version: 66.08
glider: 183
mission: 3
dive: 711
start: 1 8 111 6 24 5
data:
$ID,183
$MISSION,3
$DIVE,711
$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,-11384.743
$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,40
$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
$GPS1,080111,061706,6709.701,-5702.489,32,1.1,33,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-54.7
$GPS2,080111,062334,6709.743,-5702.714,9,2.4,28,-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,177.3,16396,-17.5,-10.000
$D_GRID,442
$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,-146.0,0.0,0.0,0,152,0.00,0.00,-131.30,0.000,2,0.000,0.000,274,2786,3426,0,0,0,0,0,0
$GC,157,-0.57,-146.0,5.6,-10.5,23,177,8.30,1.92,-1.90,0.000,4,0.237,0.075,2276,3927,3522,0,0,0,0,0,0
$GC,432,-0.57,-146.0,52.5,-11.4,71,439,0.00,1.85,0.00,0.000,6,0.000,0.047,2276,2775,3523,0,0,0,0,0,0
$GC,778,-0.57,-146.0,89.7,-9.7,132,785,0.00,2.20,0.00,0.000,4,0.000,0.048,2276,1372,3522,0,0,0,0,0,0
$GC,817,-0.60,-146.0,93.2,-9.3,138,824,0.00,2.30,0.00,0.000,6,0.000,0.059,2275,2765,3522,0,0,0,0,0,0
$GC,1149,-0.62,-146.0,121.3,-8.2,175,1153,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1368,3522,0,0,0,0,0,0
$GC,1201,-0.67,-146.0,125.7,-8.1,179,1205,0.00,2.28,0.00,0.000,6,0.000,0.058,2275,2744,3522,0,0,0,0,0,0
$GC,1528,-0.71,-146.0,150.5,-8.4,209,1532,0.00,2.00,0.00,0.000,4,0.000,0.070,2275,3928,3521,0,0,0,0,0,0
$GC,1564,-0.77,-146.0,153.4,-8.3,212,1568,0.15,1.90,0.00,0.000,6,0.087,0.045,2209,2745,3521,0,0,0,0,0,0
$GC,1896,-0.69,-146.0,194.2,-12.6,243,1898,0.15,0.00,0.00,0.000,6,0.166,0.000,2250,2745,3521,0,0,0,0,0,0
$GC,2213,-0.69,-146.0,224.8,-9.8,273,2217,0.00,1.98,0.00,0.000,4,0.000,0.068,2247,3926,3521,0,0,0,0,0,0
$GC,2248,-0.69,-146.0,228.1,-10.0,276,2252,0.00,1.85,0.00,0.000,6,0.000,0.045,2247,2756,3521,0,0,0,0,0,0
$GC,2580,-0.69,-146.0,260.5,-9.5,307,2583,0.00,2.20,0.00,0.000,4,0.000,0.046,2247,1363,3522,0,0,0,0,0,0
$GC,2604,-0.69,-146.0,262.8,-9.7,309,2608,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2763,3522,0,0,0,0,0,0
$GC,2935,-0.69,-146.0,292.1,-8.8,340,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3523,0,0,0,0,0,0
$GC,3255,-0.69,-146.0,321.0,-8.5,370,3259,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3926,3523,0,0,0,0,0,0
$GC,3315,-0.72,-146.0,326.4,-8.5,375,3318,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2752,3524,0,0,0,0,0,0
$GC,3648,-0.74,-146.0,354.6,-8.7,406,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2752,3523,0,0,0,0,0,0
$GC,3968,-0.76,-146.0,383.2,-8.5,436,3972,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1365,3524,0,0,0,0,0,0
$GC,4015,-0.81,-146.0,388.3,-10.3,440,4019,0.00,2.30,0.00,0.000,6,0.000,0.055,2247,2766,3524,0,0,0,0,0,0
$GC,4336,-0.84,-146.0,417.5,-8.7,458,4341,0.12,1.95,0.00,0.000,4,0.100,0.067,2178,3927,3524,0,0,0,0,0,0
$GC,4371,-0.73,-146.0,421.6,-13.3,459,4376,0.20,1.88,0.00,0.000,6,0.158,0.044,2233,2751,3524,0,0,0,0,0,0
$STATE,4617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4617,begin apogee
$GC,4625,-0.14,0.0,442.2,7.8,467,4752,0.57,0.00,119.38,0.824,4,0.125,0.000,2425,2597,2923,0,0,0,0,0,0
$STATE,4753,end apogee,CONTROL_FINISHED_OK
$STATE,4753,begin climb
$GC,4757,0.57,146.0,444.9,0.0,471,4887,0.65,2.30,120.62,0.812,4,0.067,0.046,2662,1182,2328,0,0,0,0,0,0
$GC,5006,0.57,146.0,418.6,14.7,478,5011,0.00,2.33,0.00,0.000,6,0.000,0.050,2662,2604,2322,0,0,0,0,0,0
$GC,5331,0.52,146.0,373.0,12.9,500,5335,0.00,2.22,0.00,0.000,4,0.000,0.048,2665,1191,2319,0,0,0,0,0,0
$GC,5551,0.52,146.0,346.7,11.5,519,5555,0.00,2.28,0.00,0.000,6,0.000,0.051,2665,2611,2319,0,0,0,0,0,0
$GC,5882,0.48,146.0,307.6,11.3,550,5886,0.12,2.17,0.00,0.000,4,0.194,0.062,2634,3929,2318,0,0,0,0,0,0
$GC,5915,0.44,146.0,303.8,11.3,552,5922,0.00,2.10,0.00,0.000,6,0.000,0.040,2636,2598,2316,0,0,0,0,0,0
$GC,6241,0.44,147.8,272.7,9.9,583,6245,0.00,2.22,0.00,0.000,4,0.000,0.062,2636,3932,2316,0,0,0,0,0,0
$GC,6276,0.40,147.8,268.8,12.2,585,6283,0.12,2.08,0.00,0.000,6,0.190,0.041,2608,2616,2316,0,0,0,0,0,0
$GC,6602,0.49,196.1,241.3,7.8,616,6645,0.00,0.00,41.15,0.696,6,0.000,0.000,2608,2617,2122,0,0,0,0,0,0
$GC,6961,0.61,223.5,210.6,8.7,650,6990,0.17,0.00,23.20,0.672,6,0.081,0.000,2685,2617,2012,0,0,0,0,0,0
$GC,7309,0.61,223.5,163.9,13.4,683,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2617,2006,0,0,0,0,0,0
$GC,7631,0.61,223.5,122.6,12.1,713,7635,0.00,2.15,0.00,0.000,4,0.000,0.062,2685,3919,2006,0,0,0,0,0,0
$GC,7647,0.61,223.5,120.1,12.5,714,7654,0.00,2.03,0.00,0.000,6,0.000,0.041,2691,2634,2004,0,0,0,0,0,0
$GC,7983,0.61,223.5,79.3,12.3,760,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2634,2005,0,0,0,0,0,0
$GC,8326,0.61,223.5,39.6,10.5,821,8332,0.00,2.28,0.00,0.000,4,0.000,0.047,2693,1189,2005,0,0,0,0,0,0
$GC,8363,0.66,223.5,35.9,10.8,827,8370,0.00,2.35,0.00,0.000,6,0.000,0.051,2693,2643,2005,0,0,0,0,0,0
$FREEZE,8.63,2.576,-1.818,0,1,0
$FREEZE,8.13,2.576,-1.818,0,1,0
$FREEZE,7.76,2.576,-1.818,0,1,0
$FREEZE,7.12,2.575,-1.817,0,1,0
$FREEZE,6.47,2.578,-1.817,0,1,0
$FREEZE,5.81,2.580,-1.816,0,1,0
$FREEZE,5.23,2.573,-1.816,0,1,0
$FREEZE,4.76,2.574,-1.815,0,1,0
$FREEZE,4.06,2.577,-1.815,0,1,0
$FREEZE,3.58,2.571,-1.815,0,1,0
$FREEZE,3.11,2.568,-1.814,0,1,0
$FREEZE,2.62,2.574,-1.814,0,1,0
$STATE,8666,end climb,SURFACE_DEPTH_REACHED
$STATE,8666,begin surface coast
$FREEZE,1.44,2.574,-1.813,0,1,0
$FREEZE,1.17,2.570,-1.812,0,1,0
$FREEZE,0.93,2.516,-0.986,0,1,0
$FREEZE,1.06,2.428,-0.840,0,1,0
$FREEZE,0.98,2.622,-1.808,0,1,0
$FINISH,1.0,1.026313
$STATE,8692,end surface coast,CONTROL_FINISHED_OK
$STATE,8693,begin surface
$SM_CCo,8709,230.75,0.080,0,0,440,609.08
$SM_GC,1.62,0.00,0.00,230.75,0.000,0.000,0.080,289,2793,440,-6.81,0.40,609.08
$RAFOS_CLK,350
$RAFOS,5,1294476062,8.700000,8.683888,60,52,45,45,44,41,654,665,1275,1723,127,1232
$RAFOS,4,1294475581,8.566667,8.550278,45,45,45,44,43,42,1816,969,1271,1412,1389,1529
$RAFOS,3,1294475109,8.433333,8.419167,45,44,42,42,42,40,1830,81,670,684,1400,1278
$RAFOS,2,1294474622,8.300000,8.283889,49,42,42,41,41,41,1852,1667,1645,236,770,1465
$RAFOS,1,1294474146,8.166667,8.151667,43,42,41,40,40,39,1484,383,236,808,1020,1172
$RAFOS,0,1294473671,8.033334,8.019722,45,43,41,41,39,38,1326,1843,867,1195,525,26
$RAFOS_FIX,6712.547363,-5707.948730,080111,040400,2,98,2.04
$IRIDIUM_FIX,6636.54,-5656.94,080111,030322
$TT8_MAMPS,0.029211
$HUMID,45.58
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,22.9,81.458
$10V_AH,9.8,55.949
$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,16.950,64.075,304.350,230.750,0.000,30.578,40.189,142.957,1.000,0.000,31.753,2160.282,4561.239,642.818,1684.363,287.663,0.000,1432.894,0.000,1454.213,2160.000,7.940,0.000
$DEVICE_MAMPS,237.150,74.970,823.905,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,30073,886
$CAP_FILE_SIZE,103195,0
$CFSIZE,260165632,202874880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.2
$GPS,080111,085457,6709.389,-5704.100,39,2.4,59,-37.7