version: 66.08
glider: 183
mission: 3
dive: 698
start: 1 6 111 18 53 5
data:
$ID,183
$MISSION,3
$DIVE,698
$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,-11368.234
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,060111,183655,6705.692,-5655.470,38,1.2,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.8
$GPS2,060111,185232,6705.843,-5655.921,13,1.1,13,-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,170.2,7775,-17.5,-10.000
$D_GRID,463
$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,16,-0.57,-146.0,0.0,0.0,0,162,0.00,0.00,-140.52,0.000,2,0.000,0.000,271,2790,3510,0,0,0,0,0,0
$GC,165,-0.57,-146.0,5.3,-11.9,25,179,8.48,2.33,0.00,0.000,4,0.242,0.041,2283,1365,3512,0,0,0,0,0,0
$GC,345,-0.60,-146.0,37.9,-8.9,56,352,0.00,2.33,0.00,0.000,6,0.000,0.056,2276,2781,3514,0,0,0,0,0,0
$GC,690,-0.60,-146.0,73.1,-10.5,117,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2781,3514,0,0,0,0,0,0
$GC,1037,-0.60,-146.0,107.9,-9.1,171,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2782,3514,0,0,0,0,0,0
$GC,1360,-0.63,-146.0,137.3,-9.2,201,1364,0.00,1.92,0.00,0.000,4,0.000,0.069,2273,3927,3513,0,0,0,0,0,0
$GC,1398,-0.67,-146.0,141.7,-10.0,204,1405,0.00,1.85,0.00,0.000,6,0.000,0.044,2272,2772,3512,0,0,0,0,0,0
$GC,1725,-0.72,-146.0,171.6,-9.8,235,1729,0.00,2.22,0.00,0.000,4,0.000,0.047,2272,1365,3512,0,0,0,0,0,0
$GC,1770,-0.77,-146.0,176.4,-10.0,238,1777,0.12,2.33,0.00,0.000,6,0.096,0.057,2212,2773,3512,0,0,0,0,0,0
$GC,2096,-0.70,-146.0,219.0,-13.5,269,2098,0.12,0.00,0.00,0.000,6,0.175,0.000,2245,2773,3512,0,0,0,0,0,0
$GC,2415,-0.70,-146.0,248.7,-9.0,299,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2773,3512,0,0,0,0,0,0
$GC,2734,-0.70,-146.0,275.9,-9.0,329,2738,0.00,1.92,0.00,0.000,4,0.000,0.065,2238,3927,3513,0,0,0,0,0,0
$GC,2803,-0.70,-146.0,282.7,-9.4,335,2807,0.00,1.88,0.00,0.000,6,0.000,0.043,2239,2752,3513,0,0,0,0,0,0
$GC,3135,-0.70,-146.0,314.7,-9.8,366,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2752,3514,0,0,0,0,0,0
$GC,3456,-0.70,-146.0,347.1,-10.7,396,3460,0.00,2.00,0.00,0.000,4,0.000,0.067,2235,3921,3515,0,0,0,0,0,0
$GC,3495,-0.70,-146.0,351.8,-11.3,399,3501,0.00,1.85,0.00,0.000,6,0.000,0.042,2235,2759,3514,0,0,0,0,0,0
$GC,3821,-0.70,-146.0,385.1,-10.1,430,3825,0.00,2.17,0.00,0.000,4,0.000,0.045,2235,1372,3515,0,0,0,0,0,0
$GC,3871,-0.70,-146.0,390.6,-10.3,434,3878,0.00,2.30,0.00,0.000,6,0.000,0.055,2235,2773,3515,0,0,0,0,0,0
$GC,4188,-0.70,-146.0,420.3,-9.2,451,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2773,3515,0,0,0,0,0,0
$GC,4495,-0.70,-146.0,449.5,-9.3,461,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2773,3516,0,0,0,0,0,0
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4651,-0.14,0.0,463.4,9.1,466,4779,0.57,0.00,118.65,0.844,4,0.127,0.000,2424,2595,2922,0,0,0,0,0,0
$STATE,4780,end apogee,CONTROL_FINISHED_OK
$STATE,4780,begin climb
$GC,4782,0.57,146.0,466.9,0.0,470,4914,0.65,2.33,122.60,0.830,4,0.064,0.045,2663,1180,2327,0,0,0,0,0,0
$GC,5051,0.57,146.0,444.1,11.0,478,5055,0.00,2.35,0.00,0.000,6,0.000,0.050,2663,2602,2321,0,0,0,0,0,0
$GC,5375,0.52,146.0,405.5,12.2,489,5379,0.00,2.25,0.00,0.000,4,0.000,0.046,2666,1183,2318,0,0,0,0,0,0
$GC,5579,0.52,146.0,381.8,11.4,503,5586,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2614,2318,0,0,0,0,0,0
$GC,5906,0.47,146.0,342.9,11.4,534,5908,0.15,0.00,0.00,0.000,6,0.185,0.000,2626,2614,2317,0,0,0,0,0,0
$GC,6223,0.49,146.0,312.1,10.1,564,6227,0.00,2.15,0.00,0.000,4,0.000,0.061,2626,3931,2316,0,0,0,0,0,0
$GC,6246,0.49,146.0,309.5,11.0,565,6253,0.00,2.10,0.00,0.000,6,0.000,0.039,2626,2597,2315,0,0,0,0,0,0
$GC,6572,0.52,151.0,277.9,9.8,596,6576,0.00,2.20,0.00,0.000,4,0.000,0.062,2625,3932,2315,0,0,0,0,0,0
$GC,6647,0.50,151.0,269.3,12.1,602,6651,0.00,2.08,0.00,0.000,6,0.000,0.039,2626,2612,2315,0,0,0,0,0,0
$GC,6973,0.53,157.5,237.3,9.7,632,6988,0.00,2.25,9.20,0.658,4,0.000,0.062,2625,3926,2279,0,0,0,0,0,0
$GC,7064,0.53,157.5,226.8,12.9,640,7068,0.00,2.05,0.00,0.000,6,0.000,0.039,2626,2630,2278,0,0,0,0,0,0
$GC,7396,0.58,172.2,194.6,9.3,671,7419,0.10,2.33,13.95,0.660,4,0.110,0.047,2680,1191,2220,0,0,0,0,0,0
$GC,7459,0.58,172.2,187.4,12.0,676,7466,0.00,2.30,0.00,0.000,6,0.000,0.049,2680,2620,2219,0,0,0,0,0,0
$GC,7786,0.54,172.2,146.2,11.8,707,7790,0.00,2.12,0.00,0.000,4,0.000,0.060,2680,3925,2217,0,0,0,0,0,0
$GC,7819,0.45,172.2,141.6,13.0,709,7826,0.20,2.03,0.00,0.000,6,0.177,0.038,2626,2638,2216,0,0,0,0,0,0
$GC,8146,0.55,220.5,117.8,7.8,740,8193,0.00,2.22,40.40,0.627,4,0.000,0.061,2625,3925,2023,0,0,0,0,0,0
$GC,8259,0.63,220.5,107.1,10.5,750,8264,0.15,2.03,0.00,0.000,6,0.087,0.038,2687,2649,2019,0,0,0,0,0,0
$GC,8600,0.63,220.5,65.8,10.8,805,8607,0.00,2.28,0.00,0.000,4,0.000,0.047,2690,1196,2018,0,0,0,0,0,0
$GC,8654,0.69,220.5,60.3,10.1,814,8661,0.00,2.33,0.00,0.000,6,0.000,0.049,2689,2653,2018,0,0,0,0,0,0
$GC,9000,0.69,228.0,25.0,9.7,875,9013,0.00,2.10,6.80,0.540,4,0.000,0.061,2690,3925,1992,0,0,0,0,0,0
$GC,9058,0.67,228.0,19.5,10.1,884,9065,0.00,2.00,0.00,0.000,6,0.000,0.040,2693,2657,1992,0,0,0,0,0,0
$FREEZE,8.26,2.318,-1.826,0,1,0
$FREEZE,7.66,2.310,-1.825,0,1,0
$FREEZE,6.96,2.315,-1.824,0,1,0
$FREEZE,6.26,2.358,-1.823,0,1,0
$FREEZE,5.72,2.388,-1.823,0,1,0
$FREEZE,5.20,2.377,-1.823,0,1,0
$FREEZE,4.88,2.340,-1.822,0,1,0
$FREEZE,4.26,2.351,-1.822,0,1,0
$FREEZE,3.79,2.390,-1.823,0,1,0
$FREEZE,3.41,2.340,-1.822,0,1,0
$FREEZE,2.92,2.340,-1.821,0,1,0
$STATE,9220,end climb,SURFACE_DEPTH_REACHED
$STATE,9220,begin surface coast
$FREEZE,2.45,2.325,-1.821,0,1,0
$FREEZE,1.99,2.323,-1.821,0,1,0
$FREEZE,1.66,2.380,-1.820,0,1,0
$FREEZE,1.19,2.422,-1.819,0,1,0
$FREEZE,1.00,2.406,-0.997,0,1,0
$FREEZE,0.94,2.374,-0.138,0,1,0
$FINISH,0.9,1.001957
$STATE,9253,end surface coast,CONTROL_FINISHED_OK
$STATE,9253,begin surface
$SM_CCo,9271,227.27,0.080,0,0,440,609.08
$SM_GC,1.67,0.00,0.00,227.27,0.000,0.000,0.080,290,2779,440,-6.81,-0.03,609.08
$RAFOS_CLK,378
$RAFOS,6,1294346944,20.833334,20.817778,44,43,43,43,41,41,993,350,1519,162,144,812
$RAFOS,5,1294346469,20.700001,20.685833,61,53,44,43,41,40,639,1852,342,1378,704,1739
$RAFOS,4,1294345982,20.566668,20.550556,58,50,46,44,43,40,898,1028,909,1341,1929,1543
$RAFOS,3,1294345502,20.433332,20.417223,52,46,45,43,43,42,784,1271,1625,185,1014,886
$RAFOS,2,1294345025,20.299999,20.284721,48,43,42,41,40,39,225,1711,382,1859,339,8
$RAFOS,1,1294344568,20.166666,20.157778,50,44,41,41,41,40,1363,661,1278,26,1684,1361
$RAFOS,0,1294344078,20.033333,20.021667,48,46,43,43,42,42,601,515,391,1831,163,425
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6641.98,-5641.63,060111,151501
$TT8_MAMPS,0.028462
$HUMID,45.39
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.0
$24V_AH,22.7,80.274
$10V_AH,9.8,55.162
$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,17.025,69.350,311.600,227.275,0.000,23.467,48.104,485.437,1.250,0.000,16.421,2220.598,4958.961,657.394,2050.872,557.931,0.000,1494.654,0.000,1532.211,2520.000,9.706,0.000
$DEVICE_MAMPS,241.740,84.150,843.795,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,33389,919
$CAP_FILE_SIZE,114053,0
$CFSIZE,260165632,203616256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.8
$GPS,060111,213246,6705.726,-5653.843,9,99.0,29,-37.6