version: 66.08
glider: 183
mission: 3
dive: 539
start: 12 19 110 14 12 31
data:
$ID,183
$MISSION,3
$DIVE,539
$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,-3
$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,-9823.2676
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,191210,140436,6706.064,-5652.282,24,1.7,25,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-64.4
$GPS2,191210,141158,6706.191,-5652.407,11,99.0,30,-37.6
$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,189.3,6711,-17.5,-10.000
$D_GRID,441
$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,-146.0,0.0,0.0,0,150,0.00,0.00,-131.35,0.000,2,0.000,0.000,294,2786,3399,0,0,0,0,0,0
$GC,154,-0.57,-146.0,5.4,-11.2,23,174,8.20,1.92,-2.62,0.000,4,0.238,0.078,2275,3918,3522,0,0,0,0,0,0
$GC,209,-0.51,-146.0,21.8,-16.8,32,217,0.08,1.83,0.00,0.000,6,0.135,0.044,2302,2789,3524,0,0,0,0,0,0
$GC,556,-0.58,-146.0,57.3,-9.7,93,563,0.00,2.22,0.00,0.000,4,0.000,0.046,2302,1369,3522,0,0,0,0,0,0
$GC,656,-0.67,-146.0,66.7,-9.1,110,664,0.12,2.28,0.00,0.000,6,0.095,0.058,2242,2757,3521,0,0,0,0,0,0
$GC,1000,-0.64,-146.0,106.2,-11.1,166,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2757,3521,0,0,0,0,0,0
$GC,1319,-0.64,-146.0,137.8,-9.2,196,1323,0.00,2.17,0.00,0.000,4,0.000,0.045,2242,1361,3521,0,0,0,0,0,0
$GC,1375,-0.64,-146.0,143.0,-8.5,200,1382,0.12,2.30,0.00,0.000,6,0.169,0.056,2268,2769,3521,0,0,0,0,0,0
$GC,1701,-0.69,-146.0,163.5,-6.2,231,1704,0.00,1.92,0.00,0.000,4,0.000,0.067,2262,3927,3522,0,0,0,0,0,0
$GC,1774,-0.74,-146.0,168.6,-7.2,237,1781,0.00,1.85,0.00,0.000,6,0.000,0.043,2262,2760,3522,0,0,0,0,0,0
$GC,2100,-0.77,-146.0,193.4,-8.6,268,2105,0.10,2.17,0.00,0.000,4,0.113,0.045,2210,1368,3522,0,0,0,0,0,0
$GC,2164,-0.73,-146.0,200.6,-12.4,273,2168,0.12,2.28,0.00,0.000,6,0.174,0.057,2235,2765,3522,0,0,0,0,0,0
$GC,2495,-0.73,-146.0,236.5,-10.6,304,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2765,3523,0,0,0,0,0,0
$GC,2814,-0.73,-146.0,268.4,-9.7,334,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2765,3524,0,0,0,0,0,0
$GC,3135,-0.73,-146.0,297.5,-8.7,364,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2765,3524,0,0,0,0,0,0
$STATE,3171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3171,begin apogee
$GC,3177,-0.14,0.0,301.3,8.7,368,3301,0.55,0.00,116.38,0.756,4,0.126,0.000,2422,2600,2923,0,0,0,0,0,0
$STATE,3302,end apogee,CONTROL_FINISHED_OK
$STATE,3302,begin climb
$GC,3304,0.57,146.0,304.4,0.0,379,3432,0.68,2.30,117.85,0.743,4,0.073,0.044,2664,1190,2326,0,0,0,0,0,0
$GC,3601,0.57,146.0,277.0,11.3,406,3606,0.00,2.30,0.00,0.000,6,0.000,0.050,2664,2605,2319,0,0,0,0,0,0
$GC,3927,0.53,146.0,238.0,12.0,436,3931,0.00,2.22,0.00,0.000,4,0.000,0.046,2666,1183,2317,0,0,0,0,0,0
$GC,4183,0.53,146.0,209.2,11.1,458,4190,0.00,2.28,0.00,0.000,6,0.000,0.050,2666,2609,2317,0,0,0,0,0,0
$GC,4509,0.49,146.0,170.5,12.0,489,4511,0.12,0.00,0.00,0.000,6,0.190,0.000,2634,2610,2317,0,0,0,0,0,0
$GC,4827,0.52,146.0,138.2,10.2,519,4831,0.00,2.17,0.00,0.000,4,0.000,0.061,2634,3936,2316,0,0,0,0,0,0
$GC,4868,0.49,146.0,133.8,11.6,522,4872,0.00,2.12,0.00,0.000,6,0.000,0.039,2636,2582,2315,0,0,0,0,0,0
$GC,5199,0.55,190.8,104.2,7.9,553,5239,0.00,0.00,35.70,0.623,6,0.000,0.000,2636,2581,2144,0,0,0,0,0,0
$GC,5577,0.65,237.2,73.3,7.9,615,5620,0.12,0.00,38.00,0.607,6,0.099,0.000,2693,2581,1955,0,0,0,0,0,0
$GC,5959,0.65,237.2,26.5,12.0,682,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2581,1948,0,0,0,0,0,0
$FREEZE,8.70,0.144,-1.799,0,1,0
$FREEZE,8.17,0.091,-1.797,0,1,0
$FREEZE,7.71,0.049,-1.795,0,1,0
$FREEZE,7.09,-0.044,-1.791,0,1,0
$FREEZE,6.60,-0.292,-1.790,0,1,0
$FREEZE,6.03,-0.339,-1.788,0,1,0
$FREEZE,5.56,-0.359,-1.786,0,1,0
$FREEZE,5.20,-0.364,-1.785,0,1,0
$FREEZE,4.63,-0.370,-1.784,0,1,0
$FREEZE,4.14,-0.369,-1.783,0,1,0
$FREEZE,3.61,-0.371,-1.782,0,1,0
$FREEZE,3.22,-0.368,-1.781,0,1,0
$FREEZE,2.62,-0.369,-1.780,0,1,0
$STATE,6167,end climb,SURFACE_DEPTH_REACHED
$STATE,6167,begin surface coast
$FREEZE,2.30,-0.369,-1.780,0,1,0
$FREEZE,1.81,-0.366,-1.780,0,1,0
$FREEZE,1.27,-0.360,-1.779,0,1,0
$FREEZE,1.18,-0.039,-1.760,0,1,0
$FREEZE,1.15,-0.262,-1.211,0,1,0
$FREEZE,1.17,-0.056,-0.314,0,1,0
$FINISH,1.2,1.004497
$STATE,6201,end surface coast,CONTROL_FINISHED_OK
$STATE,6201,begin surface
$SM_CCo,6217,236.52,0.076,0,0,440,609.08
$SM_GC,2.00,0.00,0.00,236.52,0.000,0.000,0.076,294,2782,440,-6.81,0.06,609.08
$RAFOS_CLK,255
$RAFOS_FIX,6708.938477,-5655.180176,191210,121224,4,73,0.57
$IRIDIUM_FIX,6636.54,-5652.31,191210,080817
$TT8_MAMPS,0.028462
$HUMID,44.13
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,300.4,15.2
$24V_AH,23.2,64.944
$10V_AH,9.9,46.419
$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,16.500,34.925,307.925,236.525,0.000,28.016,21.109,194.217,0.750,0.000,33.721,1690.270,2908.427,634.564,1427.228,247.777,0.000,1271.978,0.000,1168.797,0.000,7.101,0.000
$DEVICE_MAMPS,237.915,78.030,755.820,76.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,497.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,26705,726
$CAP_FILE_SIZE,80568,0
$CFSIZE,260165632,212094976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.0
$GPS,191210,160130,6706.445,-5651.904,38,0.9,38,-37.6