version: 66.08
glider: 183
mission: 3
dive: 697
start: 1 6 111 15 46 44
data:
$ID,183
$MISSION,3
$DIVE,697
$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,-11366.881
$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,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
$GPS1,060111,153231,6704.416,-5654.118,37,1.2,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-56.7
$GPS2,060111,154613,6704.564,-5654.645,11,1.2,11,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,158.7,5605,-17.5,-10.000
$D_GRID,515
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-139.62,0.000,6,0.000,0.000,256,2785,3520,0,0,0,0,0,0
$GC,166,-0.57,-146.0,6.0,-11.8,25,180,8.50,2.33,0.00,0.000,4,0.241,0.042,2286,1360,3522,0,0,0,0,0,0
$GC,319,-0.61,-146.0,36.0,-10.6,51,325,0.00,2.35,0.00,0.000,6,0.000,0.057,2282,2785,3523,0,0,0,0,0,0
$GC,665,-0.61,-146.0,70.1,-9.1,112,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2785,3523,0,0,0,0,0,0
$GC,1017,-0.64,-146.0,103.4,-10.3,171,1021,0.00,2.22,0.00,0.000,4,0.000,0.047,2282,1375,3521,0,0,0,0,0,0
$GC,1047,-0.67,-146.0,106.3,-9.9,173,1051,0.00,2.33,0.00,0.000,6,0.000,0.058,2279,2793,3521,0,0,0,0,0,0
$GC,1373,-0.71,-146.0,136.0,-8.4,203,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2793,3521,0,0,0,0,0,0
$GC,1696,-0.76,-146.0,160.1,-7.4,233,1700,0.12,2.28,0.00,0.000,4,0.100,0.047,2217,1369,3521,0,0,0,0,0,0
$GC,1758,-0.71,-146.0,166.9,-11.0,238,1762,0.00,2.35,0.00,0.000,6,0.000,0.058,2216,2789,3521,0,0,0,0,0,0
$GC,2084,-0.64,-146.0,205.0,-11.6,268,2088,0.17,1.95,0.00,0.000,4,0.165,0.067,2259,3935,3521,0,0,0,0,0,0
$GC,2164,-0.68,-146.0,212.7,-9.6,275,2167,0.00,1.83,0.00,0.000,6,0.000,0.044,2259,2783,3521,0,0,0,0,0,0
$GC,2495,-0.71,-146.0,239.8,-8.4,306,2499,0.00,2.22,0.00,0.000,4,0.000,0.046,2259,1361,3521,0,0,0,0,0,0
$GC,2553,-0.76,-146.0,244.7,-8.8,310,2560,0.00,2.35,0.00,0.000,6,0.000,0.055,2259,2788,3521,0,0,0,0,0,0
$GC,2879,-0.78,-146.0,271.6,-8.4,341,2884,0.10,2.25,0.00,0.000,4,0.116,0.044,2207,1370,3522,0,0,0,0,0,0
$GC,2920,-0.73,-146.0,275.9,-10.9,344,2925,0.12,2.33,0.00,0.000,6,0.177,0.056,2234,2782,3523,0,0,0,0,0,0
$GC,3245,-0.73,-146.0,307.4,-10.0,374,3249,0.00,1.92,0.00,0.000,4,0.000,0.067,2228,3933,3524,0,0,0,0,0,0
$GC,3302,-0.73,-146.0,313.4,-10.3,379,3306,0.00,1.85,0.00,0.000,6,0.000,0.043,2227,2759,3523,0,0,0,0,0,0
$GC,3635,-0.70,-146.0,348.4,-10.5,410,3639,0.00,1.98,0.00,0.000,4,0.000,0.066,2222,3929,3524,0,0,0,0,0,0
$GC,3675,-0.67,-146.0,353.0,-11.5,413,3682,0.12,1.85,0.00,0.000,6,0.161,0.042,2256,2769,3524,0,0,0,0,0,0
$GC,4001,-0.70,-146.0,379.2,-7.6,444,4005,0.00,2.17,0.00,0.000,4,0.000,0.044,2256,1372,3525,0,0,0,0,0,0
$GC,4036,-0.75,-146.0,382.2,-8.7,446,4042,0.00,2.30,0.00,0.000,6,0.000,0.055,2257,2773,3524,0,0,0,0,0,0
$GC,4358,-0.79,-146.0,407.4,-8.0,471,4362,0.10,1.95,0.00,0.000,4,0.115,0.066,2204,3926,3525,0,0,0,0,0,0
$GC,4394,-0.72,-146.0,411.0,-11.5,472,4398,0.15,1.83,0.00,0.000,6,0.161,0.042,2245,2767,3525,0,0,0,0,0,0
$GC,4735,-0.74,-146.0,441.3,-8.7,483,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2767,3525,0,0,0,0,0,0
$GC,5041,-0.77,-146.0,468.3,-8.6,493,5045,0.00,1.98,0.00,0.000,4,0.000,0.065,2238,3938,3525,0,0,0,0,0,0
$GC,5069,-0.77,-146.0,471.0,-8.9,493,5076,0.00,1.83,0.00,0.000,6,0.000,0.042,2238,2775,3525,0,0,0,0,0,0
$GC,5383,-0.77,-146.0,499.3,-9.1,504,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2776,3526,0,0,0,0,0,0
$STATE,5565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5565,begin apogee
$GC,5572,-0.14,0.0,515.4,9.4,510,5702,0.55,0.00,121.20,0.876,4,0.124,0.000,2421,2601,2923,0,0,0,0,0,0
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5705,0.57,146.0,519.1,0.0,514,5841,0.68,2.33,124.07,0.861,4,0.062,0.044,2670,1190,2326,0,0,0,0,0,0
$GC,6067,-1.47,146.0,483.7,21469.3,525,6076,2.22,2.33,0.00,0.000,6,0.150,0.050,2005,2611,2318,0,0,0,0,0,0
$GC,6403,-1.47,146.0,441.8,21469.3,536,6407,0.00,2.28,0.00,0.000,4,0.000,0.047,2005,1185,2313,0,0,0,0,0,0
$GC,6661,-1.47,146.0,404.4,21469.3,543,6668,0.00,2.25,0.00,0.000,6,0.000,0.049,1995,2583,2313,0,0,0,0,0,0
$GC,6988,-1.47,146.0,358.5,21469.3,572,6992,0.00,2.20,0.00,0.000,4,0.000,0.045,1993,1185,2312,0,0,0,0,0,0
$GC,7248,-1.47,146.0,320.1,21469.3,595,7252,0.00,2.22,0.00,0.000,6,0.000,0.052,1990,2560,2313,0,0,0,0,0,0
$GC,7574,-1.47,146.0,272.1,21469.3,625,7577,0.00,2.12,0.00,0.000,4,0.000,0.040,1988,1190,2309,0,0,0,0,0,0
$GC,7834,-1.47,146.0,232.8,21469.3,648,7838,0.00,2.15,0.00,0.000,6,0.000,0.047,1977,2532,2310,0,0,0,0,0,0
$GC,8160,-1.47,146.0,184.8,21469.3,678,8164,0.00,2.30,0.00,0.000,4,0.000,0.062,1966,3923,2311,0,0,0,0,0,0
$GC,8176,-1.47,146.0,182.3,21469.3,679,8184,0.15,2.12,0.00,0.000,6,0.272,0.036,1993,2569,2309,0,0,0,0,0,0
$GC,8502,-1.47,146.0,135.8,21469.3,710,8506,0.00,2.22,0.00,0.000,4,0.000,0.054,1980,3933,2308,0,0,0,0,0,0
$GC,8762,-0.37,146.0,93.4,13.2,736,8770,1.40,2.22,0.00,0.000,6,0.198,0.040,2346,2528,2310,0,0,0,0,0,0
$GC,9111,0.30,259.4,76.6,4.8,797,9212,0.60,2.38,90.97,0.605,4,0.082,0.060,2572,3925,1861,0,0,0,0,0,0
$GC,9244,0.70,297.9,68.0,8.2,819,9286,0.38,2.25,32.08,0.591,6,0.088,0.039,2704,2526,1706,0,0,0,0,0,0
$GC,9626,0.73,297.9,32.7,10.7,886,9633,0.00,2.08,0.00,0.000,4,0.000,0.047,2705,1199,1698,0,0,0,0,0,0
$GC,9809,0.80,297.9,12.6,11.4,918,9816,0.00,2.25,0.00,0.000,6,0.000,0.050,2705,2594,1695,0,0,0,0,0,0
$FREEZE,8.76,2.573,-1.828,0,1,0
$FREEZE,7.94,2.570,-1.827,0,1,0
$FREEZE,7.21,2.570,-1.827,0,1,0
$FREEZE,6.39,2.572,-1.826,0,1,0
$FREEZE,5.73,2.583,-1.826,0,1,0
$FREEZE,4.93,2.571,-1.825,0,1,0
$FREEZE,4.08,2.572,-1.825,0,1,0
$FREEZE,3.46,2.579,-1.824,0,1,0
$FREEZE,3.09,2.589,-1.824,0,1,0
$FREEZE,2.69,2.589,-1.824,0,1,0
$STATE,9884,end climb,SURFACE_DEPTH_REACHED
$STATE,9884,begin surface coast
$FREEZE,2.05,2.588,-1.823,0,1,0
$FREEZE,1.43,2.588,-1.823,0,1,0
$FREEZE,1.02,2.615,-1.821,0,1,0
$FREEZE,1.10,2.600,-1.256,0,1,0
$FINISH,1.1,1.018452
$STATE,9908,end surface coast,CONTROL_FINISHED_OK
$STATE,9909,begin surface
$SM_CCo,9925,186.88,0.080,0,0,441,609.08
$SM_GC,1.73,0.00,0.00,186.88,0.000,0.000,0.080,297,2789,441,-6.79,0.25,609.08
$RAFOS_CLK,412
$RAFOS,6,1294332547,16.833334,16.818611,67,46,45,45,43,41,802,1617,26,154,1429,1630
$RAFOS,5,1294332064,16.700001,16.684444,66,47,44,44,44,39,663,1361,212,1774,674,1056
$RAFOS,4,1294331585,16.566668,16.551390,46,46,46,43,41,40,720,1448,518,1927,1039,281
$RAFOS,3,1294331105,16.433332,16.418056,48,45,44,43,41,41,1139,1846,440,1571,1384,1435
$RAFOS,2,1294330630,16.299999,16.286112,48,48,46,42,39,39,165,228,451,1087,770,1025
$RAFOS,1,1294330142,16.166666,16.150555,49,46,45,44,43,41,1239,808,1156,1622,1260,1028
$RAFOS,0,1294329666,16.033333,16.018333,49,47,43,43,42,41,1600,1789,170,749,154,1545
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5710.59,060111,111142
$TT8_MAMPS,0.028462
$HUMID,44.88
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,22.4,80.166
$10V_AH,9.8,55.094
$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,21.625,82.675,368.325,186.875,0.000,29.179,16.398,427.562,1.500,0.000,13.914,2292.054,5326.587,661.717,2143.817,521.829,0.000,1586.289,0.000,1692.986,2520.000,11.671,0.000
$DEVICE_MAMPS,272.340,68.850,875.925,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,643.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,36703,936
$CAP_FILE_SIZE,123569,0
$CFSIZE,260165632,203665408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.1
$GPS,060111,183655,6705.692,-5655.470,38,1.2,38,-37.6