version: 66.08
glider: 183
mission: 3
dive: 598
start: 12 27 110 20 34 48
data:
$ID,183
$MISSION,3
$DIVE,598
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,271210,201528,6642.708,-5959.695,0,4118.8,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,23.14
$_SM_ANGLEo,-8.1
$GPS2,271210,201528,6642.708,-5959.695,0,4118.8,0,-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,315.1,19392,-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,-5.60,0.000,2,0.000,0.000,2487,1181,2871,0,0,0,0,0,0
$GC,27,-0.57,-146.0,24.8,-0.0,1,46,0.52,4.72,-9.68,0.000,4,0.081,0.071,2283,3925,3523,0,0,0,0,0,0
$GC,134,-0.51,-146.0,38.7,-16.2,19,141,0.00,1.85,0.00,0.000,6,0.000,0.050,2283,2781,3525,0,0,0,0,0,0
$GC,479,-0.51,-146.0,92.3,-12.4,80,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2781,3525,0,0,0,0,0,0
$GC,808,-0.51,-146.0,130.1,-11.4,116,812,0.00,2.28,0.00,0.000,4,0.000,0.052,2283,1372,3524,0,0,0,0,0,0
$GC,824,-0.51,-146.0,132.1,-11.2,117,831,0.00,2.38,0.00,0.000,6,0.000,0.065,2279,2779,3525,0,0,0,0,0,0
$GC,1150,-0.51,-146.0,167.2,-9.9,148,1154,0.00,2.28,0.00,0.000,4,0.000,0.053,2279,1374,3524,0,0,0,0,0,0
$GC,1184,-0.54,-146.0,170.8,-10.6,151,1189,0.00,2.38,0.00,0.000,6,0.000,0.065,2279,2777,3524,0,0,0,0,0,0
$GC,1510,-0.57,-146.0,202.5,-9.6,181,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2777,3524,0,0,0,0,0,0
$GC,1832,-0.61,-146.0,233.4,-9.6,211,1836,0.00,2.28,0.00,0.000,4,0.000,0.053,2279,1371,3523,0,0,0,0,0,0
$GC,1854,-0.64,-146.0,235.8,-9.0,212,1861,0.00,2.38,0.00,0.000,6,0.000,0.065,2279,2773,3523,0,0,0,0,0,0
$GC,2180,-0.69,-146.0,265.0,-9.0,243,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2773,3524,0,0,0,0,0,0
$GC,2501,-0.74,-146.0,292.8,-8.4,273,2505,0.12,2.30,0.00,0.000,4,0.109,0.054,2225,1372,3523,0,0,0,0,0,0
$GC,2539,-0.70,-146.0,297.4,-11.8,276,2546,0.00,2.38,0.00,0.000,6,0.000,0.066,2222,2773,3522,0,0,0,0,0,0
$STATE,2569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2569,begin apogee
$GC,2576,-0.14,0.0,300.7,12.3,279,2706,0.65,0.00,120.05,0.823,4,0.148,0.000,2424,2605,2922,0,0,0,0,0,0
$STATE,2707,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2710,0.57,146.0,306.8,0.0,291,2845,0.70,2.42,124.68,0.795,4,0.085,0.053,2661,1183,2328,0,0,0,0,0,0
$GC,3033,0.61,170.2,287.9,8.9,320,3059,0.00,2.45,21.23,0.770,6,0.000,0.059,2661,2601,2229,0,0,0,0,0,0
$GC,3380,0.62,184.6,255.1,9.3,352,3402,0.00,2.40,13.45,0.753,4,0.000,0.056,2662,1186,2170,0,0,0,0,0,0
$GC,3554,0.69,212.9,239.1,8.7,367,3586,0.10,2.40,25.27,0.760,6,0.121,0.059,2703,2622,2054,0,0,0,0,0,0
$GC,3912,0.66,212.9,195.6,12.3,401,3916,0.00,2.22,0.00,0.000,4,0.000,0.072,2703,3934,2048,0,0,0,0,0,0
$GC,3957,0.58,212.9,189.1,14.0,404,3964,0.15,2.15,0.00,0.000,6,0.200,0.048,2669,2622,2046,0,0,0,0,0,0
$GC,4283,0.64,230.8,157.7,9.2,435,4306,0.00,2.33,15.45,0.726,4,0.000,0.057,2668,1191,1982,0,0,0,0,0,0
$GC,4359,0.77,267.5,151.1,8.3,441,4400,0.15,2.38,32.92,0.719,6,0.099,0.060,2726,2616,1831,0,0,0,0,0,0
$GC,4717,0.77,267.5,105.3,12.5,475,4721,0.00,2.25,0.00,0.000,4,0.000,0.073,2726,3930,1822,0,0,0,0,0,0
$GC,4770,0.74,267.5,98.4,13.7,479,4777,0.00,2.12,0.00,0.000,6,0.000,0.048,2729,2622,1821,0,0,0,0,0,0
$GC,5117,0.80,317.7,62.1,7.7,540,5164,0.00,2.42,42.10,0.678,4,0.000,0.057,2729,1191,1626,0,0,0,0,0,0
$GC,5189,0.94,377.3,56.8,7.3,552,5247,0.12,2.45,51.22,0.662,6,0.102,0.060,2778,2646,1383,0,0,0,0,0,0
$FREEZE,8.94,-1.699,-1.731,2,9,0
$STATE,5563,end climb,FINISH_DEPTH_REACHED
$STATE,5563,begin subsurface finish
$FINISH1,8.9,1.025352,105
$GC,5571,0.07,105.5,8.9,-14.1,618,5613,0.90,2.30,-33.80,0.000,4,0.151,0.067,2503,1183,2497,0,0,0,0,0,0
$FINISH2,7.6
$STATE,5614,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5614,begin surface
$RAFOS_CLK,337
$RAFOS,6,1293482949,20.833334,20.819166,96,43,43,43,40,39,775,325,968,1323,1048,26
$RAFOS,5,1293482464,20.700001,20.684444,79,49,43,42,41,41,926,154,390,1671,857,1556
$RAFOS_FIX,6643.743164,-5957.649414,271210,202018,6,108,3.74
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.029211
$HUMID,50.70
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.5
$ALTIM_BOTTOM_PING,300.7,13.2
$24V_AH,22.1,70.965
$10V_AH,9.7,50.074
$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,3.425,55.850,446.375,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1444.827,2650.543,436.643,1041.030,114.015,0.000,1039.101,0.000,1038.206,720.000,7.089,0.000
$DEVICE_MAMPS,199.665,113.985,823.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20142,625
$CAP_FILE_SIZE,71846,0
$CFSIZE,260165632,208568320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$GPS,271210,201528,6642.708,-5959.695,0,4118.8,0,-38.0