version: 66.08
glider: 183
mission: 3
dive: 402
start: 11 25 110 17 49 44
data:
$ID,183
$MISSION,3
$DIVE,402
$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,-8271.1582
$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,22
$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,1.8
$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
$GPS1,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.53
$_SM_ANGLEo,-8.8
$GPS2,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1
$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,20.9,8031828,-17.5,-10.000
$D_GRID,250
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-6.18,0.000,2,0.000,0.000,2505,1191,2683,0,0,0,0,0,0
$GC,26,-0.57,-146.0,13.7,-0.0,1,51,0.57,0.28,-16.90,0.000,4,0.076,0.175,2283,1374,3522,0,0,0,0,0,0
$GC,187,-0.57,-146.0,38.0,-15.1,29,193,0.00,2.35,0.00,0.000,6,0.000,0.065,2279,2783,3523,0,0,0,0,0,0
$GC,532,-0.54,-146.0,85.8,-12.8,90,539,0.00,1.95,0.00,0.000,4,0.000,0.075,2274,3935,3522,0,0,0,0,0,0
$GC,641,-0.54,-146.0,100.1,-11.4,109,648,0.00,1.85,0.00,0.000,6,0.000,0.050,2274,2787,3522,0,0,0,0,0,0
$GC,968,-0.54,-146.0,139.0,-11.1,140,972,0.00,2.28,0.00,0.000,4,0.000,0.054,2273,1367,3522,0,0,0,0,0,0
$GC,989,-0.54,-146.0,141.8,-11.0,141,996,0.00,2.35,0.00,0.000,6,0.000,0.064,2273,2794,3522,0,0,0,0,0,0
$GC,1315,-0.54,-146.0,173.1,-9.4,172,1319,0.00,2.28,0.00,0.000,4,0.000,0.053,2274,1372,3522,0,0,0,0,0,0
$GC,1350,-0.56,-146.0,176.2,-9.1,175,1354,0.00,2.33,0.00,0.000,6,0.000,0.064,2273,2775,3522,0,0,0,0,0,0
$GC,1680,-0.56,-146.0,207.2,-9.9,206,1684,0.00,1.92,0.00,0.000,4,0.000,0.076,2273,3928,3522,0,0,0,0,0,0
$GC,1696,-0.56,-146.0,209.1,-10.4,207,1703,0.00,1.88,0.00,0.000,6,0.000,0.050,2273,2752,3522,0,0,0,0,0,0
$GC,2022,-0.56,-146.0,243.3,-9.9,238,2026,0.00,2.20,0.00,0.000,4,0.000,0.054,2273,1370,3522,0,0,0,0,0,0
$GC,2055,-0.60,-146.0,246.8,-10.4,240,2062,0.00,2.33,0.00,0.000,6,0.000,0.064,2273,2780,3521,0,0,0,0,0,0
$STATE,2093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2093,begin apogee
$GC,2098,-0.14,0.0,250.4,9.7,244,2221,0.45,0.00,116.22,0.802,4,0.148,0.000,2416,2596,2922,0,0,0,0,0,0
$STATE,2222,end apogee,CONTROL_FINISHED_OK
$STATE,2222,begin climb
$GC,2225,0.57,146.0,255.8,0.0,255,2356,0.73,2.40,120.90,0.773,4,0.097,0.052,2654,1186,2328,0,0,0,0,0,0
$GC,2366,0.59,184.9,251.3,8.2,268,2407,0.00,2.58,35.00,0.747,6,0.000,0.057,2654,2602,2169,0,0,0,0,0,0
$GC,2724,0.59,184.9,214.8,10.1,302,2728,0.00,2.33,0.00,0.000,4,0.000,0.070,2654,3936,2158,0,0,0,0,0,0
$GC,2775,0.56,184.9,208.9,12.1,306,2779,0.00,2.25,0.00,0.000,6,0.000,0.047,2655,2583,2156,0,0,0,0,0,0
$GC,3100,0.58,203.8,178.8,9.1,336,3123,0.00,2.33,15.27,0.733,4,0.000,0.071,2655,3928,2091,0,0,0,0,0,0
$GC,3157,0.58,203.8,173.1,10.6,341,3161,0.00,2.17,0.00,0.000,6,0.000,0.047,2655,2597,2088,0,0,0,0,0,0
$GC,3483,0.63,217.9,143.2,9.3,371,3506,0.00,2.35,12.95,0.717,4,0.000,0.056,2656,1189,2034,0,0,0,0,0,0
$GC,3542,0.74,248.1,137.9,8.6,376,3576,0.17,2.35,27.23,0.717,6,0.097,0.057,2722,2602,1910,0,0,0,0,0,0
$GC,3897,0.71,248.1,91.1,12.6,415,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2601,1902,0,0,0,0,0,0
$GC,4241,0.69,255.1,52.1,9.7,476,4254,0.00,2.22,6.03,0.630,4,0.000,0.070,2722,3925,1882,0,0,0,0,0,0
$GC,4329,0.63,255.1,41.5,12.0,491,4337,0.17,2.15,0.00,0.000,6,0.203,0.049,2681,2591,1880,0,0,0,0,0,0
$GC,4677,0.85,366.4,21.6,4.9,552,4773,0.20,0.00,92.38,0.659,6,0.089,0.000,2760,2592,1428,0,0,0,0,0,0
$FREEZE,8.98,-1.630,-1.700,2,16,0
$STATE,4819,end climb,FINISH_DEPTH_REACHED
$STATE,4820,begin subsurface finish
$FINISH1,9.0,1.024912,127
$GC,4826,0.08,127.1,9.0,-10.2,576,4861,0.82,0.00,-28.62,0.000,6,0.151,0.000,2510,2592,2406,0,0,0,0,0,0
$FINISH2,8.1
$STATE,4862,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4862,begin surface
$RAFOS_CLK,303
$RAFOS_FIX,-29311.427734,-1085959.875000,251110,161636,5,82,0.11
$IRIDIUM_FIX,6620.33,-5936.77,241110,010130
$TT8_MAMPS,0.029211
$HUMID,49.68
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.4,48.492
$10V_AH,10.0,36.615
$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,3.125,47.400,425.975,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,1308.901,2176.453,422.200,922.197,86.925,0.000,966.935,0.000,925.711,0.000,2.619,0.000
$DEVICE_MAMPS,203.490,175.185,802.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151724
$DATA_FILE_SIZE,20097,582
$CAP_FILE_SIZE,62248,0
$CFSIZE,260165632,221421568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.8
$GPS,020414,133129,-200.000,-200.000,0,8071.8,0,-38.1