version: 66.08
glider: 183
mission: 3
dive: 606
start: 12 28 110 9 43 25
data:
$ID,183
$MISSION,3
$DIVE,606
$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,32
$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
$GPS1,281210,082306,6642.822,-6005.196,0,6103.5,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.92
$_SM_ANGLEo,-5.9
$GPS2,281210,082306,6642.822,-6005.196,0,6103.5,0,-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,316.2,15375,-17.5,-10.000
$D_GRID,590
$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,-5.75,0.000,2,0.000,0.000,2513,3927,2607,0,0,0,0,0,0
$GC,27,-0.57,-146.0,13.2,-0.0,1,51,0.60,0.00,-18.58,0.000,6,0.086,0.000,2292,3927,3521,0,0,0,0,0,0
$GC,390,-0.57,-146.0,66.9,-14.4,65,396,0.00,0.00,0.00,0.000,4,0.000,0.000,2292,3927,3523,0,0,0,0,0,0
$GC,477,-0.60,-146.0,78.2,-11.7,80,483,0.00,2.00,0.00,0.000,6,0.000,0.050,2292,2689,3523,0,0,0,0,0,0
$GC,820,-0.63,-146.0,115.9,-10.6,128,824,0.00,2.15,0.00,0.000,4,0.000,0.077,2286,3929,3523,0,0,0,0,0,0
$GC,855,-0.66,-146.0,119.7,-10.8,131,859,0.00,2.00,0.00,0.000,6,0.000,0.050,2286,2690,3523,0,0,0,0,0,0
$GC,1187,-0.69,-146.0,152.2,-9.8,162,1192,0.10,2.15,0.00,0.000,4,0.122,0.077,2235,3932,3523,0,0,0,0,0,0
$GC,1216,-0.64,-146.0,155.7,-12.1,164,1220,0.12,1.98,0.00,0.000,6,0.178,0.049,2267,2705,3523,0,0,0,0,0,0
$GC,1546,-0.64,-146.0,191.8,-10.9,195,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2705,3523,0,0,0,0,0,0
$GC,1869,-0.64,-146.0,224.6,-9.8,225,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2705,3523,0,0,0,0,0,0
$GC,2197,-0.66,-146.0,256.8,-9.3,256,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2705,3522,0,0,0,0,0,0
$GC,2516,-0.70,-146.0,287.3,-9.5,286,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2705,3522,0,0,0,0,0,0
$STATE,2651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2651,begin apogee
$GC,2657,-0.14,0.0,300.3,9.4,299,2783,0.47,0.00,119.70,0.824,4,0.136,0.000,2424,2604,2923,0,0,0,0,0,0
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2786,0.57,146.0,305.5,0.0,310,2921,0.70,2.42,124.88,0.795,4,0.082,0.054,2663,1181,2326,0,0,0,0,0,0
$GC,3101,0.58,170.5,287.2,8.9,338,3131,0.00,2.47,21.35,0.767,6,0.000,0.059,2663,2599,2227,0,0,0,0,0,0
$GC,3449,0.59,186.3,255.5,9.3,371,3472,0.00,2.40,14.18,0.754,4,0.000,0.057,2663,1190,2162,0,0,0,0,0,0
$GC,3588,0.66,211.8,243.0,8.8,383,3621,0.00,2.40,23.10,0.759,6,0.000,0.060,2663,2622,2058,0,0,0,0,0,0
$GC,3940,0.72,232.7,209.6,9.0,416,3964,0.12,2.30,18.50,0.747,4,0.108,0.072,2715,3925,1973,0,0,0,0,0,0
$GC,4017,0.63,232.7,199.4,15.2,422,4024,0.15,2.15,0.00,0.000,6,0.201,0.048,2681,2621,1969,0,0,0,0,0,0
$GC,4343,0.66,232.7,165.1,10.1,453,4347,0.00,2.30,0.00,0.000,4,0.000,0.057,2681,1193,1968,0,0,0,0,0,0
$GC,4417,0.75,248.1,157.8,9.3,459,4441,0.10,2.38,14.15,0.725,6,0.123,0.060,2720,2635,1910,0,0,0,0,0,0
$GC,4759,0.75,248.1,117.2,11.5,491,4763,0.00,2.20,0.00,0.000,4,0.000,0.073,2720,3925,1906,0,0,0,0,0,0
$GC,4837,0.70,248.1,106.8,13.4,497,4844,0.00,2.05,0.00,0.000,6,0.000,0.049,2721,2656,1905,0,0,0,0,0,0
$GC,5178,0.70,248.1,70.7,10.2,552,5185,0.00,2.35,0.00,0.000,4,0.000,0.057,2721,1195,1905,0,0,0,0,0,0
$GC,5232,0.78,290.7,66.0,8.0,561,5274,0.00,2.38,37.15,0.682,6,0.000,0.059,2721,2633,1737,0,0,0,0,0,0
$GC,5612,0.92,374.3,36.5,6.1,628,5689,0.15,2.33,70.35,0.654,4,0.099,0.073,2780,3924,1396,0,0,0,0,0,0
$GC,5714,0.92,374.3,25.5,12.7,645,5721,0.00,2.15,0.00,0.000,6,0.000,0.049,2781,2628,1392,0,0,0,0,0,0
$FREEZE,8.75,-1.699,-1.676,2,17,0
$STATE,5861,end climb,FINISH_DEPTH_REACHED
$STATE,5861,begin subsurface finish
$FINISH1,8.7,1.024564,144
$GC,5869,0.09,144.3,8.7,-11.8,671,5905,0.90,2.35,-28.55,0.000,4,0.151,0.067,2506,1187,2337,0,0,0,0,0,0
$FINISH2,7.6
$STATE,5906,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5906,begin surface
$RAFOS_CLK,362
$RAFOS_FIX,6642.821777,-6005.196289,281210,080806,6,104,0.28
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.028462
$HUMID,49.84
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,300.3,13.3
$24V_AH,22.1,71.707
$10V_AH,9.7,50.384
$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,3.425,45.050,443.350,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1551.242,2745.573,439.251,1105.475,119.870,0.000,1062.855,0.000,1102.152,0.000,7.089,0.000
$DEVICE_MAMPS,201.195,83.385,823.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.540,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23431,677
$CAP_FILE_SIZE,70261,0
$CFSIZE,260165632,208248832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,281210,082306,6642.822,-6005.196,0,6103.5,0,-38.0