version: 66.08
glider: 183
mission: 3
dive: 601
start: 12 28 110 1 29 12
data:
$ID,183
$MISSION,3
$DIVE,601
$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,28
$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
$GPS1,281210,002707,6642.347,-5959.533,0,7117.3,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.78
$_SM_ANGLEo,-4.5
$GPS2,281210,002707,6642.347,-5959.533,0,7117.3,0,-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,317.0,19603,-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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.53,0.000,2,0.000,0.000,2507,3933,2710,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.2,-0.0,1,59,0.60,4.30,-18.85,0.000,4,0.095,0.059,2292,1374,3523,0,0,0,0,0,0
$GC,235,-0.57,-146.0,38.6,-14.4,37,242,0.00,2.38,0.00,0.000,6,0.000,0.065,2286,2781,3524,0,0,0,0,0,0
$GC,581,-0.57,-146.0,85.0,-10.5,98,587,0.00,2.30,0.00,0.000,4,0.000,0.054,2286,1369,3524,0,0,0,0,0,0
$GC,635,-0.60,-146.0,91.3,-11.3,107,642,0.00,2.35,0.00,0.000,6,0.000,0.064,2286,2768,3524,0,0,0,0,0,0
$GC,974,-0.60,-146.0,125.6,-9.5,145,977,0.00,2.00,0.00,0.000,4,0.000,0.076,2286,3929,3523,0,0,0,0,0,0
$GC,1058,-0.64,-146.0,134.8,-10.5,152,1064,0.00,1.92,0.00,0.000,6,0.000,0.050,2286,2753,3523,0,0,0,0,0,0
$GC,1385,-0.68,-146.0,167.7,-9.7,183,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2752,3523,0,0,0,0,0,0
$GC,1704,-0.72,-146.0,196.7,-9.1,213,1709,0.12,2.25,0.00,0.000,4,0.110,0.054,2234,1361,3524,0,0,0,0,0,0
$GC,1738,-0.70,-146.0,200.5,-11.4,215,1744,0.00,2.33,0.00,0.000,6,0.000,0.065,2231,2745,3523,0,0,0,0,0,0
$GC,2063,-0.64,-146.0,239.3,-11.4,246,2065,0.12,0.00,0.00,0.000,6,0.190,0.000,2263,2745,3523,0,0,0,0,0,0
$GC,2382,-0.67,-146.0,267.2,-8.7,276,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2745,3523,0,0,0,0,0,0
$GC,2702,-0.70,-146.0,294.0,-8.7,306,2706,0.00,2.03,0.00,0.000,4,0.000,0.076,2256,3933,3523,0,0,0,0,0,0
$GC,2750,-0.73,-146.0,298.5,-9.4,310,2754,0.00,1.95,0.00,0.000,6,0.000,0.050,2257,2739,3523,0,0,0,0,0,0
$STATE,2773,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2773,begin apogee
$GC,2779,-0.14,0.0,300.8,9.8,312,2905,0.52,0.00,119.38,0.825,4,0.136,0.000,2425,2596,2923,0,0,0,0,0,0
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin climb
$GC,2909,0.57,146.0,306.1,0.0,323,3042,0.70,2.40,124.70,0.796,4,0.083,0.053,2664,1186,2327,0,0,0,0,0,0
$GC,3224,0.59,181.6,287.6,8.4,351,3261,0.00,2.45,31.30,0.773,6,0.000,0.060,2664,2600,2181,0,0,0,0,0,0
$GC,3587,0.60,196.5,252.7,9.3,385,3610,0.00,2.38,12.75,0.750,4,0.000,0.073,2664,3931,2121,0,0,0,0,0,0
$GC,3826,0.58,196.5,224.3,12.3,406,3830,0.00,2.17,0.00,0.000,6,0.000,0.047,2665,2594,2116,0,0,0,0,0,0
$GC,4157,0.62,209.7,191.3,9.4,437,4174,0.00,2.30,12.20,0.736,4,0.000,0.054,2665,1184,2069,0,0,0,0,0,0
$GC,4211,0.70,226.6,186.5,9.2,441,4235,0.10,2.38,16.48,0.732,6,0.124,0.060,2705,2611,1998,0,0,0,0,0,0
$GC,4553,0.70,226.6,148.1,11.3,473,4557,0.00,2.25,0.00,0.000,4,0.000,0.072,2705,3927,1994,0,0,0,0,0,0
$GC,4604,0.64,226.6,141.5,13.1,477,4608,0.00,2.17,0.00,0.000,6,0.000,0.048,2706,2590,1992,0,0,0,0,0,0
$GC,4936,0.64,230.2,106.3,9.8,508,4940,0.00,2.30,0.00,0.000,4,0.000,0.073,2705,3926,1992,0,0,0,0,0,0
$GC,5016,0.59,230.2,97.1,11.3,516,5024,0.15,2.12,0.00,0.000,6,0.197,0.048,2668,2618,1990,0,0,0,0,0,0
$GC,5365,0.71,292.9,71.4,7.1,577,5430,0.10,2.38,56.05,0.685,4,0.122,0.056,2707,1183,1727,0,0,0,0,0,0
$GC,5551,0.90,370.6,57.4,6.4,609,5622,0.17,2.35,65.38,0.664,6,0.088,0.060,2777,2584,1412,0,0,0,0,0,0
$GC,5961,0.93,370.6,10.5,12.0,681,5968,0.00,2.30,0.00,0.000,4,0.000,0.073,2778,3926,1399,0,0,0,0,0,0
$FREEZE,8.79,-1.688,-1.710,2,12,0
$STATE,5974,end climb,FINISH_DEPTH_REACHED
$STATE,5974,begin subsurface finish
$FINISH1,8.8,1.025061,120
$GC,5983,0.08,119.8,8.8,-12.0,683,6025,0.90,2.38,-32.03,0.000,4,0.158,0.090,2507,3926,2438,0,0,0,0,0,0
$FINISH2,7.1
$STATE,6026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6026,begin surface
$RAFOS_CLK,365
$RAFOS_FIX,6642.346680,-5959.533203,281210,000007,7,117,0.04
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.027713
$HUMID,50.15
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$ALTIM_BOTTOM_PING,300.8,13.4
$24V_AH,22.1,71.246
$10V_AH,9.7,50.191
$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,3.500,58.575,438.225,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1602.961,2773.606,440.659,1140.052,124.021,0.000,1081.617,0.000,1138.415,0.000,7.090,0.000
$DEVICE_MAMPS,196.605,89.505,825.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.552,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,23477,690
$CAP_FILE_SIZE,73687,0
$CFSIZE,260165632,208449536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$GPS,281210,002707,6642.347,-5959.533,0,7117.3,0,-38.0