version: 66.08
glider: 183
mission: 3
dive: 727
start: 1 10 111 4 41 57
data:
$ID,183
$MISSION,3
$DIVE,727
$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,-11403.586
$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,42
$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
$GPS1,100111,043507,6712.711,-5711.447,28,1.2,29,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-58.7
$GPS2,100111,044126,6712.761,-5711.676,16,1.4,16,-37.9
$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,174.5,24882,-17.5,-10.000
$D_GRID,479
$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,-146.0,0.0,0.0,0,164,0.00,0.00,-137.35,0.000,6,0.000,0.000,258,2788,3519,0,0,0,0,0,0
$GC,167,-0.57,-146.0,6.8,-15.2,25,181,8.38,2.33,0.00,0.000,4,0.235,0.043,2282,1366,3520,0,0,0,0,0,0
$GC,314,-0.60,-146.0,39.1,-12.3,50,321,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2776,3522,0,0,0,0,0,0
$GC,660,-0.60,-146.0,77.2,-10.3,111,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2776,3521,0,0,0,0,0,0
$GC,1001,-0.64,-146.0,107.1,-8.3,164,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2776,3520,0,0,0,0,0,0
$GC,1323,-0.68,-146.0,131.1,-7.3,194,1327,0.00,2.22,0.00,0.000,4,0.000,0.047,2275,1377,3520,0,0,0,0,0,0
$GC,1352,-0.73,-146.0,133.5,-7.8,196,1357,0.10,2.35,0.00,0.000,6,0.103,0.058,2225,2796,3520,0,0,0,0,0,0
$GC,1678,-0.69,-146.0,170.4,-11.4,226,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2796,3520,0,0,0,0,0,0
$GC,1999,-0.66,-146.0,207.2,-11.5,256,2004,0.12,2.28,0.00,0.000,4,0.166,0.045,2260,1369,3520,0,0,0,0,0,0
$GC,2041,-0.71,-146.0,211.7,-9.9,259,2045,0.00,2.35,0.00,0.000,6,0.000,0.057,2260,2792,3520,0,0,0,0,0,0
$GC,2367,-0.75,-146.0,240.9,-8.3,289,2371,0.00,2.22,0.00,0.000,4,0.000,0.045,2260,1376,3520,0,0,0,0,0,0
$GC,2402,-0.79,-146.0,244.3,-9.0,291,2410,0.12,2.30,0.00,0.000,6,0.093,0.057,2198,2772,3520,0,0,0,0,0,0
$GC,2728,-0.71,-146.0,284.4,-12.1,322,2732,0.17,1.98,0.00,0.000,4,0.161,0.066,2241,3935,3521,0,0,0,0,0,0
$GC,2756,-0.71,-146.0,287.8,-11.0,324,2763,0.00,1.88,0.00,0.000,6,0.000,0.042,2240,2761,3521,0,0,0,0,0,0
$GC,3082,-0.71,-146.0,318.7,-9.2,355,3085,0.00,2.20,0.00,0.000,4,0.000,0.044,2241,1366,3521,0,0,0,0,0,0
$GC,3140,-0.74,-146.0,324.2,-9.4,360,3145,0.00,2.28,0.00,0.000,6,0.000,0.056,2235,2760,3521,0,0,0,0,0,0
$GC,3472,-0.74,-146.0,355.5,-9.6,391,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3521,0,0,0,0,0,0
$GC,3793,-0.74,-146.0,386.1,-9.4,421,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3522,0,0,0,0,0,0
$GC,4133,-0.74,-146.0,417.8,-9.1,442,4137,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1374,3522,0,0,0,0,0,0
$GC,4171,-0.76,-146.0,421.1,-9.3,443,4176,0.00,2.25,0.00,0.000,6,0.000,0.056,2235,2754,3522,0,0,0,0,0,0
$GC,4510,-0.76,-146.0,450.5,-8.8,454,4514,0.00,1.98,0.00,0.000,4,0.000,0.066,2235,3932,3523,0,0,0,0,0,0
$GC,4579,-0.76,-146.0,457.0,-9.2,456,4583,0.00,1.90,0.00,0.000,6,0.000,0.043,2234,2742,3523,0,0,0,0,0,0
$STATE,4826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4826,begin apogee
$GC,4833,-0.14,0.0,479.0,9.1,464,4962,0.57,0.00,120.22,0.851,4,0.123,0.000,2425,2602,2923,0,0,0,0,0,0
$STATE,4962,end apogee,CONTROL_FINISHED_OK
$STATE,4963,begin climb
$GC,4965,0.57,146.0,482.5,0.0,468,5096,0.65,2.33,122.45,0.837,4,0.063,0.045,2666,1184,2327,0,0,0,0,0,0
$GC,5281,0.57,146.0,452.9,12.1,477,5288,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2603,2320,0,0,0,0,0,0
$GC,5595,0.51,146.0,412.6,13.1,488,5599,0.00,2.17,0.00,0.000,4,0.000,0.061,2666,3931,2318,0,0,0,0,0,0
$GC,5842,0.41,146.0,375.6,15.3,504,5850,0.22,2.15,0.00,0.000,6,0.177,0.040,2605,2573,2315,0,0,0,0,0,0
$GC,6169,0.49,183.4,348.4,8.3,535,6206,0.00,2.33,30.77,0.756,4,0.000,0.062,2605,3921,2175,0,0,0,0,0,0
$GC,6236,0.54,183.4,342.6,10.1,541,6241,0.12,2.10,0.00,0.000,6,0.095,0.040,2663,2594,2171,0,0,0,0,0,0
$GC,6562,0.54,183.4,303.5,12.4,571,6566,0.00,2.20,0.00,0.000,4,0.000,0.061,2663,3925,2170,0,0,0,0,0,0
$GC,6580,0.50,183.4,301.1,13.1,572,6584,0.00,2.10,0.00,0.000,6,0.000,0.039,2665,2599,2169,0,0,0,0,0,0
$GC,6910,0.50,183.4,259.8,12.3,603,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2169,0,0,0,0,0,0
$GC,7231,0.50,183.4,221.3,12.1,633,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2599,2169,0,0,0,0,0,0
$GC,7552,0.50,183.4,183.4,11.8,663,7556,0.00,2.22,0.00,0.000,4,0.000,0.061,2665,3932,2169,0,0,0,0,0,0
$GC,7615,0.45,183.4,173.8,14.3,668,7619,0.17,2.08,0.00,0.000,6,0.174,0.038,2619,2614,2167,0,0,0,0,0,0
$GC,7941,0.52,185.6,141.7,9.9,698,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2613,2167,0,0,0,0,0,0
$GC,8263,0.62,204.9,111.1,9.1,728,8289,0.15,0.00,18.67,0.620,6,0.083,0.000,2688,2613,2086,0,0,0,0,0,0
$GC,8623,0.62,204.9,66.7,11.3,785,8630,0.00,2.22,0.00,0.000,4,0.000,0.046,2692,1186,2082,0,0,0,0,0,0
$GC,8649,0.62,204.9,63.9,10.9,789,8656,0.00,2.28,0.00,0.000,6,0.000,0.050,2693,2610,2083,0,0,0,0,0,0
$GC,8995,0.62,204.9,25.9,11.0,850,9002,0.00,2.20,0.00,0.000,4,0.000,0.062,2692,3935,2081,0,0,0,0,0,0
$FREEZE,8.79,2.441,-1.821,0,1,0
$FREEZE,8.13,2.447,-1.820,0,1,0
$FREEZE,7.18,2.443,-1.820,0,1,0
$FREEZE,6.47,2.448,-1.819,0,1,0
$FREEZE,5.74,2.447,-1.818,0,1,0
$FREEZE,5.07,2.448,-1.818,0,1,0
$FREEZE,4.34,2.454,-1.818,0,1,0
$FREEZE,3.77,2.437,-1.817,0,1,0
$FREEZE,3.18,2.435,-1.817,0,1,0
$FREEZE,2.59,2.443,-1.816,0,1,0
$STATE,9173,end climb,SURFACE_DEPTH_REACHED
$STATE,9173,begin surface coast
$FREEZE,1.96,2.441,-1.816,0,1,0
$FREEZE,1.19,2.442,-1.815,0,1,0
$FINISH,1.2,1.026423
$STATE,9186,end surface coast,CONTROL_FINISHED_OK
$STATE,9186,begin surface
$SM_CCo,9205,240.55,0.078,0,0,440,609.08
$SM_GC,1.81,0.00,0.00,240.55,0.000,0.000,0.078,276,2775,440,-6.85,-0.14,609.08
$RAFOS_CLK,366
$RAFOS,6,1294634944,4.833333,4.817778,56,45,42,39,38,37,764,1586,781,973,819,1715
$RAFOS,3,1294633506,4.433333,4.418334,52,46,44,44,42,42,1315,413,77,1356,1472,1871
$RAFOS_FIX,6713.354980,-5717.477539,100111,000056,2,89,0.52
$IRIDIUM_FIX,6641.98,-5718.55,100111,010124
$TT8_MAMPS,0.029211
$HUMID,45.58
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.7
$24V_AH,22.7,82.912
$10V_AH,9.8,56.926
$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,17.225,65.775,292.125,240.550,0.000,24.812,45.289,139.915,1.250,0.000,18.898,2163.332,5013.230,646.954,1711.609,296.712,0.000,1460.733,0.000,1495.076,360.000,9.710,0.000
$DEVICE_MAMPS,234.855,66.555,850.680,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,30001,884
$CAP_FILE_SIZE,104602,0
$CFSIZE,260165632,201932800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.5
$GPS,100111,072054,6713.341,-5712.443,39,1.1,40,-37.9