version: 66.08
glider: 183
mission: 3
dive: 708
start: 1 7 111 22 5 35
data:
$ID,183
$MISSION,3
$DIVE,708
$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,-11380.975
$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
$GPS1,070111,215507,6708.836,-5701.018,36,1.0,37,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.5
$GPS2,070111,220502,6708.853,-5701.124,12,1.8,12,-37.7
$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,176.5,14399,-17.5,-10.000
$D_GRID,461
$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,-146.0,0.0,0.0,0,160,0.00,0.00,-137.57,0.000,6,0.000,0.000,276,2787,3521,0,0,0,0,0,0
$GC,164,-0.57,-146.0,6.3,-13.6,25,178,8.35,2.30,0.00,0.000,4,0.239,0.041,2282,1367,3522,0,0,0,0,0,0
$GC,299,-0.61,-146.0,35.7,-11.0,48,306,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2777,3524,0,0,0,0,0,0
$GC,645,-0.61,-146.0,75.0,-11.6,109,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2777,3522,0,0,0,0,0,0
$GC,992,-0.61,-146.0,109.3,-9.9,162,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2777,3522,0,0,0,0,0,0
$GC,1311,-0.64,-146.0,138.9,-8.9,192,1315,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1368,3521,0,0,0,0,0,0
$GC,1346,-0.69,-146.0,142.3,-8.9,194,1353,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2763,3521,0,0,0,0,0,0
$GC,1672,-0.73,-146.0,171.3,-8.1,225,1677,0.10,1.98,0.00,0.000,4,0.112,0.068,2223,3926,3521,0,0,0,0,0,0
$GC,1746,-0.67,-146.0,180.0,-12.5,231,1754,0.12,1.88,0.00,0.000,6,0.165,0.043,2255,2753,3522,0,0,0,0,0,0
$GC,2074,-0.67,-146.0,211.0,-9.1,262,2078,0.00,2.17,0.00,0.000,4,0.000,0.047,2256,1363,3521,0,0,0,0,0,0
$GC,2127,-0.71,-146.0,216.0,-9.1,266,2131,0.00,2.30,0.00,0.000,6,0.000,0.057,2249,2760,3521,0,0,0,0,0,0
$GC,2453,-0.71,-146.0,246.4,-9.2,296,2457,0.00,2.17,0.00,0.000,4,0.000,0.045,2248,1372,3521,0,0,0,0,0,0
$GC,2483,-0.71,-146.0,249.2,-9.4,298,2487,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2753,3521,0,0,0,0,0,0
$GC,2809,-0.71,-146.0,279.6,-8.7,328,2813,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3931,3522,0,0,0,0,0,0
$GC,2928,-0.74,-146.0,290.0,-8.1,338,2935,0.00,1.85,0.00,0.000,6,0.000,0.043,2247,2773,3522,0,0,0,0,0,0
$GC,3255,-0.76,-146.0,316.6,-7.8,369,3259,0.00,2.20,0.00,0.000,4,0.000,0.045,2247,1362,3523,0,0,0,0,0,0
$GC,3307,-0.79,-146.0,321.0,-8.2,373,3311,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2777,3523,0,0,0,0,0,0
$GC,3634,-0.81,-146.0,346.2,-7.1,403,3639,0.10,2.22,0.00,0.000,4,0.115,0.045,2193,1370,3523,0,0,0,0,0,0
$GC,3686,-0.75,-146.0,351.4,-10.1,407,3691,0.17,2.28,0.00,0.000,6,0.158,0.056,2234,2762,3523,0,0,0,0,0,0
$GC,4018,-0.75,-146.0,377.4,-8.0,438,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2762,3524,0,0,0,0,0,0
$GC,4345,-0.75,-146.0,405.6,-8.5,465,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2762,3524,0,0,0,0,0,0
$GC,4651,-0.75,-146.0,432.4,-8.7,475,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2762,3525,0,0,0,0,0,0
$GC,4956,-0.75,-146.0,459.0,-8.2,485,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2762,3525,0,0,0,0,0,0
$STATE,4984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4984,begin apogee
$GC,4990,-0.14,0.0,461.4,8.2,486,5118,0.57,0.00,120.05,0.835,4,0.125,0.000,2426,2596,2923,0,0,0,0,0,0
$STATE,5119,end apogee,CONTROL_FINISHED_OK
$STATE,5119,begin climb
$GC,5122,0.57,146.0,464.3,0.0,490,5252,0.65,2.30,121.50,0.822,4,0.063,0.045,2666,1182,2327,0,0,0,0,0,0
$GC,5425,0.57,146.0,433.9,11.5,499,5430,0.00,2.33,0.00,0.000,6,0.000,0.051,2666,2602,2321,0,0,0,0,0,0
$GC,5746,0.51,146.0,392.9,12.6,512,5750,0.00,2.22,0.00,0.000,4,0.000,0.047,2667,1185,2318,0,0,0,0,0,0
$GC,5976,0.51,146.0,365.5,11.2,532,5981,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2613,2318,0,0,0,0,0,0
$GC,6302,0.46,146.0,325.8,12.3,562,6304,0.15,0.00,0.00,0.000,6,0.185,0.000,2626,2613,2316,0,0,0,0,0,0
$GC,6621,0.50,174.1,296.5,8.7,592,6650,0.00,0.00,23.25,0.716,6,0.000,0.000,2626,2613,2212,0,0,0,0,0,0
$GC,6969,0.54,174.1,263.7,10.0,625,6973,0.00,2.22,0.00,0.000,4,0.000,0.047,2626,1194,2209,0,0,0,0,0,0
$GC,6989,0.60,181.4,262.0,9.7,626,7002,0.12,2.28,7.15,0.629,6,0.093,0.050,2684,2605,2183,0,0,0,0,0,0
$GC,7320,0.55,181.4,214.6,15.1,657,7324,0.12,2.20,0.00,0.000,4,0.185,0.061,2651,3925,2181,0,0,0,0,0,0
$GC,7387,0.52,181.4,204.4,15.4,662,7394,0.00,2.10,0.00,0.000,6,0.000,0.040,2655,2593,2180,0,0,0,0,0,0
$GC,7713,0.52,181.4,167.1,11.0,693,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2593,2180,0,0,0,0,0,0
$GC,8033,0.52,181.4,133.6,11.6,723,8037,0.00,2.22,0.00,0.000,4,0.000,0.063,2655,3925,2180,0,0,0,0,0,0
$GC,8077,0.48,181.4,127.6,13.7,726,8084,0.00,2.12,0.00,0.000,6,0.000,0.040,2656,2581,2180,0,0,0,0,0,0
$GC,8408,0.50,181.4,90.8,10.5,764,8415,0.00,2.25,0.00,0.000,4,0.000,0.062,2655,3929,2180,0,0,0,0,0,0
$GC,8439,0.50,181.4,87.3,11.5,769,8445,0.00,2.10,0.00,0.000,6,0.000,0.040,2655,2598,2180,0,0,0,0,0,0
$GC,8787,0.58,246.3,58.1,7.0,830,8845,0.00,0.00,54.00,0.588,6,0.000,0.000,2655,2598,1917,0,0,0,0,0,0
$GC,9186,0.68,268.4,23.9,9.0,900,9212,0.12,2.25,18.42,0.568,4,0.098,0.047,2711,1190,1826,0,0,0,0,0,0
$GC,9245,0.73,277.8,18.2,9.6,909,9259,0.00,2.28,8.88,0.531,6,0.000,0.050,2711,2593,1790,0,0,0,0,0,0
$FREEZE,8.67,2.662,-1.826,0,1,0
$FREEZE,7.97,2.666,-1.826,0,1,0
$FREEZE,7.18,2.672,-1.825,0,1,0
$FREEZE,6.48,2.668,-1.825,0,1,0
$FREEZE,5.62,2.668,-1.824,0,1,0
$FREEZE,4.89,2.665,-1.823,0,1,0
$FREEZE,4.19,2.670,-1.823,0,1,0
$FREEZE,3.34,2.682,-1.822,0,1,0
$FREEZE,2.32,2.677,-1.821,0,1,0
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9366,begin surface coast
$FREEZE,1.59,2.662,-1.821,0,1,0
$FREEZE,1.05,2.658,-1.606,0,1,0
$FREEZE,1.04,2.666,-1.821,0,1,0
$FREEZE,1.04,2.535,-0.960,0,1,0
$FINISH,1.0,1.014144
$STATE,9389,end surface coast,CONTROL_FINISHED_OK
$STATE,9389,begin surface
$SM_CCo,9407,201.57,0.079,0,0,440,609.08
$SM_GC,1.64,0.00,0.00,201.57,0.000,0.000,0.079,290,2789,440,-6.81,0.25,609.08
$RAFOS_CLK,375
$RAFOS,4,1294446785,0.566667,0.551389,46,46,42,41,38,37,476,879,303,553,434,1550
$RAFOS,3,1294446301,0.433333,0.416944,49,46,44,43,42,42,1022,1372,1598,1107,605,1455
$RAFOS,2,1294445826,0.300000,0.285000,47,45,44,40,40,39,1804,478,381,510,704,401
$RAFOS,1,1294445348,0.166667,0.152222,47,44,43,43,43,41,274,1132,179,1675,1833,818
$RAFOS,0,1294444869,0.033333,0.019167,44,42,41,41,40,39,26,1122,282,1734,260,1899
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5637.00,070111,212129
$TT8_MAMPS,0.030709
$HUMID,45.58
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.6
$24V_AH,22.8,81.204
$10V_AH,9.8,55.771
$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,16.875,66.500,353.250,201.575,0.000,62.235,67.444,210.859,1.250,0.000,14.521,2231.249,5092.184,655.341,1923.779,312.290,0.000,1500.214,0.000,1550.521,2160.000,9.712,0.000
$DEVICE_MAMPS,238.680,68.085,835.380,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,642.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151760
$DATA_FILE_SIZE,33336,934
$CAP_FILE_SIZE,113758,0
$CFSIZE,260165632,203034624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.7
$GPS,080111,004707,6708.800,-5700.022,32,0.9,33,-37.7