version: 66.08
glider: 183
mission: 3
dive: 709
start: 1 8 111 0 54 4
data:
$ID,183
$MISSION,3
$DIVE,709
$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,-11382.23
$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,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
$GPS1,080111,004707,6708.800,-5700.022,32,0.9,33,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-55.8
$GPS2,080111,005333,6708.816,-5700.124,10,3.5,29,-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,178.6,13881,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,159,0.00,0.00,-136.90,0.000,2,0.000,0.000,278,2790,3513,0,0,0,0,0,0
$GC,163,-0.57,-146.0,5.2,-9.4,24,177,8.30,2.33,0.00,0.000,4,0.237,0.044,2285,1368,3515,0,0,0,0,0,0
$GC,263,-0.61,-146.0,29.5,-10.3,41,270,0.00,2.33,0.00,0.000,6,0.000,0.057,2283,2778,3516,0,0,0,0,0,0
$GC,610,-0.61,-146.0,66.1,-9.2,102,616,0.00,2.22,0.00,0.000,4,0.000,0.046,2283,1367,3516,0,0,0,0,0,0
$GC,671,-0.66,-146.0,71.6,-9.0,112,678,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2780,3516,0,0,0,0,0,0
$GC,1015,-0.68,-146.0,103.9,-8.8,169,1019,0.00,1.95,0.00,0.000,4,0.000,0.070,2275,3927,3515,0,0,0,0,0,0
$GC,1063,-0.72,-146.0,107.7,-8.3,173,1066,0.00,1.83,0.00,0.000,6,0.000,0.045,2276,2773,3515,0,0,0,0,0,0
$GC,1394,-0.75,-146.0,133.7,-8.1,204,1399,0.12,2.22,0.00,0.000,4,0.096,0.046,2216,1373,3515,0,0,0,0,0,0
$GC,1428,-0.70,-146.0,137.3,-10.7,206,1436,0.15,2.33,0.00,0.000,6,0.171,0.057,2247,2782,3515,0,0,0,0,0,0
$GC,1754,-0.70,-146.0,170.0,-10.5,237,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2781,3515,0,0,0,0,0,0
$GC,2077,-0.70,-146.0,199.1,-9.3,267,2081,0.00,2.25,0.00,0.000,4,0.000,0.045,2247,1365,3515,0,0,0,0,0,0
$GC,2134,-0.73,-146.0,205.1,-9.3,271,2140,0.00,2.33,0.00,0.000,6,0.000,0.057,2247,2776,3515,0,0,0,0,0,0
$GC,2460,-0.73,-146.0,234.2,-8.9,302,2463,0.00,1.92,0.00,0.000,4,0.000,0.067,2247,3927,3515,0,0,0,0,0,0
$GC,2521,-0.75,-146.0,239.9,-9.0,307,2528,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2785,3516,0,0,0,0,0,0
$GC,2847,-0.75,-146.0,268.3,-8.7,338,2851,0.00,2.20,0.00,0.000,4,0.000,0.045,2247,1373,3516,0,0,0,0,0,0
$GC,2932,-0.78,-146.0,275.8,-8.4,345,2939,0.00,2.33,0.00,0.000,6,0.000,0.057,2247,2780,3516,0,0,0,0,0,0
$GC,3258,-0.78,-146.0,302.7,-8.2,376,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2781,3516,0,0,0,0,0,0
$GC,3580,-0.78,-146.0,330.2,-8.6,406,3584,0.00,2.20,0.00,0.000,4,0.000,0.044,2247,1372,3517,0,0,0,0,0,0
$GC,3616,-0.81,-146.0,333.7,-8.9,408,3623,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2783,3517,0,0,0,0,0,0
$GC,3943,-0.83,-146.0,361.3,-8.3,439,3948,0.12,2.25,0.00,0.000,4,0.100,0.044,2180,1361,3517,0,0,0,0,0,0
$GC,3987,-0.74,-146.0,366.5,-11.8,442,3995,0.20,2.30,0.00,0.000,6,0.166,0.055,2233,2762,3517,0,0,0,0,0,0
$GC,4313,-0.74,-146.0,395.1,-8.1,473,4317,0.00,1.95,0.00,0.000,4,0.000,0.066,2229,3929,3517,0,0,0,0,0,0
$GC,4340,-0.74,-146.0,397.7,-9.1,475,4347,0.00,1.85,0.00,0.000,6,0.000,0.042,2229,2765,3518,0,0,0,0,0,0
$GC,4675,-0.74,-146.0,427.9,-9.3,488,4679,0.00,1.95,0.00,0.000,4,0.000,0.066,2222,3927,3517,0,0,0,0,0,0
$GC,4711,-0.72,-146.0,431.3,-10.6,489,4715,0.00,1.85,0.00,0.000,6,0.000,0.042,2222,2762,3517,0,0,0,0,0,0
$GC,5053,-0.93,-146.0,453.9,-0.5,500,5055,0.15,0.00,0.00,0.000,6,0.098,0.000,2162,2761,3518,0,0,0,0,0,0
$STATE,5172,end dive,NO_VERTICAL_VELOCITY
$STATE,5172,begin apogee
$GC,5180,-0.14,0.0,454.0,0.0,504,5307,0.73,0.00,118.35,0.829,4,0.081,0.000,2431,2593,2923,0,0,0,0,0,0
$STATE,5308,end apogee,CONTROL_FINISHED_OK
$STATE,5308,begin climb
$GC,5310,0.57,146.0,453.8,0.0,508,5442,0.62,2.30,121.07,0.815,4,0.052,0.046,2676,1181,2326,0,0,0,0,0,0
$GC,5627,0.53,146.0,424.9,12.4,517,5632,0.00,2.33,0.00,0.000,6,0.000,0.052,2676,2603,2320,0,0,0,0,0,0
$GC,5947,0.46,146.0,382.3,13.7,535,5952,0.17,2.20,0.00,0.000,4,0.181,0.063,2628,3935,2316,0,0,0,0,0,0
$GC,6039,0.43,146.0,370.4,12.3,543,6043,0.00,2.10,0.00,0.000,6,0.000,0.040,2628,2607,2315,0,0,0,0,0,0
$GC,6370,0.43,149.3,336.8,9.8,574,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2606,2316,0,0,0,0,0,0
$GC,6691,0.44,163.3,305.3,9.4,604,6714,0.00,2.25,13.90,0.709,4,0.000,0.063,2628,3920,2256,0,0,0,0,0,0
$GC,6727,0.44,163.3,301.5,10.4,607,6731,0.00,2.05,0.00,0.000,6,0.000,0.041,2628,2627,2255,0,0,0,0,0,0
$GC,7060,0.46,163.3,268.2,10.8,638,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2626,2254,0,0,0,0,0,0
$GC,7379,0.49,163.3,231.7,12.0,668,7383,0.00,2.25,0.00,0.000,4,0.000,0.047,2629,1195,2254,0,0,0,0,0,0
$GC,7409,0.55,163.3,228.2,11.0,670,7413,0.00,2.33,0.00,0.000,6,0.000,0.050,2628,2637,2254,0,0,0,0,0,0
$GC,7735,0.59,180.8,195.2,9.2,700,7759,0.10,2.12,16.05,0.659,4,0.114,0.060,2680,3928,2183,0,0,0,0,0,0
$GC,7777,0.51,180.8,190.1,13.7,703,7784,0.17,2.08,0.00,0.000,6,0.181,0.040,2641,2619,2182,0,0,0,0,0,0
$GC,8103,0.56,190.8,157.4,9.5,734,8114,0.00,0.00,9.25,0.612,6,0.000,0.000,2641,2619,2145,0,0,0,0,0,0
$GC,8432,0.62,207.3,124.5,9.2,765,8451,0.00,0.00,14.93,0.620,6,0.000,0.000,2641,2619,2077,0,0,0,0,0,0
$GC,8776,0.71,236.2,92.0,8.7,804,8807,0.17,0.00,24.55,0.610,6,0.083,0.000,2713,2619,1962,0,0,0,0,0,0
$GC,9149,0.69,236.2,40.0,13.5,869,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2619,1957,0,0,0,0,0,0
$FREEZE,8.32,2.616,-1.825,0,1,0
$FREEZE,7.69,2.607,-1.825,0,1,0
$FREEZE,7.16,2.615,-1.824,0,1,0
$FREEZE,6.70,2.616,-1.824,0,1,0
$FREEZE,6.18,2.617,-1.824,0,1,0
$FREEZE,5.60,2.620,-1.823,0,1,0
$FREEZE,5.12,2.619,-1.823,0,1,0
$FREEZE,4.27,2.621,-1.822,0,1,0
$FREEZE,3.51,2.621,-1.822,0,1,0
$FREEZE,2.86,2.617,-1.821,0,1,0
$STATE,9443,end climb,SURFACE_DEPTH_REACHED
$STATE,9443,begin surface coast
$FREEZE,2.14,2.615,-1.821,0,1,0
$FREEZE,1.51,2.611,-1.820,0,1,0
$FREEZE,1.07,2.615,-1.122,0,1,0
$FREEZE,1.04,2.361,-0.267,0,1,0
$FINISH,1.0,1.003872
$STATE,9467,end surface coast,CONTROL_FINISHED_OK
$STATE,9467,begin surface
$SM_CCo,9484,222.88,0.079,0,0,440,609.08
$SM_GC,1.70,0.00,0.00,222.88,0.000,0.000,0.079,288,2794,440,-6.82,0.40,609.08
$RAFOS_CLK,374
$RAFOS,5,1294447261,0.700000,0.683611,49,43,43,43,42,41,1376,592,712,1934,786,1620
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5704.59,070111,222248
$TT8_MAMPS,0.029211
$HUMID,45.62
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,22.9,81.290
$10V_AH,9.8,55.830
$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,17.375,69.575,318.100,222.875,0.000,28.872,38.026,137.852,1.250,0.000,32.879,2261.560,5122.825,661.352,1755.669,296.958,0.000,1497.157,0.000,1528.676,0.000,9.714,0.000
$DEVICE_MAMPS,237.150,69.615,829.260,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,636.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33434,926
$CAP_FILE_SIZE,110323,0
$CFSIZE,260165632,202977280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.1
$GPS,080111,033710,6709.283,-5700.500,10,99.0,30,-37.7