version: 66.08
glider: 183
mission: 3
dive: 599
start: 12 27 110 22 10 26
data:
$ID,183
$MISSION,3
$DIVE,599
$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,-9861.1309
$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,27
$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,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
$GPS1,271210,201528,6642.708,-5959.695,0,4118.8,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.90
$_SM_ANGLEo,-5.7
$GPS2,271210,201528,6642.708,-5959.695,0,4118.8,0,-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,315.1,19392,-17.5,-10.000
$D_GRID,637
$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,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.72,0.000,2,0.000,0.000,2503,1183,2757,0,0,0,0,0,0
$GC,27,-0.57,-146.0,12.4,-0.0,1,51,0.57,0.30,-16.23,0.000,4,0.083,0.177,2288,1372,3522,0,0,0,0,0,0
$GC,199,-0.57,-146.0,34.4,-13.2,31,206,0.00,2.38,0.00,0.000,6,0.000,0.065,2287,2784,3524,0,0,0,0,0,0
$GC,546,-0.57,-146.0,84.8,-10.4,92,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2784,3524,0,0,0,0,0,0
$GC,885,-0.57,-146.0,123.3,-11.5,135,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2784,3524,0,0,0,0,0,0
$GC,1206,-0.60,-146.0,155.5,-9.6,165,1210,0.00,2.30,0.00,0.000,4,0.000,0.054,2286,1360,3523,0,0,0,0,0,0
$GC,1236,-0.64,-146.0,158.7,-9.5,167,1241,0.00,2.42,0.00,0.000,6,0.000,0.065,2287,2795,3523,0,0,0,0,0,0
$GC,1562,-0.69,-146.0,189.3,-8.8,197,1567,0.10,2.35,0.00,0.000,4,0.125,0.054,2243,1365,3523,0,0,0,0,0,0
$GC,1607,-0.69,-146.0,194.0,-10.2,201,1612,0.00,2.38,0.00,0.000,6,0.000,0.065,2243,2778,3523,0,0,0,0,0,0
$GC,1933,-0.66,-146.0,230.1,-11.5,231,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2778,3523,0,0,0,0,0,0
$GC,2253,-0.66,-146.0,264.6,-9.8,261,2257,0.00,2.28,0.00,0.000,4,0.000,0.053,2243,1367,3523,0,0,0,0,0,0
$GC,2283,-0.66,-146.0,267.7,-10.3,263,2287,0.00,2.38,0.00,0.000,6,0.000,0.066,2243,2773,3523,0,0,0,0,0,0
$STATE,2609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2609,begin apogee
$GC,2615,-0.14,0.0,300.3,9.9,293,2741,0.57,0.00,119.22,0.825,4,0.142,0.000,2425,2592,2923,0,0,0,0,0,0
$STATE,2742,end apogee,CONTROL_FINISHED_OK
$STATE,2742,begin climb
$GC,2744,0.57,146.0,305.4,0.0,304,2879,0.68,2.40,124.22,0.795,4,0.082,0.054,2656,1184,2328,0,0,0,0,0,0
$GC,3012,0.62,180.0,291.9,8.4,328,3049,0.00,2.50,30.23,0.770,6,0.000,0.059,2656,2601,2188,0,0,0,0,0,0
$GC,3376,0.64,202.6,258.2,9.0,362,3401,0.00,2.42,19.83,0.763,4,0.000,0.056,2656,1185,2097,0,0,0,0,0,0
$GC,3516,0.72,227.1,245.7,8.9,374,3545,0.15,2.40,22.08,0.757,6,0.099,0.059,2716,2614,1997,0,0,0,0,0,0
$GC,3863,0.68,227.1,200.7,12.5,407,3867,0.00,2.25,0.00,0.000,4,0.000,0.072,2716,3929,1990,0,0,0,0,0,0
$GC,3896,0.59,227.1,195.7,14.9,409,3904,0.20,2.15,0.00,0.000,6,0.193,0.048,2667,2603,1989,0,0,0,0,0,0
$GC,4222,0.67,263.6,166.0,8.3,440,4258,0.00,2.35,31.45,0.731,4,0.000,0.057,2666,1185,1848,0,0,0,0,0,0
$GC,4293,0.83,310.5,160.0,7.8,446,4344,0.22,2.38,41.15,0.716,6,0.085,0.059,2755,2600,1655,0,0,0,0,0,0
$GC,4662,0.80,310.5,105.9,14.0,481,4666,0.00,2.28,0.00,0.000,4,0.000,0.073,2755,3926,1646,0,0,0,0,0,0
$GC,4725,0.75,310.5,95.9,16.1,488,4733,0.17,2.20,0.00,0.000,6,0.192,0.049,2716,2590,1644,0,0,0,0,0,0
$GC,5074,0.84,325.5,59.8,9.3,549,5093,0.00,2.28,12.02,0.677,4,0.000,0.056,2716,1187,1595,0,0,0,0,0,0
$GC,5157,0.99,355.8,52.4,8.6,563,5194,0.22,2.33,27.02,0.670,6,0.080,0.059,2800,2588,1472,0,0,0,0,0,0
$FREEZE,8.57,-1.683,-1.727,2,10,0
$STATE,5477,end climb,FINISH_DEPTH_REACHED
$STATE,5477,begin subsurface finish
$FINISH1,8.6,1.025298,108
$GC,5483,0.07,108.1,8.6,-13.9,619,5526,0.98,2.35,-32.50,0.000,4,0.158,0.090,2506,3935,2486,0,0,0,0,0,0
$FINISH2,6.7
$STATE,5527,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5527,begin surface
$RAFOS_CLK,338
$RAFOS_FIX,6643.743164,-5957.649414,271210,202018,6,108,3.74
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.029211
$HUMID,50.07
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$ALTIM_BOTTOM_PING,300.3,13.3
$24V_AH,22.1,71.058
$10V_AH,9.7,50.110
$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,3.875,47.350,427.225,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1428.747,2600.698,412.893,1026.877,114.375,0.000,1002.951,0.000,1026.548,0.000,7.086,0.000
$DEVICE_MAMPS,192.780,177.480,825.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,434.527,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,23378,626
$CAP_FILE_SIZE,67057,0
$CFSIZE,260165632,208535552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$GPS,271210,201528,6642.708,-5959.695,0,4118.8,0,-38.0