version: 66.08
glider: 183
mission: 3
dive: 700
start: 1 7 111 0 49 5
data:
$ID,183
$MISSION,3
$DIVE,700
$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,-11370.842
$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,28
$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
$GPS1,070111,002901,6706.139,-5651.475,44,1.2,45,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.2
$GPS2,070111,004834,6706.266,-5651.409,8,2.1,27,-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,195.5,6531,-17.5,-10.000
$D_GRID,441
$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,-139.20,0.000,6,0.000,0.000,257,2786,3519,0,0,0,0,0,0
$GC,166,-0.57,-146.0,6.3,-15.6,25,179,8.43,2.30,0.00,0.000,4,0.239,0.040,2282,1363,3522,0,0,0,0,0,0
$GC,367,-0.60,-146.0,42.7,-10.2,60,373,0.00,2.33,0.00,0.000,6,0.000,0.056,2276,2777,3523,0,0,0,0,0,0
$GC,712,-0.60,-146.0,78.4,-10.2,121,719,0.00,1.92,0.00,0.000,4,0.000,0.068,2271,3927,3523,0,0,0,0,0,0
$GC,846,-0.60,-146.0,92.1,-10.5,144,853,0.00,1.83,0.00,0.000,6,0.000,0.045,2271,2791,3522,0,0,0,0,0,0
$GC,1176,-0.60,-146.0,128.8,-10.6,181,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2791,3522,0,0,0,0,0,0
$GC,1499,-0.63,-146.0,159.3,-8.4,211,1503,0.00,2.22,0.00,0.000,4,0.000,0.047,2271,1372,3521,0,0,0,0,0,0
$GC,1562,-0.68,-146.0,164.9,-8.1,216,1566,0.00,2.30,0.00,0.000,6,0.000,0.058,2263,2766,3521,0,0,0,0,0,0
$GC,1894,-0.71,-146.0,191.8,-7.8,247,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2766,3521,0,0,0,0,0,0
$GC,2215,-0.74,-146.0,219.7,-9.3,277,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2766,3521,0,0,0,0,0,0
$GC,2543,-0.77,-146.0,249.7,-8.8,308,2548,0.10,1.98,0.00,0.000,4,0.112,0.067,2208,3928,3523,0,0,0,0,0,0
$GC,2663,-0.71,-146.0,264.5,-12.5,318,2671,0.12,1.88,0.00,0.000,6,0.164,0.042,2241,2752,3523,0,0,0,0,0,0
$GC,2990,-0.71,-146.0,294.3,-9.1,349,2994,0.00,2.15,0.00,0.000,4,0.000,0.044,2242,1372,3523,0,0,0,0,0,0
$GC,3109,-0.73,-146.0,304.9,-8.6,359,3116,0.00,2.25,0.00,0.000,6,0.000,0.056,2242,2740,3523,0,0,0,0,0,0
$GC,3435,-0.73,-146.0,335.5,-9.0,390,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2741,3524,0,0,0,0,0,0
$GC,3757,-0.73,-146.0,362.1,-8.1,420,3761,0.00,2.00,0.00,0.000,4,0.000,0.065,2235,3935,3525,0,0,0,0,0,0
$GC,3808,-0.73,-146.0,367.1,-9.4,424,3815,0.00,1.90,0.00,0.000,6,0.000,0.041,2235,2741,3525,0,0,0,0,0,0
$GC,4134,-0.73,-146.0,395.2,-8.6,455,4137,0.00,2.00,0.00,0.000,4,0.000,0.066,2235,3927,3525,0,0,0,0,0,0
$GC,4180,-0.73,-146.0,399.2,-8.7,459,4184,0.00,1.88,0.00,0.000,6,0.000,0.042,2235,2750,3525,0,0,0,0,0,0
$GC,4500,-0.73,-146.0,426.5,-8.7,470,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2751,3526,0,0,0,0,0,0
$STATE,4679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4679,begin apogee
$GC,4686,-0.14,0.0,443.1,8.8,476,4814,0.57,0.00,120.00,0.833,4,0.127,0.000,2425,2595,2923,0,0,0,0,0,0
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4818,0.57,146.0,446.1,0.0,480,4949,0.65,2.30,121.90,0.818,4,0.067,0.044,2661,1186,2327,0,0,0,0,0,0
$GC,5080,0.57,146.0,423.0,11.3,488,5084,0.00,2.33,0.00,0.000,6,0.000,0.050,2661,2606,2321,0,0,0,0,0,0
$GC,5408,0.53,146.0,382.2,12.6,506,5412,0.00,2.25,0.00,0.000,4,0.000,0.046,2662,1188,2317,0,0,0,0,0,0
$GC,5651,0.53,146.0,352.9,11.4,527,5655,0.00,2.30,0.00,0.000,6,0.000,0.050,2662,2619,2318,0,0,0,0,0,0
$GC,5977,0.49,146.0,313.4,12.0,557,5981,0.00,2.15,0.00,0.000,4,0.000,0.060,2662,3932,2316,0,0,0,0,0,0
$GC,6091,0.40,146.0,297.4,14.1,567,6096,0.22,2.08,0.00,0.000,6,0.181,0.039,2604,2614,2315,0,0,0,0,0,0
$GC,6419,0.48,177.0,269.0,8.6,597,6452,0.00,2.30,25.23,0.717,4,0.000,0.047,2605,1200,2201,0,0,0,0,0,0
$GC,6500,0.63,209.1,261.9,8.5,604,6535,0.20,2.28,27.88,0.705,6,0.074,0.049,2691,2612,2070,0,0,0,0,0,0
$GC,6853,0.58,209.1,208.0,15.6,637,6856,0.00,2.17,0.00,0.000,4,0.000,0.060,2691,3926,2063,0,0,0,0,0,0
$GC,6911,0.50,209.1,198.1,17.7,642,6916,0.20,2.08,0.00,0.000,6,0.174,0.039,2638,2611,2062,0,0,0,0,0,0
$GC,7243,0.55,209.1,162.9,10.3,673,7247,0.00,2.22,0.00,0.000,4,0.000,0.047,2638,1190,2061,0,0,0,0,0,0
$GC,7278,0.66,220.5,159.6,9.5,676,7294,0.12,2.30,9.75,0.623,6,0.095,0.050,2694,2626,2023,0,0,0,0,0,0
$GC,7621,0.63,220.5,112.4,13.9,708,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2626,2022,0,0,0,0,0,0
$GC,7951,0.63,220.5,69.9,12.0,759,7958,0.00,2.15,0.00,0.000,4,0.000,0.061,2693,3929,2021,0,0,0,0,0,0
$GC,7989,0.59,220.5,65.0,14.2,765,7996,0.00,2.05,0.00,0.000,6,0.000,0.039,2694,2628,2020,0,0,0,0,0,0
$GC,8335,0.59,220.5,25.1,12.2,826,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2628,2020,0,0,0,0,0,0
$FREEZE,8.56,2.454,-1.827,0,1,0
$FREEZE,8.10,2.455,-1.826,0,1,0
$FREEZE,7.48,2.455,-1.826,0,1,0
$FREEZE,6.98,2.454,-1.826,0,1,0
$FREEZE,6.36,2.453,-1.825,0,1,0
$FREEZE,5.77,2.452,-1.825,0,1,0
$FREEZE,5.29,2.451,-1.824,0,1,0
$FREEZE,4.80,2.453,-1.824,0,1,0
$FREEZE,4.22,2.453,-1.824,0,1,0
$FREEZE,3.68,2.452,-1.823,0,1,0
$FREEZE,3.03,2.458,-1.823,0,1,0
$FREEZE,2.39,2.451,-1.822,0,1,0
$STATE,8544,end climb,SURFACE_DEPTH_REACHED
$STATE,8544,begin surface coast
$FREEZE,1.81,2.454,-1.822,0,1,0
$FREEZE,1.27,2.450,-1.821,0,1,0
$FREEZE,1.05,2.452,-1.821,0,1,0
$FREEZE,0.90,2.445,-1.821,0,1,0
$FINISH,0.9,1.026511
$STATE,8567,end surface coast,CONTROL_FINISHED_OK
$STATE,8567,begin surface
$SM_CCo,8585,229.50,0.080,0,0,440,609.08
$SM_GC,1.61,0.00,0.00,229.50,0.000,0.000,0.080,298,2777,440,-6.80,-0.08,609.08
$RAFOS_CLK,346
$RAFOS,6,1294361368,0.833333,0.824444,57,43,43,42,41,41,687,1580,381,1502,548,1834
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5650.71,070111,000046
$TT8_MAMPS,0.028462
$HUMID,45.90
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,22.7,80.496
$10V_AH,9.8,55.295
$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,17.000,60.350,304.750,229.500,0.000,54.909,58.309,591.512,1.000,0.000,31.033,2123.918,4528.477,635.901,2156.177,548.827,0.000,1435.847,0.000,1467.635,360.000,7.939,0.000
$DEVICE_MAMPS,238.680,77.265,833.085,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151584
$DATA_FILE_SIZE,30046,868
$CAP_FILE_SIZE,109140,0
$CFSIZE,260165632,203501568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,070111,031725,6706.832,-5651.798,35,1.8,36,-37.6