version: 66.08
glider: 183
mission: 3
dive: 491
start: 12 11 110 14 17 8
data:
$ID,183
$MISSION,3
$DIVE,491
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,111210,122734,6643.163,-6012.581,0,7110.4,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.90
$_SM_ANGLEo,-5.6
$GPS2,111210,122734,6643.163,-6012.581,0,7110.4,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,114.0,152237,-17.5,-10.000
$D_GRID,560
$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,15,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.35,0.000,2,0.000,0.000,2486,3920,2812,0,0,0,0,0,0
$GC,26,-0.57,-146.0,12.0,-0.0,1,45,0.52,0.00,-15.55,0.000,4,0.089,0.000,2294,3920,3521,0,0,0,0,0,0
$GC,53,-0.65,-146.0,14.1,-6.9,5,60,0.00,1.83,0.00,0.000,6,0.000,0.047,2294,2774,3523,0,0,0,0,0,0
$GC,398,-0.65,-146.0,63.0,-12.4,66,405,0.00,1.95,0.00,0.000,4,0.000,0.073,2288,3924,3524,0,0,0,0,0,0
$GC,435,-0.65,-146.0,67.5,-11.5,72,442,0.00,1.85,0.00,0.000,6,0.000,0.047,2287,2779,3523,0,0,0,0,0,0
$GC,776,-0.65,-146.0,107.2,-10.9,127,780,0.00,2.28,0.00,0.000,4,0.000,0.052,2287,1366,3523,0,0,0,0,0,0
$GC,839,-0.70,-146.0,113.8,-10.3,132,844,0.10,2.33,0.00,0.000,6,0.111,0.062,2242,2769,3523,0,0,0,0,0,0
$GC,1170,-0.62,-146.0,157.8,-14.1,163,1174,0.12,1.98,0.00,0.000,4,0.179,0.072,2269,3928,3522,0,0,0,0,0,0
$GC,1249,-0.62,-146.0,167.1,-10.9,170,1253,0.00,1.88,0.00,0.000,6,0.000,0.047,2269,2786,3522,0,0,0,0,0,0
$GC,1580,-0.62,-146.0,202.7,-10.4,201,1584,0.00,2.28,0.00,0.000,4,0.000,0.053,2269,1372,3523,0,0,0,0,0,0
$GC,1664,-0.64,-146.0,211.7,-10.7,208,1670,0.00,2.33,0.00,0.000,6,0.000,0.063,2266,2773,3522,0,0,0,0,0,0
$GC,1989,-0.64,-146.0,247.0,-11.2,239,1992,0.00,1.95,0.00,0.000,4,0.000,0.073,2262,3929,3522,0,0,0,0,0,0
$GC,2024,-0.64,-146.0,250.7,-11.6,242,2027,0.00,1.88,0.00,0.000,6,0.000,0.047,2262,2760,3522,0,0,0,0,0,0
$GC,2355,-0.64,-146.0,283.1,-9.3,273,2359,0.00,2.20,0.00,0.000,4,0.000,0.052,2262,1374,3522,0,0,0,0,0,0
$GC,2441,-0.66,-146.0,291.2,-9.5,280,2445,0.00,2.30,0.00,0.000,6,0.000,0.062,2261,2761,3522,0,0,0,0,0,0
$GC,2766,-0.66,-146.0,322.3,-10.2,310,2769,0.00,1.98,0.00,0.000,4,0.000,0.073,2261,3929,3522,0,0,0,0,0,0
$GC,2858,-0.70,-146.0,331.0,-9.6,318,2862,0.00,1.92,0.00,0.000,6,0.000,0.047,2261,2760,3521,0,0,0,0,0,0
$GC,3189,-0.70,-146.0,360.0,-8.1,349,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2759,3522,0,0,0,0,0,0
$GC,3509,-0.70,-146.0,387.7,-9.1,379,3513,0.00,2.00,0.00,0.000,4,0.000,0.073,2256,3935,3522,0,0,0,0,0,0
$GC,3543,-0.70,-146.0,391.0,-9.5,382,3547,0.00,1.90,0.00,0.000,6,0.000,0.047,2256,2762,3521,0,0,0,0,0,0
$GC,3886,-0.70,-146.0,423.2,-9.4,399,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2762,3523,0,0,0,0,0,0
$GC,4194,-0.70,-146.0,450.5,-8.5,409,4198,0.00,2.20,0.00,0.000,4,0.000,0.050,2256,1372,3522,0,0,0,0,0,0
$GC,4229,-0.72,-146.0,453.5,-8.3,410,4233,0.00,2.35,0.00,0.000,6,0.000,0.062,2254,2776,3522,0,0,0,0,0,0
$GC,4559,-0.72,-146.0,480.3,-8.1,421,4563,0.00,2.25,0.00,0.000,4,0.000,0.050,2253,1370,3523,0,0,0,0,0,0
$GC,4615,-0.76,-146.0,485.4,-8.7,422,4622,0.00,2.28,0.00,0.000,6,0.000,0.060,2253,2748,3522,0,0,0,0,0,0
$GC,4929,-0.76,-146.0,511.5,-8.6,433,4932,0.00,2.03,0.00,0.000,4,0.000,0.071,2253,3936,3523,0,0,0,0,0,0
$GC,4979,-0.80,-146.0,516.3,-9.2,434,4983,0.10,1.92,0.00,0.000,6,0.122,0.046,2209,2749,3523,0,0,0,0,0,0
$GC,5304,-0.73,-146.0,553.8,-11.7,445,5306,0.12,0.00,0.00,0.000,6,0.182,0.000,2241,2749,3523,0,0,0,0,0,0
$STATE,5361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5361,begin apogee
$GC,5366,-0.14,0.0,560.3,11.2,447,5496,0.57,0.00,121.97,0.957,4,0.138,0.000,2426,2600,2926,0,0,0,0,0,0
$STATE,5497,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5500,0.57,146.0,565.2,0.0,451,5639,0.68,2.42,129.98,0.934,4,0.072,0.051,2660,1184,2328,0,0,0,0,0,0
$GC,5824,-1.67,146.0,540.8,20204.3,461,5833,2.55,2.45,0.00,0.000,6,0.156,0.054,1943,2606,2318,0,0,0,0,0,0
$GC,6158,-1.67,146.0,493.4,20204.3,472,6163,0.00,2.33,0.00,0.000,4,0.000,0.051,1941,1190,2311,0,0,0,0,0,0
$GC,6416,-1.67,146.0,450.1,20204.3,479,6423,0.00,2.28,0.00,0.000,6,0.000,0.058,1940,2571,2309,0,0,0,0,0,0
$GC,6733,-1.67,146.0,399.5,20204.3,490,6737,0.00,2.25,0.00,0.000,4,0.000,0.050,1940,1175,2310,0,0,0,0,0,0
$GC,6991,-1.67,146.0,356.2,20204.3,512,6998,0.00,2.22,0.00,0.000,6,0.000,0.050,1938,2564,2308,0,0,0,0,0,0
$GC,7317,-1.67,146.0,302.6,20204.3,543,7321,0.00,2.20,0.00,0.000,4,0.000,0.050,1937,1179,2310,0,0,0,0,0,0
$GC,7573,-1.67,146.0,260.3,20204.3,565,7580,0.00,2.17,0.00,0.000,6,0.000,0.052,1927,2530,2307,0,0,0,0,0,0
$GC,7900,-1.67,146.0,209.0,20204.3,596,7904,0.00,2.12,0.00,0.000,4,0.000,0.047,1926,1183,2308,0,0,0,0,0,0
$GC,8160,-1.67,146.0,165.7,20204.3,618,8166,0.00,2.22,0.00,0.000,6,0.000,0.054,1920,2561,2308,0,0,0,0,0,0
$GC,8485,-1.67,146.0,114.8,20204.3,649,8489,0.00,2.17,0.00,0.000,4,0.000,0.045,1919,1170,2307,0,0,0,0,0,0
$GC,8497,-1.67,146.0,113.3,20204.3,650,8501,0.00,2.25,0.00,0.000,6,0.000,0.054,1910,2563,2308,0,0,0,0,0,0
$GC,8835,-1.67,146.0,65.0,20204.3,702,8842,0.00,2.20,0.00,0.000,4,0.000,0.047,1910,1172,2306,0,0,0,0,0,0
$GC,8849,-1.67,146.0,63.4,20204.3,704,8857,0.15,2.28,0.00,0.000,6,0.240,0.054,1929,2577,2307,0,0,0,0,0,0
$GC,9198,-1.67,146.0,27.8,20204.3,765,9206,0.00,2.25,0.00,0.000,4,0.000,0.061,1926,3937,2306,0,0,0,0,0,0
$GC,9236,-1.67,146.0,24.7,20204.3,771,9242,0.00,2.20,0.00,0.000,6,0.000,0.041,1926,2559,2306,0,0,0,0,0,0
$FREEZE,8.61,-1.686,-1.743,2,9,0
$STATE,9477,end climb,FINISH_DEPTH_REACHED
$STATE,9478,begin subsurface finish
$FINISH1,8.6,1.025530,97
$GC,9485,0.06,96.7,8.6,-20204.3,814,9500,2.22,2.35,-6.90,0.000,4,0.229,0.066,2485,1196,2530,0,0,0,0,0,0
$FINISH2,7.3
$STATE,9501,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9501,begin surface
$RAFOS_CLK,556
$RAFOS,6,1292086142,16.833334,16.817223,93,43,43,41,40,40,824,1750,643,1680,1731,1046
$RAFOS,5,1292085665,16.700001,16.684723,65,56,45,44,43,40,941,956,1709,1759,1248,664
$RAFOS,4,1292085183,16.566668,16.550833,95,45,43,41,39,39,719,163,1093,428,1136,1377
$RAFOS,3,1292084702,16.433332,16.417223,71,47,47,40,40,39,796,559,1760,1202,1676,247
$RAFOS,2,1292084225,16.299999,16.284721,140,46,46,45,44,43,642,587,1709,280,775,1123
$RAFOS,1,1292083755,16.166666,16.154167,84,48,46,43,42,41,486,241,495,1386,1708,1621
$RAFOS,0,1292083263,16.033333,16.017500,87,44,42,41,41,41,630,778,1931,964,1423,760
$RAFOS_FIX,6644.775391,-6012.579102,111210,161649,7,91,0.21
$IRIDIUM_FIX,6614.97,-5939.52,101210,050521
$TT8_MAMPS,0.028462
$HUMID,48.42
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,550.2,49.6
$24V_AH,21.8,59.301
$10V_AH,9.8,43.046
$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,7.150,86.500,251.950,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2096.573,5456.460,291.834,1564.526,156.981,0.000,1118.356,0.000,1546.186,2520.000,16.220,0.000
$DEVICE_MAMPS,240.210,126.225,957.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30118,816
$CAP_FILE_SIZE,103458,0
$CFSIZE,260165632,215224320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$GPS,111210,162649,6644.775,-6012.579,0,7090.7,0,-38.0