version: 66.08
glider: 183
mission: 3
dive: 715
start: 1 8 111 17 37 57
data:
$ID,183
$MISSION,3
$DIVE,715
$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,-11388.506
$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,45
$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
$GPS1,080111,172806,6710.796,-5708.403,8,1.4,25,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-57.7
$GPS2,080111,173726,6710.876,-5708.759,11,1.4,11,-37.8
$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,172.0,20917,-17.5,-10.000
$D_GRID,498
$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,-146.0,0.0,0.0,0,154,0.00,0.00,-134.68,0.000,2,0.000,0.000,280,2802,3447,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.3,-12.0,24,179,8.27,2.33,-1.48,0.000,4,0.236,0.058,2282,1370,3523,0,0,0,0,0,0
$GC,338,-0.60,-146.0,38.9,-10.8,55,345,0.00,2.30,0.00,0.000,6,0.000,0.058,2275,2761,3524,0,0,0,0,0,0
$GC,685,-0.60,-146.0,78.2,-10.0,116,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2761,3523,0,0,0,0,0,0
$GC,1028,-0.60,-146.0,114.9,-10.5,165,1031,0.00,1.98,0.00,0.000,4,0.000,0.069,2275,3932,3522,0,0,0,0,0,0
$GC,1053,-0.62,-146.0,117.6,-11.5,167,1057,0.00,1.80,0.00,0.000,6,0.000,0.046,2275,2794,3522,0,0,0,0,0,0
$GC,1385,-0.66,-146.0,151.3,-9.3,198,1389,0.00,2.25,0.00,0.000,4,0.000,0.047,2275,1362,3523,0,0,0,0,0,0
$GC,1466,-0.72,-146.0,158.8,-9.0,205,1470,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2769,3522,0,0,0,0,0,0
$GC,1792,-0.77,-146.0,184.6,-7.3,235,1796,0.12,1.98,0.00,0.000,4,0.097,0.069,2208,3928,3522,0,0,0,0,0,0
$GC,1831,-0.68,-146.0,189.0,-11.9,238,1839,0.17,1.88,0.00,0.000,6,0.156,0.044,2257,2757,3522,0,0,0,0,0,0
$GC,2158,-0.71,-146.0,216.8,-8.2,269,2162,0.00,2.17,0.00,0.000,4,0.000,0.047,2257,1366,3523,0,0,0,0,0,0
$GC,2244,-0.75,-146.0,223.5,-7.6,276,2248,0.00,2.28,0.00,0.000,6,0.000,0.057,2250,2745,3522,0,0,0,0,0,0
$GC,2570,-0.75,-146.0,250.4,-8.0,306,2573,0.00,2.00,0.00,0.000,4,0.000,0.068,2248,3933,3523,0,0,0,0,0,0
$GC,2598,-0.75,-146.0,253.0,-8.2,308,2604,0.00,1.92,0.00,0.000,6,0.000,0.044,2247,2728,3523,0,0,0,0,0,0
$GC,2923,-0.75,-146.0,280.8,-9.2,339,2927,0.00,2.12,0.00,0.000,4,0.000,0.046,2247,1368,3524,0,0,0,0,0,0
$GC,2947,-0.75,-146.0,283.0,-8.8,341,2951,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2747,3523,0,0,0,0,0,0
$GC,3273,-0.75,-146.0,311.6,-8.5,371,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2748,3524,0,0,0,0,0,0
$GC,3594,-0.77,-146.0,338.1,-8.1,401,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2748,3525,0,0,0,0,0,0
$GC,3923,-0.80,-146.0,368.4,-9.7,432,3927,0.00,2.00,0.00,0.000,4,0.000,0.067,2247,3936,3525,0,0,0,0,0,0
$GC,3998,-0.83,-146.0,376.1,-9.6,438,4005,0.12,1.92,0.00,0.000,6,0.098,0.042,2183,2730,3525,0,0,0,0,0,0
$GC,4341,-0.73,-146.0,422.6,-14.7,461,4346,0.20,2.15,0.00,0.000,4,0.163,0.043,2239,1370,3526,0,0,0,0,0,0
$GC,4370,-0.73,-146.0,426.7,-11.9,462,4374,0.00,2.22,0.00,0.000,6,0.000,0.056,2235,2740,3526,0,0,0,0,0,0
$GC,4707,-0.73,-146.0,460.8,-9.6,473,4711,0.00,2.00,0.00,0.000,4,0.000,0.065,2227,3934,3526,0,0,0,0,0,0
$GC,4751,-0.73,-146.0,465.6,-10.8,474,4755,0.00,1.92,0.00,0.000,6,0.000,0.043,2227,2728,3526,0,0,0,0,0,0
$GC,5082,-0.73,-146.0,495.0,-8.7,485,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2728,3526,0,0,0,0,0,0
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5141,begin apogee
$GC,5148,-0.14,0.0,500.4,9.1,487,5276,0.60,0.00,120.95,0.863,4,0.126,0.000,2424,2603,2923,0,0,0,0,0,0
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5280,0.57,146.0,503.2,0.0,491,5412,0.65,2.33,122.43,0.851,4,0.063,0.046,2664,1182,2327,0,0,0,0,0,0
$GC,5563,0.57,146.0,475.8,11.6,499,5570,0.00,2.35,0.00,0.000,6,0.000,0.051,2664,2612,2321,0,0,0,0,0,0
$GC,5876,0.52,146.0,435.3,13.0,510,5880,0.00,2.28,0.00,0.000,4,0.000,0.047,2666,1178,2318,0,0,0,0,0,0
$GC,6114,0.52,146.0,408.7,10.8,517,6118,0.00,2.30,0.00,0.000,6,0.000,0.050,2666,2604,2318,0,0,0,0,0,0
$GC,6439,0.46,146.0,368.8,11.8,542,6444,0.15,2.17,0.00,0.000,4,0.184,0.062,2625,3927,2317,0,0,0,0,0,0
$GC,6469,0.43,146.0,365.2,12.4,544,6473,0.00,2.10,0.00,0.000,6,0.000,0.041,2625,2600,2316,0,0,0,0,0,0
$GC,6800,0.45,146.0,332.4,10.4,575,6804,0.00,2.20,0.00,0.000,4,0.000,0.063,2625,3926,2316,0,0,0,0,0,0
$GC,6823,0.45,146.0,329.9,10.4,576,6830,0.00,2.05,0.00,0.000,6,0.000,0.040,2625,2628,2316,0,0,0,0,0,0
$GC,7149,0.49,179.5,300.4,8.5,607,7179,0.00,0.00,27.77,0.729,6,0.000,0.000,2625,2628,2191,0,0,0,0,0,0
$GC,7498,0.56,205.9,271.3,8.8,640,7525,0.00,2.28,22.70,0.709,4,0.000,0.046,2625,1196,2084,0,0,0,0,0,0
$GC,7539,0.65,239.9,267.7,8.4,643,7576,0.17,2.33,30.08,0.701,6,0.080,0.049,2702,2643,1944,0,0,0,0,0,0
$GC,7902,0.59,239.9,211.9,16.4,677,7904,0.12,0.00,0.00,0.000,6,0.184,0.000,2670,2643,1936,0,0,0,0,0,0
$GC,8220,0.62,239.9,170.2,13.0,707,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2643,1934,0,0,0,0,0,0
$GC,8541,0.65,239.9,126.5,13.5,737,8544,0.00,2.12,0.00,0.000,4,0.000,0.062,2670,3931,1934,0,0,0,0,0,0
$GC,8558,0.67,239.9,123.8,13.3,738,8565,0.00,2.03,0.00,0.000,6,0.000,0.040,2670,2635,1933,0,0,0,0,0,0
$GC,8891,0.71,239.9,84.1,11.3,781,8898,0.10,2.28,0.00,0.000,4,0.116,0.047,2717,1199,1933,0,0,0,0,0,0
$GC,8964,0.71,239.9,74.6,13.8,793,8971,0.00,2.33,0.00,0.000,6,0.000,0.050,2717,2642,1933,0,0,0,0,0,0
$GC,9310,0.71,239.9,30.7,11.4,854,9316,0.00,2.10,0.00,0.000,4,0.000,0.062,2718,3926,1933,0,0,0,0,0,0
$GC,9341,0.66,239.9,26.5,13.5,859,9348,0.12,2.05,0.00,0.000,6,0.194,0.040,2689,2631,1932,0,0,0,0,0,0
$FREEZE,8.47,2.336,-1.818,0,1,0
$FREEZE,7.96,2.332,-1.817,0,1,0
$FREEZE,7.45,2.327,-1.817,0,1,0
$FREEZE,6.92,2.325,-1.816,0,1,0
$FREEZE,6.27,2.324,-1.816,0,1,0
$FREEZE,5.75,2.324,-1.815,0,1,0
$FREEZE,5.01,2.323,-1.815,0,1,0
$FREEZE,4.43,2.329,-1.814,0,1,0
$FREEZE,3.81,2.329,-1.814,0,1,0
$FREEZE,3.14,2.332,-1.814,0,1,0
$FREEZE,2.62,2.332,-1.813,0,1,0
$STATE,9559,end climb,SURFACE_DEPTH_REACHED
$STATE,9559,begin surface coast
$FREEZE,2.03,2.319,-1.813,0,1,0
$FREEZE,1.46,2.320,-1.812,0,1,0
$FREEZE,1.05,2.318,-1.812,0,1,0
$FREEZE,1.10,2.253,-0.877,0,1,0
$FREEZE,1.07,2.255,-1.683,0,1,0
$FINISH,1.1,1.024584
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9588,begin surface
$SM_CCo,9604,223.93,0.080,0,0,439,609.08
$SM_GC,1.69,0.00,0.00,223.93,0.000,0.000,0.080,288,2805,439,-6.82,0.71,609.08
$RAFOS_CLK,380
$RAFOS,1,1294517342,20.166666,20.150555,47,45,44,41,41,40,1447,635,1050,26,1543,1143
$RAFOS,0,1294516871,20.033333,20.019722,52,45,41,40,37,36,903,913,1071,26,483,1523
$RAFOS_FIX,6712.104492,-5713.421387,080111,161656,2,104,0.87
$IRIDIUM_FIX,6641.98,-5701.58,080111,171728
$TT8_MAMPS,0.031458
$HUMID,45.86
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,22.7,81.819
$10V_AH,9.8,56.187
$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,17.250,77.525,323.925,223.925,0.000,55.331,35.331,227.334,1.500,0.000,13.742,2190.056,5349.388,662.482,1866.505,327.310,0.000,1510.684,0.000,1542.500,1080.000,11.477,0.000
$DEVICE_MAMPS,236.385,70.380,862.920,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,621.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,33402,903
$CAP_FILE_SIZE,115691,0
$CFSIZE,260165632,202629120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.1
$GPS,080111,202316,6711.115,-5709.632,30,1.3,40,-37.8