version: 66.08
glider: 183
mission: 3
dive: 625
start: 12 30 110 1 8 20
data:
$ID,183
$MISSION,3
$DIVE,625
$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,33
$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
$GPS1,301210,003013,6642.631,-5951.574,0,6112.7,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.18
$_SM_ANGLEo,7.7
$GPS2,301210,003013,6642.631,-5951.574,0,6112.7,0,-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,112.1,137830,-17.5,-10.000
$D_GRID,734
$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,-146.0,0.0,0.0,0,97,0.00,0.20,-75.03,0.000,6,0.000,0.236,2502,2779,3520,0,0,0,0,0,0
$GC,101,-0.57,-146.0,4.7,-3.6,14,108,0.60,1.98,0.00,0.000,4,0.122,0.074,2299,3933,3520,0,0,0,0,0,0
$GC,200,-0.57,-146.0,15.7,-14.9,31,207,0.00,1.90,0.00,0.000,6,0.000,0.050,2299,2777,3520,0,0,0,0,0,0
$GC,546,-0.57,-146.0,61.2,-11.5,92,553,0.00,2.30,0.00,0.000,4,0.000,0.054,2299,1362,3520,0,0,0,0,0,0
$GC,668,-0.62,-146.0,74.0,-9.1,113,675,0.00,2.33,0.00,0.000,6,0.000,0.065,2296,2751,3521,0,0,0,0,0,0
$GC,1012,-0.66,-146.0,107.6,-10.1,167,1014,0.10,0.00,0.00,0.000,6,0.122,0.000,2253,2751,3520,0,0,0,0,0,0
$GC,1330,-0.63,-146.0,146.6,-11.8,197,1334,0.00,2.25,0.00,0.000,4,0.000,0.054,2253,1368,3519,0,0,0,0,0,0
$GC,1364,-0.63,-146.0,151.0,-12.3,200,1368,0.00,2.33,0.00,0.000,6,0.000,0.066,2252,2747,3519,0,0,0,0,0,0
$GC,1689,-0.63,-146.0,187.2,-10.7,230,1693,0.00,2.03,0.00,0.000,4,0.000,0.076,2248,3928,3519,0,0,0,0,0,0
$GC,1725,-0.61,-146.0,191.0,-10.9,233,1730,0.12,1.92,0.00,0.000,6,0.174,0.051,2280,2739,3519,0,0,0,0,0,0
$GC,2056,-0.66,-146.0,219.4,-8.3,264,2060,0.00,2.22,0.00,0.000,4,0.000,0.054,2281,1365,3519,0,0,0,0,0,0
$GC,2097,-0.72,-146.0,222.8,-8.1,267,2102,0.12,2.30,0.00,0.000,6,0.105,0.066,2229,2745,3519,0,0,0,0,0,0
$GC,2423,-0.68,-146.0,262.0,-12.1,297,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2745,3519,0,0,0,0,0,0
$GC,2746,-0.64,-146.0,297.6,-11.0,327,2752,0.15,0.00,0.00,0.000,6,0.171,0.000,2270,2745,3519,0,0,0,0,0,0
$STATE,2776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2776,begin apogee
$GC,2782,-0.14,0.0,300.6,9.8,330,2907,0.47,0.00,119.10,0.822,4,0.133,0.000,2427,2594,2922,0,0,0,0,0,0
$STATE,2908,end apogee,CONTROL_FINISHED_OK
$STATE,2908,begin climb
$GC,2911,0.57,146.0,305.2,0.0,341,3045,0.68,2.40,124.82,0.794,4,0.080,0.054,2658,1186,2327,0,0,0,0,0,0
$GC,3204,0.60,167.1,287.9,9.0,367,3227,0.00,2.50,18.52,0.764,6,0.000,0.059,2658,2609,2240,0,0,0,0,0,0
$GC,3545,0.62,187.7,256.4,9.0,399,3569,0.00,2.45,18.52,0.762,4,0.000,0.055,2659,1180,2156,0,0,0,0,0,0
$GC,3722,0.69,221.9,241.1,8.4,414,3762,0.12,2.38,30.10,0.758,6,0.107,0.059,2709,2610,2017,0,0,0,0,0,0
$GC,4081,0.66,221.9,196.4,12.9,448,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2611,2011,0,0,0,0,0,0
$GC,4401,0.62,221.9,156.8,12.4,478,4406,0.12,2.30,0.00,0.000,4,0.194,0.056,2678,1186,2009,0,0,0,0,0,0
$GC,4423,0.65,221.9,153.9,10.4,479,4430,0.00,2.35,0.00,0.000,6,0.000,0.059,2678,2613,2009,0,0,0,0,0,0
$GC,4749,0.71,261.2,125.1,8.2,510,4792,0.00,2.33,33.47,0.710,4,0.000,0.072,2678,3925,1856,0,0,0,0,0,0
$GC,4810,0.74,261.2,119.3,10.7,515,4817,0.10,2.17,0.00,0.000,6,0.123,0.047,2717,2610,1854,0,0,0,0,0,0
$GC,5144,0.74,261.2,79.9,10.6,561,5151,0.00,2.33,0.00,0.000,4,0.000,0.057,2717,1181,1850,0,0,0,0,0,0
$GC,5187,0.80,262.3,75.5,10.0,568,5194,0.00,2.38,0.00,0.000,6,0.000,0.059,2717,2625,1850,0,0,0,0,0,0
$GC,5534,0.88,322.2,42.1,7.2,629,5594,0.12,2.40,51.65,0.662,4,0.106,0.057,2774,1186,1607,0,0,0,0,0,0
$GC,5701,0.88,322.2,24.3,10.6,658,5708,0.00,2.25,0.00,0.000,6,0.000,0.059,2774,2546,1602,0,0,0,0,0,0
$FREEZE,8.47,-1.722,-1.739,2,36,0
$STATE,5835,end climb,FINISH_DEPTH_REACHED
$STATE,5835,begin subsurface finish
$FINISH1,8.5,1.025475,99
$GC,5842,0.06,99.4,8.5,-10.7,681,5878,0.90,0.00,-28.88,0.000,6,0.161,0.000,2504,2614,2520,0,0,0,0,0,0
$FINISH2,6.8
$STATE,5879,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5879,begin surface
$RAFOS_CLK,358
$RAFOS_FIX,6642.630859,-5951.573730,301210,000013,6,113,0.24
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.23
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.2
$ALTIM_BOTTOM_PING,300.6,13.2
$24V_AH,22.0,73.570
$10V_AH,9.7,51.265
$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,3.625,50.325,396.200,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1588.544,2673.476,445.376,1108.091,119.769,0.000,1074.685,0.000,1103.990,0.000,7.089,0.000
$DEVICE_MAMPS,193.545,236.385,821.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23419,687
$CAP_FILE_SIZE,72029,0
$CFSIZE,260165632,207384576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.0
$GPS,301210,003013,6642.631,-5951.574,0,6112.7,0,-38.0