version: 66.08
glider: 183
mission: 3
dive: 616
start: 12 29 110 8 7 21
data:
$ID,183
$MISSION,3
$DIVE,616
$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,-10600.926
$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,33
$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
$GPS1,291210,042306,6642.594,-6011.709,0,6101.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.56
$_SM_ANGLEo,-6.3
$GPS2,291210,042306,6642.594,-6011.709,0,6101.0,0,-38.0
$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,113.6,151884,-17.5,-10.000
$D_GRID,563
$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,-6.18,0.000,2,0.000,0.000,2501,2628,2717,0,0,0,0,0,0
$GC,27,-0.57,-146.0,12.8,-0.0,1,52,0.55,2.03,-16.70,0.000,4,0.080,0.064,2292,1368,3520,0,0,0,0,0,0
$GC,65,-0.57,-146.0,16.2,-9.9,7,72,0.00,2.35,0.00,0.000,6,0.000,0.063,2288,2786,3522,0,0,0,0,0,0
$GC,411,-0.57,-146.0,68.9,-12.2,68,418,0.00,2.30,0.00,0.000,4,0.000,0.053,2288,1372,3521,0,0,0,0,0,0
$GC,432,-0.57,-146.0,71.3,-12.7,71,438,0.00,2.33,0.00,0.000,6,0.000,0.064,2287,2769,3522,0,0,0,0,0,0
$GC,778,-0.57,-146.0,109.5,-10.5,125,782,0.00,2.25,0.00,0.000,4,0.000,0.053,2287,1373,3521,0,0,0,0,0,0
$GC,848,-0.61,-146.0,116.6,-10.1,131,852,0.00,2.28,0.00,0.000,6,0.000,0.064,2287,2744,3522,0,0,0,0,0,0
$GC,1174,-0.64,-146.0,150.2,-10.2,161,1178,0.00,2.20,0.00,0.000,4,0.000,0.054,2287,1374,3521,0,0,0,0,0,0
$GC,1215,-0.69,-146.0,154.2,-9.8,164,1220,0.10,2.28,0.00,0.000,6,0.119,0.064,2245,2742,3521,0,0,0,0,0,0
$GC,1542,-0.66,-146.0,192.8,-11.5,194,1547,0.00,2.03,0.00,0.000,4,0.000,0.075,2238,3928,3520,0,0,0,0,0,0
$GC,1577,-0.62,-146.0,197.1,-12.0,197,1581,0.12,1.92,0.00,0.000,6,0.177,0.050,2271,2730,3520,0,0,0,0,0,0
$GC,1909,-0.64,-146.0,229.4,-9.9,228,1913,0.00,2.17,0.00,0.000,4,0.000,0.053,2272,1368,3520,0,0,0,0,0,0
$GC,1971,-0.69,-146.0,236.0,-10.3,233,1976,0.00,2.25,0.00,0.000,6,0.000,0.065,2271,2718,3520,0,0,0,0,0,0
$GC,2298,-0.73,-146.0,265.6,-8.5,263,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2718,3520,0,0,0,0,0,0
$GC,2615,-0.77,-146.0,293.2,-8.5,293,2620,0.15,2.08,0.00,0.000,4,0.101,0.076,2204,3927,3520,0,0,0,0,0,0
$GC,2660,-0.69,-146.0,298.9,-12.9,296,2667,0.17,2.00,0.00,0.000,6,0.171,0.050,2250,2705,3520,0,0,0,0,0,0
$STATE,2678,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2678,begin apogee
$GC,2684,-0.14,0.0,301.0,13.5,298,2809,0.52,0.00,118.70,0.821,4,0.139,0.000,2422,2606,2923,0,0,0,0,0,0
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2813,0.57,146.0,307.1,0.0,309,2946,0.70,2.40,124.20,0.792,4,0.084,0.052,2660,1186,2327,0,0,0,0,0,0
$GC,3082,0.63,203.0,294.9,7.4,333,3138,0.00,2.47,49.62,0.776,6,0.000,0.058,2659,2600,2095,0,0,0,0,0,0
$GC,3456,0.66,210.4,259.7,9.7,368,3469,0.00,2.35,5.85,0.662,4,0.000,0.054,2662,1187,2068,0,0,0,0,0,0
$GC,3640,0.74,230.7,242.9,9.1,384,3667,0.15,2.35,19.42,0.755,6,0.099,0.060,2721,2608,1983,0,0,0,0,0,0
$GC,3993,0.70,230.7,195.0,13.6,417,3997,0.00,2.22,0.00,0.000,4,0.000,0.071,2721,3925,1979,0,0,0,0,0,0
$GC,4016,0.64,230.7,191.6,14.4,418,4024,0.17,2.15,0.00,0.000,6,0.197,0.047,2680,2607,1977,0,0,0,0,0,0
$GC,4342,0.68,244.1,158.3,9.4,449,4364,0.00,2.35,12.45,0.718,4,0.000,0.073,2680,3932,1925,0,0,0,0,0,0
$GC,4411,0.68,244.1,150.8,11.5,455,4415,0.00,2.12,0.00,0.000,6,0.000,0.048,2680,2627,1924,0,0,0,0,0,0
$GC,4743,0.73,251.3,118.8,9.7,486,4756,0.00,2.40,7.50,0.675,4,0.000,0.056,2680,1188,1897,0,0,0,0,0,0
$GC,4815,0.84,264.7,112.1,9.4,492,4838,0.20,2.35,13.15,0.699,6,0.088,0.059,2761,2617,1844,0,0,0,0,0,0
$GC,5173,0.82,264.7,63.9,11.3,547,5179,0.00,2.22,0.00,0.000,4,0.000,0.072,2760,3925,1839,0,0,0,0,0,0
$GC,5192,0.77,264.7,61.4,10.9,550,5200,0.15,2.10,0.00,0.000,6,0.207,0.048,2727,2627,1839,0,0,0,0,0,0
$GC,5541,0.83,302.5,32.6,8.3,611,5583,0.00,2.40,33.12,0.666,4,0.000,0.057,2727,1194,1688,0,0,0,0,0,0
$GC,5614,0.95,329.6,26.0,8.7,623,5646,0.15,2.42,24.33,0.651,6,0.095,0.059,2782,2643,1578,0,0,0,0,0,0
$FREEZE,8.67,-1.729,-1.718,2,27,0
$STATE,5763,end climb,FINISH_DEPTH_REACHED
$STATE,5763,begin subsurface finish
$FINISH1,8.7,1.025169,114
$GC,5772,0.07,114.4,8.7,-10.3,649,5807,0.93,0.00,-27.33,0.000,6,0.159,0.000,2506,2607,2458,0,0,0,0,0,0
$FINISH2,7.4
$STATE,5808,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5808,begin surface
$RAFOS_CLK,354
$RAFOS,6,1293612547,8.833333,8.818611,93,45,43,42,41,38,788,906,26,1715,417,504
$RAFOS,5,1293612070,8.700000,8.686111,110,47,45,44,42,41,904,239,295,1222,448,1583
$RAFOS,4,1293611587,8.566667,8.551945,105,46,44,42,42,41,692,1444,1697,1011,1191,1513
$RAFOS,3,1293611106,8.433333,8.418333,87,52,46,44,42,42,766,1824,904,586,634,1024
$RAFOS,2,1293610624,8.300000,8.284445,87,43,43,41,40,40,645,796,1375,356,512,469
$RAFOS,1,1293610146,8.166667,8.151667,111,43,43,42,42,41,528,1305,1635,26,1551,1127
$RAFOS,0,1293609662,8.033334,8.017222,110,50,45,42,42,41,646,1007,1322,1630,1260,165
$RAFOS_FIX,6644.791992,-6008.495605,291210,080807,7,100,0.32
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.39
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,301.0,13.1
$24V_AH,22.1,72.723
$10V_AH,9.7,50.876
$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,4.075,62.975,408.350,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1566.617,2670.961,417.479,1098.483,132.483,0.000,1045.591,0.000,1093.698,2160.000,7.284,0.000
$DEVICE_MAMPS,206.550,144.585,820.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23459,655
$CAP_FILE_SIZE,77928,0
$CFSIZE,260165632,207757312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.7
$GPS,291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0