version: 66.08
glider: 183
mission: 3
dive: 379
start: 11 22 110 20 31 26
data:
$ID,183
$MISSION,3
$DIVE,379
$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,8
$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,-8261.1191
$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,19
$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,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,221110,202507,6652.937,-5923.704,36,1.4,36,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-57.0
$GPS2,221110,203055,6652.888,-5923.501,9,1.8,9,-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,288.2,48594,-17.5,-10.000
$D_GRID,996
$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,15,-0.57,-146.0,0.0,0.0,0,152,0.00,0.00,-131.65,0.000,2,0.000,0.000,277,2789,3212,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.8,-13.8,23,174,8.60,2.40,-6.12,0.000,4,0.257,0.067,2282,1362,3522,0,0,0,0,0,0
$GC,225,-0.51,-146.0,29.7,-17.1,35,233,0.12,2.40,0.00,0.000,6,0.193,0.063,2305,2779,3525,0,0,0,0,0,0
$GC,570,-0.51,-146.0,70.6,-11.2,96,577,0.00,1.98,0.00,0.000,4,0.000,0.075,2301,3933,3525,0,0,0,0,0,0
$GC,635,-0.53,-146.0,77.8,-11.1,107,641,0.00,1.90,0.00,0.000,6,0.000,0.050,2301,2756,3525,0,0,0,0,0,0
$GC,973,-0.55,-146.0,111.4,-9.7,157,977,0.00,2.00,0.00,0.000,4,0.000,0.076,2301,3929,3525,0,0,0,0,0,0
$GC,1009,-0.58,-146.0,114.6,-9.6,160,1012,0.00,1.85,0.00,0.000,6,0.000,0.050,2301,2778,3525,0,0,0,0,0,0
$GC,1340,-0.62,-146.0,144.4,-8.5,191,1344,0.00,2.25,0.00,0.000,4,0.000,0.053,2301,1362,3525,0,0,0,0,0,0
$GC,1373,-0.69,-146.0,147.3,-8.7,193,1380,0.15,2.40,0.00,0.000,6,0.094,0.064,2238,2796,3524,0,0,0,0,0,0
$GC,1698,-0.62,-146.0,188.0,-12.8,224,1702,0.12,1.92,0.00,0.000,4,0.177,0.075,2265,3928,3524,0,0,0,0,0,0
$GC,1714,-0.57,-146.0,190.1,-12.4,225,1721,0.00,1.85,0.00,0.000,6,0.000,0.049,2265,2774,3524,0,0,0,0,0,0
$GC,2039,-0.57,-146.0,223.9,-9.8,256,2043,0.00,2.22,0.00,0.000,4,0.000,0.053,2265,1370,3524,0,0,0,0,0,0
$GC,2078,-0.57,-146.0,228.1,-10.4,259,2085,0.00,2.35,0.00,0.000,6,0.000,0.064,2264,2787,3523,0,0,0,0,0,0
$GC,2403,-0.57,-146.0,258.6,-9.3,290,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2788,3523,0,0,0,0,0,0
$GC,2723,-0.57,-146.0,286.3,-8.7,320,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2788,3523,0,0,0,0,0,0
$STATE,2883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2883,begin apogee
$GC,2889,-0.14,0.0,300.2,8.8,335,3012,0.50,0.00,116.50,0.820,4,0.141,0.000,2424,2601,2923,0,0,0,0,0,0
$STATE,3013,end apogee,CONTROL_FINISHED_OK
$STATE,3013,begin climb
$GC,3015,0.57,146.0,304.9,0.0,346,3145,0.70,2.40,121.53,0.791,4,0.087,0.053,2661,1190,2327,0,0,0,0,0,0
$GC,3320,0.58,168.6,284.0,9.0,374,3346,0.00,2.42,19.62,0.755,6,0.000,0.057,2661,2600,2235,0,0,0,0,0,0
$GC,3673,0.56,172.2,250.0,9.8,407,3677,0.00,2.35,0.00,0.000,4,0.000,0.054,2662,1182,2228,0,0,0,0,0,0
$GC,3870,0.59,179.0,232.0,9.7,424,3885,0.00,2.35,9.20,0.716,6,0.000,0.057,2661,2602,2193,0,0,0,0,0,0
$GC,4211,0.59,179.0,195.0,11.1,456,4215,0.00,2.22,0.00,0.000,4,0.000,0.069,2662,3929,2191,0,0,0,0,0,0
$GC,4263,0.52,179.0,188.6,12.4,460,4267,0.00,2.17,0.00,0.000,6,0.000,0.046,2662,2586,2189,0,0,0,0,0,0
$GC,4593,0.53,185.2,155.7,9.7,491,4604,0.00,0.00,6.93,0.666,6,0.000,0.000,2662,2585,2166,0,0,0,0,0,0
$GC,4922,0.55,220.8,122.8,8.4,522,4959,0.00,2.35,30.65,0.706,4,0.000,0.070,2662,3923,2021,0,0,0,0,0,0
$GC,5038,0.55,220.8,111.4,10.5,532,5045,0.00,2.15,0.00,0.000,6,0.000,0.045,2663,2596,2017,0,0,0,0,0,0
$GC,5375,0.64,269.7,82.8,7.7,581,5421,0.00,0.00,40.90,0.682,6,0.000,0.000,2662,2596,1821,0,0,0,0,0,0
$GC,5759,0.76,303.5,50.0,8.4,649,5794,0.15,0.00,28.27,0.667,6,0.102,0.000,2722,2596,1683,0,0,0,0,0,0
$GC,6132,0.79,303.5,15.9,12.1,715,6139,0.00,2.28,0.00,0.000,4,0.000,0.070,2722,3926,1674,0,0,0,0,0,0
$FREEZE,8.56,-1.379,-1.716,2,1,0
$FREEZE,7.67,-1.379,-1.715,2,1,0
$FREEZE,7.05,-1.378,-1.715,2,1,0
$FREEZE,6.33,-1.379,-1.714,2,1,0
$FREEZE,5.51,-1.380,-1.714,2,1,0
$FREEZE,4.87,-1.380,-1.713,2,1,0
$FREEZE,4.06,-1.381,-1.712,2,1,0
$FREEZE,3.34,-1.381,-1.712,2,1,0
$FREEZE,2.48,-1.382,-1.711,2,1,0
$STATE,6233,end climb,SURFACE_DEPTH_REACHED
$STATE,6233,begin surface coast
$FREEZE,1.56,-1.381,-1.710,2,1,0
$FINISH,1.6,1.025133
$STATE,6239,end surface coast,CONTROL_FINISHED_OK
$STATE,6240,begin surface
$SM_CCo,6256,204.12,0.087,0,0,440,609.08
$SM_GC,1.79,0.00,0.00,204.12,0.000,0.000,0.087,288,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,331
$RAFOS,6,1290458947,20.833334,20.818611,62,48,44,43,40,40,679,667,1446,1812,543,1260
$RAFOS,5,1290458468,20.700001,20.685556,46,43,43,41,39,39,547,304,898,1777,788,1604
$RAFOS,4,1290457982,20.566668,20.550556,59,54,48,39,39,38,564,578,40,683,1599,1939
$RAFOS,2,1290457023,20.299999,20.284166,51,50,48,46,43,43,1246,346,1931,26,982,1052
$RAFOS_FIX,6654.171387,-5910.228516,221110,040428,2,79,0.36
$IRIDIUM_FIX,6631.12,-5912.55,221110,141422
$TT8_MAMPS,0.028462
$HUMID,46.73
$INTERNAL_PRESSURE,8.407
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.6
$ALTIM_BOTTOM_PING,300.2,10.9
$24V_AH,22.7,45.942
$10V_AH,10.0,35.343
$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,16.875,48.425,373.600,204.125,0.000,25.945,48.289,143.183,0.750,0.000,11.888,1681.360,2904.801,654.086,1420.695,148.817,0.000,1323.238,0.000,1187.963,1080.000,7.086,0.000
$DEVICE_MAMPS,257.040,75.735,820.080,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,508.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,26712,734
$CAP_FILE_SIZE,82817,0
$CFSIZE,260165632,222658560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.9
$GPS,221110,222028,6651.906,-5923.628,12,2.5,32,-38.0