version: 66.08
glider: 183
mission: 3
dive: 486
start: 12 11 110 0 38 56
data:
$ID,183
$MISSION,3
$DIVE,486
$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,-8321.8584
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,111210,001528,6642.000,-6005.049,0,4082.0,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.88
$_SM_ANGLEo,-2.4
$GPS2,111210,001528,6642.000,-6005.049,0,4082.0,0,-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,321.6,15768,-17.5,-10.000
$D_GRID,585
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.70,0.000,2,0.000,0.000,2501,1189,2927,0,0,0,0,0,0
$GC,27,-0.57,-146.0,15.5,-0.0,1,47,0.57,4.65,-10.70,0.000,4,0.101,0.071,2293,3925,3522,0,0,0,0,0,0
$GC,122,-0.57,-146.0,30.2,-12.5,17,130,0.00,1.88,0.00,0.000,6,0.000,0.047,2293,2770,3523,0,0,0,0,0,0
$GC,468,-0.57,-146.0,71.7,-10.7,78,474,0.00,2.22,0.00,0.000,4,0.000,0.051,2293,1369,3522,0,0,0,0,0,0
$GC,510,-0.61,-146.0,76.3,-11.0,85,517,0.00,2.33,0.00,0.000,6,0.000,0.063,2293,2761,3522,0,0,0,0,0,0
$GC,850,-0.63,-146.0,110.8,-9.8,136,854,0.00,2.00,0.00,0.000,4,0.000,0.074,2287,3932,3523,0,0,0,0,0,0
$GC,873,-0.66,-146.0,113.5,-10.8,138,876,0.00,1.95,0.00,0.000,6,0.000,0.048,2287,2732,3522,0,0,0,0,0,0
$GC,1205,-0.69,-146.0,144.5,-9.0,169,1210,0.10,2.20,0.00,0.000,4,0.122,0.051,2243,1371,3522,0,0,0,0,0,0
$GC,1233,-0.69,-146.0,147.8,-11.4,171,1237,0.00,2.30,0.00,0.000,6,0.000,0.063,2236,2747,3522,0,0,0,0,0,0
$GC,1559,-0.62,-146.0,190.0,-12.8,201,1564,0.12,2.05,0.00,0.000,4,0.190,0.073,2261,3932,3522,0,0,0,0,0,0
$GC,1597,-0.62,-146.0,194.7,-10.8,204,1604,0.00,1.98,0.00,0.000,6,0.000,0.049,2261,2728,3522,0,0,0,0,0,0
$GC,1923,-0.62,-146.0,229.8,-11.3,235,1926,0.00,2.15,0.00,0.000,4,0.000,0.051,2261,1371,3522,0,0,0,0,0,0
$GC,1950,-0.62,-146.0,233.2,-11.1,237,1957,0.00,2.28,0.00,0.000,6,0.000,0.064,2261,2725,3522,0,0,0,0,0,0
$GC,2276,-0.62,-146.0,268.6,-10.0,268,2280,0.00,2.20,0.00,0.000,4,0.000,0.052,2261,1363,3521,0,0,0,0,0,0
$GC,2302,-0.62,-146.0,271.3,-9.3,270,2309,0.00,2.28,0.00,0.000,6,0.000,0.063,2261,2722,3522,0,0,0,0,0,0
$GC,2628,-0.62,-146.0,297.0,-7.2,301,2632,0.00,2.08,0.00,0.000,4,0.000,0.075,2261,3929,3522,0,0,0,0,0,0
$GC,2698,-0.67,-146.0,302.9,-8.2,307,2701,0.00,1.98,0.00,0.000,6,0.000,0.049,2261,2715,3521,0,0,0,0,0,0
$GC,3029,-0.69,-146.0,331.9,-8.2,338,3033,0.00,2.10,0.00,0.000,4,0.000,0.076,2261,3931,3521,0,0,0,0,0,0
$GC,3135,-0.73,-146.0,342.4,-10.3,347,3142,0.00,1.95,0.00,0.000,6,0.000,0.049,2261,2732,3521,0,0,0,0,0,0
$GC,3461,-0.76,-146.0,373.2,-9.0,378,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2732,3521,0,0,0,0,0,0
$GC,3791,-0.79,-146.0,403.1,-8.6,407,3796,0.12,2.17,0.00,0.000,4,0.107,0.050,2205,1371,3521,0,0,0,0,0,0
$GC,3829,-0.74,-146.0,407.7,-11.6,408,3834,0.12,2.28,0.00,0.000,6,0.185,0.063,2233,2731,3521,0,0,0,0,0,0
$GC,4153,-0.74,-146.0,440.5,-10.0,419,4157,0.00,2.03,0.00,0.000,4,0.000,0.073,2227,3929,3521,0,0,0,0,0,0
$GC,4214,-0.71,-146.0,447.0,-10.5,420,4221,0.00,1.92,0.00,0.000,6,0.000,0.047,2226,2737,3521,0,0,0,0,0,0
$GC,4529,-0.68,-146.0,478.0,-9.7,431,4533,0.00,2.05,0.00,0.000,4,0.000,0.073,2222,3927,3521,0,0,0,0,0,0
$GC,4567,-0.64,-146.0,482.5,-11.1,432,4572,0.17,1.92,0.00,0.000,6,0.160,0.047,2271,2738,3521,0,0,0,0,0,0
$GC,4904,-0.70,-146.0,508.5,-7.6,443,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2738,3522,0,0,0,0,0,0
$GC,5210,-0.76,-146.0,530.9,-7.3,453,5212,0.12,0.00,0.00,0.000,6,0.102,0.000,2218,2738,3522,0,0,0,0,0,0
$GC,5515,-0.72,-146.0,563.3,-11.3,463,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2738,3522,0,0,0,0,0,0
$STATE,5757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5757,begin apogee
$GC,5764,-0.14,0.0,587.9,10.6,471,5893,0.65,0.00,122.32,0.977,4,0.142,0.000,2423,2603,2922,0,0,0,0,0,0
$STATE,5894,end apogee,CONTROL_FINISHED_OK
$STATE,5894,begin climb
$GC,5896,0.57,146.0,592.7,0.0,475,6033,0.70,2.42,129.32,0.953,4,0.074,0.050,2664,1188,2326,0,0,0,0,0,0
$GC,6207,-1.78,146.0,567.4,22124.3,484,6220,2.70,2.45,0.00,0.000,6,0.157,0.055,1908,2604,2315,0,0,0,0,0,0
$GC,6526,-1.78,146.0,522.2,22124.3,495,6530,0.00,2.28,0.00,0.000,4,0.000,0.044,1907,1179,2307,0,0,0,0,0,0
$GC,6785,-1.78,146.0,478.7,22124.3,502,6789,0.00,2.38,0.00,0.000,6,0.000,0.059,1905,2618,2310,0,0,0,0,0,0
$GC,7098,-1.78,146.0,427.8,22124.3,512,7102,0.00,2.30,0.00,0.000,4,0.000,0.046,1905,1171,2307,0,0,0,0,0,0
$GC,7358,-1.78,146.0,385.4,22124.3,523,7362,0.00,2.33,0.00,0.000,6,0.000,0.058,1897,2578,2308,0,0,0,0,0,0
$GC,7683,-1.78,146.0,331.1,22124.3,553,7687,0.00,2.20,0.00,0.000,4,0.000,0.047,1895,1177,2305,0,0,0,0,0,0
$GC,7943,-1.78,146.0,284.4,22124.3,576,7947,0.00,2.30,0.00,0.000,6,0.000,0.057,1884,2589,2308,0,0,0,0,0,0
$GC,8268,-1.78,146.0,232.8,22124.3,606,8272,0.00,2.22,0.00,0.000,4,0.000,0.050,1884,1183,2307,0,0,0,0,0,0
$GC,8527,-1.78,146.0,191.0,22124.3,628,8534,0.12,2.28,0.00,0.000,6,0.207,0.057,1901,2573,2307,0,0,0,0,0,0
$GC,8852,-1.78,146.0,136.3,22124.3,659,8857,0.00,2.25,0.00,0.000,4,0.000,0.067,1893,3927,2307,0,0,0,0,0,0
$GC,9111,-1.78,146.0,88.6,22124.3,687,9118,0.00,2.22,0.00,0.000,6,0.000,0.045,1893,2549,2305,0,0,0,0,0,0
$GC,9458,-1.78,146.0,46.2,22124.3,748,9465,0.00,2.33,0.00,0.000,4,0.000,0.063,1881,3937,2305,0,0,0,0,0,0
$GC,9718,-1.78,146.0,12.4,22124.3,794,9725,0.00,2.22,0.00,0.000,6,0.000,0.044,1881,2552,2305,0,0,0,0,0,0
$FREEZE,8.34,-1.623,-1.755,2,4,0
$FREEZE,7.69,-1.593,-1.753,2,4,0
$FREEZE,7.12,-1.650,-1.756,2,4,0
$FREEZE,6.58,-1.683,-1.758,2,4,0
$STATE,9763,end climb,FINISH_DEPTH_REACHED
$STATE,9764,begin subsurface finish
$FINISH1,6.6,1.025762,85
$GC,9770,0.06,85.3,6.6,-22124.3,802,9790,2.45,2.22,-10.07,0.000,4,0.237,0.084,2481,3917,2572,0,0,0,0,0,0
$FINISH2,4.7
$STATE,9791,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9791,begin surface
$RAFOS_CLK,572
$RAFOS,6,1292028542,0.833333,0.817222,59,49,48,46,43,41,838,522,882,1859,368,1839
$RAFOS,5,1292028063,0.700000,0.684167,50,48,45,38,38,38,945,396,228,992,1360,1919
$RAFOS,4,1292027582,0.566667,0.550556,111,44,41,40,40,38,709,1653,227,1293,1563,299
$RAFOS_FIX,6642.255371,-6003.812500,111210,000012,5,88,4.56
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.028462
$HUMID,48.54
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$24V_AH,21.8,58.934
$10V_AH,9.9,42.785
$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,7.975,87.625,251.650,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2092.563,5759.159,295.884,1559.814,151.506,0.000,1117.953,0.000,1544.796,720.000,13.431,0.000
$DEVICE_MAMPS,237.150,116.280,976.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,30099,805
$CAP_FILE_SIZE,102005,0
$CFSIZE,260165632,215486464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.5
$GPS,111210,001528,6642.000,-6005.049,0,4082.0,0,-38.0