version: 66.08
glider: 183
mission: 3
dive: 607
start: 12 28 110 11 23 36
data:
$ID,183
$MISSION,3
$DIVE,607
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,281210,082306,6642.822,-6005.196,0,6103.5,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.60
$_SM_ANGLEo,-9.5
$GPS2,281210,082306,6642.822,-6005.196,0,6103.5,0,-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,316.2,15375,-17.5,-10.000
$D_GRID,590
$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,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.62,0.000,2,0.000,0.000,2506,1187,2587,0,0,0,0,0,0
$GC,27,-0.57,-146.0,12.0,-0.0,1,52,0.57,0.32,-19.95,0.000,4,0.069,0.171,2279,1381,3522,0,0,0,0,0,0
$GC,189,-0.52,-146.0,35.9,-16.1,29,196,0.12,2.35,0.00,0.000,6,0.191,0.066,2303,2777,3525,0,0,0,0,0,0
$GC,536,-0.55,-146.0,82.1,-10.8,90,543,0.00,2.28,0.00,0.000,4,0.000,0.054,2303,1366,3524,0,0,0,0,0,0
$GC,573,-0.60,-146.0,86.1,-10.4,96,580,0.00,2.35,0.00,0.000,6,0.000,0.065,2303,2763,3524,0,0,0,0,0,0
$GC,908,-0.65,-146.0,119.2,-8.8,138,910,0.12,0.00,0.00,0.000,6,0.106,0.000,2250,2764,3524,0,0,0,0,0,0
$GC,1225,-0.61,-146.0,159.3,-12.7,168,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2764,3523,0,0,0,0,0,0
$GC,1546,-0.58,-146.0,196.7,-10.8,198,1551,0.12,2.28,0.00,0.000,4,0.175,0.054,2283,1365,3523,0,0,0,0,0,0
$GC,1587,-0.64,-146.0,200.9,-8.8,201,1591,0.00,2.33,0.00,0.000,6,0.000,0.066,2283,2746,3523,0,0,0,0,0,0
$GC,1913,-0.69,-146.0,228.3,-7.9,231,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2746,3523,0,0,0,0,0,0
$GC,2233,-0.75,-146.0,254.2,-8.1,261,2238,0.15,2.25,0.00,0.000,4,0.101,0.054,2223,1365,3523,0,0,0,0,0,0
$GC,2280,-0.72,-146.0,259.3,-11.8,265,2284,0.00,2.30,0.00,0.000,6,0.000,0.066,2222,2730,3523,0,0,0,0,0,0
$GC,2605,-0.67,-146.0,298.1,-11.7,295,2607,0.12,0.00,0.00,0.000,6,0.190,0.000,2254,2730,3523,0,0,0,0,0,0
$STATE,2630,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2630,begin apogee
$GC,2637,-0.14,0.0,300.4,11.6,297,2763,0.52,0.00,119.53,0.823,4,0.142,0.000,2423,2598,2923,0,0,0,0,0,0
$STATE,2764,end apogee,CONTROL_FINISHED_OK
$STATE,2764,begin climb
$GC,2766,0.57,146.0,306.2,0.0,308,2900,0.70,2.42,124.90,0.793,4,0.083,0.054,2662,1180,2326,0,0,0,0,0,0
$GC,3069,0.58,161.7,288.6,9.3,335,3087,0.00,2.50,13.85,0.751,6,0.000,0.060,2662,2600,2262,0,0,0,0,0,0
$GC,3406,0.58,168.8,255.5,9.7,367,3419,0.00,2.42,6.95,0.695,4,0.000,0.056,2663,1178,2234,0,0,0,0,0,0
$GC,3589,0.65,211.0,239.2,8.1,383,3634,0.00,2.40,37.33,0.761,6,0.000,0.060,2662,2613,2061,0,0,0,0,0,0
$GC,3952,0.68,213.9,203.6,9.9,417,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2613,2053,0,0,0,0,0,0
$GC,4271,0.75,246.0,174.2,8.5,447,4308,0.15,2.40,29.75,0.736,4,0.103,0.057,2724,1189,1919,0,0,0,0,0,0
$GC,4330,0.75,246.0,167.4,11.6,452,4337,0.00,2.38,0.00,0.000,6,0.000,0.059,2724,2605,1917,0,0,0,0,0,0
$GC,4659,0.72,246.0,127.3,12.3,483,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2605,1912,0,0,0,0,0,0
$GC,4991,0.72,246.0,86.2,11.3,524,4997,0.00,2.25,0.00,0.000,4,0.000,0.073,2724,3925,1910,0,0,0,0,0,0
$GC,5038,0.66,246.0,80.5,12.3,532,5046,0.15,2.15,0.00,0.000,6,0.197,0.049,2688,2594,1910,0,0,0,0,0,0
$GC,5386,0.83,354.8,54.9,5.0,593,5486,0.15,2.35,90.45,0.666,4,0.099,0.056,2749,1190,1477,0,0,0,0,0,0
$GC,5522,0.94,362.5,42.8,9.6,616,5536,0.00,2.42,7.85,0.604,6,0.000,0.059,2749,2620,1444,0,0,0,0,0,0
$FREEZE,8.65,-1.685,-1.680,2,18,0
$GC,5878,1.06,411.2,10.4,7.8,678,5899,0.17,0.00,18.90,0.649,2,0.096,0.000,2817,2620,1353,0,0,0,0,0,0
$STATE,5900,end climb,FINISH_DEPTH_REACHED
$STATE,5900,begin subsurface finish
$FINISH1,8.7,1.024622,141
$GC,5907,0.09,141.4,8.7,-8.5,681,5949,1.02,2.30,-31.88,0.000,4,0.159,0.090,2509,3919,2349,0,0,0,0,0,0
$FINISH2,6.7
$STATE,5950,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5950,begin surface
$RAFOS_CLK,362
$RAFOS,6,1293540545,12.833333,12.818055,164,52,49,46,44,43,808,986,1450,1873,1092,161
$RAFOS,5,1293540069,12.700000,12.685833,106,47,43,42,41,41,921,1054,828,1071,878,145
$RAFOS,4,1293539589,12.566667,12.552500,45,44,44,44,43,43,1348,1113,1391,1713,214,1118
$RAFOS,3,1293539111,12.433333,12.419723,122,46,42,41,40,39,727,1797,1665,1862,1148,665
$RAFOS,2,1293538628,12.300000,12.285556,117,47,42,39,38,37,599,1548,145,392,1788,1852
$RAFOS,1,1293538142,12.166667,12.150556,50,47,45,44,43,42,680,560,1625,967,150,36
$RAFOS,0,1293537663,12.033333,12.017500,107,48,46,43,40,40,628,1202,443,1625,1151,1658
$RAFOS_FIX,6643.751465,-6007.282227,281210,121213,5,123,0.16
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.029211
$HUMID,49.60
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.4
$ALTIM_BOTTOM_PING,300.4,13.3
$24V_AH,22.1,71.803
$10V_AH,9.7,50.424
$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,4.100,42.675,449.500,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1596.365,2764.848,434.257,1105.427,122.265,0.000,1057.360,0.000,1099.064,2520.000,7.091,0.000
$DEVICE_MAMPS,197.370,170.595,823.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23412,688
$CAP_FILE_SIZE,74869,0
$CFSIZE,260165632,208203776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.5
$GPS,281210,122913,6643.751,-6007.282,0,5123.2,0,-38.0