version: 66.08
glider: 183
mission: 3
dive: 610
start: 12 28 110 18 15 41
data:
$ID,183
$MISSION,3
$DIVE,610
$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,-10231.755
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,281210,162236,6643.491,-6009.707,0,5114.8,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,12.9
$GPS2,281210,162236,6643.491,-6009.707,181,99.0,181,-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,312.5,11956,-17.5,-10.000
$D_GRID,566
$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,-146.0,0.0,0.0,0,161,0.00,0.00,-137.07,0.000,6,0.000,0.000,314,2791,3519,0,0,0,0,0,0
$GC,164,-0.57,-146.0,2.4,0.1,25,177,5.30,1.98,0.00,0.000,4,0.059,0.073,2298,3920,3521,0,0,0,0,0,0
$GC,212,-0.55,-146.0,6.1,-10.9,33,219,0.00,1.85,0.00,0.000,6,0.000,0.050,2298,2774,3521,0,0,0,0,0,0
$GC,558,-0.55,-146.0,58.4,-12.2,94,565,0.00,2.28,0.00,0.000,4,0.000,0.054,2298,1365,3521,0,0,0,0,0,0
$GC,647,-0.61,-146.0,68.9,-10.9,109,653,0.00,2.35,0.00,0.000,6,0.000,0.065,2298,2769,3521,0,0,0,0,0,0
$GC,995,-0.64,-146.0,105.3,-9.5,166,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2769,3521,0,0,0,0,0,0
$GC,1318,-0.70,-146.0,134.9,-9.1,196,1322,0.15,2.28,0.00,0.000,4,0.098,0.054,2237,1369,3521,0,0,0,0,0,0
$GC,1335,-0.70,-146.0,137.0,-9.2,197,1339,0.00,2.38,0.00,0.000,6,0.000,0.065,2234,2781,3521,0,0,0,0,0,0
$GC,1661,-0.63,-146.0,182.4,-13.6,227,1663,0.12,0.00,0.00,0.000,6,0.194,0.000,2266,2781,3521,0,0,0,0,0,0
$GC,1979,-0.63,-146.0,215.7,-9.6,257,1983,0.00,2.28,0.00,0.000,4,0.000,0.054,2265,1373,3520,0,0,0,0,0,0
$GC,2006,-0.66,-146.0,218.5,-9.8,259,2013,0.00,2.38,0.00,0.000,6,0.000,0.066,2265,2780,3520,0,0,0,0,0,0
$GC,2333,-0.68,-146.0,249.7,-10.0,290,2337,0.00,1.98,0.00,0.000,4,0.000,0.076,2259,3932,3520,0,0,0,0,0,0
$GC,2371,-0.68,-146.0,254.0,-10.5,293,2379,0.00,1.90,0.00,0.000,6,0.000,0.050,2259,2781,3520,0,0,0,0,0,0
$GC,2697,-0.68,-146.0,286.6,-9.9,324,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2781,3520,0,0,0,0,0,0
$STATE,2848,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2848,begin apogee
$GC,2855,-0.14,0.0,301.1,10.0,338,2981,0.52,0.00,119.22,0.822,4,0.137,0.000,2427,2593,2922,0,0,0,0,0,0
$STATE,2982,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2984,0.57,146.0,306.7,0.0,349,3117,0.62,0.00,124.18,0.797,6,0.086,0.000,2651,2592,2326,0,0,0,0,0,0
$GC,3436,0.59,187.4,277.2,8.1,391,3480,0.00,2.42,35.22,0.773,4,0.000,0.055,2651,1184,2157,0,0,0,0,0,0
$GC,3497,0.67,221.5,271.8,8.4,396,3538,0.12,2.42,30.27,0.761,6,0.104,0.059,2701,2599,2018,0,0,0,0,0,0
$GC,3856,0.64,221.5,228.2,12.3,430,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2598,2010,0,0,0,0,0,0
$GC,4178,0.64,221.5,190.2,11.2,460,4182,0.00,2.28,0.00,0.000,4,0.000,0.071,2701,3935,2009,0,0,0,0,0,0
$GC,4230,0.58,221.5,183.5,12.3,464,4235,0.15,2.22,0.00,0.000,6,0.193,0.048,2665,2574,2007,0,0,0,0,0,0
$GC,4555,0.66,251.7,155.9,8.6,494,4586,0.00,2.33,25.12,0.728,4,0.000,0.055,2664,1186,1897,0,0,0,0,0,0
$GC,4603,0.78,275.3,151.5,8.9,498,4633,0.17,2.35,21.77,0.705,6,0.092,0.058,2734,2592,1799,0,0,0,0,0,0
$GC,4950,0.78,275.3,106.0,13.1,531,4954,0.00,2.25,0.00,0.000,4,0.000,0.072,2734,3926,1791,0,0,0,0,0,0
$GC,5012,0.73,275.3,97.0,14.8,537,5019,0.00,2.20,0.00,0.000,6,0.000,0.049,2736,2585,1790,0,0,0,0,0,0
$GC,5359,0.76,290.9,56.7,9.3,598,5377,0.00,0.00,13.12,0.678,6,0.000,0.000,2736,2585,1736,0,0,0,0,0,0
$GC,5718,0.85,344.5,24.2,7.5,661,5771,0.00,2.38,46.62,0.655,4,0.000,0.057,2736,1184,1516,0,0,0,0,0,0
$GC,5798,1.00,381.6,18.0,8.3,674,5840,0.17,2.38,31.85,0.639,6,0.093,0.058,2803,2601,1367,0,0,0,0,0,0
$FREEZE,8.90,-1.684,-1.681,2,21,0
$STATE,5875,end climb,FINISH_DEPTH_REACHED
$STATE,5875,begin subsurface finish
$FINISH1,8.9,1.024635,141
$GC,5882,0.09,140.8,8.9,-11.7,687,5919,0.98,2.38,-30.08,0.000,4,0.158,0.086,2513,3931,2352,0,0,0,0,0,0
$FINISH2,7.5
$STATE,5919,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5919,begin surface
$RAFOS_CLK,400
$RAFOS_FIX,6643.491211,-6009.707031,281210,161636,5,115,0.13
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,49.17
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,14.9
$ALTIM_BOTTOM_PING,301.1,13.2
$24V_AH,22.1,72.138
$10V_AH,9.7,50.576
$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,8.325,47.525,447.400,0.000,0.000,100.861,17.389,0.000,0.750,0.000,185.041,1523.258,2835.388,532.560,1389.678,456.365,0.000,1167.270,0.000,1079.771,0.000,7.086,0.000
$DEVICE_MAMPS,193.545,86.445,822.375,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.204,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151660
$DATA_FILE_SIZE,23429,693
$CAP_FILE_SIZE,77580,0
$CFSIZE,260165632,208060416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.4
$GPS,281210,162236,6643.491,-6009.707,181,99.0,181,-38.0