version: 66.08
glider: 183
mission: 3
dive: 702
start: 1 7 111 6 5 8
data:
$ID,183
$MISSION,3
$DIVE,702
$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,-11373.354
$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,37
$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
$GPS1,070111,055828,6707.123,-5653.576,8,99.0,28,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.0
$GPS2,070111,060437,6707.161,-5653.784,29,1.6,29,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,3000.000
$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,189.1,8765,-17.5,-10.000
$D_GRID,440
$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,-146.0,0.0,0.0,0,156,0.00,0.00,-135.85,0.000,2,0.000,0.000,287,2801,3461,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.1,-9.2,24,181,8.27,2.35,-1.25,0.000,4,0.238,0.059,2285,1372,3522,0,0,0,0,0,0
$GC,303,-0.61,-146.0,31.4,-12.1,48,310,0.00,2.28,0.00,0.000,6,0.000,0.057,2282,2767,3523,0,0,0,0,0,0
$GC,649,-0.61,-146.0,69.1,-10.7,109,656,0.00,2.20,0.00,0.000,4,0.000,0.046,2283,1370,3522,0,0,0,0,0,0
$GC,710,-0.66,-146.0,75.2,-9.9,119,717,0.00,2.30,0.00,0.000,6,0.000,0.057,2277,2770,3522,0,0,0,0,0,0
$GC,1050,-0.66,-146.0,109.8,-10.1,171,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2770,3521,0,0,0,0,0,0
$GC,1372,-0.69,-146.0,140.4,-9.0,201,1376,0.00,1.92,0.00,0.000,4,0.000,0.068,2274,3930,3521,0,0,0,0,0,0
$GC,1430,-0.75,-146.0,146.0,-9.2,206,1434,0.10,1.90,0.00,0.000,6,0.060,0.044,2216,2759,3521,0,0,0,0,0,0
$GC,1761,-0.68,-146.0,186.3,-12.5,237,1763,0.12,0.00,0.00,0.000,6,0.171,0.000,2250,2759,3521,0,0,0,0,0,0
$GC,2079,-0.68,-146.0,219.5,-10.5,267,2083,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3928,3520,0,0,0,0,0,0
$GC,2148,-0.68,-146.0,227.2,-11.5,273,2151,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2756,3520,0,0,0,0,0,0
$GC,2480,-0.68,-146.0,260.0,-9.4,304,2484,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1366,3521,0,0,0,0,0,0
$GC,2507,-0.68,-146.0,263.1,-10.4,306,2514,0.00,2.33,0.00,0.000,6,0.000,0.055,2247,2785,3521,0,0,0,0,0,0
$GC,2833,-0.68,-146.0,295.0,-9.6,337,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2785,3521,0,0,0,0,0,0
$GC,3154,-0.68,-146.0,324.9,-9.1,367,3158,0.00,1.92,0.00,0.000,4,0.000,0.066,2247,3936,3522,0,0,0,0,0,0
$GC,3239,-0.71,-146.0,333.2,-9.3,374,3246,0.00,1.85,0.00,0.000,6,0.000,0.042,2247,2771,3522,0,0,0,0,0,0
$GC,3565,-0.73,-146.0,362.8,-9.5,405,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3523,0,0,0,0,0,0
$GC,3888,-0.75,-146.0,393.5,-10.3,435,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3523,0,0,0,0,0,0
$GC,4204,-0.78,-146.0,421.0,-8.2,450,4208,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1372,3523,0,0,0,0,0,0
$GC,4244,-0.81,-146.0,424.6,-8.9,451,4249,0.10,2.30,0.00,0.000,6,0.106,0.054,2193,2778,3524,0,0,0,0,0,0
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4395,-0.14,0.0,441.0,11.7,456,4523,0.73,0.00,119.38,0.829,4,0.133,0.000,2425,2598,2922,0,0,0,0,0,0
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4526,0.57,146.0,444.4,0.0,460,4657,0.65,2.30,120.93,0.815,4,0.065,0.044,2664,1185,2330,0,0,0,0,0,0
$GC,4825,0.57,146.0,416.0,11.8,469,4829,0.00,2.30,0.00,0.000,6,0.000,0.050,2664,2603,2323,0,0,0,0,0,0
$GC,5155,0.51,146.0,375.5,12.9,491,5159,0.00,2.25,0.00,0.000,4,0.000,0.046,2666,1183,2320,0,0,0,0,0,0
$GC,5341,0.51,146.0,353.2,11.8,507,5345,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2617,2320,0,0,0,0,0,0
$GC,5668,0.46,146.0,314.6,11.8,537,5673,0.15,2.15,0.00,0.000,4,0.185,0.060,2626,3928,2319,0,0,0,0,0,0
$GC,5763,0.44,146.0,303.0,11.9,545,5770,0.00,2.05,0.00,0.000,6,0.000,0.038,2626,2623,2318,0,0,0,0,0,0
$GC,6089,0.47,146.0,269.8,10.3,576,6092,0.00,2.17,0.00,0.000,4,0.000,0.061,2626,3931,2318,0,0,0,0,0,0
$GC,6135,0.47,146.0,264.5,12.5,580,6138,0.00,2.03,0.00,0.000,6,0.000,0.038,2625,2645,2318,0,0,0,0,0,0
$GC,6466,0.50,155.7,231.5,9.6,611,6476,0.00,0.00,8.15,0.638,6,0.000,0.000,2625,2644,2288,0,0,0,0,0,0
$GC,6795,0.55,183.1,200.9,8.7,642,6829,0.00,2.35,24.38,0.674,4,0.000,0.046,2626,1197,2176,0,0,0,0,0,0
$GC,6843,0.64,220.5,196.9,8.3,646,6881,0.15,2.33,32.15,0.663,6,0.086,0.049,2692,2635,2024,0,0,0,0,0,0
$GC,7202,0.61,220.5,146.3,14.7,679,7206,0.00,2.10,0.00,0.000,4,0.000,0.060,2692,3925,2017,0,0,0,0,0,0
$GC,7247,0.54,220.5,138.5,16.7,682,7254,0.17,2.03,0.00,0.000,6,0.173,0.038,2646,2641,2014,0,0,0,0,0,0
$GC,7574,0.62,228.1,104.5,9.7,713,7586,0.00,2.12,6.15,0.539,4,0.000,0.060,2646,3924,1994,0,0,0,0,0,0
$GC,7622,0.67,228.1,99.4,11.0,717,7629,0.12,2.03,0.00,0.000,6,0.099,0.038,2700,2635,1993,0,0,0,0,0,0
$GC,7970,0.67,228.1,59.1,10.4,778,7977,0.00,2.28,0.00,0.000,4,0.000,0.047,2701,1190,1992,0,0,0,0,0,0
$GC,7989,0.67,228.1,56.9,10.5,781,7996,0.00,2.35,0.00,0.000,6,0.000,0.048,2700,2654,1992,0,0,0,0,0,0
$GC,8337,0.67,228.1,16.3,10.9,842,8344,0.00,2.33,0.00,0.000,4,0.000,0.046,2703,1187,1992,0,0,0,0,0,0
$GC,8363,0.67,228.1,13.3,11.2,846,8370,0.00,2.33,0.00,0.000,6,0.000,0.049,2703,2636,1993,0,0,0,0,0,0
$FREEZE,8.43,2.693,-1.827,0,1,0
$FREEZE,7.90,2.695,-1.827,0,1,0
$FREEZE,7.39,2.695,-1.826,0,1,0
$FREEZE,6.94,2.688,-1.826,0,1,0
$FREEZE,6.50,2.688,-1.825,0,1,0
$FREEZE,6.02,2.689,-1.825,0,1,0
$FREEZE,5.54,2.687,-1.825,0,1,0
$FREEZE,5.01,2.687,-1.824,0,1,0
$FREEZE,4.39,2.687,-1.824,0,1,0
$FREEZE,3.62,2.694,-1.823,0,1,0
$FREEZE,2.78,2.700,-1.823,0,1,0
$STATE,8452,end climb,SURFACE_DEPTH_REACHED
$STATE,8452,begin surface coast
$FREEZE,2.01,2.695,-1.822,0,1,0
$FREEZE,1.47,2.686,-1.822,0,1,0
$FREEZE,1.11,2.691,-1.821,0,1,0
$FREEZE,1.03,2.707,-1.820,0,1,0
$FINISH,1.0,1.026468
$STATE,8474,end surface coast,CONTROL_FINISHED_OK
$STATE,8474,begin surface
$SM_CCo,8490,224.90,0.080,0,0,440,609.08
$SM_GC,1.70,0.00,0.00,224.90,0.000,0.000,0.080,287,2783,440,-6.83,0.08,609.08
$RAFOS_CLK,345
$RAFOS,2,1294388224,8.300000,8.284445,46,43,42,42,41,39,1386,423,1470,924,1821,464
$RAFOS,1,1294387750,8.166667,8.152778,44,43,43,42,41,41,1499,895,1777,26,416,923
$RAFOS,0,1294387262,8.033334,8.017222,46,45,45,44,44,43,1701,577,870,282,1504,1301
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6641.98,-5629.34,070111,030350
$TT8_MAMPS,0.030709
$HUMID,45.31
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.1
$24V_AH,22.8,80.670
$10V_AH,9.8,55.414
$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,16.975,69.825,311.125,224.900,0.000,28.856,19.310,148.611,1.000,0.000,32.565,2110.525,4371.983,653.442,1671.401,285.386,0.000,1455.347,0.000,1456.804,1440.000,7.938,0.000
$DEVICE_MAMPS,237.915,74.970,829.260,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30062,866
$CAP_FILE_SIZE,104217,0
$CFSIZE,260165632,203390976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.3
$GPS,070111,083155,6706.709,-5655.040,39,1.0,40,-37.6