version: 66.08
glider: 183
mission: 3
dive: 707
start: 1 7 111 19 17 35
data:
$ID,183
$MISSION,3
$DIVE,707
$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,-11379.625
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,070111,191058,6708.988,-5701.174,8,99.0,28,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-60.0
$GPS2,070111,191704,6709.028,-5701.351,12,99.0,31,-37.7
$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,176.9,14751,-17.5,-10.000
$D_GRID,461
$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,-146.0,0.0,0.0,0,162,0.00,0.00,-136.50,0.000,6,0.000,0.000,270,2788,3521,0,0,0,0,0,0
$GC,165,-0.57,-146.0,6.6,-14.3,25,178,8.30,2.30,0.00,0.000,4,0.236,0.041,2283,1368,3522,0,0,0,0,0,0
$GC,332,-0.59,-146.0,39.7,-10.9,54,339,0.00,2.30,0.00,0.000,6,0.000,0.056,2282,2781,3523,0,0,0,0,0,0
$GC,678,-0.59,-146.0,74.1,-10.2,115,685,0.00,1.92,0.00,0.000,4,0.000,0.066,2275,3932,3522,0,0,0,0,0,0
$GC,750,-0.59,-146.0,81.1,-9.6,127,757,0.00,1.83,0.00,0.000,6,0.000,0.044,2275,2789,3522,0,0,0,0,0,0
$GC,1095,-0.62,-146.0,113.9,-8.7,175,1099,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1365,3521,0,0,0,0,0,0
$GC,1173,-0.67,-146.0,121.8,-9.6,181,1180,0.00,2.35,0.00,0.000,6,0.000,0.057,2274,2790,3521,0,0,0,0,0,0
$GC,1500,-0.71,-146.0,150.6,-9.8,212,1504,0.00,2.22,0.00,0.000,4,0.000,0.045,2274,1373,3521,0,0,0,0,0,0
$GC,1553,-0.76,-146.0,155.8,-9.7,216,1558,0.12,2.30,0.00,0.000,6,0.093,0.057,2215,2773,3521,0,0,0,0,0,0
$GC,1885,-0.69,-146.0,197.0,-12.3,247,1889,0.12,1.98,0.00,0.000,4,0.174,0.066,2241,3946,3521,0,0,0,0,0,0
$GC,2034,-0.69,-146.0,212.1,-9.8,260,2037,0.00,1.85,0.00,0.000,6,0.000,0.043,2241,2786,3521,0,0,0,0,0,0
$GC,2365,-0.69,-146.0,244.7,-9.6,291,2369,0.00,2.20,0.00,0.000,4,0.000,0.044,2241,1372,3521,0,0,0,0,0,0
$GC,2450,-0.69,-146.0,252.8,-9.5,298,2454,0.00,2.33,0.00,0.000,6,0.000,0.057,2241,2783,3521,0,0,0,0,0,0
$GC,2776,-0.69,-146.0,284.9,-10.7,328,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2783,3521,0,0,0,0,0,0
$GC,3098,-0.69,-146.0,318.0,-10.0,358,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2783,3522,0,0,0,0,0,0
$GC,3428,-0.69,-146.0,348.6,-8.8,389,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2241,2783,3523,0,0,0,0,0,0
$GC,3754,-0.69,-146.0,378.1,-8.6,420,3758,0.00,1.90,0.00,0.000,4,0.000,0.067,2237,3932,3523,0,0,0,0,0,0
$GC,3789,-0.69,-146.0,381.0,-7.7,423,3793,0.00,1.85,0.00,0.000,6,0.000,0.043,2237,2772,3523,0,0,0,0,0,0
$GC,4127,-0.69,-146.0,410.0,-8.1,447,4131,0.00,2.17,0.00,0.000,4,0.000,0.044,2237,1369,3524,0,0,0,0,0,0
$GC,4200,-0.69,-146.0,417.2,-9.9,449,4204,0.00,2.30,0.00,0.000,6,0.000,0.055,2235,2770,3524,0,0,0,0,0,0
$GC,4530,-0.69,-146.0,445.3,-7.7,460,4535,0.00,2.17,0.00,0.000,4,0.000,0.044,2234,1371,3524,0,0,0,0,0,0
$GC,4581,-0.71,-146.0,449.6,-8.5,461,4589,0.00,2.28,0.00,0.000,6,0.000,0.055,2235,2758,3523,0,0,0,0,0,0
$STATE,4721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4728,-0.14,0.0,461.9,8.7,466,4856,0.57,0.00,119.32,0.835,4,0.125,0.000,2425,2595,2923,0,0,0,0,0,0
$STATE,4857,end apogee,CONTROL_FINISHED_OK
$STATE,4857,begin climb
$GC,4859,0.57,146.0,464.7,0.0,470,4987,0.65,2.30,121.03,0.822,4,0.066,0.044,2663,1187,2327,0,0,0,0,0,0
$GC,5174,0.57,146.0,436.1,11.2,479,5178,0.00,2.33,0.00,0.000,6,0.000,0.050,2663,2611,2321,0,0,0,0,0,0
$GC,5497,0.52,146.0,397.9,12.0,490,5501,0.00,2.28,0.00,0.000,4,0.000,0.047,2666,1180,2318,0,0,0,0,0,0
$GC,5676,0.52,146.0,376.1,12.5,505,5683,0.00,2.30,0.00,0.000,6,0.000,0.048,2666,2615,2318,0,0,0,0,0,0
$GC,6002,0.46,146.0,334.8,12.0,536,6007,0.15,2.15,0.00,0.000,4,0.187,0.060,2625,3935,2317,0,0,0,0,0,0
$GC,6046,0.43,146.0,329.1,13.3,539,6053,0.00,2.08,0.00,0.000,6,0.000,0.039,2625,2612,2316,0,0,0,0,0,0
$GC,6372,0.46,150.9,294.6,9.8,570,6384,0.00,2.28,3.83,0.506,4,0.000,0.047,2625,1201,2307,0,0,0,0,0,0
$GC,6398,0.50,159.3,292.1,9.6,572,6413,0.00,2.28,8.43,0.663,6,0.000,0.049,2625,2630,2275,0,0,0,0,0,0
$GC,6740,0.55,169.7,260.0,9.5,604,6756,0.00,2.17,10.60,0.672,4,0.000,0.062,2625,3932,2231,0,0,0,0,0,0
$GC,6789,0.55,169.7,254.6,11.8,608,6796,0.00,2.05,0.00,0.000,6,0.000,0.039,2625,2630,2229,0,0,0,0,0,0
$GC,7115,0.60,172.5,222.3,9.9,639,7128,0.12,2.30,4.15,0.510,4,0.097,0.047,2688,1183,2219,0,0,0,0,0,0
$GC,7156,0.57,172.5,217.0,13.0,642,7163,0.00,2.33,0.00,0.000,6,0.000,0.050,2688,2630,2219,0,0,0,0,0,0
$GC,7482,0.51,172.5,172.6,14.0,673,7487,0.17,2.17,0.00,0.000,4,0.173,0.060,2639,3933,2218,0,0,0,0,0,0
$GC,7515,0.51,172.5,168.1,13.0,675,7522,0.00,2.05,0.00,0.000,6,0.000,0.039,2639,2632,2217,0,0,0,0,0,0
$GC,7841,0.57,199.9,135.7,8.7,706,7870,0.00,0.00,23.88,0.635,6,0.000,0.000,2639,2632,2107,0,0,0,0,0,0
$GC,8191,0.64,203.2,102.2,9.8,739,8204,0.12,2.30,3.83,0.448,4,0.097,0.046,2698,1202,2094,0,0,0,0,0,0
$GC,8228,0.66,203.2,97.8,11.2,743,8235,0.00,2.33,0.00,0.000,6,0.000,0.050,2698,2646,2094,0,0,0,0,0,0
$GC,8575,0.64,203.2,56.0,11.1,804,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2646,2093,0,0,0,0,0,0
$GC,8923,0.64,203.2,17.3,11.8,865,8929,0.00,2.12,0.00,0.000,4,0.000,0.061,2698,3932,2093,0,0,0,0,0,0
$GC,8966,0.57,203.2,11.8,12.9,872,8974,0.15,2.08,0.00,0.000,6,0.179,0.040,2664,2616,2091,0,0,0,0,0,0
$FREEZE,8.66,2.641,-1.823,0,1,0
$FREEZE,8.02,2.648,-1.823,0,1,0
$FREEZE,7.53,2.647,-1.822,0,1,0
$FREEZE,7.03,2.648,-1.822,0,1,0
$FREEZE,6.43,2.658,-1.822,0,1,0
$FREEZE,5.94,2.661,-1.821,0,1,0
$FREEZE,5.52,2.633,-1.821,0,1,0
$FREEZE,5.09,2.633,-1.821,0,1,0
$FREEZE,4.70,2.630,-1.820,0,1,0
$FREEZE,4.25,2.632,-1.820,0,1,0
$FREEZE,4.05,2.632,-1.820,0,1,0
$FREEZE,3.68,2.642,-1.820,0,1,0
$FREEZE,3.13,2.640,-1.819,0,1,0
$FREEZE,2.69,2.640,-1.819,0,1,0
$STATE,9060,end climb,SURFACE_DEPTH_REACHED
$STATE,9060,begin surface coast
$FREEZE,2.20,2.643,-1.818,0,1,0
$FREEZE,1.83,2.643,-1.818,0,1,0
$FREEZE,1.24,2.646,-1.818,0,1,0
$FREEZE,0.97,2.625,-0.943,0,1,0
$FREEZE,1.08,2.604,-0.960,0,1,0
$FREEZE,1.01,2.640,-1.762,0,1,0
$FREEZE,1.04,2.660,-1.816,0,1,0
$FREEZE,1.07,2.638,-1.812,0,1,0
$FINISH,1.1,1.026359
$STATE,9105,end surface coast,CONTROL_FINISHED_OK
$STATE,9106,begin surface
$SM_CCo,9122,239.75,0.080,0,0,440,609.08
$SM_GC,1.74,0.00,0.00,239.75,0.000,0.000,0.080,287,2786,440,-6.82,0.17,609.08
$RAFOS_CLK,370
$RAFOS,6,1294433345,20.833334,20.818056,49,48,48,46,43,42,1934,1599,785,1856,585,1616
$RAFOS,5,1294432863,20.700001,20.684166,95,44,42,41,41,41,665,220,1481,386,930,1483
$RAFOS,4,1294432389,20.566668,20.552500,57,46,44,44,43,41,852,1647,1559,150,1012,777
$RAFOS,3,1294431919,20.433332,20.421944,54,43,41,40,40,39,924,1294,1547,1574,1703,987
$RAFOS,2,1294431425,20.299999,20.284721,49,45,44,43,41,41,1538,542,1559,983,418,1715
$RAFOS,1,1294430947,20.166666,20.151945,46,44,44,43,43,43,1123,1716,1334,598,1689,154
$RAFOS,0,1294430469,20.033333,20.019167,45,44,43,43,42,42,1066,1397,1923,571,1654,1442
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6636.54,-5632.39,070111,161651
$TT8_MAMPS,0.027713
$HUMID,45.39
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,17.8
$24V_AH,22.9,81.105
$10V_AH,9.8,55.708
$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,16.800,78.875,295.050,239.750,0.000,27.183,39.646,130.379,1.250,0.000,34.747,2190.179,4824.472,675.602,1757.195,289.958,0.000,1521.595,0.000,1534.500,2520.000,9.699,0.000
$DEVICE_MAMPS,236.385,68.085,835.380,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,33423,897
$CAP_FILE_SIZE,111651,0
$CFSIZE,260165632,203096064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.3
$GPS,070111,215507,6708.836,-5701.018,36,1.0,37,-37.7