version: 66.08
glider: 183
mission: 3
dive: 633
start: 12 30 110 18 20 46
data:
$ID,183
$MISSION,3
$DIVE,633
$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,-11338.299
$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,33
$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
$GPS1,301210,162707,6642.533,-5934.562,0,7101.4,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.21
$_SM_ANGLEo,-6.4
$GPS2,301210,162707,6642.533,-5934.562,0,7101.4,0,-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,110.5,126113,-17.5,-10.000
$D_GRID,856
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.12,0.000,2,0.000,0.000,2481,3915,2819,0,0,0,0,0,0
$GC,28,-0.57,-146.0,13.2,-0.0,1,53,0.52,4.22,-14.45,0.000,4,0.093,0.058,2291,1369,3522,0,0,0,0,0,0
$GC,141,-0.57,-146.0,26.1,-13.2,20,148,0.00,2.33,0.00,0.000,6,0.000,0.063,2287,2768,3524,0,0,0,0,0,0
$GC,486,-0.57,-146.0,73.3,-11.6,81,493,0.00,2.25,0.00,0.000,4,0.000,0.052,2287,1370,3523,0,0,0,0,0,0
$GC,563,-0.60,-146.0,81.5,-10.0,94,570,0.00,2.35,0.00,0.000,6,0.000,0.064,2287,2771,3524,0,0,0,0,0,0
$GC,900,-0.60,-146.0,118.0,-11.0,140,904,0.00,2.25,0.00,0.000,4,0.000,0.052,2286,1372,3523,0,0,0,0,0,0
$GC,941,-0.64,-146.0,122.6,-10.6,143,945,0.00,2.30,0.00,0.000,6,0.000,0.065,2286,2750,3523,0,0,0,0,0,0
$GC,1267,-0.67,-146.0,154.5,-9.7,173,1271,0.00,2.00,0.00,0.000,4,0.000,0.075,2284,3928,3523,0,0,0,0,0,0
$GC,1292,-0.71,-146.0,156.9,-9.9,175,1297,0.10,1.95,0.00,0.000,6,0.119,0.051,2239,2737,3523,0,0,0,0,0,0
$GC,1623,-0.66,-146.0,198.9,-12.0,206,1627,0.00,2.20,0.00,0.000,4,0.000,0.053,2239,1363,3523,0,0,0,0,0,0
$GC,1687,-0.66,-146.0,206.5,-10.7,211,1691,0.00,2.30,0.00,0.000,6,0.000,0.064,2238,2740,3522,0,0,0,0,0,0
$GC,2018,-0.63,-146.0,245.8,-11.8,242,2023,0.12,2.25,0.00,0.000,4,0.190,0.054,2270,1374,3522,0,0,0,0,0,0
$GC,2059,-0.68,-146.0,250.0,-9.6,245,2063,0.00,2.28,0.00,0.000,6,0.000,0.065,2270,2737,3522,0,0,0,0,0,0
$GC,2386,-0.72,-146.0,278.5,-8.2,275,2390,0.00,2.05,0.00,0.000,4,0.000,0.076,2267,3929,3522,0,0,0,0,0,0
$GC,2414,-0.76,-146.0,281.0,-8.0,277,2421,0.12,1.95,0.00,0.000,6,0.107,0.050,2214,2731,3522,0,0,0,0,0,0
$STATE,2583,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2583,begin apogee
$GC,2589,-0.14,0.0,300.5,12.1,293,2721,0.68,0.00,119.90,0.813,4,0.148,0.000,2424,2602,2923,0,0,0,0,0,0
$STATE,2722,end apogee,CONTROL_FINISHED_OK
$STATE,2722,begin climb
$GC,2724,0.57,146.0,305.7,0.0,305,2857,0.62,0.00,124.82,0.788,6,0.087,0.000,2648,2602,2327,0,0,0,0,0,0
$GC,3173,0.58,166.7,272.2,9.0,347,3197,0.00,2.42,17.48,0.757,4,0.000,0.071,2648,3937,2242,0,0,0,0,0,0
$GC,3244,0.55,166.7,264.8,11.0,353,3249,0.00,2.22,0.00,0.000,6,0.000,0.047,2648,2597,2239,0,0,0,0,0,0
$GC,3576,0.60,212.4,235.7,7.9,384,3618,0.00,0.00,39.78,0.755,6,0.000,0.000,2648,2596,2057,0,0,0,0,0,0
$GC,3934,0.69,256.8,206.7,7.9,418,3980,0.12,2.33,37.88,0.738,4,0.106,0.054,2699,1185,1875,0,0,0,0,0,0
$GC,3993,0.69,256.8,200.2,11.7,423,3997,0.00,2.38,0.00,0.000,6,0.000,0.057,2699,2612,1873,0,0,0,0,0,0
$GC,4318,0.69,256.8,159.0,12.5,453,4322,0.00,2.30,0.00,0.000,4,0.000,0.054,2699,1189,1868,0,0,0,0,0,0
$GC,4363,0.74,256.8,153.7,11.3,456,4370,0.00,2.30,0.00,0.000,6,0.000,0.059,2699,2591,1868,0,0,0,0,0,0
$GC,4688,0.77,256.8,115.7,11.7,487,4692,0.00,2.25,0.00,0.000,4,0.000,0.071,2699,3928,1866,0,0,0,0,0,0
$GC,4720,0.77,256.8,111.3,13.0,489,4728,0.00,2.17,0.00,0.000,6,0.000,0.047,2700,2591,1864,0,0,0,0,0,0
$GC,5060,0.80,262.2,76.6,9.8,541,5074,0.10,2.33,4.40,0.571,4,0.123,0.056,2745,1186,1853,0,0,0,0,0,0
$GC,5082,0.81,265.1,74.3,9.9,544,5095,0.00,2.35,4.03,0.531,6,0.000,0.058,2745,2612,1844,0,0,0,0,0,0
$GC,5435,0.81,265.1,31.1,11.4,606,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2612,1841,0,0,0,0,0,0
$FREEZE,8.75,-1.726,-1.740,2,44,0
$STATE,5654,end climb,FINISH_DEPTH_REACHED
$STATE,5654,begin subsurface finish
$FINISH1,8.7,1.025491,99
$GC,5661,0.06,98.6,8.7,-9.2,645,5692,0.82,2.38,-20.40,0.000,4,0.158,0.066,2495,1183,2525,0,0,0,0,0,0
$FINISH2,7.7
$STATE,5692,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5692,begin surface
$RAFOS_CLK,340
$RAFOS_FIX,6642.532715,-5934.561523,301210,161607,7,101,0.43
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.19
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,300.5,13.3
$24V_AH,22.1,74.268
$10V_AH,9.7,51.636
$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,3.225,58.300,348.275,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1514.525,2707.575,367.081,1035.733,121.203,0.000,949.278,0.000,1033.887,0.000,7.088,0.000
$DEVICE_MAMPS,190.485,75.735,813.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.148,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151756
$DATA_FILE_SIZE,23486,650
$CAP_FILE_SIZE,69443,0
$CFSIZE,260165632,207015936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.0
$GPS,301210,162707,6642.533,-5934.562,0,7101.4,0,-38.0