version: 66.08
glider: 183
mission: 3
dive: 699
start: 1 6 111 21 49 9
data:
$ID,183
$MISSION,3
$DIVE,699
$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,-11369.587
$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,26
$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
$GPS1,060111,213246,6705.726,-5653.843,9,99.0,29,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.3
$GPS2,060111,214836,6705.838,-5653.599,31,1.0,47,-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,180.0,6631,-17.5,-10.000
$D_GRID,462
$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,-146.0,0.0,0.0,0,161,0.00,0.00,-139.62,0.000,6,0.000,0.000,269,2781,3520,0,0,0,0,0,0
$GC,164,-0.57,-146.0,5.9,-14.8,25,178,8.43,2.30,0.00,0.000,4,0.240,0.043,2283,1368,3522,0,0,0,0,0,0
$GC,355,-0.60,-146.0,40.3,-10.7,58,362,0.00,2.33,0.00,0.000,6,0.000,0.057,2283,2776,3523,0,0,0,0,0,0
$GC,702,-0.62,-146.0,75.1,-9.1,119,709,0.00,1.92,0.00,0.000,4,0.000,0.067,2276,3926,3522,0,0,0,0,0,0
$GC,790,-0.65,-146.0,84.1,-10.4,134,797,0.00,1.85,0.00,0.000,6,0.000,0.044,2276,2772,3522,0,0,0,0,0,0
$GC,1132,-0.67,-146.0,117.2,-9.3,179,1135,0.00,1.98,0.00,0.000,4,0.000,0.069,2275,3934,3521,0,0,0,0,0,0
$GC,1200,-0.70,-146.0,123.8,-9.7,185,1204,0.00,1.80,0.00,0.000,6,0.000,0.045,2274,2797,3522,0,0,0,0,0,0
$GC,1532,-0.74,-146.0,155.4,-8.8,216,1534,0.10,0.00,0.00,0.000,6,0.109,0.000,2225,2796,3521,0,0,0,0,0,0
$GC,1851,-0.69,-146.0,192.8,-12.3,246,1855,0.00,2.25,0.00,0.000,4,0.000,0.046,2225,1370,3520,0,0,0,0,0,0
$GC,1911,-0.69,-146.0,200.1,-10.5,251,1919,0.12,2.40,0.00,0.000,6,0.178,0.058,2254,2822,3521,0,0,0,0,0,0
$GC,2238,-0.69,-146.0,228.1,-8.0,282,2242,0.00,2.30,0.00,0.000,4,0.000,0.045,2254,1365,3521,0,0,0,0,0,0
$GC,2295,-0.73,-146.0,232.9,-8.5,286,2301,0.00,2.38,0.00,0.000,6,0.000,0.057,2249,2819,3521,0,0,0,0,0,0
$GC,2621,-0.73,-146.0,260.3,-8.8,317,2625,0.00,1.85,0.00,0.000,4,0.000,0.067,2247,3927,3522,0,0,0,0,0,0
$GC,2740,-0.75,-146.0,271.8,-10.3,327,2747,0.00,1.77,0.00,0.000,6,0.000,0.044,2247,2817,3522,0,0,0,0,0,0
$GC,3068,-0.75,-146.0,302.3,-9.2,358,3072,0.00,2.30,0.00,0.000,4,0.000,0.044,2247,1359,3523,0,0,0,0,0,0
$GC,3135,-0.79,-146.0,308.8,-9.4,363,3141,0.00,2.40,0.00,0.000,6,0.000,0.055,2247,2819,3523,0,0,0,0,0,0
$GC,3460,-0.79,-146.0,336.6,-8.3,394,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2819,3523,0,0,0,0,0,0
$GC,3781,-0.79,-146.0,362.0,-7.7,424,3785,0.00,2.28,0.00,0.000,4,0.000,0.044,2247,1368,3524,0,0,0,0,0,0
$GC,3878,-0.81,-146.0,370.0,-8.3,432,3885,0.00,2.35,0.00,0.000,6,0.000,0.055,2247,2797,3524,0,0,0,0,0,0
$GC,4204,-0.83,-146.0,395.2,-7.7,463,4206,0.12,0.00,0.00,0.000,6,0.100,0.000,2182,2797,3524,0,0,0,0,0,0
$GC,4533,-0.73,-146.0,432.9,-11.7,477,4535,0.20,0.00,0.00,0.000,6,0.160,0.000,2238,2797,3525,0,0,0,0,0,0
$GC,4838,-0.73,-146.0,458.8,-7.9,487,4842,0.00,2.25,0.00,0.000,4,0.000,0.044,2238,1360,3525,0,0,0,0,0,0
$STATE,4875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4875,begin apogee
$GC,4884,-0.14,0.0,462.2,8.4,488,5012,0.57,0.00,120.22,0.842,4,0.125,0.000,2425,2610,2923,0,0,0,0,0,0
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5016,0.57,146.0,465.0,0.0,492,5148,0.65,2.35,122.43,0.825,4,0.063,0.044,2665,1180,2327,0,0,0,0,0,0
$GC,5327,0.57,146.0,433.3,12.2,502,5331,0.00,2.33,0.00,0.000,6,0.000,0.049,2665,2600,2321,0,0,0,0,0,0
$GC,5651,0.52,146.0,391.5,12.5,516,5655,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1183,2317,0,0,0,0,0,0
$GC,5886,0.52,146.0,362.9,11.9,536,5893,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2610,2318,0,0,0,0,0,0
$GC,6212,0.47,146.0,322.5,12.2,567,6217,0.15,2.25,0.00,0.000,4,0.187,0.046,2626,1191,2316,0,0,0,0,0,0
$GC,6257,0.55,169.0,317.9,8.9,570,6286,0.00,2.25,19.02,0.729,6,0.000,0.049,2626,2594,2232,0,0,0,0,0,0
$GC,6605,0.59,169.7,284.1,10.0,603,6607,0.12,0.00,0.00,0.000,6,0.096,0.000,2684,2594,2229,0,0,0,0,0,0
$GC,6923,0.52,169.7,239.1,14.9,633,6928,0.15,2.20,0.00,0.000,4,0.170,0.061,2642,3925,2228,0,0,0,0,0,0
$GC,6978,0.49,169.7,231.6,13.8,637,6985,0.00,2.12,0.00,0.000,6,0.000,0.039,2642,2578,2227,0,0,0,0,0,0
$GC,7304,0.52,169.7,196.8,10.3,668,7308,0.00,2.22,0.00,0.000,4,0.000,0.061,2642,3929,2227,0,0,0,0,0,0
$GC,7338,0.50,169.7,193.0,11.7,670,7344,0.00,2.12,0.00,0.000,6,0.000,0.038,2646,2583,2227,0,0,0,0,0,0
$GC,7663,0.50,169.7,162.1,10.2,701,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2582,2227,0,0,0,0,0,0
$GC,7985,0.52,169.7,127.7,11.0,731,7989,0.00,2.22,0.00,0.000,4,0.000,0.061,2645,3925,2227,0,0,0,0,0,0
$GC,8024,0.50,169.7,122.4,12.6,734,8030,0.00,2.08,0.00,0.000,6,0.000,0.038,2651,2606,2227,0,0,0,0,0,0
$GC,8358,0.54,194.2,89.7,8.9,775,8389,0.00,2.25,21.38,0.609,4,0.000,0.061,2651,3919,2130,0,0,0,0,0,0
$GC,8440,0.54,194.2,81.4,10.6,789,8447,0.00,2.08,0.00,0.000,6,0.000,0.038,2652,2608,2127,0,0,0,0,0,0
$GC,8789,0.62,225.9,51.6,8.5,850,8826,0.00,2.25,27.15,0.592,4,0.000,0.062,2652,3918,1999,0,0,0,0,0,0
$GC,8886,0.66,225.9,41.9,10.0,866,8894,0.10,2.00,0.00,0.000,6,0.112,0.040,2695,2645,1996,0,0,0,0,0,0
$FREEZE,8.39,2.529,-1.826,0,1,0
$FREEZE,7.74,2.542,-1.826,0,1,0
$FREEZE,6.97,2.531,-1.825,0,1,0
$FREEZE,6.21,2.525,-1.825,0,1,0
$FREEZE,5.58,2.523,-1.824,0,1,0
$FREEZE,4.91,2.519,-1.824,0,1,0
$FREEZE,4.27,2.524,-1.823,0,1,0
$FREEZE,3.75,2.525,-1.823,0,1,0
$FREEZE,3.07,2.524,-1.822,0,1,0
$FREEZE,2.76,2.520,-1.822,0,1,0
$STATE,9218,end climb,SURFACE_DEPTH_REACHED
$STATE,9218,begin surface coast
$FREEZE,2.30,2.524,-1.822,0,1,0
$FREEZE,1.85,2.523,-1.821,0,1,0
$FREEZE,1.48,2.522,-1.821,0,1,0
$FREEZE,0.98,2.519,-1.821,0,1,0
$FREEZE,0.96,2.519,-1.821,0,1,0
$FREEZE,0.96,2.453,-0.895,0,1,0
$FINISH,1.0,1.013189
$STATE,9252,end surface coast,CONTROL_FINISHED_OK
$STATE,9252,begin surface
$SM_CCo,9268,227.30,0.080,0,0,441,609.08
$SM_GC,1.76,0.00,0.00,227.30,0.000,0.000,0.080,281,2785,441,-6.84,0.14,609.08
$RAFOS_CLK,380
$RAFOS,2,1294359424,0.300000,0.284444,49,44,44,43,43,41,844,80,1008,1301,1822,1490
$RAFOS,1,1294358943,0.166667,0.150833,50,44,43,43,43,41,1563,578,518,1866,431,1726
$RAFOS,0,1294358464,0.033333,0.017778,48,47,44,43,41,41,795,804,1097,1876,104,1042
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5609.39,060111,181859
$TT8_MAMPS,0.028462
$HUMID,45.58
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$24V_AH,22.6,80.381
$10V_AH,9.8,55.230
$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,16.950,74.275,310.200,227.300,0.000,25.780,17.598,489.216,1.250,0.000,50.397,2224.542,4907.582,664.988,2093.299,565.412,0.000,1518.055,0.000,1569.838,1080.000,9.709,0.000
$DEVICE_MAMPS,240.210,77.265,841.500,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,33427,931
$CAP_FILE_SIZE,115504,0
$CFSIZE,260165632,203550720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.4
$GPS,070111,002901,6706.139,-5651.475,44,1.2,45,-37.6