version: 66.08
glider: 183
mission: 3
dive: 626
start: 12 30 110 2 48 7
data:
$ID,183
$MISSION,3
$DIVE,626
$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,32
$R_STBD_OVSHOOT,30
$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,9.20
$_SM_ANGLEo,-3.5
$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,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,-5.57,0.000,2,0.000,0.000,2504,2614,2739,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.6,-0.0,1,51,0.57,0.00,-19.15,0.000,6,0.083,0.000,2290,2615,3522,0,0,0,0,0,0
$GC,391,-0.54,-146.0,58.3,-10.7,65,398,0.00,2.00,0.00,0.000,4,0.000,0.053,2290,1368,3524,0,0,0,0,0,0
$GC,456,-0.58,-146.0,65.3,-10.3,76,463,0.00,2.30,0.00,0.000,6,0.000,0.065,2288,2740,3524,0,0,0,0,0,0
$GC,803,-0.60,-146.0,99.5,-10.8,137,810,0.00,2.03,0.00,0.000,4,0.000,0.076,2285,3932,3523,0,0,0,0,0,0
$GC,829,-0.63,-146.0,102.3,-10.5,140,833,0.00,1.95,0.00,0.000,6,0.000,0.049,2285,2726,3524,0,0,0,0,0,0
$GC,1161,-0.66,-146.0,136.7,-10.0,171,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2726,3523,0,0,0,0,0,0
$GC,1483,-0.70,-146.0,169.9,-9.7,201,1488,0.10,2.22,0.00,0.000,4,0.124,0.054,2242,1363,3523,0,0,0,0,0,0
$GC,1516,-0.70,-146.0,174.1,-11.4,203,1523,0.00,2.28,0.00,0.000,6,0.000,0.065,2237,2731,3523,0,0,0,0,0,0
$GC,1842,-0.66,-146.0,212.4,-11.9,234,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2731,3523,0,0,0,0,0,0
$GC,2162,-0.63,-146.0,250.6,-11.5,264,2167,0.12,2.22,0.00,0.000,4,0.187,0.054,2270,1370,3523,0,0,0,0,0,0
$GC,2203,-0.69,-146.0,255.1,-9.7,267,2207,0.00,2.25,0.00,0.000,6,0.000,0.065,2269,2721,3523,0,0,0,0,0,0
$GC,2529,-0.72,-146.0,284.9,-9.3,297,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2721,3523,0,0,0,0,0,0
$STATE,2701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2701,begin apogee
$GC,2708,-0.14,0.0,300.0,9.0,313,2833,0.47,0.00,119.60,0.821,4,0.135,0.000,2422,2601,2923,0,0,0,0,0,0
$STATE,2834,end apogee,CONTROL_FINISHED_OK
$STATE,2834,begin climb
$GC,2837,0.57,146.0,305.9,0.0,324,2971,0.70,2.42,124.75,0.791,4,0.080,0.053,2662,1181,2327,0,0,0,0,0,0
$GC,3102,0.60,191.7,292.6,7.9,347,3153,0.00,2.50,39.92,0.772,6,0.000,0.058,2662,2606,2139,0,0,0,0,0,0
$GC,3471,0.60,195.8,256.8,9.8,382,3475,0.00,2.38,0.00,0.000,4,0.000,0.055,2662,1180,2132,0,0,0,0,0,0
$GC,3657,0.67,223.5,240.4,8.7,398,3691,0.00,2.35,27.15,0.754,6,0.000,0.059,2662,2601,2010,0,0,0,0,0,0
$GC,4009,0.72,223.5,204.6,10.4,431,4014,0.12,2.33,0.00,0.000,4,0.109,0.056,2714,1184,2005,0,0,0,0,0,0
$GC,4027,0.74,223.5,202.5,10.7,432,4031,0.00,2.33,0.00,0.000,6,0.000,0.058,2714,2599,2005,0,0,0,0,0,0
$GC,4353,0.70,223.5,160.7,12.1,462,4357,0.00,2.35,0.00,0.000,4,0.000,0.056,2715,1177,2004,0,0,0,0,0,0
$GC,4370,0.68,223.5,158.5,12.5,463,4376,0.00,2.28,0.00,0.000,6,0.000,0.057,2714,2577,2004,0,0,0,0,0,0
$GC,4702,0.66,223.5,118.8,11.7,494,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2577,2004,0,0,0,0,0,0
$GC,5028,0.66,223.5,84.5,10.9,537,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2577,2003,0,0,0,0,0,0
$GC,5373,0.70,281.9,51.8,7.3,598,5431,0.00,2.38,49.70,0.666,4,0.000,0.071,2714,3936,1771,0,0,0,0,0,0
$GC,5451,0.76,302.0,45.5,9.1,611,5476,0.00,2.22,18.45,0.646,6,0.000,0.048,2715,2584,1690,0,0,0,0,0,0
$GC,5813,0.82,302.0,13.6,10.5,675,5822,0.00,2.25,0.00,0.000,4,0.000,0.056,2714,1191,1680,0,0,0,0,0,0
$FREEZE,8.74,-1.725,-1.738,2,37,0
$STATE,5867,end climb,FINISH_DEPTH_REACHED
$STATE,5867,begin subsurface finish
$FINISH1,8.7,1.025466,100
$GC,5877,0.06,99.8,8.7,-8.8,684,5913,0.68,2.38,-25.55,0.000,4,0.144,0.067,2503,1190,2519,0,0,0,0,0,0
$FINISH2,7.1
$STATE,5914,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5914,begin surface
$RAFOS_CLK,360
$RAFOS,2,1293682623,4.300000,4.284167,65,43,43,42,42,40,610,1115,1887,1744,1888,1311
$RAFOS,1,1293682145,4.166667,4.151389,140,50,47,45,40,39,579,1940,684,1300,1930,543
$RAFOS,0,1293681661,4.033333,4.016944,81,53,49,43,40,38,706,1430,1002,796,1606,1782
$RAFOS_FIX,6640.425293,-5951.066895,301210,040401,3,95,0.31
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.031458
$HUMID,50.78
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.8
$ALTIM_BOTTOM_PING,300.0,13.3
$24V_AH,22.0,73.652
$10V_AH,9.7,51.305
$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,2.775,48.000,379.575,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1616.843,2746.699,382.889,1106.392,123.445,0.000,996.186,0.000,1102.198,1440.000,7.089,0.000
$DEVICE_MAMPS,187.425,76.500,820.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.794,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,23445,690
$CAP_FILE_SIZE,70544,0
$CFSIZE,260165632,207343616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.3
$GPS,301210,041101,6640.425,-5951.067,0,3095.3,0,-38.0