version: 66.08
glider: 183
mission: 3
dive: 608
start: 12 28 110 13 4 55
data:
$ID,183
$MISSION,3
$DIVE,608
$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,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
$GPS1,281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.99
$_SM_ANGLEo,-8.5
$GPS2,281210,122913,6643.751,-6007.282,0,5123.2,0,-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,309.9,13701,-17.5,-10.000
$D_GRID,585
$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,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2509,3920,2594,0,0,0,0,0,0
$GC,27,-0.57,-146.0,11.5,-0.0,1,51,0.57,0.00,-20.12,0.000,4,0.079,0.000,2291,3920,3522,0,0,0,0,0,0
$GC,216,-0.50,-146.0,40.5,-17.1,34,223,0.00,1.88,0.00,0.000,6,0.000,0.049,2291,2772,3524,0,0,0,0,0,0
$GC,562,-0.50,-146.0,85.7,-10.8,95,568,0.00,2.28,0.00,0.000,4,0.000,0.054,2291,1364,3524,0,0,0,0,0,0
$GC,644,-0.54,-146.0,94.3,-9.7,109,652,0.00,2.38,0.00,0.000,6,0.000,0.065,2289,2776,3524,0,0,0,0,0,0
$GC,981,-0.57,-146.0,127.9,-9.8,145,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2776,3524,0,0,0,0,0,0
$GC,1300,-0.61,-146.0,158.7,-9.8,175,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2776,3523,0,0,0,0,0,0
$GC,1619,-0.66,-146.0,189.4,-9.6,205,1623,0.00,2.28,0.00,0.000,4,0.000,0.054,2288,1366,3523,0,0,0,0,0,0
$GC,1659,-0.73,-146.0,193.2,-8.8,208,1664,0.15,2.38,0.00,0.000,6,0.097,0.065,2223,2779,3523,0,0,0,0,0,0
$GC,1985,-0.67,-146.0,234.7,-12.6,238,1987,0.12,0.00,0.00,0.000,6,0.182,0.000,2255,2779,3523,0,0,0,0,0,0
$GC,2303,-0.67,-146.0,266.3,-9.2,268,2307,0.00,2.28,0.00,0.000,4,0.000,0.054,2256,1370,3523,0,0,0,0,0,0
$GC,2327,-0.67,-146.0,268.4,-9.0,270,2331,0.00,2.35,0.00,0.000,6,0.000,0.066,2256,2764,3523,0,0,0,0,0,0
$GC,2652,-0.67,-146.0,297.0,-9.1,300,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2764,3523,0,0,0,0,0,0
$STATE,2686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2686,begin apogee
$GC,2693,-0.14,0.0,300.1,9.5,303,2818,0.52,0.00,119.32,0.820,4,0.136,0.000,2427,2598,2924,0,0,0,0,0,0
$STATE,2819,end apogee,CONTROL_FINISHED_OK
$STATE,2819,begin climb
$GC,2821,0.57,146.0,305.2,0.0,314,2957,0.68,2.42,124.82,0.793,4,0.081,0.054,2658,1180,2326,0,0,0,0,0,0
$GC,3126,0.61,169.1,287.4,8.9,341,3155,0.00,2.50,19.77,0.765,6,0.000,0.060,2658,2601,2233,0,0,0,0,0,0
$GC,3474,0.62,181.4,254.6,9.4,374,3490,0.00,2.35,11.50,0.744,4,0.000,0.054,2658,1187,2184,0,0,0,0,0,0
$GC,3687,0.69,210.9,235.1,8.6,392,3719,0.12,2.35,26.05,0.757,6,0.107,0.060,2708,2592,2066,0,0,0,0,0,0
$GC,4045,0.65,210.9,191.8,12.1,426,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2592,2059,0,0,0,0,0,0
$GC,4367,0.62,210.9,154.6,11.0,456,4373,0.12,0.00,0.00,0.000,6,0.194,0.000,2677,2592,2058,0,0,0,0,0,0
$GC,4693,0.67,240.2,124.9,8.6,487,4726,0.00,2.33,25.83,0.715,4,0.000,0.073,2677,3934,1942,0,0,0,0,0,0
$GC,4755,0.68,245.2,119.0,9.8,492,4765,0.00,2.20,5.60,0.607,6,0.000,0.048,2677,2587,1923,0,0,0,0,0,0
$GC,5093,0.77,288.9,88.2,8.0,535,5135,0.15,0.00,38.08,0.691,6,0.103,0.000,2737,2586,1744,0,0,0,0,0,0
$GC,5475,0.82,304.8,46.3,9.3,602,5494,0.00,2.35,13.85,0.671,4,0.000,0.057,2738,1187,1679,0,0,0,0,0,0
$GC,5541,0.95,356.4,40.9,7.6,613,5595,0.12,2.30,44.95,0.657,6,0.104,0.060,2786,2578,1468,0,0,0,0,0,0
$FREEZE,8.55,-1.685,-1.682,2,19,0
$STATE,5843,end climb,FINISH_DEPTH_REACHED
$STATE,5843,begin subsurface finish
$FINISH1,8.5,1.024658,140
$GC,5850,0.09,139.6,8.5,-10.7,666,5886,0.90,2.33,-27.42,0.000,4,0.151,0.087,2509,3929,2357,0,0,0,0,0,0
$FINISH2,7.4
$STATE,5887,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5887,begin surface
$RAFOS_CLK,356
$RAFOS_FIX,6643.751465,-6007.282227,281210,121213,5,123,0.16
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.029211
$HUMID,50.19
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.8
$ALTIM_BOTTOM_PING,300.1,13.3
$24V_AH,22.1,71.895
$10V_AH,9.7,50.462
$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,3.475,37.200,429.775,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1535.800,2797.135,408.353,1086.370,114.907,0.000,1014.805,0.000,1081.886,0.000,7.091,0.000
$DEVICE_MAMPS,193.545,87.210,820.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23433,672
$CAP_FILE_SIZE,68349,0
$CFSIZE,260165632,208175104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$GPS,281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0