version: 66.08
glider: 183
mission: 3
dive: 489
start: 12 11 110 8 55 27
data:
$ID,183
$MISSION,3
$DIVE,489
$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,20
$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
$GPS1,111210,082306,6642.917,-6009.670,0,6088.2,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.33
$_SM_ANGLEo,-5.8
$GPS2,111210,082306,6642.917,-6009.670,0,6088.2,0,-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,317.5,12114,-17.5,-10.000
$D_GRID,563
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-7.22,0.000,2,0.000,0.000,2498,1185,2852,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.8,-0.0,1,48,0.55,0.32,-14.68,0.000,4,0.083,0.167,2291,1381,3521,0,0,0,0,0,0
$GC,201,-0.57,-146.0,34.8,-14.2,31,207,0.00,2.35,0.00,0.000,6,0.000,0.062,2288,2789,3523,0,0,0,0,0,0
$GC,546,-0.57,-146.0,79.5,-11.4,92,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2789,3523,0,0,0,0,0,0
$GC,882,-0.57,-146.0,116.0,-10.4,139,886,0.00,2.28,0.00,0.000,4,0.000,0.054,2288,1374,3523,0,0,0,0,0,0
$GC,916,-0.60,-146.0,119.6,-10.5,141,923,0.00,2.38,0.00,0.000,6,0.000,0.063,2287,2793,3523,0,0,0,0,0,0
$GC,1241,-0.60,-146.0,152.0,-9.9,172,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2793,3523,0,0,0,0,0,0
$GC,1564,-0.63,-146.0,183.4,-9.7,202,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2793,3522,0,0,0,0,0,0
$GC,1891,-0.67,-146.0,211.5,-8.1,233,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2793,3523,0,0,0,0,0,0
$GC,2210,-0.71,-146.0,237.1,-8.5,263,2217,0.12,0.00,0.00,0.000,6,0.109,0.000,2235,2793,3523,0,0,0,0,0,0
$GC,2536,-0.65,-146.0,276.8,-12.1,294,2541,0.00,2.30,0.00,0.000,4,0.000,0.054,2234,1363,3522,0,0,0,0,0,0
$GC,2622,-0.63,-146.0,286.5,-10.7,301,2627,0.12,2.40,0.00,0.000,6,0.188,0.063,2266,2793,3522,0,0,0,0,0,0
$GC,2948,-0.65,-146.0,315.6,-8.4,331,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2793,3522,0,0,0,0,0,0
$GC,3269,-0.68,-146.0,340.6,-7.5,361,3273,0.00,1.95,0.00,0.000,4,0.000,0.074,2260,3934,3522,0,0,0,0,0,0
$GC,3304,-0.68,-146.0,343.7,-8.8,364,3308,0.00,1.85,0.00,0.000,6,0.000,0.049,2259,2793,3522,0,0,0,0,0,0
$GC,3635,-0.68,-146.0,372.2,-8.6,395,3640,0.00,2.28,0.00,0.000,4,0.000,0.054,2259,1371,3521,0,0,0,0,0,0
$GC,3659,-0.70,-146.0,374.4,-9.0,396,3666,0.00,2.40,0.00,0.000,6,0.000,0.063,2259,2799,3521,0,0,0,0,0,0
$GC,3983,-0.72,-146.0,403.0,-8.7,425,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2799,3521,0,0,0,0,0,0
$GC,4290,-0.75,-146.0,429.6,-8.7,435,4294,0.00,2.30,0.00,0.000,4,0.000,0.053,2259,1373,3521,0,0,0,0,0,0
$GC,4341,-0.80,-146.0,434.2,-7.9,436,4346,0.12,2.38,0.00,0.000,6,0.103,0.063,2205,2789,3521,0,0,0,0,0,0
$GC,4659,-0.72,-146.0,470.8,-11.5,447,4664,0.12,2.33,0.00,0.000,4,0.190,0.052,2235,1369,3521,0,0,0,0,0,0
$GC,4727,-0.72,-146.0,477.6,-9.6,449,4731,0.00,2.35,0.00,0.000,6,0.000,0.063,2235,2771,3522,0,0,0,0,0,0
$GC,5056,-0.72,-146.0,508.4,-9.6,460,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2771,3522,0,0,0,0,0,0
$GC,5363,-0.72,-146.0,538.3,-9.4,470,5367,0.00,2.00,0.00,0.000,4,0.000,0.072,2228,3929,3522,0,0,0,0,0,0
$GC,5384,-0.72,-146.0,540.9,-10.7,470,5388,0.00,1.90,0.00,0.000,6,0.000,0.046,2228,2772,3522,0,0,0,0,0,0
$STATE,5609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5609,begin apogee
$GC,5614,-0.14,0.0,563.7,10.1,478,5744,0.62,0.00,122.05,0.965,4,0.143,0.000,2425,2593,2922,0,0,0,0,0,0
$STATE,5745,end apogee,CONTROL_FINISHED_OK
$STATE,5745,begin climb
$GC,5747,0.57,146.0,567.5,0.0,482,5884,0.70,2.42,129.10,0.937,4,0.074,0.052,2666,1185,2327,0,0,0,0,0,0
$GC,6058,-1.68,146.0,542.0,19965.2,491,6070,2.60,2.47,0.00,0.000,6,0.157,0.054,1938,2606,2316,0,0,0,0,0,0
$GC,6377,-1.68,146.0,498.3,19965.2,502,6381,0.00,2.25,0.00,0.000,4,0.000,0.064,1928,3939,2309,0,0,0,0,0,0
$GC,6633,-1.68,146.0,453.7,19965.2,509,6638,0.00,2.22,0.00,0.000,6,0.000,0.043,1926,2550,2306,0,0,0,0,0,0
$GC,6953,-1.68,146.0,403.2,19965.2,520,6957,0.00,2.17,0.00,0.000,4,0.000,0.050,1925,1185,2308,0,0,0,0,0,0
$GC,7213,-1.68,146.0,357.9,19965.2,541,7217,0.00,2.20,0.00,0.000,6,0.000,0.059,1917,2532,2308,0,0,0,0,0,0
$GC,7543,-1.68,146.0,300.1,19965.2,572,7548,0.00,2.35,0.00,0.000,4,0.000,0.070,1910,3930,2308,0,0,0,0,0,0
$GC,7801,-1.68,146.0,251.2,19965.2,594,7808,0.00,2.22,0.00,0.000,6,0.000,0.044,1910,2548,2307,0,0,0,0,0,0
$GC,8127,-1.68,146.0,197.9,19965.2,625,8131,0.00,2.30,0.00,0.000,4,0.000,0.058,1898,3943,2305,0,0,0,0,0,0
$GC,8339,-1.68,146.0,162.1,19965.2,643,8346,0.15,2.20,0.00,0.000,6,0.268,0.043,1927,2563,2306,0,0,0,0,0,0
$GC,8664,-1.68,146.0,111.9,19965.2,674,8668,0.00,2.17,0.00,0.000,4,0.000,0.047,1927,1177,2305,0,0,0,0,0,0
$GC,8772,-1.68,146.0,96.1,19965.2,686,8779,0.00,2.28,0.00,0.000,6,0.000,0.053,1918,2575,2306,0,0,0,0,0,0
$GC,9117,-1.68,146.0,51.0,19965.2,747,9124,0.00,2.22,0.00,0.000,4,0.000,0.060,1907,3929,2305,0,0,0,0,0,0
$GC,9188,-1.68,146.0,44.4,19965.2,759,9195,0.00,2.38,0.00,0.000,6,0.000,0.043,1907,2452,2305,0,0,0,0,0,0
$GC,9534,-1.68,146.0,17.6,19965.2,820,9541,0.00,2.00,0.00,0.000,4,0.000,0.050,1907,1184,2305,0,0,0,0,0,0
$GC,9627,-1.68,146.0,10.7,19965.2,836,9634,0.15,2.20,0.00,0.000,6,0.254,0.055,1926,2539,2305,0,0,0,0,0,0
$FREEZE,8.63,-1.665,-1.742,2,7,0
$STATE,9652,end climb,FINISH_DEPTH_REACHED
$STATE,9652,begin subsurface finish
$FINISH1,8.6,1.025514,97
$GC,9660,0.06,97.5,8.6,-19965.2,840,9679,2.17,2.40,-6.93,0.000,4,0.222,0.067,2485,1182,2527,0,0,0,0,0,0
$FINISH2,6.9
$STATE,9680,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9680,begin surface
$RAFOS_CLK,567
$RAFOS,6,1292057344,8.833333,8.817778,72,56,47,47,46,43,825,819,836,1119,306,632
$RAFOS_FIX,6643.476562,-6008.878418,111210,080807,7,86,4.93
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.028462
$HUMID,48.26
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,21.8,59.165
$10V_AH,9.9,42.942
$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,7.450,72.600,251.150,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2136.303,5608.238,294.899,1550.306,160.602,0.000,1109.417,0.000,1541.955,0.000,13.239,0.000
$DEVICE_MAMPS,267.750,166.770,964.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30082,843
$CAP_FILE_SIZE,98827,0
$CFSIZE,260165632,215326720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.3
$GPS,111210,082306,6642.917,-6009.670,0,6088.2,0,-38.0