version: 66.08
glider: 183
mission: 3
dive: 603
start: 12 28 110 4 52 5
data:
$ID,183
$MISSION,3
$DIVE,603
$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,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
$GPS1,281210,042306,6641.342,-6001.144,0,6106.3,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.80
$_SM_ANGLEo,-6.3
$GPS2,281210,042306,6641.342,-6001.144,0,6106.3,0,-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,323.1,18838,-17.5,-10.000
$D_GRID,616
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.15,0.000,2,0.000,0.000,2503,2605,2692,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.7,-0.0,1,53,0.57,2.35,-18.92,0.000,4,0.075,0.089,2273,3927,3522,0,0,0,0,0,0
$GC,66,-0.52,-146.0,14.4,-10.4,7,73,0.12,1.88,0.00,0.000,6,0.177,0.050,2305,2781,3524,0,0,0,0,0,0
$GC,412,-0.49,-146.0,69.0,-15.0,68,419,0.00,2.28,0.00,0.000,4,0.000,0.054,2306,1366,3524,0,0,0,0,0,0
$GC,438,-0.49,-146.0,72.8,-15.3,72,445,0.00,2.35,0.00,0.000,6,0.000,0.064,2305,2780,3524,0,0,0,0,0,0
$GC,779,-0.53,-146.0,108.2,-9.4,125,783,0.00,2.30,0.00,0.000,4,0.000,0.054,2305,1369,3524,0,0,0,0,0,0
$GC,813,-0.60,-146.0,111.4,-9.3,127,819,0.00,2.35,0.00,0.000,6,0.000,0.065,2304,2769,3523,0,0,0,0,0,0
$GC,1139,-0.66,-146.0,143.5,-9.5,158,1141,0.12,0.00,0.00,0.000,6,0.109,0.000,2252,2769,3523,0,0,0,0,0,0
$GC,1457,-0.63,-146.0,182.5,-11.6,188,1461,0.00,2.00,0.00,0.000,4,0.000,0.077,2247,3932,3523,0,0,0,0,0,0
$GC,1518,-0.61,-146.0,190.2,-12.0,193,1526,0.10,1.92,0.00,0.000,6,0.181,0.050,2273,2756,3523,0,0,0,0,0,0
$GC,1846,-0.64,-146.0,221.8,-8.7,224,1850,0.00,2.22,0.00,0.000,4,0.000,0.054,2273,1365,3523,0,0,0,0,0,0
$GC,1880,-0.68,-146.0,225.0,-9.1,226,1887,0.00,2.35,0.00,0.000,6,0.000,0.066,2273,2762,3523,0,0,0,0,0,0
$GC,2206,-0.72,-146.0,256.5,-10.5,257,2210,0.00,1.98,0.00,0.000,4,0.000,0.076,2273,3927,3523,0,0,0,0,0,0
$GC,2233,-0.76,-146.0,259.6,-10.5,259,2240,0.12,1.90,0.00,0.000,6,0.109,0.051,2220,2765,3523,0,0,0,0,0,0
$STATE,2538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2538,begin apogee
$GC,2544,-0.14,0.0,300.1,12.8,288,2670,0.65,0.00,119.25,0.828,4,0.147,0.000,2424,2602,2923,0,0,0,0,0,0
$STATE,2671,end apogee,CONTROL_FINISHED_OK
$STATE,2671,begin climb
$GC,2673,0.57,146.0,306.0,0.0,299,2808,0.70,2.42,124.43,0.799,4,0.083,0.054,2661,1181,2326,0,0,0,0,0,0
$GC,2820,0.60,198.8,301.7,7.6,312,2873,0.00,2.60,47.53,0.774,6,0.000,0.058,2661,2601,2111,0,0,0,0,0,0
$GC,3200,0.60,198.8,262.9,10.1,348,3204,0.00,2.35,0.00,0.000,4,0.000,0.073,2661,3935,2102,0,0,0,0,0,0
$GC,3275,0.57,198.8,253.7,12.2,354,3279,0.00,2.22,0.00,0.000,6,0.000,0.048,2662,2603,2100,0,0,0,0,0,0
$GC,3601,0.60,198.8,219.0,10.5,384,3605,0.00,2.30,0.00,0.000,4,0.000,0.056,2662,1189,2100,0,0,0,0,0,0
$GC,3641,0.68,198.8,214.9,10.5,387,3646,0.10,2.38,0.00,0.000,6,0.123,0.059,2702,2617,2100,0,0,0,0,0,0
$GC,3967,0.64,198.8,178.3,10.3,417,3971,0.00,2.22,0.00,0.000,4,0.000,0.072,2702,3935,2099,0,0,0,0,0,0
$GC,4064,0.56,198.8,166.5,12.9,425,4069,0.17,2.12,0.00,0.000,6,0.194,0.048,2660,2633,2098,0,0,0,0,0,0
$GC,4390,0.65,250.4,139.1,7.6,455,4438,0.00,2.38,42.92,0.722,4,0.000,0.056,2660,1190,1900,0,0,0,0,0,0
$GC,4492,0.82,321.6,131.8,6.7,463,4564,0.22,2.40,60.97,0.702,6,0.083,0.060,2749,2618,1610,0,0,0,0,0,0
$GC,4891,0.82,321.6,80.0,13.0,513,4898,0.00,2.33,0.00,0.000,4,0.000,0.057,2749,1193,1598,0,0,0,0,0,0
$GC,4963,0.91,321.8,72.2,10.0,525,4970,0.00,2.33,0.00,0.000,6,0.000,0.060,2749,2587,1597,0,0,0,0,0,0
$GC,5309,0.97,334.0,35.7,9.4,586,5323,0.10,0.00,9.77,0.659,6,0.122,0.000,2788,2587,1560,0,0,0,0,0,0
$FREEZE,8.65,-1.700,-1.705,2,14,0
$STATE,5543,end climb,FINISH_DEPTH_REACHED
$STATE,5543,begin subsurface finish
$FINISH1,8.7,1.024990,123
$GC,5550,0.08,123.2,8.7,-12.0,627,5582,0.93,0.00,-26.73,0.000,6,0.158,0.000,2508,2587,2422,0,0,0,0,0,0
$FINISH2,7.1
$STATE,5583,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5583,begin surface
$RAFOS_CLK,347
$RAFOS,6,1293511745,4.833333,4.818056,153,44,43,43,42,41,809,1128,423,713,285,303
$RAFOS_FIX,6641.936523,-6000.166504,281210,040416,7,113,5.25
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.028462
$HUMID,50.78
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,300.1,13.3
$24V_AH,21.9,71.429
$10V_AH,9.7,50.268
$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,3.925,54.175,404.875,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1507.560,2593.913,401.510,1036.780,114.966,0.000,994.856,0.000,1034.728,0.000,7.088,0.000
$DEVICE_MAMPS,194.310,88.740,828.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23444,632
$CAP_FILE_SIZE,70515,0
$CFSIZE,260165632,208367616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,281210,042306,6641.342,-6001.144,0,6106.3,0,-38.0