version: 66.08
glider: 183
mission: 3
dive: 728
start: 1 10 111 7 27 2
data:
$ID,183
$MISSION,3
$DIVE,728
$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,-11404.842
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,100111,072054,6713.341,-5712.443,39,1.1,40,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-60.3
$GPS2,100111,072631,6713.378,-5712.587,10,1.1,15,-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,175.2,26166,-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,-146.0,0.0,0.0,0,158,0.00,0.00,-135.05,0.000,6,0.000,0.000,262,2775,3519,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.9,-11.1,24,175,8.35,2.28,0.00,0.000,4,0.236,0.042,2285,1369,3521,0,0,0,0,0,0
$GC,385,-0.60,-146.0,44.4,-10.3,63,392,0.00,2.33,0.00,0.000,6,0.000,0.057,2277,2778,3523,0,0,0,0,0,0
$GC,732,-0.62,-146.0,76.8,-8.5,124,739,0.00,1.95,0.00,0.000,4,0.000,0.067,2275,3936,3522,0,0,0,0,0,0
$GC,850,-0.66,-146.0,86.9,-8.5,144,857,0.00,1.85,0.00,0.000,6,0.000,0.044,2274,2783,3521,0,0,0,0,0,0
$GC,1192,-0.70,-146.0,115.6,-8.3,189,1196,0.00,2.22,0.00,0.000,4,0.000,0.046,2274,1364,3521,0,0,0,0,0,0
$GC,1278,-0.77,-146.0,124.1,-10.1,196,1283,0.12,2.33,0.00,0.000,6,0.092,0.057,2214,2773,3520,0,0,0,0,0,0
$GC,1604,-0.70,-146.0,168.1,-13.1,226,1606,0.12,0.00,0.00,0.000,6,0.173,0.000,2248,2773,3520,0,0,0,0,0,0
$GC,1922,-0.70,-146.0,201.5,-9.9,256,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2773,3521,0,0,0,0,0,0
$GC,2243,-0.70,-146.0,231.8,-9.0,286,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2773,3521,0,0,0,0,0,0
$GC,2569,-0.70,-146.0,261.1,-8.5,317,2573,0.00,2.20,0.00,0.000,4,0.000,0.044,2248,1371,3521,0,0,0,0,0,0
$GC,2615,-0.74,-146.0,265.0,-8.2,320,2622,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2766,3521,0,0,0,0,0,0
$GC,2942,-0.76,-146.0,291.0,-7.8,351,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3521,0,0,0,0,0,0
$GC,3259,-0.78,-146.0,317.0,-8.3,381,3263,0.00,1.95,0.00,0.000,4,0.000,0.067,2245,3926,3522,0,0,0,0,0,0
$GC,3295,-0.80,-146.0,320.0,-8.5,384,3298,0.00,1.83,0.00,0.000,6,0.000,0.043,2245,2770,3522,0,0,0,0,0,0
$GC,3628,-0.80,-146.0,347.5,-8.4,415,3632,0.00,2.20,0.00,0.000,4,0.000,0.045,2245,1362,3523,0,0,0,0,0,0
$GC,3685,-0.84,-146.0,352.8,-8.5,419,3692,0.12,2.30,0.00,0.000,6,0.091,0.056,2181,2761,3523,0,0,0,0,0,0
$GC,4011,-0.74,-146.0,392.7,-12.5,450,4016,0.17,1.98,0.00,0.000,4,0.161,0.064,2223,3928,3523,0,0,0,0,0,0
$GC,4074,-0.74,-146.0,399.9,-11.1,455,4079,0.00,1.85,0.00,0.000,6,0.000,0.044,2223,2770,3523,0,0,0,0,0,0
$GC,4393,-0.74,-146.0,432.9,-9.3,466,4397,0.00,2.20,0.00,0.000,4,0.000,0.044,2222,1369,3523,0,0,0,0,0,0
$GC,4455,-0.74,-146.0,439.2,-9.8,467,4462,0.00,2.30,0.00,0.000,6,0.000,0.056,2222,2764,3523,0,0,0,0,0,0
$GC,4769,-0.71,-146.0,470.2,-9.9,478,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2764,3524,0,0,0,0,0,0
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4864,-0.14,0.0,479.9,10.6,481,4993,0.60,0.00,120.03,0.850,4,0.123,0.000,2422,2600,2923,0,0,0,0,0,0
$STATE,4994,end apogee,CONTROL_FINISHED_OK
$STATE,4994,begin climb
$GC,4997,0.57,146.0,483.4,0.0,485,5129,0.68,2.30,122.00,0.838,4,0.067,0.044,2668,1188,2327,0,0,0,0,0,0
$GC,5322,0.55,146.0,454.6,10.6,495,5326,0.00,2.33,0.00,0.000,6,0.000,0.050,2668,2613,2321,0,0,0,0,0,0
$GC,5658,0.48,146.0,412.5,12.9,506,5663,0.12,2.25,0.00,0.000,4,0.183,0.046,2641,1180,2318,0,0,0,0,0,0
$GC,5860,0.52,149.1,390.8,9.9,516,5867,0.00,2.30,0.00,0.000,6,0.000,0.050,2641,2604,2318,0,0,0,0,0,0
$GC,6186,0.52,149.1,355.0,11.2,547,6190,0.00,2.20,0.00,0.000,4,0.000,0.062,2641,3934,2317,0,0,0,0,0,0
$GC,6275,0.46,149.1,342.7,13.4,554,6282,0.00,2.08,0.00,0.000,6,0.000,0.040,2644,2623,2316,0,0,0,0,0,0
$GC,6601,0.46,150.7,308.9,9.9,585,6605,0.00,2.25,0.00,0.000,4,0.000,0.046,2645,1195,2316,0,0,0,0,0,0
$GC,6620,0.47,160.0,307.2,9.6,586,6636,0.00,2.33,11.32,0.703,6,0.000,0.050,2645,2634,2270,0,0,0,0,0,0
$GC,6956,0.47,160.0,274.0,10.8,617,6960,0.00,2.12,0.00,0.000,4,0.000,0.061,2645,3931,2268,0,0,0,0,0,0
$GC,6984,0.43,160.0,270.4,12.4,619,6992,0.12,2.08,0.00,0.000,6,0.193,0.040,2619,2617,2267,0,0,0,0,0,0
$GC,7310,0.52,211.0,243.3,7.6,650,7360,0.00,0.00,43.78,0.702,6,0.000,0.000,2618,2617,2061,0,0,0,0,0,0
$GC,7679,0.63,244.3,212.2,8.5,685,7710,0.17,0.00,28.23,0.676,6,0.078,0.000,2694,2617,1925,0,0,0,0,0,0
$GC,8028,0.60,244.3,158.5,16.5,718,8032,0.00,2.20,0.00,0.000,4,0.000,0.061,2694,3934,1919,0,0,0,0,0,0
$GC,8047,0.57,244.3,155.4,17.1,719,8052,0.15,2.08,0.00,0.000,6,0.174,0.040,2657,2624,1917,0,0,0,0,0,0
$GC,8374,0.63,244.3,115.2,11.5,749,8378,0.00,2.25,0.00,0.000,4,0.000,0.047,2657,1195,1917,0,0,0,0,0,0
$GC,8420,0.73,244.3,110.2,10.1,752,8427,0.15,2.28,0.00,0.000,6,0.087,0.049,2724,2611,1917,0,0,0,0,0,0
$GC,8760,0.69,244.3,61.7,14.1,806,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2611,1917,0,0,0,0,0,0
$GC,9106,0.66,244.3,17.2,12.0,867,9113,0.12,2.17,0.00,0.000,4,0.174,0.062,2690,3932,1916,0,0,0,0,0,0
$FREEZE,8.62,2.433,-1.820,0,1,0
$FREEZE,7.97,2.433,-1.820,0,1,0
$FREEZE,7.34,2.434,-1.819,0,1,0
$FREEZE,6.75,2.434,-1.819,0,1,0
$FREEZE,6.14,2.433,-1.818,0,1,0
$FREEZE,5.49,2.432,-1.818,0,1,0
$FREEZE,4.90,2.432,-1.817,0,1,0
$FREEZE,4.09,2.435,-1.817,0,1,0
$FREEZE,3.35,2.431,-1.816,0,1,0
$FREEZE,2.71,2.424,-1.816,0,1,0
$STATE,9228,end climb,SURFACE_DEPTH_REACHED
$STATE,9228,begin surface coast
$FREEZE,2.12,2.421,-1.815,0,1,0
$FREEZE,1.47,2.422,-1.815,0,1,0
$FREEZE,0.98,2.415,-1.815,0,1,0
$FREEZE,1.07,2.421,-0.220,0,1,0
$FINISH,1.1,1.003163
$STATE,9250,end surface coast,CONTROL_FINISHED_OK
$STATE,9250,begin surface
$SM_CCo,9270,219.85,0.080,0,0,440,609.08
$SM_GC,1.65,0.00,0.00,219.85,0.000,0.000,0.080,278,2773,440,-6.85,-0.17,609.08
$RAFOS_CLK,369
$RAFOS,6,1294649347,8.833333,8.818611,45,44,44,42,40,40,1819,470,1536,883,722,1446
$RAFOS,5,1294648863,8.700000,8.684167,104,45,41,41,38,38,654,382,655,784,495,549
$RAFOS,4,1294648388,8.566667,8.552222,98,47,45,43,42,39,840,1610,1811,1163,784,1779
$RAFOS,3,1294647907,8.433333,8.418612,50,48,41,41,39,39,1800,1377,598,26,987,1411
$RAFOS,2,1294647423,8.300000,8.284166,44,44,44,43,43,43,241,417,1188,158,507,1250
$RAFOS,1,1294646946,8.166667,8.151667,49,46,45,44,44,40,1235,781,1244,1881,852,207
$RAFOS,0,1294646469,8.033334,8.019167,44,44,43,42,41,38,1362,1625,1052,1750,1810,201
$RAFOS_FIX,6710.573242,-5707.835938,100111,080828,2,101,1.42
$IRIDIUM_FIX,6647.44,-5720.23,100111,040429
$TT8_MAMPS,0.028462
$HUMID,45.31
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$24V_AH,22.8,83.001
$10V_AH,9.8,56.986
$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,17.450,69.375,325.350,219.850,0.000,29.502,17.213,131.526,1.250,0.000,18.559,2194.387,5000.911,662.372,1701.763,281.842,0.000,1491.404,0.000,1514.804,2520.000,9.700,0.000
$DEVICE_MAMPS,235.620,67.320,849.915,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,30105,893
$CAP_FILE_SIZE,108764,0
$CFSIZE,260165632,201875456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.3
$GPS,100111,100637,6713.408,-5713.225,26,1.6,27,-37.9