33,0.00,0.000,6,0.000,0.050,2693,2635,2122,0,0,0,0,0,0
$GC,7627,0.56,195.6,152.1,13.3,701,7631,0.12,2.15,0.00,0.000,4,0.177,0.061,2659,3929,2120,0,0,0,0,0,0
$GC,7643,0.52,195.6,149.6,14.1,702,7649,0.00,2.05,0.00,0.000,6,0.000,0.039,2662,2633,2118,0,0,0,0,0,0
$GC,7969,0.55,196.3,114.4,10.0,733,7973,0.00,2.25,0.00,0.000,4,0.000,0.046,2662,1190,2118,0,0,0,0,0,0
$GC,7991,0.60,209.2,112.2,9.4,734,8009,0.00,2.33,12.00,0.604,6,0.000,0.050,2662,2635,2069,0,0,0,0,0,0
$GC,8340,0.66,251.2,80.5,8.1,785,8381,0.00,0.00,35.95,0.600,6,0.000,0.000,2662,2635,1897,0,0,0,0,0,0
$GC,8723,0.76,265.8,46.7,9.3,852,8742,0.15,2.33,12.62,0.569,4,0.090,0.046,2732,1190,1838,0,0,0,0,0,0
$GC,8757,0.76,265.8,42.8,12.4,857,8764,0.00,2.33,0.00,0.000,6,0.000,0.050,2732,2632,1837,0,0,0,0,0,0
$FREEZE,8.71,2.374,-1.819,0,1,0
$FREEZE,8.05,2.377,-1.819,0,1,0
$FREEZE,7.31,2.382,-1.818,0,1,0
$FREEZE,6.60,2.383,-1.818,0,1,0
$FREEZE,5.69,2.377,-1.817,0,1,0
$FREEZE,5.05,2.383,-1.816,0,1,0
$FREEZE,4.27,2.379,-1.816,0,1,0
$FREEZE,3.57,2.378,-1.816,0,1,0
$FREEZE,2.95,2.374,-1.815,0,1,0
$STATE,9062,end climb,SURFACE_DEPTH_REACHED
$STATE,9062,begin surface coast
$FREEZE,2.35,2.374,-1.815,0,1,0
$FREEZE,1.42,2.379,-1.814,0,1,0
$FREEZE,0.95,2.366,-0.923,0,1,0
$FREEZE,0.96,2.381,-0.945,0,1,0
$FINISH,1.0,1.013923
$STATE,9087,end surface coast,CONTROL_FINISHED_OK
$STATE,9087,begin surface
$SM_CCo,9104,208.25,0.079,0,0,440,609.08
$SM_GC,1.64,0.00,0.00,208.25,0.000,0.000,0.079,289,2787,440,-6.83,0.20,609.08
$RAFOS_CLK,369
$RAFOS,6,1294778944,20.833334,20.817778,72,45,42,42,41,40,746,852,267,1869,77,1479
$RAFOS,5,1294778472,20.700001,20.686666,136,56,48,47,45,44,618,619,1024,1811,1327,366
$RAFOS,4,1294777984,20.566668,20.551111,54,47,46,43,41,41,858,395,1143,863,257,1464
$RAFOS,3,1294777508,20.433332,20.418888,67,47,46,46,44,42,991,1424,488,728,832,154
$RAFOS,2,1294777025,20.299999,20.284721,44,42,42,39,38,38,1905,1684,1809,1394,366,1492
$RAFOS,1,1294776541,20.166666,20.150278,54,43,42,41,40,40,1037,26,362,1297,860,1309
$RAFOS,0,1294776061,20.033333,20.016945,48,45,44,44,40,39,616,1759,534,1482,419,170
$RAFOS_FIX,6717.665527,-5725.955566,110111,202053,3,92,1.54
$IRIDIUM_FIX,6647.44,-5714.21,110111,171717
$TT8_MAMPS,0.029211
$HUMID,45.31
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,999.0
$24V_AH,22.9,84.157
$10V_AH,9.8,57.774
$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,17.050,83.025,343.650,208.250,0.000,22.840,38.568,135.062,1.000,0.000,16.494,2226.003,4722.114,656.940,1768.791,306.876,0.000,1522.007,0.000,1574.500,2520.000,8.138,0.000
$DEVICE_MAMPS,234.855,71.910,826.965,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.505,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33360,916
$CAP_FILE_SIZE,114141,0
$CFSIZE,260165632,201113600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.7
$GPS,110111,223037,6716.705,-5719.492,26,1.1,27,-38.0