version: 66.08
glider: 183
mission: 3
dive: 499
start: 12 12 110 17 52 53
data:
$ID,183
$MISSION,3
$DIVE,499
$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,-9060.1611
$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,26
$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
$GPS1,121210,162649,6644.779,-5944.590,0,7113.6,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.65
$_SM_ANGLEo,-1.0
$GPS2,121210,162649,6644.779,-5944.590,0,7113.6,0,-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,113.2,131913,-17.5,-10.000
$D_GRID,811
$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
$STATE,13,begin dive
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$GC,2893,-0.67,-146.0,312.5,-8.2,330,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2758,3521,0,0,0,0,0,0
$GC,3211,-0.71,-146.0,338.7,-8.1,360,3215,0.00,2.25,0.00,0.000,4,0.000,0.052,2263,1366,3521,0,0,0,0,0,0
$GC,3234,-0.75,-146.0,340.6,-7.9,361,3241,0.00,2.30,0.00,0.000,6,0.000,0.063,2261,2754,3521,0,0,0,0,0,0
$GC,3560,-0.78,-146.0,366.4,-7.7,392,3564,0.10,2.03,0.00,0.000,4,0.122,0.072,2209,3932,3521,0,0,0,0,0,0
$GC,3629,-0.71,-146.0,373.6,-11.6,398,3633,0.12,1.88,0.00,0.000,6,0.174,0.048,2241,2760,3521,0,0,0,0,0,0
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$GC,4360,-0.71,-146.0,441.4,-10.6,440,4368,0.00,1.90,0.00,0.000,6,0.000,0.047,2234,2768,3521,0,0,0,0,0,0
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$GC,6980,-0.69,-146.0,696.0,-9.0,526,6983,0.00,1.95,0.00,0.000,4,0.000,0.072,2222,3928,3523,0,0,0,0,0,0
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$GC,7627,-0.76,-146.0,743.6,-7.1,547,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2255,2767,3524,0,0,0,0,0,0
$GC,7934,-0.80,-146.0,765.1,-7.0,557,7939,0.12,2.22,0.00,0.000,4,0.103,0.050,2200,1371,3524,0,0,0,0,0,0
$GC,7967,-0.76,-146.0,768.2,-10.1,558,7971,0.15,2.33,0.00,0.000,6,0.171,0.061,2229,2782,3524,0,0,0,0,0,0
$GC,8297,-0.76,-146.0,796.4,-8.6,569,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2782,3524,0,0,0,0,0,0
$STATE,8477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8477,begin apogee
$GC,8484,-0.14,0.0,811.7,8.4,575,8615,0.60,0.00,126.18,1.106,4,0.135,0.000,2425,2597,2923,0,0,0,0,0,0
$STATE,8615,end apogee,CONTROL_FINISHED_OK
$STATE,8615,begin climb
$GC,8618,0.57,146.0,815.3,0.0,579,8765,0.68,2.47,134.18,1.082,4,0.067,0.050,2659,1181,2325,0,0,0,0,0,0
$GC,8862,0.57,146.0,795.9,10.8,586,8869,0.00,2.53,0.00,0.000,6,0.000,0.054,2659,2599,2318,0,0,0,0,0,0
$GC,9175,0.51,146.0,758.5,12.2,597,9179,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1185,2314,0,0,0,0,0,0
$GC,9398,0.48,146.0,732.7,10.8,603,9406,0.12,2.35,0.00,0.000,6,0.203,0.056,2634,2606,2313,0,0,0,0,0,0
$GC,9711,0.48,146.0,700.9,10.2,614,9715,0.00,2.20,0.00,0.000,4,0.000,0.067,2633,3926,2313,0,0,0,0,0,0
$GC,9733,0.45,146.0,698.5,11.4,614,9740,0.00,2.15,0.00,0.000,6,0.000,0.044,2635,2597,2311,0,0,0,0,0,0
$GC,10047,0.45,146.0,665.7,10.6,625,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2597,2311,0,0,0,0,0,0
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$GC,10659,0.45,146.0,600.8,10.5,645,10663,0.00,2.25,0.00,0.000,4,0.000,0.068,2635,3928,2311,0,0,0,0,0,0
$GC,10687,0.40,146.0,597.4,11.9,646,10691,0.00,2.12,0.00,0.000,6,0.000,0.044,2636,2604,2310,0,0,0,0,0,0
$GC,11023,0.40,149.6,563.5,9.8,657,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2603,2310,0,0,0,0,0,0
$GC,11329,0.41,162.4,534.5,9.4,667,11349,0.00,2.28,12.85,0.900,4,0.000,0.067,2636,3921,2260,0,0,0,0,0,0
$GC,11371,0.37,162.4,530.0,11.0,668,11376,0.17,2.12,0.00,0.000,6,0.190,0.044,2594,2606,2258,0,0,0,0,0,0
$GC,11702,0.49,235.7,507.0,6.6,679,11770,0.12,0.00,64.65,0.913,6,0.103,0.000,2645,2604,1962,0,0,0,0,0,0
$GC,12068,0.53,239.6,471.9,9.8,691,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2605,1953,0,0,0,0,0,0
$GC,12374,0.56,239.6,440.1,10.6,701,12375,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2605,1950,0,0,0,0,0,0
$GC,12681,0.60,239.6,406.2,11.3,711,12685,0.00,2.25,0.00,0.000,4,0.000,0.054,2645,1194,1950,0,0,0,0,0,0
$GC,12702,0.66,239.6,403.5,11.3,711,12707,0.12,2.33,0.00,0.000,6,0.103,0.055,2698,2621,1950,0,0,0,0,0,0
$GC,13027,0.60,239.6,354.6,16.6,739,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2621,1949,0,0,0,0,0,0
$GC,13346,0.55,239.6,305.0,15.4,769,13351,0.17,2.33,0.00,0.000,4,0.183,0.055,2652,1183,1949,0,0,0,0,0,0
$GC,13376,0.58,239.6,301.1,12.5,771,13380,0.00,2.33,0.00,0.000,6,0.000,0.054,2651,2612,1949,0,0,0,0,0,0
$GC,13701,0.62,239.6,265.8,11.2,801,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2612,1948,0,0,0,0,0,0
$GC,14022,0.66,239.6,230.5,10.7,831,14024,0.10,0.00,0.00,0.000,6,0.117,0.000,2694,2612,1948,0,0,0,0,0,0
$GC,14339,0.64,239.6,189.8,13.1,861,14343,0.00,2.28,0.00,0.000,4,0.000,0.054,2694,1189,1948,0,0,0,0,0,0
$GC,14368,0.64,239.6,186.1,12.9,863,14372,0.00,2.33,0.00,0.000,6,0.000,0.057,2694,2625,1948,0,0,0,0,0,0
$GC,14693,0.64,239.6,144.9,11.9,893,14697,0.00,2.30,0.00,0.000,4,0.000,0.054,2694,1187,1948,0,0,0,0,0,0
$GC,14721,0.64,239.6,141.5,11.5,895,14726,0.00,2.30,0.00,0.000,6,0.000,0.056,2694,2599,1948,0,0,0,0,0,0
$GC,15052,0.64,239.6,102.5,11.5,926,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2599,1947,0,0,0,0,0,0
$GC,15388,0.65,249.3,69.0,9.5,983,15407,0.00,2.28,10.77,0.671,4,0.000,0.055,2694,1192,1905,0,0,0,0,0,0
$GC,15437,0.70,251.5,64.3,9.9,991,15444,0.00,2.28,0.00,0.000,6,0.000,0.057,2694,2592,1904,0,0,0,0,0,0
$GC,15785,0.76,278.9,30.2,8.7,1052,15821,0.00,2.33,26.35,0.658,4,0.000,0.055,2694,1198,1783,0,0,0,0,0,0
$GC,15950,0.92,354.6,18.0,6.5,1081,16021,0.22,2.42,63.95,0.638,6,0.081,0.057,2782,2663,1476,0,0,0,0,0,0
$FREEZE,8.84,-1.731,-1.754,2,17,0
$STATE,16029,end climb,FINISH_DEPTH_REACHED
$STATE,16029,begin subsurface finish
$FINISH1,8.8,1.025681,89
$GC,16036,0.06,89.3,8.8,-13.6,1094,16078,0.98,2.38,-35.42,0.000,4,0.168,0.085,2499,3925,2562,0,0,0,0,0,0
$FINISH2,6.3
$STATE,16079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16079,begin surface
$RAFOS_CLK,930
$RAFOS,6,1292186968,20.833334,20.824444,112,46,46,45,44,42,621,1296,1540,832,676,26
$RAFOS,5,1292186478,20.700001,20.688334,129,53,51,40,39,39,775,303,1190,1816,751,1459
$RAFOS,4,1292185990,20.566668,20.552778,73,44,43,42,39,38,592,676,1260,1909,1603,1810
$RAFOS,3,1292185515,20.433332,20.420834,152,44,43,42,42,41,653,548,145,186,1898,1874
$RAFOS,2,1292185021,20.299999,20.283611,45,44,44,41,41,40,1448,1808,651,355,1244,1658
$RAFOS,1,1292184544,20.166666,20.151112,99,49,44,44,42,40,598,90,697,342,824,1916
$RAFOS,0,1292184090,20.033333,20.025000,105,47,47,44,42,39,576,1755,1887,1569,349,44
$RAFOS_FIX,6645.993652,-5938.836914,121210,202048,6,112,0.33
$IRIDIUM_FIX,6614.97,-6003.82,101210,131352
$TT8_MAMPS,0.028462
$HUMID,47.95
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,21.5,60.167
$10V_AH,9.9,43.575
$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,5.000,118.800,438.925,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2738.017,10803.046,498.847,1897.541,219.072,0.000,1538.793,0.000,1878.335,2520.000,22.083,0.000
$DEVICE_MAMPS,202.725,97.155,1106.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,39986,1101
$CAP_FILE_SIZE,147602,0
$CFSIZE,260165632,214667264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,121210,202848,6645.994,-5938.837,0,6111.7,0,-38.0