version: 66.08
glider: 183
mission: 3
dive: 718
start: 1 9 111 2 35 39
data:
$ID,183
$MISSION,3
$DIVE,718
$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,-11392.279
$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,26
$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
$GPS1,090111,022906,6711.130,-5707.570,36,1.8,42,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.7
$GPS2,090111,023506,6711.160,-5707.691,12,1.8,28,-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,174.5,20751,-17.5,-10.000
$D_GRID,477
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-136.02,0.000,6,0.000,0.000,282,2790,3520,0,0,0,0,0,0
$GC,160,-0.57,-146.0,6.1,-15.1,24,174,8.30,2.33,0.00,0.000,4,0.236,0.043,2282,1367,3521,0,0,0,0,0,0
$GC,335,-0.61,-146.0,38.6,-10.3,54,342,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2777,3524,0,0,0,0,0,0
$GC,681,-0.61,-146.0,74.9,-9.6,115,688,0.00,1.92,0.00,0.000,4,0.000,0.067,2275,3925,3522,0,0,0,0,0,0
$GC,709,-0.63,-146.0,77.4,-9.9,119,715,0.00,1.83,0.00,0.000,6,0.000,0.044,2275,2782,3522,0,0,0,0,0,0
$GC,1049,-0.65,-146.0,111.1,-10.5,170,1053,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1373,3522,0,0,0,0,0,0
$GC,1077,-0.69,-146.0,114.3,-10.3,172,1084,0.00,2.35,0.00,0.000,6,0.000,0.059,2274,2787,3521,0,0,0,0,0,0
$GC,1404,-0.73,-146.0,148.0,-9.9,203,1406,0.10,0.00,0.00,0.000,6,0.112,0.000,2225,2787,3521,0,0,0,0,0,0
$GC,1721,-0.69,-146.0,187.7,-11.8,233,1725,0.00,2.25,0.00,0.000,4,0.000,0.047,2226,1374,3521,0,0,0,0,0,0
$GC,1824,-0.69,-146.0,199.4,-11.5,242,1829,0.12,2.35,0.00,0.000,6,0.174,0.059,2254,2790,3521,0,0,0,0,0,0
$GC,2152,-0.71,-146.0,228.0,-7.7,272,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2254,2790,3521,0,0,0,0,0,0
$GC,2481,-0.74,-146.0,254.4,-7.4,303,2485,0.00,2.25,0.00,0.000,4,0.000,0.045,2254,1372,3521,0,0,0,0,0,0
$GC,2542,-0.79,-146.0,259.9,-7.7,308,2549,0.00,2.33,0.00,0.000,6,0.000,0.057,2248,2777,3521,0,0,0,0,0,0
$GC,2868,-0.79,-146.0,288.6,-9.0,339,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2777,3522,0,0,0,0,0,0
$GC,3191,-0.81,-146.0,314.8,-7.5,369,3197,0.10,0.00,0.00,0.000,6,0.113,0.000,2193,2777,3523,0,0,0,0,0,0
$GC,3516,-0.73,-146.0,349.0,-10.3,400,3521,0.17,1.95,0.00,0.000,4,0.160,0.065,2235,3928,3523,0,0,0,0,0,0
$GC,3566,-0.73,-146.0,353.5,-7.5,404,3573,0.00,1.85,0.00,0.000,6,0.000,0.043,2235,2770,3523,0,0,0,0,0,0
$GC,3892,-0.73,-146.0,379.6,-8.0,435,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2770,3523,0,0,0,0,0,0
$GC,4209,-0.73,-146.0,405.6,-8.4,461,4213,0.00,2.17,0.00,0.000,4,0.000,0.045,2235,1372,3524,0,0,0,0,0,0
$GC,4249,-0.73,-146.0,409.5,-9.4,462,4253,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2766,3524,0,0,0,0,0,0
$GC,4580,-0.73,-146.0,437.9,-8.6,473,4583,0.00,1.92,0.00,0.000,4,0.000,0.067,2235,3928,3524,0,0,0,0,0,0
$GC,4617,-0.73,-146.0,441.0,-9.6,474,4621,0.00,1.88,0.00,0.000,6,0.000,0.043,2235,2751,3524,0,0,0,0,0,0
$GC,4959,-0.73,-146.0,471.2,-8.4,485,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2751,3524,0,0,0,0,0,0
$STATE,5047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5047,begin apogee
$GC,5054,-0.14,0.0,479.4,8.9,488,5182,0.52,0.00,120.43,0.851,4,0.095,0.000,2425,2595,2923,0,0,0,0,0,0
$STATE,5183,end apogee,CONTROL_FINISHED_OK
$STATE,5183,begin climb
$GC,5186,0.57,146.0,480.0,0.0,492,5317,0.65,2.30,122.32,0.839,4,0.070,0.046,2659,1189,2327,0,0,0,0,0,0
$GC,5409,0.57,146.0,461.2,11.3,499,5414,0.00,2.38,0.00,0.000,6,0.000,0.051,2659,2607,2321,0,0,0,0,0,0
$GC,5745,0.53,146.0,421.0,12.0,510,5749,0.00,2.20,0.00,0.000,4,0.000,0.062,2659,3933,2318,0,0,0,0,0,0
$GC,5814,0.43,146.0,411.1,15.0,512,5818,0.17,2.10,0.00,0.000,6,0.187,0.040,2617,2610,2316,0,0,0,0,0,0
$GC,6143,0.48,157.9,380.4,9.5,536,6154,0.00,0.00,9.60,0.722,6,0.000,0.000,2617,2609,2279,0,0,0,0,0,0
$GC,6470,0.54,179.0,349.7,9.0,567,6496,0.00,2.25,19.50,0.751,4,0.000,0.063,2616,3922,2192,0,0,0,0,0,0
$GC,6520,0.56,179.0,345.0,10.3,571,6527,0.12,2.08,0.00,0.000,6,0.099,0.040,2674,2616,2189,0,0,0,0,0,0
$GC,6846,0.52,179.0,302.6,13.8,602,6850,0.12,2.20,0.00,0.000,4,0.181,0.063,2641,3929,2188,0,0,0,0,0,0
$GC,6863,0.48,179.0,300.1,14.1,603,6869,0.00,2.08,0.00,0.000,6,0.000,0.040,2642,2617,2187,0,0,0,0,0,0
$GC,7188,0.48,179.0,260.3,12.1,634,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2617,2187,0,0,0,0,0,0
$GC,7507,0.48,179.0,221.5,12.3,664,7511,0.00,2.25,0.00,0.000,4,0.000,0.047,2642,1188,2187,0,0,0,0,0,0
$GC,7536,0.52,179.0,218.1,12.6,666,7540,0.00,2.30,0.00,0.000,6,0.000,0.050,2642,2616,2187,0,0,0,0,0,0
$GC,7861,0.54,179.0,180.0,11.1,696,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2616,2187,0,0,0,0,0,0
$GC,8180,0.58,179.0,144.6,10.8,726,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2616,2187,0,0,0,0,0,0
$GC,8499,0.64,206.8,114.7,8.7,756,8533,0.10,2.25,23.52,0.623,4,0.115,0.061,2690,3930,2077,0,0,0,0,0,0
$GC,8598,0.58,206.8,101.9,15.1,764,8605,0.12,2.12,0.00,0.000,6,0.185,0.040,2662,2594,2075,0,0,0,0,0,0
$GC,8944,0.64,229.9,69.0,8.9,824,8969,0.00,2.28,20.40,0.597,4,0.000,0.047,2662,1198,1984,0,0,0,0,0,0
$GC,9022,0.75,256.4,61.8,8.8,837,9053,0.15,2.20,22.88,0.589,6,0.090,0.050,2728,2576,1876,0,0,0,0,0,0
$GC,9394,0.75,256.4,13.4,12.5,902,9401,0.00,2.25,0.00,0.000,4,0.000,0.063,2728,3930,1870,0,0,0,0,0,0
$GC,9420,0.72,256.4,9.9,14.0,906,9427,0.00,2.15,0.00,0.000,6,0.000,0.041,2735,2581,1869,0,0,0,0,0,0
$FREEZE,7.71,2.354,-1.816,0,1,0
$FREEZE,6.98,2.354,-1.815,0,1,0
$FREEZE,6.33,2.355,-1.814,0,1,0
$FREEZE,5.50,2.355,-1.814,0,1,0
$FREEZE,4.70,2.354,-1.813,0,1,0
$FREEZE,4.01,2.356,-1.813,0,1,0
$FREEZE,3.17,2.363,-1.812,0,1,0
$FREEZE,2.47,2.359,-1.812,0,1,0
$STATE,9468,end climb,SURFACE_DEPTH_REACHED
$STATE,9468,begin surface coast
$FREEZE,1.82,2.358,-1.811,0,1,0
$FREEZE,1.11,2.360,-1.810,0,1,0
$FREEZE,0.95,2.330,-0.894,0,1,0
$FINISH,1.0,1.013172
$STATE,9487,end surface coast,CONTROL_FINISHED_OK
$STATE,9487,begin surface
$SM_CCo,9504,216.18,0.080,0,0,440,609.08
$SM_GC,1.78,0.00,0.00,216.18,0.000,0.000,0.080,279,2785,440,-6.85,0.14,609.08
$RAFOS_CLK,379
$RAFOS,6,1294548546,4.833333,4.818333,106,46,42,41,41,40,762,1645,279,312,761,145
$RAFOS,5,1294548061,4.700000,4.683611,70,44,42,41,41,41,671,1611,262,747,1418,1326
$RAFOS,4,1294547586,4.566667,4.551667,75,50,47,45,43,42,855,144,1920,1777,797,1160
$RAFOS,3,1294547106,4.433333,4.418334,49,46,42,41,41,40,966,265,1217,471,956,1398
$RAFOS,2,1294546625,4.300000,4.284722,46,43,42,41,36,36,1824,1540,1728,1209,26,279
$RAFOS,1,1294546159,4.166667,4.155278,48,47,41,41,41,39,631,1572,901,507,1746,1919
$RAFOS,0,1294545664,4.033333,4.017778,45,39,39,38,38,37,391,26,153,1558,1641,917
$RAFOS_FIX,6713.738770,-5713.928711,090111,040444,3,84,0.85
$IRIDIUM_FIX,6641.98,-5650.90,080111,232346
$TT8_MAMPS,0.029211
$HUMID,46.25
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.6
$24V_AH,22.7,82.087
$10V_AH,9.8,56.375
$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,17.125,70.150,338.650,216.175,0.000,23.960,23.955,137.810,1.250,0.000,31.543,2245.385,5171.306,666.216,1708.309,310.112,0.000,1503.536,0.000,1506.047,2520.000,9.709,0.000
$DEVICE_MAMPS,236.385,67.320,851.445,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.122,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,33421,918
$CAP_FILE_SIZE,111638,0
$CFSIZE,260165632,202448896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.6
$GPS,090111,051922,6711.805,-5707.917,24,1.8,40,-37.8