version: 66.08
glider: 183
mission: 3
dive: 481
start: 12 10 110 5 20 56
data:
$ID,183
$MISSION,3
$DIVE,481
$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,-2
$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,-8320.6006
$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,34
$R_STBD_OVSHOOT,22
$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,4
$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
$GPS1,101210,050907,6645.909,-5949.949,36,1.8,36,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-57.6
$GPS2,101210,052025,6645.781,-5949.873,9,1.8,14,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,300.9,26634,-17.5,-10.000
$D_GRID,746
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,679,-0.55,-146.0,79.9,-10.7,114,686,0.00,1.88,0.00,0.000,6,0.000,0.051,2318,2788,3525,0,0,0,0,0,0
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$GC,2182,-0.67,-146.0,234.1,-8.9,271,2186,0.00,2.30,0.00,0.000,4,0.000,0.052,2282,1365,3524,0,0,0,0,0,0
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$GC,2543,-0.74,-146.0,265.4,-8.6,304,2547,0.12,1.95,0.00,0.000,4,0.107,0.076,2222,3928,3523,0,0,0,0,0,0
$GC,2593,-0.67,-146.0,271.3,-12.2,308,2600,0.12,1.85,0.00,0.000,6,0.175,0.049,2254,2792,3523,0,0,0,0,0,0
$GC,2919,-0.67,-146.0,303.8,-9.8,339,2923,0.00,2.28,0.00,0.000,4,0.000,0.052,2254,1371,3523,0,0,0,0,0,0
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$GC,3656,-0.67,-146.0,382.3,-10.6,407,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2795,3524,0,0,0,0,0,0
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$GC,4326,-0.67,-146.0,447.8,-9.0,440,4330,0.00,2.30,0.00,0.000,4,0.000,0.050,2248,1369,3524,0,0,0,0,0,0
$GC,4356,-0.67,-146.0,450.5,-8.5,441,4360,0.00,2.35,0.00,0.000,6,0.000,0.063,2248,2782,3524,0,0,0,0,0,0
$GC,4691,-0.67,-146.0,479.3,-8.6,452,4695,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1370,3525,0,0,0,0,0,0
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$GC,5056,-0.67,-146.0,510.1,-8.3,464,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2785,3525,0,0,0,0,0,0
$GC,5361,-0.67,-146.0,534.1,-7.5,474,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2785,3525,0,0,0,0,0,0
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$GC,5696,-0.67,-146.0,559.9,-7.5,485,5701,0.00,2.35,0.00,0.000,6,0.000,0.062,2247,2779,3526,0,0,0,0,0,0
$GC,6032,-0.67,-146.0,588.0,-8.6,496,6036,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1362,3526,0,0,0,0,0,0
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$GC,6394,-0.67,-146.0,621.7,-9.0,507,6398,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2740,3526,0,0,0,0,0,0
$GC,6713,-0.67,-146.0,649.0,-8.5,518,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2739,3527,0,0,0,0,0,0
$GC,7020,-0.67,-146.0,675.6,-8.8,528,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2739,3527,0,0,0,0,0,0
$GC,7325,-0.67,-146.0,703.0,-8.9,538,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2740,3527,0,0,0,0,0,0
$GC,7631,-0.67,-146.0,730.3,-8.7,548,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2740,3527,0,0,0,0,0,0
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7850,-0.14,0.0,748.5,8.3,555,7983,0.55,0.00,126.07,1.068,4,0.133,0.000,2426,2592,2923,0,0,0,0,0,0
$STATE,7984,end apogee,CONTROL_FINISHED_OK
$STATE,7984,begin climb
$GC,7986,0.57,146.0,752.3,0.0,559,8127,0.68,2.42,132.85,1.043,4,0.066,0.050,2662,1187,2327,0,0,0,0,0,0
$GC,8272,0.54,146.0,728.5,11.3,567,8277,0.00,2.47,0.00,0.000,6,0.000,0.056,2663,2604,2318,0,0,0,0,0,0
$GC,8597,0.48,146.0,689.6,12.1,578,8602,0.12,2.33,0.00,0.000,4,0.203,0.052,2636,1184,2315,0,0,0,0,0,0
$GC,8796,0.51,164.3,670.3,9.2,584,8816,0.00,2.35,15.15,0.962,6,0.000,0.057,2636,2611,2253,0,0,0,0,0,0
$GC,9130,0.51,164.3,634.6,10.3,595,9134,0.00,2.20,0.00,0.000,4,0.000,0.068,2635,3926,2249,0,0,0,0,0,0
$GC,9169,0.46,164.3,629.8,12.3,596,9173,0.00,2.17,0.00,0.000,6,0.000,0.045,2639,2586,2249,0,0,0,0,0,0
$GC,9498,0.46,164.3,596.6,10.1,607,9502,0.00,2.22,0.00,0.000,4,0.000,0.053,2639,1191,2248,0,0,0,0,0,0
$GC,9543,0.51,192.8,592.4,8.7,608,9573,0.00,2.30,25.73,0.952,6,0.000,0.056,2639,2600,2136,0,0,0,0,0,0
$GC,9905,0.51,192.8,556.2,10.5,620,9909,0.00,2.25,0.00,0.000,4,0.000,0.067,2639,3931,2131,0,0,0,0,0,0
$GC,9949,0.47,192.8,550.8,12.4,621,9953,0.00,2.15,0.00,0.000,6,0.000,0.045,2642,2602,2129,0,0,0,0,0,0
$GC,10274,0.47,192.8,516.4,10.5,632,10278,0.00,2.28,0.00,0.000,4,0.000,0.053,2642,1190,2129,0,0,0,0,0,0
$GC,10303,0.51,192.8,513.3,10.2,633,10307,0.00,2.30,0.00,0.000,6,0.000,0.057,2642,2603,2129,0,0,0,0,0,0
$GC,10643,0.51,192.8,476.7,10.8,644,10647,0.00,2.20,0.00,0.000,4,0.000,0.067,2642,3926,2128,0,0,0,0,0,0
$GC,10699,0.47,192.8,469.5,14.1,645,10705,0.00,2.12,0.00,0.000,6,0.000,0.045,2642,2605,2127,0,0,0,0,0,0
$GC,11011,0.47,192.8,435.2,10.9,656,11015,0.00,2.28,0.00,0.000,4,0.000,0.053,2642,1184,2127,0,0,0,0,0,0
$GC,11053,0.52,192.8,431.0,10.4,657,11057,0.00,2.30,0.00,0.000,6,0.000,0.055,2642,2608,2127,0,0,0,0,0,0
$GC,11373,0.52,192.8,395.0,11.3,669,11377,0.00,2.22,0.00,0.000,4,0.000,0.068,2642,3932,2127,0,0,0,0,0,0
$GC,11434,0.49,192.8,387.1,12.6,674,11441,0.00,2.12,0.00,0.000,6,0.000,0.044,2643,2610,2127,0,0,0,0,0,0
$GC,11759,0.49,192.8,352.3,10.0,705,11760,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2610,2127,0,0,0,0,0,0
$GC,12078,0.50,208.7,321.8,9.3,735,12101,0.00,2.33,13.93,0.793,4,0.000,0.053,2643,1190,2071,0,0,0,0,0,0
$GC,12137,0.59,226.5,316.6,9.2,740,12160,0.00,2.33,16.83,0.788,6,0.000,0.057,2643,2620,1999,0,0,0,0,0,0
$GC,12479,0.64,226.5,284.1,10.2,772,12484,0.10,2.22,0.00,0.000,4,0.119,0.069,2686,3925,1994,0,0,0,0,0,0
$GC,12500,0.64,226.5,281.0,13.1,773,12507,0.00,2.12,0.00,0.000,6,0.000,0.045,2690,2626,1993,0,0,0,0,0,0
$GC,12826,0.60,226.5,238.1,12.4,804,12830,0.00,2.28,0.00,0.000,4,0.000,0.054,2691,1194,1992,0,0,0,0,0,0
$GC,12951,0.60,226.5,224.4,11.8,814,12957,0.00,2.30,0.00,0.000,6,0.000,0.056,2690,2608,1993,0,0,0,0,0,0
$GC,13276,0.58,226.5,188.2,11.0,845,13280,0.00,2.28,0.00,0.000,4,0.000,0.053,2691,1194,1992,0,0,0,0,0,0
$GC,13314,0.60,226.5,184.0,10.5,848,13321,0.00,2.28,0.00,0.000,6,0.000,0.057,2691,2602,1992,0,0,0,0,0,0
$GC,13639,0.60,226.5,150.6,10.3,879,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2602,1992,0,0,0,0,0,0
$GC,13959,0.61,229.7,118.5,9.9,909,13963,0.00,2.22,0.00,0.000,4,0.000,0.069,2691,3935,1991,0,0,0,0,0,0
$GC,14001,0.56,229.7,113.7,12.1,912,14006,0.15,2.17,0.00,0.000,6,0.190,0.047,2654,2592,1991,0,0,0,0,0,0
$GC,14336,0.67,280.4,87.1,7.7,957,14390,0.12,2.30,45.67,0.684,4,0.106,0.069,2703,3926,1777,0,0,0,0,0,0
$GC,14415,0.65,280.4,78.4,13.6,970,14422,0.00,2.17,0.00,0.000,6,0.000,0.046,2704,2603,1774,0,0,0,0,0,0
$GC,14763,0.69,283.5,37.9,9.9,1031,14770,0.00,2.28,0.00,0.000,4,0.000,0.055,2704,1182,1769,0,0,0,0,0,0
$GC,14926,0.79,307.1,23.9,8.9,1059,14957,0.00,2.30,22.45,0.658,6,0.000,0.057,2704,2579,1669,0,0,0,0,0,0
$FREEZE,8.72,-1.750,-1.767,2,1,0
$STATE,15086,end climb,FINISH_DEPTH_REACHED
$STATE,15087,begin subsurface finish
$FINISH1,8.7,1.025869,80
$GC,15094,0.05,80.0,8.7,-11.3,1087,15130,0.68,2.33,-28.20,0.000,4,0.147,0.084,2494,3936,2598,0,0,0,0,0,0
$FINISH2,7.7
$STATE,15131,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15131,begin surface
$RAFOS_CLK,823
$RAFOS,6,1291970944,8.833333,8.817778,75,43,41,41,41,41,777,900,457,531,1519,1476
$RAFOS,5,1291970468,8.700000,8.685555,42,42,41,40,38,38,503,876,1139,135,647,1866
$RAFOS,4,1291969990,8.566667,8.552778,87,45,42,42,40,38,636,1374,1131,1852,1576,295
$RAFOS,3,1291969504,8.433333,8.417778,111,51,44,43,42,41,735,1475,1560,1397,805,453
$RAFOS,2,1291969036,8.300000,8.287778,81,50,45,41,41,41,563,574,389,869,1654,719
$RAFOS,1,1291968543,8.166667,8.150833,70,56,55,43,41,39,561,259,162,1720,343,1872
$RAFOS,0,1291968082,8.033334,8.022778,85,42,42,41,40,40,573,1813,1861,600,678,728
$RAFOS_FIX,6645.325195,-5951.207520,101210,080853,6,85,0.12
$IRIDIUM_FIX,6614.97,-5939.52,101210,000003
$TT8_MAMPS,0.028462
$HUMID,48.85
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.8
$24V_AH,21.6,58.449
$10V_AH,9.9,42.473
$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,11.625,135.075,398.675,0.000,0.000,29.700,42.678,456.581,2.500,0.000,17.031,2735.914,9720.380,563.141,2468.244,334.551,0.000,1668.742,0.000,1951.099,2520.000,18.546,0.000
$DEVICE_MAMPS,253.980,85.680,1067.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,760.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,40001,1093
$CAP_FILE_SIZE,158428,0
$CFSIZE,260165632,215744512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$GPS,101210,082453,6645.325,-5951.208,0,6084.8,0,-38.0