version: 66.08
glider: 183
mission: 3
dive: 637
start: 12 31 110 3 14 24
data:
$ID,183
$MISSION,3
$DIVE,637
$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,-11339.555
$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,31
$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
$GPS1,311210,002328,6639.481,-5926.556,0,4108.8,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.61
$_SM_ANGLEo,-8.4
$GPS2,311210,002328,6639.481,-5926.556,0,4108.8,0,-37.8
$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,107.0,122506,-17.5,-10.000
$D_GRID,873
$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,-5.60,0.000,2,0.000,0.000,2483,3935,2817,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.6,-0.0,1,52,0.52,4.25,-17.62,0.000,4,0.083,0.057,2287,1370,3516,0,0,0,0,0,0
$GC,76,-0.57,-146.0,13.9,-11.6,9,83,0.00,2.35,0.00,0.000,6,0.000,0.065,2287,2779,3519,0,0,0,0,0,0
$GC,423,-0.54,-146.0,57.4,-12.6,70,430,0.00,2.30,0.00,0.000,4,0.000,0.052,2286,1364,3519,0,0,0,0,0,0
$GC,609,-0.58,-146.0,79.1,-11.1,102,616,0.00,2.35,0.00,0.000,6,0.000,0.064,2287,2773,3519,0,0,0,0,0,0
$GC,953,-0.60,-146.0,117.1,-10.7,150,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2773,3518,0,0,0,0,0,0
$GC,1272,-0.64,-146.0,147.8,-9.1,180,1276,0.00,2.28,0.00,0.000,4,0.000,0.053,2287,1362,3518,0,0,0,0,0,0
$GC,1328,-0.69,-146.0,152.9,-8.6,184,1335,0.00,2.33,0.00,0.000,6,0.000,0.065,2287,2755,3518,0,0,0,0,0,0
$GC,1654,-0.74,-146.0,179.5,-9.1,215,1659,0.15,2.25,0.00,0.000,4,0.096,0.054,2222,1371,3517,0,0,0,0,0,0
$GC,1688,-0.68,-146.0,183.7,-12.4,217,1695,0.12,2.30,0.00,0.000,6,0.187,0.065,2252,2747,3517,0,0,0,0,0,0
$GC,2013,-0.68,-146.0,219.6,-10.1,248,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2747,3517,0,0,0,0,0,0
$GC,2336,-0.68,-146.0,251.8,-9.7,278,2340,0.00,2.22,0.00,0.000,4,0.000,0.053,2252,1362,3517,0,0,0,0,0,0
$GC,2404,-0.71,-146.0,258.6,-8.6,283,2410,0.00,2.30,0.00,0.000,6,0.000,0.065,2252,2737,3517,0,0,0,0,0,0
$GC,2729,-0.71,-146.0,287.4,-9.3,314,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2737,3517,0,0,0,0,0,0
$STATE,2869,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2869,begin apogee
$GC,2875,-0.14,0.0,300.3,9.2,327,3001,0.52,0.00,118.60,0.812,4,0.141,0.000,2421,2600,2923,0,0,0,0,0,0
$STATE,3001,end apogee,CONTROL_FINISHED_OK
$STATE,3002,begin climb
$GC,3004,0.57,146.0,305.3,0.0,338,3136,0.65,0.00,124.32,0.788,6,0.090,0.000,2651,2600,2327,0,0,0,0,0,0
$GC,3451,0.58,168.7,272.9,9.0,380,3477,0.00,2.40,19.27,0.763,4,0.000,0.054,2651,1185,2234,0,0,0,0,0,0
$GC,3489,0.60,196.9,269.6,8.7,383,3520,0.00,2.38,25.30,0.754,6,0.000,0.057,2652,2601,2122,0,0,0,0,0,0
$GC,3848,0.64,205.0,235.5,9.6,417,3858,0.00,0.00,7.82,0.702,6,0.000,0.000,2652,2601,2087,0,0,0,0,0,0
$GC,4177,0.68,205.0,201.3,10.1,448,4179,0.12,0.00,0.00,0.000,6,0.108,0.000,2704,2601,2084,0,0,0,0,0,0
$GC,4494,0.64,205.0,163.1,10.9,478,4498,0.00,2.30,0.00,0.000,4,0.000,0.056,2705,1184,2083,0,0,0,0,0,0
$GC,4512,0.61,205.0,161.2,10.5,479,4517,0.12,2.33,0.00,0.000,6,0.180,0.057,2673,2602,2083,0,0,0,0,0,0
$GC,4838,0.67,243.8,134.9,8.2,509,4878,0.00,0.00,33.55,0.714,6,0.000,0.000,2673,2602,1931,0,0,0,0,0,0
$GC,5198,0.74,273.1,102.5,8.6,543,5232,0.12,2.33,26.12,0.688,4,0.107,0.055,2725,1187,1807,0,0,0,0,0,0
$GC,5269,0.77,273.1,95.1,10.5,552,5276,0.00,2.33,0.00,0.000,6,0.000,0.058,2724,2592,1803,0,0,0,0,0,0
$GC,5614,0.77,273.1,58.0,10.3,613,5621,0.00,2.25,0.00,0.000,4,0.000,0.070,2724,3929,1799,0,0,0,0,0,0
$GC,5696,0.75,273.1,48.7,10.9,627,5702,0.00,2.15,0.00,0.000,6,0.000,0.048,2725,2609,1798,0,0,0,0,0,0
$GC,6043,0.75,283.2,11.4,9.5,688,6057,0.00,2.33,8.40,0.645,4,0.000,0.058,2725,1193,1768,0,0,0,0,0,0
$FREEZE,8.70,-1.735,-1.775,2,3,0
$STATE,6074,end climb,FINISH_DEPTH_REACHED
$STATE,6074,begin subsurface finish
$FINISH1,8.7,1.025992,74
$GC,6084,0.05,74.0,8.7,-7.8,693,6121,0.73,2.35,-26.00,0.000,4,0.151,0.067,2500,1193,2624,0,0,0,0,0,0
$FINISH2,7.1
$STATE,6122,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6122,begin surface
$RAFOS_CLK,371
$RAFOS,6,1293770946,4.833333,4.818333,89,49,45,45,45,43,756,724,1037,1602,1157,399
$RAFOS,5,1293770466,4.700000,4.685000,55,43,43,42,40,39,816,26,1895,361,976,1298
$RAFOS,4,1293769985,4.566667,4.551389,86,48,46,45,42,41,621,277,637,778,632,876
$RAFOS,3,1293769511,4.433333,4.419722,69,42,42,39,39,39,618,26,1595,195,313,1700
$RAFOS,2,1293769024,4.300000,4.284444,86,46,46,45,44,44,637,452,1707,26,1726,1878
$RAFOS,1,1293768543,4.166667,4.150833,109,45,43,41,41,39,666,154,1126,203,886,1681
$RAFOS,0,1293768065,4.033333,4.018055,43,42,41,40,39,38,1752,708,26,1125,216,322
$RAFOS_FIX,6639.487793,-5921.346680,311210,040413,5,88,0.26
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,49.37
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,300.3,13.3
$24V_AH,22.0,74.658
$10V_AH,9.7,51.837
$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,3.075,50.650,363.400,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1656.627,2951.286,378.098,1084.473,125.399,0.000,981.450,0.000,1084.021,2520.000,7.089,0.000
$DEVICE_MAMPS,186.660,71.145,812.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,486.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,23425,699
$CAP_FILE_SIZE,71627,0
$CFSIZE,260165632,206819328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.6
$GPS,311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8