version: 66.08
glider: 183
mission: 3
dive: 617
start: 12 29 110 9 46 22
data:
$ID,183
$MISSION,3
$DIVE,617
$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,-10600.926
$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,27
$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
$GPS1,291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.33
$_SM_ANGLEo,-5.1
$GPS2,291210,082707,6644.792,-6008.496,0,7100.4,0,-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,114.9,148662,-17.5,-10.000
$D_GRID,597
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.60,0.000,2,0.000,0.000,2506,2607,2688,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.4,-0.0,1,52,0.57,2.08,-19.60,0.000,4,0.078,0.068,2289,1365,3522,0,0,0,0,0,0
$GC,78,-0.54,-146.0,14.8,-11.3,9,85,0.00,2.38,0.00,0.000,6,0.000,0.065,2288,2784,3524,0,0,0,0,0,0
$GC,425,-0.51,-146.0,68.3,-14.4,70,431,0.00,2.30,0.00,0.000,4,0.000,0.054,2288,1362,3524,0,0,0,0,0,0
$GC,491,-0.54,-146.0,76.3,-11.0,81,498,0.00,2.33,0.00,0.000,6,0.000,0.065,2288,2756,3524,0,0,0,0,0,0
$GC,836,-0.56,-146.0,113.0,-9.6,131,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2756,3524,0,0,0,0,0,0
$GC,1154,-0.59,-146.0,145.0,-10.4,161,1158,0.00,2.25,0.00,0.000,4,0.000,0.054,2288,1362,3523,0,0,0,0,0,0
$GC,1177,-0.62,-146.0,147.6,-10.0,162,1184,0.00,2.30,0.00,0.000,6,0.000,0.063,2288,2747,3523,0,0,0,0,0,0
$GC,1503,-0.66,-146.0,178.3,-9.1,193,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2747,3523,0,0,0,0,0,0
$GC,1824,-0.71,-146.0,206.6,-8.2,223,1831,0.12,0.00,0.00,0.000,6,0.113,0.000,2236,2746,3523,0,0,0,0,0,0
$GC,2150,-0.67,-146.0,244.2,-11.8,254,2154,0.00,2.22,0.00,0.000,4,0.000,0.054,2236,1367,3523,0,0,0,0,0,0
$GC,2202,-0.67,-146.0,250.5,-11.9,258,2206,0.00,2.28,0.00,0.000,6,0.000,0.066,2235,2730,3523,0,0,0,0,0,0
$GC,2528,-0.64,-146.0,287.8,-10.9,288,2532,0.12,2.05,0.00,0.000,4,0.187,0.075,2261,3928,3523,0,0,0,0,0,0
$GC,2579,-0.68,-146.0,293.0,-9.4,292,2585,0.00,1.95,0.00,0.000,6,0.000,0.051,2261,2724,3523,0,0,0,0,0,0
$STATE,2662,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2662,begin apogee
$GC,2668,-0.14,0.0,300.5,9.0,300,2794,0.50,0.00,119.72,0.822,4,0.138,0.000,2423,2597,2922,0,0,0,0,0,0
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2797,0.57,146.0,305.4,0.0,311,2933,0.70,2.40,124.78,0.792,4,0.084,0.053,2660,1182,2326,0,0,0,0,0,0
$GC,3102,0.62,191.5,288.0,7.9,338,3152,0.00,2.50,39.35,0.773,6,0.000,0.059,2660,2608,2140,0,0,0,0,0,0
$GC,3471,0.63,204.5,253.8,9.4,373,3488,0.00,2.30,11.60,0.745,4,0.000,0.070,2660,3930,2088,0,0,0,0,0,0
$GC,3680,0.63,204.5,229.7,12.5,391,3684,0.00,2.20,0.00,0.000,6,0.000,0.048,2662,2593,2084,0,0,0,0,0,0
$GC,4006,0.68,224.3,197.4,9.1,421,4029,0.00,2.35,18.17,0.746,4,0.000,0.056,2662,1189,2007,0,0,0,0,0,0
$GC,4055,0.78,246.4,193.1,9.0,425,4081,0.17,2.35,20.12,0.731,6,0.094,0.060,2731,2610,1919,0,0,0,0,0,0
$GC,4407,0.74,246.4,147.4,13.3,458,4411,0.00,2.22,0.00,0.000,4,0.000,0.072,2731,3926,1911,0,0,0,0,0,0
$GC,4471,0.65,246.4,138.0,15.3,463,4476,0.17,2.17,0.00,0.000,6,0.197,0.049,2689,2598,1910,0,0,0,0,0,0
$GC,4799,0.70,249.2,104.0,9.9,493,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2597,1910,0,0,0,0,0,0
$GC,5141,0.78,268.2,72.2,9.1,550,5167,0.10,2.38,18.95,0.693,4,0.122,0.073,2728,3933,1828,0,0,0,0,0,0
$GC,5220,0.75,268.2,62.6,12.3,563,5227,0.00,2.17,0.00,0.000,6,0.000,0.048,2729,2608,1825,0,0,0,0,0,0
$GC,5567,0.80,304.6,33.3,8.3,624,5604,0.00,2.33,32.03,0.669,4,0.000,0.056,2729,1192,1680,0,0,0,0,0,0
$GC,5675,0.92,333.4,24.6,8.7,642,5707,0.12,2.38,25.65,0.653,6,0.102,0.060,2779,2611,1563,0,0,0,0,0,0
$FREEZE,8.41,-1.726,-1.720,2,28,0
$STATE,5820,end climb,FINISH_DEPTH_REACHED
$STATE,5820,begin subsurface finish
$FINISH1,8.4,1.025204,113
$GC,5827,0.07,112.7,8.4,-13.1,667,5863,0.90,2.33,-28.55,0.000,4,0.156,0.067,2507,1190,2466,0,0,0,0,0,0
$FINISH2,6.8
$STATE,5864,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5864,begin surface
$RAFOS_CLK,360
$RAFOS_FIX,6644.791992,-6008.495605,291210,080807,7,100,0.32
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.23
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.2
$ALTIM_BOTTOM_PING,300.5,13.1
$24V_AH,22.1,72.812
$10V_AH,9.8,50.914
$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,3.500,52.400,410.375,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1565.146,2719.737,409.139,1099.835,126.136,0.000,1029.733,0.000,1099.521,0.000,7.091,0.000
$DEVICE_MAMPS,197.370,74.970,821.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.499,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23414,673
$CAP_FILE_SIZE,72452,0
$CFSIZE,260165632,207724544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.3
$GPS,291210,082707,6644.792,-6008.496,0,7100.4,0,-38.0