version: 66.08
glider: 183
mission: 3
dive: 629
start: 12 30 110 8 52 57
data:
$ID,183
$MISSION,3
$DIVE,629
$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,30
$R_STBD_OVSHOOT,20
$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
$GPS1,301210,082718,6641.460,-5944.668,0,5097.2,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.58
$_SM_ANGLEo,-5.4
$GPS2,301210,082718,6641.460,-5944.668,0,5097.2,0,-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,110.6,133671,-17.5,-10.000
$D_GRID,792
$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,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.78,0.000,2,0.000,0.000,2487,3932,2772,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.8,-0.0,1,58,0.52,4.28,-19.08,0.000,4,0.087,0.057,2295,1348,3523,0,0,0,0,0,0
$GC,133,-0.57,-146.0,19.8,-12.4,19,140,0.00,2.40,0.00,0.000,6,0.000,0.066,2293,2785,3524,0,0,0,0,0,0
$GC,479,-0.57,-146.0,67.3,-12.8,80,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2784,3523,0,0,0,0,0,0
$GC,828,-0.59,-146.0,104.5,-10.0,138,832,0.00,2.28,0.00,0.000,4,0.000,0.053,2293,1371,3523,0,0,0,0,0,0
$GC,881,-0.64,-146.0,109.7,-9.8,142,885,0.00,2.40,0.00,0.000,6,0.000,0.064,2292,2803,3523,0,0,0,0,0,0
$GC,1212,-0.68,-146.0,140.1,-9.2,173,1217,0.10,2.35,0.00,0.000,4,0.117,0.054,2248,1361,3523,0,0,0,0,0,0
$GC,1257,-0.68,-146.0,145.5,-12.1,176,1264,0.00,2.40,0.00,0.000,6,0.000,0.064,2248,2786,3523,0,0,0,0,0,0
$GC,1583,-0.64,-146.0,185.2,-12.4,207,1587,0.00,2.30,0.00,0.000,4,0.000,0.053,2248,1361,3522,0,0,0,0,0,0
$GC,1669,-0.64,-146.0,195.6,-12.0,214,1673,0.00,2.33,0.00,0.000,6,0.000,0.065,2248,2759,3522,0,0,0,0,0,0
$GC,1994,-0.61,-146.0,233.1,-11.3,244,1998,0.00,2.25,0.00,0.000,4,0.000,0.053,2247,1366,3522,0,0,0,0,0,0
$GC,2024,-0.61,-146.0,236.5,-11.4,246,2028,0.00,2.35,0.00,0.000,6,0.000,0.065,2247,2772,3522,0,0,0,0,0,0
$GC,2350,-0.61,-146.0,274.7,-11.6,276,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2772,3522,0,0,0,0,0,0
$STATE,2585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2585,begin apogee
$GC,2594,-0.14,0.0,300.4,10.4,298,2719,0.55,0.00,119.75,0.819,4,0.145,0.000,2422,2602,2923,0,0,0,0,0,0
$STATE,2720,end apogee,CONTROL_FINISHED_OK
$STATE,2720,begin climb
$GC,2723,0.57,146.0,306.2,0.0,309,2859,0.70,2.42,125.15,0.793,4,0.085,0.054,2659,1186,2326,0,0,0,0,0,0
$GC,3017,0.60,161.2,289.1,9.3,335,3036,0.00,2.47,13.30,0.749,6,0.000,0.058,2659,2599,2265,0,0,0,0,0,0
$GC,3353,0.61,165.5,256.7,9.8,367,3366,0.00,2.38,4.32,0.592,4,0.000,0.055,2661,1178,2248,0,0,0,0,0,0
$GC,3513,0.66,189.2,242.0,8.9,381,3541,0.00,2.40,22.20,0.763,6,0.000,0.059,2662,2616,2150,0,0,0,0,0,0
$GC,3861,0.68,210.1,208.2,9.0,413,3884,0.00,0.00,18.70,0.746,6,0.000,0.000,2662,2616,2065,0,0,0,0,0,0
$GC,4203,0.74,239.9,177.6,8.6,445,4237,0.15,2.38,26.15,0.733,4,0.100,0.055,2725,1180,1944,0,0,0,0,0,0
$GC,4285,0.74,239.9,168.6,11.3,452,4289,0.00,2.40,0.00,0.000,6,0.000,0.059,2725,2621,1941,0,0,0,0,0,0
$GC,4617,0.70,239.9,127.5,12.4,483,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2620,1937,0,0,0,0,0,0
$GC,4939,0.67,239.9,89.1,10.8,521,4947,0.12,2.35,0.00,0.000,4,0.193,0.057,2694,1182,1936,0,0,0,0,0,0
$GC,4959,0.67,241.0,87.1,10.0,524,4966,0.00,2.33,0.00,0.000,6,0.000,0.059,2694,2601,1936,0,0,0,0,0,0
$GC,5306,0.74,277.9,57.5,8.3,585,5347,0.00,2.33,32.20,0.679,4,0.000,0.073,2693,3926,1788,0,0,0,0,0,0
$GC,5432,0.81,303.2,46.5,8.8,606,5463,0.12,2.20,22.75,0.665,6,0.111,0.049,2745,2592,1686,0,0,0,0,0,0
$FREEZE,8.67,-1.752,-1.760,2,40,2
$FREEZE,8.18,-1.755,-1.760,2,40,2
$FREEZE,7.69,-1.755,-1.759,2,40,2
$FREEZE,7.14,-1.754,-1.759,2,40,2
$FREEZE,6.66,-1.754,-1.759,2,40,2
$FREEZE,6.08,-1.754,-1.758,2,40,2
$FREEZE,5.61,-1.753,-1.758,2,40,2
$FREEZE,4.97,-1.754,-1.757,2,40,2
$FREEZE,4.50,-1.754,-1.757,2,40,2
$FREEZE,4.04,-1.754,-1.757,2,40,2
$FREEZE,3.32,-1.754,-1.756,2,40,2
$GC,5800,0.81,303.2,3.3,10.6,671,5807,0.00,2.28,0.00,0.000,4,0.000,0.057,2745,1196,1677,0,0,0,0,0,0
$FREEZE,1.96,-1.755,-1.755,2,40,2
$STATE,5812,end climb,SURFACE_DEPTH_REACHED
$STATE,5812,begin surface coast
$FREEZE,1.25,-1.755,-1.755,2,40,2
$FREEZE,0.90,-1.755,-1.755,2,40,2
$FREEZE,0.88,-1.756,-1.754,2,40,2
$FREEZE,1.04,-1.756,-1.755,2,40,2
$FREEZE,0.89,-1.756,-1.755,2,40,2
$FREEZE,0.92,-1.755,-1.755,2,40,2
$FINISH,0.9,1.025782
$STATE,5844,end surface coast,CONTROL_FINISHED_OK
$STATE,5845,begin surface
$SM_CCo,5864,237.57,0.603,1,0,440,609.08
$SM_GC,1.99,0.00,0.00,237.57,0.000,0.000,0.603,295,2779,440,-6.81,-0.03,609.08
$RAFOS_CLK,371
$RAFOS,6,1293698942,8.833333,8.817223,85,52,44,38,38,38,794,1580,1589,572,725,1897
$RAFOS_FIX,6642.213867,-5943.768555,301210,080817,6,95,6.46
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,47.12
$INTERNAL_PRESSURE,8.407
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,300.4,13.2
$24V_AH,22.0,73.937
$10V_AH,9.8,51.436
$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,9.150,54.200,384.525,237.575,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1625.062,2701.299,620.360,1112.487,124.991,0.000,1235.388,0.000,1108.066,0.000,7.088,0.000
$DEVICE_MAMPS,192.780,72.675,818.550,602.820,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,472.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23422,679
$CAP_FILE_SIZE,73668,0
$CFSIZE,260165632,207212544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1444.0
$GPS,301210,082718,6641.460,-5944.668,181,99.0,181,-38.0