version: 66.08
glider: 183
mission: 3
dive: 623
start: 12 29 110 21 40 5
data:
$ID,183
$MISSION,3
$DIVE,623
$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,-10969.108
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,291210,202734,6643.501,-5955.832,0,7105.3,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.63
$_SM_ANGLEo,-5.2
$GPS2,291210,202734,6643.501,-5955.832,0,7105.3,0,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,113.1,140367,-17.5,-10.000
$D_GRID,698
$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,-5.55,0.000,2,0.000,0.000,2502,1187,2775,0,0,0,0,0,0
$GC,27,-0.57,-146.0,13.2,-0.0,1,52,0.60,4.70,-15.10,0.000,4,0.104,0.074,2284,3928,3523,0,0,0,0,0,0
$GC,245,-0.54,-146.0,45.1,-15.8,39,252,0.00,1.85,0.00,0.000,6,0.000,0.050,2284,2778,3524,0,0,0,0,0,0
$GC,591,-0.54,-146.0,89.5,-10.7,100,597,0.00,2.25,0.00,0.000,4,0.000,0.053,2284,1372,3524,0,0,0,0,0,0
$GC,662,-0.57,-146.0,97.1,-10.1,112,669,0.00,2.33,0.00,0.000,6,0.000,0.065,2279,2767,3525,0,0,0,0,0,0
$GC,990,-0.57,-146.0,129.5,-9.8,145,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2767,3524,0,0,0,0,0,0
$GC,1310,-0.57,-146.0,162.3,-10.6,175,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2767,3525,0,0,0,0,0,0
$GC,1629,-0.60,-146.0,196.3,-10.1,205,1633,0.00,2.28,0.00,0.000,4,0.000,0.054,2280,1369,3523,0,0,0,0,0,0
$GC,1670,-0.65,-146.0,200.8,-9.8,208,1674,0.00,2.33,0.00,0.000,6,0.000,0.065,2279,2764,3524,0,0,0,0,0,0
$GC,1996,-0.69,-146.0,231.5,-8.5,238,2000,0.00,2.25,0.00,0.000,4,0.000,0.054,2279,1368,3524,0,0,0,0,0,0
$GC,2037,-0.75,-146.0,235.1,-8.9,241,2042,0.12,2.33,0.00,0.000,6,0.105,0.065,2225,2762,3524,0,0,0,0,0,0
$GC,2364,-0.69,-146.0,273.1,-11.4,271,2368,0.00,2.00,0.00,0.000,4,0.000,0.076,2221,3930,3523,0,0,0,0,0,0
$GC,2403,-0.64,-146.0,277.9,-11.6,274,2410,0.17,1.90,0.00,0.000,6,0.162,0.050,2270,2754,3523,0,0,0,0,0,0
$STATE,2667,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2667,begin apogee
$GC,2673,-0.14,0.0,300.1,8.3,299,2804,0.47,0.00,120.20,0.822,4,0.138,0.000,2425,2596,2922,0,0,0,0,0,0
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin climb
$GC,2808,0.57,146.0,305.2,0.0,311,2940,0.65,0.00,124.68,0.793,6,0.085,0.000,2655,2596,2327,0,0,0,0,0,0
$GC,3258,0.59,175.5,274.9,8.6,353,3286,0.00,0.00,25.27,0.770,6,0.000,0.000,2656,2595,2207,0,0,0,0,0,0
$GC,3605,0.62,196.9,244.4,9.0,386,3629,0.00,2.40,18.62,0.757,4,0.000,0.073,2655,3935,2120,0,0,0,0,0,0
$GC,3713,0.62,196.9,232.5,11.4,395,3720,0.00,2.20,0.00,0.000,6,0.000,0.048,2656,2603,2115,0,0,0,0,0,0
$GC,4039,0.69,224.9,202.4,8.7,426,4073,0.12,2.35,25.08,0.745,4,0.110,0.056,2705,1202,2004,0,0,0,0,0,0
$GC,4110,0.71,224.9,194.8,11.6,432,4114,0.00,2.35,0.00,0.000,6,0.000,0.060,2706,2617,2003,0,0,0,0,0,0
$GC,4436,0.71,224.9,158.4,10.7,462,4440,0.00,2.22,0.00,0.000,4,0.000,0.071,2705,3925,1999,0,0,0,0,0,0
$GC,4469,0.65,224.9,154.2,12.5,464,4475,0.00,2.12,0.00,0.000,6,0.000,0.048,2706,2611,1997,0,0,0,0,0,0
$GC,4794,0.65,224.9,116.3,11.5,495,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2611,1997,0,0,0,0,0,0
$GC,5123,0.65,224.9,81.3,10.7,541,5130,0.00,2.25,0.00,0.000,4,0.000,0.073,2705,3929,1996,0,0,0,0,0,0
$GC,5160,0.61,224.9,77.0,12.9,547,5167,0.12,2.15,0.00,0.000,6,0.199,0.048,2675,2608,1996,0,0,0,0,0,0
$GC,5509,0.75,328.6,52.3,5.2,608,5609,0.12,2.42,87.30,0.664,4,0.109,0.056,2724,1191,1580,0,0,0,0,0,0
$GC,5633,0.86,328.6,41.1,10.7,629,5640,0.00,2.40,0.00,0.000,6,0.000,0.059,2724,2605,1577,0,0,0,0,0,0
$FREEZE,8.68,-1.717,-1.739,2,34,0
$STATE,5979,end climb,FINISH_DEPTH_REACHED
$STATE,5979,begin subsurface finish
$FINISH1,8.7,1.025469,100
$GC,5985,0.06,99.7,8.7,-10.6,690,6022,0.70,2.35,-28.73,0.000,4,0.143,0.066,2504,1180,2518,0,0,0,0,0,0
$FINISH2,7.4
$STATE,6023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6023,begin surface
$RAFOS_CLK,368
$RAFOS_FIX,6643.500977,-5955.832031,291210,202034,7,105,0.18
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.11
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,300.1,13.3
$24V_AH,22.0,73.396
$10V_AH,9.7,51.184
$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,3.100,49.675,401.150,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1568.812,2895.129,406.926,1086.420,122.691,0.000,1014.247,0.000,1085.933,0.000,7.088,0.000
$DEVICE_MAMPS,198.900,75.735,822.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23453,696
$CAP_FILE_SIZE,69055,0
$CFSIZE,260165632,207466496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$GPS,291210,202734,6643.501,-5955.832,0,7105.3,0,-38.0