version: 66.08
glider: 183
mission: 3
dive: 701
start: 1 7 111 3 23 51
data:
$ID,183
$MISSION,3
$DIVE,701
$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,-11372.098
$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,41
$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
$GPS1,070111,031725,6706.832,-5651.798,35,1.8,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.8
$GPS2,070111,032320,6706.868,-5651.919,13,1.6,13,-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,196.0,7702,-17.5,-10.000
$D_GRID,438
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-136.43,0.000,2,0.000,0.000,283,2778,3488,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.3,-11.6,24,176,8.32,2.30,-0.65,0.000,4,0.239,0.055,2286,1360,3522,0,0,0,0,0,0
$GC,330,-0.60,-146.0,35.8,-9.3,53,337,0.00,2.33,0.00,0.000,6,0.000,0.056,2282,2778,3523,0,0,0,0,0,0
$GC,677,-0.60,-146.0,72.2,-9.3,114,683,0.00,1.92,0.00,0.000,4,0.000,0.067,2275,3926,3522,0,0,0,0,0,0
$GC,726,-0.63,-146.0,77.5,-10.5,122,733,0.00,1.83,0.00,0.000,6,0.000,0.045,2275,2786,3522,0,0,0,0,0,0
$GC,1067,-0.63,-146.0,110.4,-8.6,172,1071,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1366,3522,0,0,0,0,0,0
$GC,1132,-0.68,-146.0,116.1,-8.3,177,1136,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2762,3522,0,0,0,0,0,0
$GC,1458,-0.72,-146.0,145.9,-9.9,207,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2762,3522,0,0,0,0,0,0
$GC,1781,-0.77,-146.0,174.7,-8.1,237,1785,0.15,1.98,0.00,0.000,4,0.090,0.067,2192,3926,3521,0,0,0,0,0,0
$GC,1838,-0.65,-146.0,182.1,-14.1,242,1843,0.25,1.88,0.00,0.000,6,0.152,0.042,2264,2751,3521,0,0,0,0,0,0
$GC,2170,-0.68,-146.0,209.9,-8.2,273,2173,0.00,2.00,0.00,0.000,4,0.000,0.067,2261,3932,3521,0,0,0,0,0,0
$GC,2243,-0.73,-146.0,216.7,-9.4,279,2250,0.00,1.85,0.00,0.000,6,0.000,0.044,2261,2776,3522,0,0,0,0,0,0
$GC,2570,-0.76,-146.0,245.5,-8.8,310,2574,0.00,2.22,0.00,0.000,4,0.000,0.045,2261,1364,3522,0,0,0,0,0,0
$GC,2702,-0.80,-146.0,256.7,-8.5,321,2709,0.12,2.28,0.00,0.000,6,0.092,0.055,2197,2754,3522,0,0,0,0,0,0
$GC,3027,-0.72,-146.0,294.9,-11.6,352,3032,0.15,1.98,0.00,0.000,4,0.168,0.064,2231,3935,3523,0,0,0,0,0,0
$GC,3061,-0.69,-146.0,298.6,-10.5,354,3069,0.00,1.90,0.00,0.000,6,0.000,0.041,2231,2741,3523,0,0,0,0,0,0
$GC,3388,-0.69,-146.0,329.3,-9.5,385,3391,0.00,2.00,0.00,0.000,4,0.000,0.065,2223,3928,3523,0,0,0,0,0,0
$GC,3457,-0.66,-146.0,336.9,-10.8,391,3461,0.12,1.88,0.00,0.000,6,0.161,0.042,2258,2751,3523,0,0,0,0,0,0
$GC,3789,-0.70,-146.0,363.4,-7.9,422,3792,0.00,2.00,0.00,0.000,4,0.000,0.066,2256,3935,3524,0,0,0,0,0,0
$GC,3824,-0.75,-146.0,366.4,-8.6,425,3828,0.00,1.88,0.00,0.000,6,0.000,0.043,2256,2759,3524,0,0,0,0,0,0
$GC,4159,-0.79,-146.0,392.1,-7.6,456,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2759,3524,0,0,0,0,0,0
$GC,4477,-0.83,-146.0,417.3,-7.9,473,4481,0.12,2.00,0.00,0.000,4,0.099,0.067,2191,3929,3525,0,0,0,0,0,0
$GC,4512,-0.74,-146.0,421.0,-12.1,474,4517,0.15,1.85,0.00,0.000,6,0.156,0.042,2231,2765,3525,0,0,0,0,0,0
$STATE,4698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4698,begin apogee
$GC,4704,-0.14,0.0,439.4,9.6,480,4832,0.57,0.00,119.65,0.826,4,0.126,0.000,2423,2596,2922,0,0,0,0,0,0
$STATE,4833,end apogee,CONTROL_FINISHED_OK
$STATE,4833,begin climb
$GC,4836,0.57,146.0,442.8,0.0,484,4965,0.65,2.30,120.93,0.813,4,0.063,0.044,2664,1185,2330,0,0,0,0,0,0
$GC,5111,0.57,146.0,418.5,10.6,492,5116,0.00,2.30,0.00,0.000,6,0.000,0.050,2663,2602,2323,0,0,0,0,0,0
$GC,5433,0.52,146.0,380.1,12.7,512,5437,0.00,2.25,0.00,0.000,4,0.000,0.045,2666,1185,2320,0,0,0,0,0,0
$GC,5687,0.52,146.0,349.7,12.0,534,5691,0.00,2.30,0.00,0.000,6,0.000,0.049,2666,2614,2320,0,0,0,0,0,0
$GC,6013,0.47,146.0,309.9,12.5,564,6018,0.15,2.15,0.00,0.000,4,0.186,0.060,2626,3927,2320,0,0,0,0,0,0
$GC,6124,0.45,146.0,297.7,10.9,573,6128,0.00,2.08,0.00,0.000,6,0.000,0.039,2625,2612,2318,0,0,0,0,0,0
$GC,6456,0.48,146.0,265.0,10.6,604,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2611,2318,0,0,0,0,0,0
$GC,6777,0.52,158.9,233.5,9.4,634,6793,0.00,2.22,10.73,0.664,4,0.000,0.044,2625,1198,2275,0,0,0,0,0,0
$GC,6851,0.61,184.3,226.6,8.8,640,6885,0.12,2.33,22.90,0.683,6,0.096,0.049,2683,2641,2171,0,0,0,0,0,0
$GC,7203,0.56,184.3,179.1,13.7,673,7207,0.00,2.12,0.00,0.000,4,0.000,0.060,2683,3931,2166,0,0,0,0,0,0
$GC,7283,0.48,184.3,167.0,16.1,680,7288,0.20,2.05,0.00,0.000,6,0.175,0.038,2635,2632,2164,0,0,0,0,0,0
$GC,7609,0.53,192.5,134.5,9.6,710,7622,0.00,2.30,7.32,0.584,4,0.000,0.047,2635,1202,2138,0,0,0,0,0,0
$GC,7641,0.61,205.3,131.4,9.4,713,7664,0.12,2.28,12.62,0.614,6,0.093,0.048,2689,2635,2085,0,0,0,0,0,0
$GC,7987,0.61,205.3,87.9,12.1,753,7994,0.00,2.12,0.00,0.000,4,0.000,0.060,2690,3928,2081,0,0,0,0,0,0
$GC,8019,0.57,205.3,83.9,13.7,758,8026,0.12,2.05,0.00,0.000,6,0.188,0.037,2662,2624,2080,0,0,0,0,0,0
$GC,8368,0.64,237.0,54.6,8.5,819,8398,0.00,0.00,27.20,0.595,6,0.000,0.000,2662,2624,1955,0,0,0,0,0,0
$GC,8741,0.72,254.4,24.9,9.2,884,8763,0.12,2.33,15.05,0.575,4,0.101,0.047,2716,1199,1884,0,0,0,0,0,0
$GC,8828,0.76,254.4,14.4,11.2,898,8835,0.00,2.30,0.00,0.000,6,0.000,0.047,2715,2629,1883,0,0,0,0,0,0
$FREEZE,8.29,2.609,-1.828,0,1,0
$FREEZE,7.58,2.591,-1.827,0,1,0
$FREEZE,6.93,2.591,-1.827,0,1,0
$FREEZE,6.40,2.581,-1.827,0,1,0
$FREEZE,5.97,2.581,-1.826,0,1,0
$FREEZE,5.44,2.583,-1.826,0,1,0
$FREEZE,4.70,2.585,-1.825,0,1,0
$FREEZE,4.13,2.577,-1.825,0,1,0
$FREEZE,3.62,2.580,-1.824,0,1,0
$FREEZE,3.17,2.583,-1.824,0,1,0
$FREEZE,2.66,2.579,-1.824,0,1,0
$STATE,8935,end climb,SURFACE_DEPTH_REACHED
$STATE,8935,begin surface coast
$FREEZE,1.83,2.580,-1.823,0,1,0
$FREEZE,1.45,2.571,-1.823,0,1,0
$FREEZE,0.96,2.583,-1.822,0,1,0
$FREEZE,0.95,2.288,-1.082,0,1,0
$FREEZE,0.95,2.611,-1.818,0,1,0
$FREEZE,0.99,2.558,-1.198,0,1,0
$FINISH,1.0,1.017615
$STATE,8967,end surface coast,CONTROL_FINISHED_OK
$STATE,8967,begin surface
$SM_CCo,8984,210.43,0.079,0,0,440,609.08
$SM_GC,1.75,0.00,0.00,210.43,0.000,0.000,0.079,298,2801,440,-6.79,0.59,609.08
$RAFOS_CLK,365
$RAFOS,6,1294375746,4.833333,4.818333,77,41,41,40,39,38,801,1766,1826,898,1923,1882
$RAFOS,5,1294375268,4.700000,4.685555,45,44,43,42,39,38,558,1777,863,1212,456,726
$RAFOS,4,1294374784,4.566667,4.551111,41,40,40,39,39,38,892,335,44,1331,26,1364
$RAFOS,3,1294374310,4.433333,4.419445,46,43,42,42,40,39,980,1116,1114,548,678,628
$RAFOS,2,1294373824,4.300000,4.284444,45,44,42,41,41,38,924,1014,26,320,1265,729
$RAFOS,1,1294373347,4.166667,4.151945,50,43,41,40,40,40,300,1605,1054,1337,25,1766
$RAFOS,0,1294372867,4.033333,4.018611,43,43,42,42,41,37,1067,1432,1895,1560,1165,556
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5707.59,070111,000013
$TT8_MAMPS,0.028462
$HUMID,46.10
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.3
$24V_AH,22.8,80.585
$10V_AH,9.8,55.357
$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,17.925,76.550,336.400,210.425,0.000,31.487,50.084,127.387,1.000,0.000,15.830,2276.693,4547.664,652.352,1790.595,294.441,0.000,1518.270,0.000,1577.138,2520.000,7.938,0.000
$DEVICE_MAMPS,238.680,67.320,826.200,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,635.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,33381,923
$CAP_FILE_SIZE,114757,0
$CFSIZE,260165632,203436032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.9
$GPS,070111,055828,6707.123,-5653.576,8,99.0,28,-37.6