version: 66.08
glider: 183
mission: 3
dive: 602
start: 12 28 110 3 11 27
data:
$ID,183
$MISSION,3
$DIVE,602
$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,29
$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
$GPS1,281210,002707,6642.347,-5959.533,0,7117.3,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.96
$_SM_ANGLEo,-5.3
$GPS2,281210,002707,6642.347,-5959.533,0,7117.3,0,-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,317.0,19603,-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,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,-5.65,0.000,2,0.000,0.000,2507,3926,2667,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.1,-0.0,1,58,0.57,4.25,-20.00,0.000,4,0.090,0.059,2296,1364,3523,0,0,0,0,0,0
$GC,239,-0.57,-146.0,38.6,-14.2,38,246,0.00,2.38,0.00,0.000,6,0.000,0.064,2293,2779,3524,0,0,0,0,0,0
$GC,585,-0.57,-146.0,85.7,-12.0,99,592,0.00,2.30,0.00,0.000,4,0.000,0.054,2293,1369,3524,0,0,0,0,0,0
$GC,622,-0.60,-146.0,90.3,-12.3,105,629,0.00,2.33,0.00,0.000,6,0.000,0.064,2293,2758,3524,0,0,0,0,0,0
$GC,955,-0.63,-146.0,126.7,-9.8,143,959,0.00,2.00,0.00,0.000,4,0.000,0.076,2287,3935,3524,0,0,0,0,0,0
$GC,1024,-0.68,-146.0,133.6,-9.5,149,1027,0.00,1.90,0.00,0.000,6,0.000,0.051,2286,2772,3523,0,0,0,0,0,0
$GC,1355,-0.71,-146.0,166.5,-9.9,180,1360,0.12,2.28,0.00,0.000,4,0.109,0.053,2234,1364,3524,0,0,0,0,0,0
$GC,1376,-0.71,-146.0,169.2,-11.4,181,1384,0.00,2.35,0.00,0.000,6,0.000,0.064,2230,2768,3523,0,0,0,0,0,0
$GC,1703,-0.65,-146.0,212.2,-13.0,212,1708,0.12,2.00,0.00,0.000,4,0.194,0.076,2256,3930,3523,0,0,0,0,0,0
$GC,1727,-0.62,-146.0,215.1,-12.2,214,1730,0.00,1.90,0.00,0.000,6,0.000,0.050,2256,2755,3524,0,0,0,0,0,0
$GC,2059,-0.62,-146.0,248.5,-9.6,245,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2755,3523,0,0,0,0,0,0
$GC,2378,-0.62,-146.0,278.5,-9.7,275,2382,0.00,2.03,0.00,0.000,4,0.000,0.077,2250,3933,3523,0,0,0,0,0,0
$GC,2439,-0.62,-146.0,284.9,-9.7,280,2446,0.00,1.88,0.00,0.000,6,0.000,0.051,2249,2767,3523,0,0,0,0,0,0
$STATE,2597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2597,begin apogee
$GC,2604,-0.14,0.0,300.2,10.1,295,2729,0.55,0.00,119.32,0.825,4,0.138,0.000,2426,2592,2923,0,0,0,0,0,0
$STATE,2730,end apogee,CONTROL_FINISHED_OK
$STATE,2730,begin climb
$GC,2733,0.57,146.0,306.1,0.0,306,2866,0.68,2.40,124.45,0.798,4,0.080,0.054,2656,1184,2327,0,0,0,0,0,0
$GC,2994,0.62,192.2,293.8,7.9,329,3041,0.00,2.50,40.10,0.778,6,0.000,0.060,2656,2607,2140,0,0,0,0,0,0
$GC,3369,0.66,208.2,258.3,9.3,364,3392,0.00,2.35,14.45,0.754,4,0.000,0.073,2657,3921,2071,0,0,0,0,0,0
$GC,3587,0.66,208.2,232.2,12.8,383,3594,0.00,2.20,0.00,0.000,6,0.000,0.048,2659,2576,2067,0,0,0,0,0,0
$GC,3914,0.71,228.2,200.8,9.1,414,3939,0.12,2.30,18.12,0.747,4,0.112,0.056,2708,1180,1991,0,0,0,0,0,0
$GC,3967,0.71,228.2,194.5,11.6,418,3974,0.00,2.30,0.00,0.000,6,0.000,0.058,2709,2575,1989,0,0,0,0,0,0
$GC,4293,0.71,228.2,156.8,11.1,449,4297,0.00,2.30,0.00,0.000,4,0.000,0.071,2709,3936,1987,0,0,0,0,0,0
$GC,4371,0.64,228.2,146.5,13.3,455,4378,0.00,2.20,0.00,0.000,6,0.000,0.048,2711,2590,1986,0,0,0,0,0,0
$GC,4696,0.64,228.2,111.3,10.5,486,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2590,1986,0,0,0,0,0,0
$GC,5027,0.65,243.2,78.8,9.3,535,5046,0.00,2.38,12.75,0.695,4,0.000,0.073,2711,3930,1933,0,0,0,0,0,0
$GC,5239,0.69,306.1,59.6,7.1,572,5303,0.00,2.17,55.38,0.676,6,0.000,0.048,2710,2598,1672,0,0,0,0,0,0
$GC,5641,0.84,359.5,30.3,7.5,643,5694,0.10,2.35,44.20,0.660,4,0.122,0.057,2754,1195,1455,0,0,0,0,0,0
$GC,5743,0.95,373.2,21.1,9.4,660,5763,0.00,2.38,12.50,0.645,6,0.000,0.059,2754,2605,1401,0,0,0,0,0,0
$FREEZE,8.64,-1.702,-1.709,2,13,0
$STATE,5870,end climb,FINISH_DEPTH_REACHED
$STATE,5870,begin subsurface finish
$FINISH1,8.6,1.025038,121
$GC,5876,0.08,120.9,8.6,-9.9,682,5912,0.80,0.00,-30.80,0.000,6,0.142,0.000,2503,2605,2433,0,0,0,0,0,0
$FINISH2,7.7
$STATE,5913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5913,begin surface
$RAFOS_CLK,365
$RAFOS,5,1293511262,4.700000,4.683889,82,45,45,44,43,43,934,911,325,354,519,144
$RAFOS,4,1293510782,4.566667,4.550556,87,44,43,43,41,41,718,1075,200,1476,1569,1156
$RAFOS,3,1293510305,4.433333,4.418056,119,44,43,43,42,39,740,1910,1173,148,758,851
$RAFOS,2,1293509822,4.300000,4.283889,162,48,46,43,40,39,626,1562,1773,1218,497,1340
$RAFOS,1,1293509345,4.166667,4.151389,89,48,46,41,41,40,549,1166,1470,530,1534,1673
$RAFOS,0,1293508865,4.033333,4.018055,99,44,42,42,41,41,648,476,1255,1840,1651,935
$RAFOS_FIX,6641.341797,-6001.144043,281210,040406,6,106,0.16
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.031458
$HUMID,50.15
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,30.4
$ALTIM_BOTTOM_PING,300.2,13.4
$24V_AH,22.1,71.340
$10V_AH,9.7,50.232
$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,3.075,55.675,441.275,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1594.547,2696.185,443.723,1126.800,120.988,0.000,1079.647,0.000,1120.537,2520.000,7.104,0.000
$DEVICE_MAMPS,193.545,77.265,824.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.826,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,23426,688
$CAP_FILE_SIZE,73291,0
$CFSIZE,260165632,208408576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,281210,042306,6641.342,-6001.144,0,6106.3,0,-38.0