version: 66.08
glider: 183
mission: 3
dive: 639
start: 12 31 110 7 40 3
data:
$ID,183
$MISSION,3
$DIVE,639
$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,-11339.555
$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,34
$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
$GPS1,311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.73
$_SM_ANGLEo,0.6
$GPS2,311210,042913,6639.488,-5921.347,0,5087.8,0,-37.8
$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,106.3,118993,-17.5,-10.000
$D_GRID,881
$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,-6.12,0.000,2,0.000,0.000,2495,2600,2872,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.8,-0.0,1,53,0.55,2.33,-16.08,0.000,4,0.096,0.088,2289,3927,3523,0,0,0,0,0,0
$GC,110,-0.57,-146.0,18.8,-12.7,15,117,0.00,1.88,0.00,0.000,6,0.000,0.050,2289,2782,3523,0,0,0,0,0,0
$GC,456,-0.57,-146.0,62.2,-12.9,76,463,0.00,2.25,0.00,0.000,4,0.000,0.051,2289,1371,3524,0,0,0,0,0,0
$GC,511,-0.60,-146.0,68.7,-11.5,85,518,0.00,2.33,0.00,0.000,6,0.000,0.063,2287,2773,3524,0,0,0,0,0,0
$GC,855,-0.62,-146.0,105.8,-10.0,141,859,0.00,2.25,0.00,0.000,4,0.000,0.053,2286,1371,3523,0,0,0,0,0,0
$GC,924,-0.67,-146.0,112.9,-9.7,147,928,0.00,2.30,0.00,0.000,6,0.000,0.064,2286,2754,3523,0,0,0,0,0,0
$GC,1251,-0.71,-146.0,143.8,-9.7,177,1256,0.12,2.25,0.00,0.000,4,0.112,0.054,2234,1369,3523,0,0,0,0,0,0
$GC,1302,-0.69,-146.0,150.0,-11.9,181,1306,0.00,2.30,0.00,0.000,6,0.000,0.064,2234,2737,3523,0,0,0,0,0,0
$GC,1628,-0.63,-146.0,191.4,-12.4,211,1633,0.12,2.08,0.00,0.000,4,0.190,0.075,2260,3945,3522,0,0,0,0,0,0
$GC,1662,-0.63,-146.0,195.2,-10.7,214,1666,0.00,1.98,0.00,0.000,6,0.000,0.050,2260,2719,3523,0,0,0,0,0,0
$GC,1993,-0.63,-146.0,230.2,-10.7,245,1997,0.00,2.15,0.00,0.000,4,0.000,0.053,2260,1371,3523,0,0,0,0,0,0
$GC,2057,-0.66,-146.0,236.7,-9.9,250,2061,0.00,2.25,0.00,0.000,6,0.000,0.064,2260,2711,3522,0,0,0,0,0,0
$GC,2388,-0.66,-146.0,268.7,-9.6,281,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2711,3522,0,0,0,0,0,0
$GC,2711,-0.69,-146.0,295.3,-8.0,311,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2711,3522,0,0,0,0,0,0
$STATE,2771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2771,begin apogee
$GC,2778,-0.14,0.0,300.5,8.0,317,2903,0.50,0.00,119.10,0.816,4,0.135,0.000,2421,2605,2923,0,0,0,0,0,0
$STATE,2904,end apogee,CONTROL_FINISHED_OK
$STATE,2904,begin climb
$GC,2906,0.57,146.0,304.6,0.0,328,3041,0.70,2.42,124.07,0.786,4,0.083,0.053,2660,1178,2328,0,0,0,0,0,0
$GC,3227,0.58,166.0,282.2,9.1,357,3251,0.00,2.45,17.73,0.753,6,0.000,0.058,2660,2600,2246,0,0,0,0,0,0
$GC,3569,0.60,197.8,249.9,8.5,389,3603,0.00,2.35,27.42,0.757,4,0.000,0.054,2661,1181,2117,0,0,0,0,0,0
$GC,3766,0.68,239.7,233.5,8.1,406,3808,0.00,2.38,36.92,0.747,6,0.000,0.058,2662,2604,1945,0,0,0,0,0,0
$GC,4134,0.74,239.7,194.1,10.6,441,4140,0.15,2.28,0.00,0.000,4,0.098,0.055,2725,1185,1936,0,0,0,0,0,0
$GC,4173,0.74,239.7,189.3,13.2,444,4180,0.00,2.33,0.00,0.000,6,0.000,0.057,2724,2601,1936,0,0,0,0,0,0
$GC,4499,0.70,239.7,142.8,14.2,475,4503,0.00,2.22,0.00,0.000,4,0.000,0.071,2724,3925,1935,0,0,0,0,0,0
$GC,4550,0.61,239.7,134.6,16.2,479,4555,0.20,2.12,0.00,0.000,6,0.189,0.047,2673,2606,1933,0,0,0,0,0,0
$GC,4876,0.69,283.5,104.4,8.0,509,4921,0.00,2.33,36.58,0.692,4,0.000,0.056,2673,1187,1766,0,0,0,0,0,0
$GC,4976,0.85,315.5,96.0,8.5,521,5012,0.22,2.38,28.65,0.678,6,0.083,0.057,2762,2610,1635,0,0,0,0,0,0
$GC,5351,0.83,315.5,44.8,12.6,587,5358,0.00,2.30,0.00,0.000,4,0.000,0.056,2762,1192,1625,0,0,0,0,0,0
$GC,5410,0.83,315.5,37.6,12.5,597,5417,0.00,2.35,0.00,0.000,6,0.000,0.060,2762,2617,1624,0,0,0,0,0,0
$FREEZE,8.62,-1.781,-1.783,2,5,0
$STATE,5612,end climb,FINISH_DEPTH_REACHED
$STATE,5612,begin subsurface finish
$FINISH1,8.6,1.026104,68
$GC,5619,0.04,68.5,8.6,-15.2,633,5661,0.88,2.35,-32.75,0.000,4,0.157,0.068,2497,1179,2646,0,0,0,0,0,0
$FINISH2,6.2
$STATE,5662,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5662,begin surface
$RAFOS_CLK,347
$RAFOS,6,1293785341,8.833333,8.816944,73,69,44,44,44,41,772,781,514,1098,1718,775
$RAFOS,5,1293784861,8.700000,8.683611,55,43,42,40,38,37,1164,1171,1449,517,1057,1329
$RAFOS,4,1293784384,8.566667,8.551111,83,46,42,42,41,40,618,1886,282,520,1928,77
$RAFOS,3,1293783907,8.433333,8.418612,51,49,48,47,43,41,1513,443,311,848,1794,519
$RAFOS,2,1293783429,8.300000,8.285833,82,44,43,43,39,38,625,1476,1763,1773,202,1387
$RAFOS,1,1293782950,8.166667,8.152778,71,55,43,42,40,39,636,771,997,959,1020,878
$RAFOS,0,1293782462,8.033334,8.017222,47,42,41,40,40,39,788,619,629,1218,837,1476
$RAFOS_FIX,6640.695312,-5918.801270,311210,080820,4,77,0.20
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,50.47
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.8
$ALTIM_BOTTOM_PING,300.5,13.4
$24V_AH,22.1,74.837
$10V_AH,9.7,51.928
$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,3.450,56.750,390.475,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1523.016,2615.708,394.640,1076.496,121.647,0.000,1003.655,0.000,1069.491,2520.000,7.087,0.000
$DEVICE_MAMPS,189.720,87.975,816.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151712
$DATA_FILE_SIZE,23424,640
$CAP_FILE_SIZE,73619,0
$CFSIZE,260165632,206725120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.6
$GPS,311210,082920,6640.695,-5918.801,0,4077.2,0,-37.8