version: 66.08
glider: 183
mission: 3
dive: 600
start: 12 27 110 23 44 18
data:
$ID,183
$MISSION,3
$DIVE,600
$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,29
$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
$GPS1,271210,201528,6642.708,-5959.695,0,4118.8,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.44
$_SM_ANGLEo,-1.7
$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,-5.55,0.000,2,0.000,0.000,2506,3934,2717,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.8,-0.0,1,57,0.60,4.32,-18.17,0.000,4,0.093,0.060,2290,1366,3523,0,0,0,0,0,0
$GC,239,-0.57,-146.0,38.3,-13.3,38,246,0.00,2.38,0.00,0.000,6,0.000,0.065,2286,2779,3524,0,0,0,0,0,0
$GC,585,-0.57,-146.0,87.1,-11.1,99,591,0.00,2.30,0.00,0.000,4,0.000,0.054,2286,1365,3524,0,0,0,0,0,0
$GC,639,-0.61,-146.0,93.4,-11.8,108,645,0.00,2.35,0.00,0.000,6,0.000,0.065,2287,2762,3524,0,0,0,0,0,0
$GC,969,-0.61,-146.0,129.7,-11.0,144,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2762,3523,0,0,0,0,0,0
$GC,1289,-0.64,-146.0,162.1,-10.0,174,1293,0.00,2.00,0.00,0.000,4,0.000,0.076,2285,3927,3523,0,0,0,0,0,0
$GC,1317,-0.68,-146.0,165.2,-9.9,176,1324,0.00,1.92,0.00,0.000,6,0.000,0.051,2284,2752,3523,0,0,0,0,0,0
$GC,1643,-0.72,-146.0,195.2,-8.9,207,1648,0.12,2.25,0.00,0.000,4,0.109,0.054,2232,1361,3523,0,0,0,0,0,0
$GC,1677,-0.69,-146.0,199.0,-11.6,209,1684,0.00,2.35,0.00,0.000,6,0.000,0.065,2230,2757,3523,0,0,0,0,0,0
$GC,2003,-0.64,-146.0,238.6,-11.8,240,2007,0.15,2.28,0.00,0.000,4,0.181,0.054,2270,1361,3523,0,0,0,0,0,0
$GC,2032,-0.64,-146.0,241.6,-10.1,242,2036,0.00,2.33,0.00,0.000,6,0.000,0.065,2270,2743,3523,0,0,0,0,0,0
$GC,2358,-0.67,-146.0,266.7,-7.6,272,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2743,3523,0,0,0,0,0,0
$GC,2680,-0.71,-146.0,292.9,-8.5,302,2684,0.00,2.22,0.00,0.000,4,0.000,0.054,2270,1361,3523,0,0,0,0,0,0
$GC,2715,-0.77,-146.0,296.4,-8.9,304,2723,0.12,2.33,0.00,0.000,6,0.104,0.066,2219,2737,3523,0,0,0,0,0,0
$STATE,2756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2756,begin apogee
$GC,2763,-0.14,0.0,300.4,10.3,308,2889,0.65,0.00,119.47,0.826,4,0.149,0.000,2421,2601,2923,0,0,0,0,0,0
$STATE,2889,end apogee,CONTROL_FINISHED_OK
$STATE,2889,begin climb
$GC,2892,0.57,146.0,306.0,0.0,319,3026,0.70,2.42,124.65,0.797,4,0.086,0.054,2657,1178,2327,0,0,0,0,0,0
$GC,3154,0.60,162.0,291.4,9.3,342,3177,0.00,2.50,13.65,0.750,6,0.000,0.059,2658,2600,2264,0,0,0,0,0,0
$GC,3495,0.60,165.7,257.3,9.8,374,3507,0.00,2.38,4.32,0.596,4,0.000,0.056,2658,1182,2247,0,0,0,0,0,0
$GC,3689,0.67,181.9,239.6,9.3,391,3712,0.00,2.38,15.77,0.761,6,0.000,0.060,2658,2602,2181,0,0,0,0,0,0
$GC,4032,0.71,193.9,208.0,9.4,423,4050,0.12,0.00,11.30,0.740,6,0.108,0.000,2710,2603,2131,0,0,0,0,0,0
$GC,4369,0.66,193.9,168.3,12.6,455,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2602,2128,0,0,0,0,0,0
$GC,4692,0.63,201.2,134.4,9.7,485,4705,0.12,2.33,7.53,0.689,4,0.188,0.073,2679,3927,2101,0,0,0,0,0,0
$GC,4780,0.60,201.2,125.6,10.0,492,4787,0.00,2.20,0.00,0.000,6,0.000,0.049,2679,2586,2099,0,0,0,0,0,0
$GC,5108,0.65,239.1,97.1,8.2,526,5150,0.00,2.38,33.35,0.705,4,0.000,0.073,2679,3923,1946,0,0,0,0,0,0
$GC,5197,0.65,239.1,89.0,10.1,541,5204,0.00,2.15,0.00,0.000,6,0.000,0.049,2679,2621,1943,0,0,0,0,0,0
$GC,5544,0.80,314.3,61.3,6.5,602,5615,0.15,2.38,63.70,0.675,4,0.103,0.055,2742,1192,1638,0,0,0,0,0,0
$GC,5717,0.92,352.5,46.3,8.2,632,5759,0.00,2.35,32.17,0.660,6,0.000,0.060,2742,2589,1484,0,0,0,0,0,0
$FREEZE,8.95,-1.717,-1.713,2,11,0
$GC,6099,1.00,364.1,10.2,9.5,699,6116,0.15,2.38,9.80,0.638,6,0.100,0.073,2799,3936,1437,0,0,0,0,0,0
$STATE,6117,end climb,FINISH_DEPTH_REACHED
$STATE,6117,begin subsurface finish
$FINISH1,8.9,1.025103,118
$GC,6125,0.08,117.7,8.9,-9.6,701,6168,1.00,2.33,-33.53,0.000,4,0.168,0.088,2507,3933,2444,0,0,0,0,0,0
$FINISH2,6.2
$STATE,6169,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6169,begin surface
$RAFOS_CLK,377
$RAFOS,6,1293497348,0.833333,0.818889,120,47,44,43,42,40,793,1891,1453,1294,980,634
$RAFOS,5,1293496866,0.700000,0.685000,95,49,43,41,40,39,912,1007,869,1685,1614,77
$RAFOS,4,1293496382,0.566667,0.550556,111,48,46,44,41,40,717,1517,26,1667,1348,333
$RAFOS,3,1293495908,0.433333,0.418889,128,47,40,39,38,38,714,1466,1225,26,627,1455
$RAFOS,2,1293495426,0.300000,0.285000,145,44,44,42,41,40,598,1362,375,721,1061,594
$RAFOS,1,1293494949,0.166667,0.152500,143,43,43,43,42,41,529,277,203,1903,1026,1282
$RAFOS,0,1293494467,0.033333,0.018611,79,44,43,42,40,39,636,291,802,1045,1685,26
$RAFOS_FIX,6642.346680,-5959.533203,281210,000007,7,117,0.04
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.028462
$HUMID,49.84
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,300.4,13.3
$24V_AH,22.1,71.151
$10V_AH,9.7,50.152
$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,3.900,59.650,435.725,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1639.291,2882.155,456.221,1134.073,127.584,0.000,1096.972,0.000,1130.784,2520.000,7.091,0.000
$DEVICE_MAMPS,188.190,87.975,826.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,490.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23410,708
$CAP_FILE_SIZE,78546,0
$CFSIZE,260165632,208482304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.5
$GPS,281210,002707,6642.347,-5959.533,0,7117.3,0,-38.0