version: 66.08
glider: 183
mission: 3
dive: 487
start: 12 11 110 3 24 9
data:
$ID,183
$MISSION,3
$DIVE,487
$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,34
$R_STBD_OVSHOOT,31
$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,8.57
$_SM_ANGLEo,-7.0
$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,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.03,0.000,2,0.000,0.000,2481,3917,2830,0,0,0,0,0,0
$GC,26,-0.57,-146.0,11.3,-0.0,1,45,0.52,0.00,-15.35,0.000,4,0.099,0.000,2296,3917,3521,0,0,0,0,0,0
$GC,86,-0.54,-146.0,18.3,-13.4,11,93,0.00,1.83,0.00,0.000,6,0.000,0.047,2296,2781,3524,0,0,0,0,0,0
$GC,432,-0.54,-146.0,64.7,-10.8,72,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2781,3525,0,0,0,0,0,0
$GC,776,-0.56,-146.0,101.6,-10.3,132,780,0.00,1.95,0.00,0.000,4,0.000,0.075,2290,3916,3524,0,0,0,0,0,0
$GC,815,-0.60,-146.0,105.8,-10.2,135,822,0.00,1.83,0.00,0.000,6,0.000,0.049,2290,2807,3524,0,0,0,0,0,0
$GC,1141,-0.62,-146.0,138.5,-10.2,166,1145,0.00,2.30,0.00,0.000,4,0.000,0.053,2290,1364,3524,0,0,0,0,0,0
$GC,1196,-0.67,-146.0,144.5,-11.0,170,1203,0.00,2.38,0.00,0.000,6,0.000,0.063,2291,2787,3524,0,0,0,0,0,0
$GC,1522,-0.71,-146.0,177.2,-8.9,201,1524,0.12,0.00,0.00,0.000,6,0.106,0.000,2237,2788,3524,0,0,0,0,0,0
$GC,1840,-0.65,-146.0,216.9,-12.3,231,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2788,3523,0,0,0,0,0,0
$GC,2160,-0.60,-146.0,255.5,-12.3,261,2162,0.15,0.00,0.00,0.000,6,0.173,0.000,2278,2788,3523,0,0,0,0,0,0
$GC,2477,-0.64,-146.0,283.4,-9.5,291,2481,0.00,1.95,0.00,0.000,4,0.000,0.075,2275,3928,3523,0,0,0,0,0,0
$GC,2527,-0.69,-146.0,288.2,-9.8,295,2534,0.00,1.85,0.00,0.000,6,0.000,0.050,2275,2788,3523,0,0,0,0,0,0
$GC,2853,-0.73,-146.0,317.6,-9.2,326,2857,0.10,2.00,0.00,0.000,4,0.118,0.076,2223,3933,3523,0,0,0,0,0,0
$GC,2966,-0.67,-146.0,333.0,-14.2,336,2970,0.12,1.88,0.00,0.000,6,0.175,0.050,2255,2786,3523,0,0,0,0,0,0
$GC,3296,-0.67,-146.0,368.9,-11.2,367,3300,0.00,2.28,0.00,0.000,4,0.000,0.052,2255,1369,3523,0,0,0,0,0,0
$GC,3393,-0.70,-146.0,379.4,-10.5,375,3397,0.00,2.35,0.00,0.000,6,0.000,0.064,2250,2771,3522,0,0,0,0,0,0
$GC,3739,-0.70,-146.0,415.2,-9.6,398,3743,0.00,2.28,0.00,0.000,4,0.000,0.052,2250,1367,3522,0,0,0,0,0,0
$GC,3784,-0.72,-146.0,419.6,-9.4,399,3788,0.00,2.35,0.00,0.000,6,0.000,0.063,2248,2766,3523,0,0,0,0,0,0
$GC,4102,-0.72,-146.0,449.5,-9.2,410,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2766,3523,0,0,0,0,0,0
$GC,4408,-0.72,-146.0,477.2,-8.8,420,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2766,3523,0,0,0,0,0,0
$GC,4715,-0.72,-146.0,504.6,-8.7,430,4718,0.00,2.00,0.00,0.000,4,0.000,0.073,2247,3934,3523,0,0,0,0,0,0
$GC,4742,-0.72,-146.0,507.4,-8.8,430,4749,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2759,3523,0,0,0,0,0,0
$GC,5056,-0.72,-146.0,535.7,-9.5,441,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2759,3523,0,0,0,0,0,0
$GC,5361,-0.72,-146.0,563.7,-8.9,451,5365,0.00,2.22,0.00,0.000,4,0.000,0.051,2247,1365,3524,0,0,0,0,0,0
$GC,5388,-0.72,-146.0,566.3,-9.1,451,5395,0.00,2.33,0.00,0.000,6,0.000,0.061,2247,2759,3523,0,0,0,0,0,0
$STATE,5607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5607,begin apogee
$GC,5613,-0.14,0.0,587.0,9.3,459,5742,0.55,0.00,122.90,0.976,4,0.138,0.000,2423,2602,2923,0,0,0,0,0,0
$STATE,5743,end apogee,CONTROL_FINISHED_OK
$STATE,5743,begin climb
$GC,5745,0.57,146.0,590.9,0.0,463,5882,0.73,2.45,129.48,0.950,4,0.090,0.070,2663,3933,2326,0,0,0,0,0,0
$GC,6062,-1.84,146.0,556.8,21093.7,472,6071,2.83,2.28,0.00,0.000,6,0.167,0.043,1892,2598,2317,0,0,0,0,0,0
$GC,6376,-1.84,146.0,507.7,21093.7,483,6380,0.00,2.28,0.00,0.000,4,0.000,0.051,1892,1193,2311,0,0,0,0,0,0
$GC,6634,-1.84,146.0,462.7,21093.7,490,6638,0.00,2.40,0.00,0.000,6,0.000,0.049,1880,2672,2308,0,0,0,0,0,0
$GC,6952,-1.84,146.0,404.5,21093.7,501,6957,0.00,2.40,0.00,0.000,4,0.000,0.051,1880,1192,2310,0,0,0,0,0,0
$GC,7154,-1.84,146.0,366.5,21093.7,517,7161,0.00,2.40,0.00,0.000,6,0.000,0.060,1868,2647,2309,0,0,0,0,0,0
$GC,7480,-1.84,146.0,311.4,21093.7,548,7484,0.00,2.10,0.00,0.000,4,0.000,0.055,1857,3944,2307,0,0,0,0,0,0
$GC,7549,-1.84,146.0,298.2,21093.7,554,7553,0.00,2.17,0.00,0.000,6,0.000,0.047,1856,2601,2309,0,0,0,0,0,0
$GC,7880,-1.84,146.0,243.8,21093.7,585,7884,0.00,2.25,0.00,0.000,4,0.000,0.050,1856,1181,2308,0,0,0,0,0,0
$GC,8136,-1.84,146.0,198.4,21093.7,607,8144,0.15,2.35,0.00,0.000,6,0.224,0.058,1877,2609,2307,0,0,0,0,0,0
$GC,8462,-1.84,146.0,141.6,21093.7,638,8466,0.00,2.17,0.00,0.000,4,0.000,0.060,1869,3932,2306,0,0,0,0,0,0
$GC,8721,-1.84,146.0,95.8,21093.7,663,8728,0.00,2.12,0.00,0.000,6,0.000,0.046,1868,2614,2306,0,0,0,0,0,0
$GC,9067,-1.84,146.0,40.5,21093.7,724,9073,0.00,2.20,0.00,0.000,4,0.000,0.062,1857,3938,2306,0,0,0,0,0,0
$GC,9097,-1.84,146.0,36.7,21093.7,729,9104,0.00,2.12,0.00,0.000,6,0.000,0.044,1857,2612,2307,0,0,0,0,0,0
$FREEZE,8.70,-1.653,-1.749,2,5,0
$STATE,9396,end climb,FINISH_DEPTH_REACHED
$STATE,9396,begin subsurface finish
$FINISH1,8.7,1.025615,93
$GC,9403,0.06,92.5,8.7,-21093.7,782,9423,2.42,2.35,-7.90,0.000,4,0.216,0.067,2487,1190,2546,0,0,0,0,0,0
$FINISH2,6.2
$STATE,9424,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9424,begin surface
$RAFOS_CLK,550
$RAFOS,6,1292042963,4.833333,4.823056,63,44,44,41,41,39,714,1362,1727,836,1098,1419
$RAFOS,5,1292042469,4.700000,4.685833,58,46,45,42,42,42,925,638,1634,1585,1333,1942
$RAFOS,4,1292042009,4.566667,4.558055,82,54,41,41,41,40,581,593,241,1246,1492,398
$RAFOS,3,1292041524,4.433333,4.423333,90,42,42,40,40,39,657,183,153,1878,1612,526
$RAFOS,2,1292041026,4.300000,4.285000,77,49,46,45,43,40,614,749,1889,1393,851,1689
$RAFOS,1,1292040550,4.166667,4.152778,127,50,45,44,43,42,505,1274,808,1227,1385,1801
$RAFOS,0,1292040068,4.033333,4.018889,129,47,43,43,41,40,598,342,1457,1713,144,1833
$RAFOS_FIX,6642.864258,-6005.682129,111210,040453,6,95,0.11
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.028462
$HUMID,48.74
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,21.8,59.003
$10V_AH,9.9,42.836
$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,7.700,69.975,252.375,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2029.305,5558.562,286.173,1473.361,146.569,0.000,1063.471,0.000,1463.111,2520.000,16.312,0.000
$DEVICE_MAMPS,224.145,75.735,976.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,30112,785
$CAP_FILE_SIZE,96048,0
$CFSIZE,260165632,215437312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.9
$GPS,111210,042453,6642.864,-6005.682,0,6094.7,0,-38.0