version: 66.08
glider: 183
mission: 3
dive: 717
start: 1 8 111 23 35 13
data:
$ID,183
$MISSION,3
$DIVE,717
$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,-11391.02
$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,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
$GPS1,080111,232821,6710.840,-5708.378,35,99.0,55,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-61.5
$GPS2,080111,233440,6710.867,-5708.506,13,2.5,32,-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,172.3,20774,-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,-146.0,0.0,0.0,0,153,0.00,0.00,-134.62,0.000,2,0.000,0.000,282,2790,3464,0,0,0,0,0,0
$GC,158,-0.57,-146.0,5.4,-12.2,24,178,8.30,2.33,-1.10,0.000,4,0.237,0.059,2283,1372,3522,0,0,0,0,0,0
$GC,219,-0.57,-146.0,25.9,-14.9,34,225,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2775,3523,0,0,0,0,0,0
$GC,565,-0.57,-146.0,63.9,-10.4,95,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2776,3523,0,0,0,0,0,0
$GC,912,-0.57,-146.0,97.3,-8.5,156,918,0.00,1.95,0.00,0.000,4,0.000,0.068,2272,3931,3522,0,0,0,0,0,0
$GC,971,-0.60,-146.0,102.4,-8.6,164,975,0.00,1.88,0.00,0.000,6,0.000,0.044,2271,2763,3521,0,0,0,0,0,0
$GC,1302,-0.60,-146.0,132.6,-9.5,195,1306,0.00,2.17,0.00,0.000,4,0.000,0.047,2271,1373,3522,0,0,0,0,0,0
$GC,1347,-0.63,-146.0,136.9,-9.3,198,1354,0.00,2.30,0.00,0.000,6,0.000,0.058,2263,2762,3521,0,0,0,0,0,0
$GC,1673,-0.63,-146.0,166.8,-9.2,229,1677,0.00,1.98,0.00,0.000,4,0.000,0.069,2254,3932,3521,0,0,0,0,0,0
$GC,1712,-0.63,-146.0,171.0,-10.4,232,1719,0.00,1.90,0.00,0.000,6,0.000,0.045,2254,2752,3521,0,0,0,0,0,0
$GC,2041,-0.63,-146.0,200.6,-8.5,263,2045,0.00,2.20,0.00,0.000,4,0.000,0.047,2254,1364,3520,0,0,0,0,0,0
$GC,2063,-0.63,-146.0,203.1,-9.2,264,2069,0.00,2.33,0.00,0.000,6,0.000,0.058,2249,2767,3521,0,0,0,0,0,0
$GC,2388,-0.63,-146.0,231.8,-8.8,295,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2767,3521,0,0,0,0,0,0
$GC,2707,-0.63,-146.0,260.3,-9.3,325,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2767,3521,0,0,0,0,0,0
$GC,3026,-0.63,-146.0,290.7,-9.5,355,3029,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3928,3521,0,0,0,0,0,0
$GC,3065,-0.66,-146.0,294.4,-9.3,358,3073,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2756,3521,0,0,0,0,0,0
$GC,3391,-0.66,-146.0,322.5,-8.2,389,3394,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1361,3522,0,0,0,0,0,0
$GC,3438,-0.70,-146.0,326.6,-8.5,393,3442,0.00,2.28,0.00,0.000,6,0.000,0.056,2247,2754,3522,0,0,0,0,0,0
$GC,3769,-0.72,-146.0,356.1,-8.8,424,3773,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3928,3523,0,0,0,0,0,0
$GC,3808,-0.75,-146.0,360.0,-9.5,427,3815,0.00,1.88,0.00,0.000,6,0.000,0.044,2247,2753,3523,0,0,0,0,0,0
$GC,4135,-0.77,-146.0,387.7,-8.4,458,4139,0.00,2.15,0.00,0.000,4,0.000,0.044,2246,1370,3524,0,0,0,0,0,0
$GC,4165,-0.80,-146.0,390.3,-8.8,460,4169,0.00,2.28,0.00,0.000,6,0.000,0.056,2247,2755,3523,0,0,0,0,0,0
$GC,4506,-0.83,-146.0,417.9,-7.7,478,4508,0.12,0.00,0.00,0.000,6,0.101,0.000,2182,2755,3523,0,0,0,0,0,0
$GC,4812,-0.73,-146.0,453.0,-11.9,488,4816,0.20,2.20,0.00,0.000,4,0.156,0.044,2239,1366,3524,0,0,0,0,0,0
$GC,4857,-0.77,-146.0,457.4,-7.7,489,4861,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2749,3524,0,0,0,0,0,0
$GC,5176,-0.77,-146.0,483.8,-8.4,500,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2749,3524,0,0,0,0,0,0
$STATE,5357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5357,begin apogee
$GC,5365,-0.14,0.0,498.2,8.1,506,5492,0.57,0.00,120.75,0.862,4,0.124,0.000,2425,2601,2923,0,0,0,0,0,0
$STATE,5493,end apogee,CONTROL_FINISHED_OK
$STATE,5493,begin climb
$GC,5496,0.57,146.0,500.2,0.0,510,5629,0.65,2.33,122.82,0.851,4,0.063,0.047,2665,1183,2327,0,0,0,0,0,0
$GC,5831,0.57,146.0,465.9,13.1,520,5835,0.00,2.33,0.00,0.000,6,0.000,0.052,2665,2601,2320,0,0,0,0,0,0
$GC,6162,0.52,146.0,422.6,13.4,531,6166,0.00,2.25,0.00,0.000,4,0.000,0.047,2666,1183,2317,0,0,0,0,0,0
$GC,6396,0.52,146.0,394.8,12.3,540,6401,0.00,2.30,0.00,0.000,6,0.000,0.051,2666,2620,2318,0,0,0,0,0,0
$GC,6722,0.47,146.0,352.1,13.1,570,6727,0.15,2.17,0.00,0.000,4,0.185,0.062,2625,3929,2316,0,0,0,0,0,0
$GC,6772,0.47,146.0,345.4,13.1,574,6779,0.00,2.08,0.00,0.000,6,0.000,0.040,2625,2617,2315,0,0,0,0,0,0
$GC,7098,0.49,146.0,310.1,10.5,605,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2616,2315,0,0,0,0,0,0
$GC,7420,0.51,146.0,276.3,10.1,635,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2616,2315,0,0,0,0,0,0
$GC,7748,0.54,152.6,243.2,9.7,666,7760,0.00,2.20,5.05,0.576,4,0.000,0.062,2625,3925,2300,0,0,0,0,0,0
$GC,7796,0.54,152.6,237.7,10.7,670,7800,0.00,2.08,0.00,0.000,6,0.000,0.041,2625,2614,2299,0,0,0,0,0,0
$GC,8128,0.59,169.1,205.9,9.2,701,8152,0.12,2.25,15.50,0.672,4,0.098,0.047,2691,1191,2233,0,0,0,0,0,0
$GC,8166,0.54,169.1,201.5,12.8,704,8171,0.15,2.30,0.00,0.000,6,0.165,0.050,2651,2621,2232,0,0,0,0,0,0
$GC,8491,0.54,169.1,164.8,10.6,734,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2621,2230,0,0,0,0,0,0
$GC,8813,0.54,169.1,132.2,10.2,764,8817,0.00,2.25,0.00,0.000,4,0.000,0.047,2651,1191,2230,0,0,0,0,0,0
$GC,8842,0.59,169.1,128.9,10.3,766,8847,0.00,2.30,0.00,0.000,6,0.000,0.050,2652,2617,2230,0,0,0,0,0,0
$GC,9172,0.63,179.2,96.5,9.5,799,9190,0.00,2.22,9.80,0.596,4,0.000,0.062,2652,3930,2190,0,0,0,0,0,0
$GC,9295,0.63,179.2,83.8,10.4,820,9302,0.00,2.03,0.00,0.000,6,0.000,0.040,2653,2650,2189,0,0,0,0,0,0
$GC,9642,0.72,233.7,53.9,7.5,881,9698,0.15,2.20,45.55,0.596,4,0.092,0.063,2718,3921,1968,0,0,0,0,0,0
$GC,9719,0.66,233.7,45.3,14.0,893,9726,0.00,1.98,0.00,0.000,6,0.000,0.040,2719,2685,1966,0,0,0,0,0,0
$FREEZE,8.44,2.323,-1.817,0,1,0
$FREEZE,7.58,2.324,-1.816,0,1,0
$FREEZE,6.77,2.322,-1.815,0,1,0
$FREEZE,5.90,2.325,-1.815,0,1,0
$FREEZE,5.31,2.323,-1.814,0,1,0
$FREEZE,4.48,2.318,-1.813,0,1,0
$FREEZE,3.85,2.315,-1.813,0,1,0
$FREEZE,3.17,2.318,-1.812,0,1,0
$FREEZE,2.51,2.316,-1.812,0,1,0
$STATE,10051,end climb,SURFACE_DEPTH_REACHED
$STATE,10051,begin surface coast
$FREEZE,1.56,2.310,-1.811,0,1,0
$FREEZE,1.15,2.303,-1.811,0,1,0
$FREEZE,1.03,2.314,-1.176,0,1,0
$FREEZE,1.01,2.297,-0.612,0,1,0
$FINISH,1.0,1.009010
$STATE,10074,end surface coast,CONTROL_FINISHED_OK
$STATE,10074,begin surface
$SM_CCo,10091,228.50,0.079,0,0,441,609.08
$SM_GC,1.73,0.00,0.00,228.50,0.000,0.000,0.079,290,2789,441,-6.81,0.25,609.08
$RAFOS_CLK,403
$RAFOS,6,1294534152,0.833333,0.820000,66,44,44,41,38,38,739,749,1329,1356,967,1672
$RAFOS,5,1294533664,0.700000,0.684444,91,49,44,41,39,39,652,1775,1156,886,1005,1324
$RAFOS,4,1294533181,0.566667,0.550278,44,43,41,41,41,41,870,987,228,558,347,1441
$RAFOS,3,1294532704,0.433333,0.417778,46,44,43,43,43,41,739,1630,1561,709,726,104
$RAFOS,2,1294532226,0.300000,0.285000,53,47,45,43,42,42,1330,144,1566,1618,401,527
$RAFOS,1,1294531748,0.166667,0.152222,60,50,48,47,45,41,1144,999,1888,297,1550,1880
$RAFOS,0,1294531267,0.033333,0.018611,47,46,43,42,41,40,1484,1876,1703,332,498,162
$RAFOS_FIX,6715.195312,-5655.234863,090111,000033,3,72,3.41
$IRIDIUM_FIX,6641.98,-5701.58,080111,202038
$TT8_MAMPS,0.028462
$HUMID,45.82
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,17.6
$24V_AH,22.6,81.996
$10V_AH,9.8,56.314
$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,16.950,78.000,319.475,228.500,0.000,28.769,19.281,147.662,1.250,0.000,36.000,2348.780,5566.249,671.674,1823.958,316.726,0.000,1551.956,0.000,1604.071,2520.000,9.706,0.000
$DEVICE_MAMPS,237.150,91.035,862.155,78.795,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.733,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151736
$DATA_FILE_SIZE,33364,956
$CAP_FILE_SIZE,116166,0
$CFSIZE,260165632,202506240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,090111,022906,6711.130,-5707.570,36,1.8,42,-37.8