version: 66.08
glider: 183
mission: 3
dive: 641
start: 12 31 110 10 55 11
data:
$ID,183
$MISSION,3
$DIVE,641
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,311210,082920,6640.695,-5918.801,0,4077.2,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.57
$_SM_ANGLEo,2.1
$GPS2,311210,082920,6640.695,-5918.801,0,4077.2,0,-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,107.0,116472,-17.5,-10.000
$D_GRID,902
$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,-6.07,0.000,2,0.000,0.000,2501,2598,2853,0,0,0,0,0,0
$GC,28,-0.57,-146.0,7.2,-0.0,1,52,0.57,0.00,-18.48,0.000,6,0.103,0.000,2299,2599,3523,0,0,0,0,0,0
$GC,391,-0.57,-146.0,49.2,-12.8,65,398,0.00,2.28,0.00,0.000,4,0.000,0.076,2290,3926,3524,0,0,0,0,0,0
$GC,422,-0.57,-146.0,53.3,-13.8,70,428,0.00,1.88,0.00,0.000,6,0.000,0.049,2290,2775,3524,0,0,0,0,0,0
$GC,769,-0.59,-146.0,94.4,-9.5,131,776,0.00,2.25,0.00,0.000,4,0.000,0.054,2290,1369,3523,0,0,0,0,0,0
$GC,812,-0.64,-146.0,98.5,-9.2,138,819,0.00,2.33,0.00,0.000,6,0.000,0.063,2289,2767,3523,0,0,0,0,0,0
$GC,1141,-0.69,-146.0,127.9,-8.4,170,1146,0.10,2.28,0.00,0.000,4,0.123,0.053,2246,1367,3523,0,0,0,0,0,0
$GC,1181,-0.69,-146.0,132.1,-10.5,173,1186,0.00,2.30,0.00,0.000,6,0.000,0.064,2241,2751,3523,0,0,0,0,0,0
$GC,1507,-0.65,-146.0,171.5,-12.1,203,1511,0.00,2.00,0.00,0.000,4,0.000,0.074,2233,3932,3522,0,0,0,0,0,0
$GC,1542,-0.60,-146.0,176.0,-13.6,206,1547,0.17,1.92,0.00,0.000,6,0.161,0.050,2282,2753,3522,0,0,0,0,0,0
$GC,1874,-0.66,-146.0,206.8,-9.0,237,1878,0.00,2.22,0.00,0.000,4,0.000,0.054,2282,1364,3522,0,0,0,0,0,0
$GC,1904,-0.72,-146.0,209.4,-8.8,239,1909,0.12,2.33,0.00,0.000,6,0.104,0.063,2228,2764,3522,0,0,0,0,0,0
$GC,2230,-0.68,-146.0,247.8,-11.3,269,2234,0.00,2.28,0.00,0.000,4,0.000,0.053,2228,1365,3522,0,0,0,0,0,0
$GC,2251,-0.64,-146.0,250.3,-10.8,270,2259,0.15,2.33,0.00,0.000,6,0.178,0.064,2263,2758,3522,0,0,0,0,0,0
$GC,2577,-0.67,-146.0,279.5,-9.4,301,2581,0.00,2.25,0.00,0.000,4,0.000,0.054,2264,1372,3522,0,0,0,0,0,0
$GC,2602,-0.71,-146.0,281.8,-9.5,303,2606,0.00,2.30,0.00,0.000,6,0.000,0.063,2263,2751,3522,0,0,0,0,0,0
$STATE,2804,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2804,begin apogee
$GC,2810,-0.14,0.0,300.5,9.5,321,2936,0.50,0.00,119.32,0.815,4,0.134,0.000,2426,2599,2923,0,0,0,0,0,0
$STATE,2937,end apogee,CONTROL_FINISHED_OK
$STATE,2937,begin climb
$GC,2939,0.57,146.0,306.4,0.0,332,3075,0.68,2.40,124.75,0.787,4,0.080,0.053,2658,1183,2326,0,0,0,0,0,0
$GC,3243,0.58,160.2,288.9,9.3,359,3262,0.00,2.45,12.43,0.739,6,0.000,0.057,2658,2601,2269,0,0,0,0,0,0
$GC,3580,0.58,160.2,254.4,11.1,391,3584,0.00,2.30,0.00,0.000,4,0.000,0.055,2658,1187,2264,0,0,0,0,0,0
$GC,3771,0.62,173.6,235.1,9.4,407,3790,0.00,2.38,12.30,0.740,6,0.000,0.058,2658,2614,2215,0,0,0,0,0,0
$GC,4107,0.62,173.6,200.4,10.1,439,4111,0.00,2.22,0.00,0.000,4,0.000,0.070,2658,3935,2211,0,0,0,0,0,0
$GC,4185,0.58,173.6,191.2,12.1,445,4192,0.00,2.15,0.00,0.000,6,0.000,0.047,2659,2601,2210,0,0,0,0,0,0
$GC,4512,0.61,215.5,160.7,8.1,476,4551,0.00,0.00,36.33,0.719,6,0.000,0.000,2659,2601,2044,0,0,0,0,0,0
$GC,4870,0.68,243.4,129.5,8.7,510,4904,0.10,2.35,24.40,0.701,4,0.122,0.055,2701,1194,1929,0,0,0,0,0,0
$GC,4977,0.73,243.4,118.5,10.1,519,4984,0.00,2.38,0.00,0.000,6,0.000,0.057,2700,2631,1926,0,0,0,0,0,0
$GC,5311,0.75,243.4,82.5,10.3,564,5318,0.00,2.20,0.00,0.000,4,0.000,0.071,2701,3935,1923,0,0,0,0,0,0
$GC,5399,0.73,243.4,72.4,12.0,579,5406,0.00,2.12,0.00,0.000,6,0.000,0.048,2701,2630,1922,0,0,0,0,0,0
$GC,5745,0.80,295.3,44.8,7.6,640,5798,0.00,2.42,44.08,0.659,4,0.000,0.059,2701,1196,1717,0,0,0,0,0,0
$GC,5830,0.91,295.3,37.1,10.5,654,5837,0.20,2.38,0.00,0.000,6,0.083,0.058,2780,2626,1714,0,0,0,0,0,0
$FREEZE,8.56,-1.758,-1.783,2,7,0
$STATE,6025,end climb,FINISH_DEPTH_REACHED
$STATE,6026,begin subsurface finish
$FINISH1,8.6,1.026104,68
$GC,6032,0.04,68.5,8.6,-14.6,688,6068,0.98,0.00,-31.02,0.000,6,0.168,0.000,2495,2626,2645,0,0,0,0,0,0
$FINISH2,5.8
$STATE,6068,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6069,begin surface
$RAFOS_CLK,366
$RAFOS,3,1293798301,12.433333,12.416945,78,47,43,43,42,42,681,1570,145,1518,866,1931
$RAFOS,2,1293797826,12.300000,12.285000,90,47,43,41,40,37,654,676,1286,797,1941,1326
$RAFOS,1,1293797345,12.166667,12.151389,45,44,41,41,41,40,430,1784,211,1726,1765,708
$RAFOS,0,1293796867,12.033333,12.018611,43,43,41,41,41,40,760,1545,1420,441,766,1667
$RAFOS_FIX,6638.591309,-5913.158691,311210,121228,2,84,0.40
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.031458
$HUMID,50.15
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$ALTIM_BOTTOM_PING,300.5,13.3
$24V_AH,22.1,75.000
$10V_AH,9.7,52.006
$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,3.575,58.925,373.600,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1636.378,2825.965,396.896,1140.129,130.947,0.000,1029.867,0.000,1135.676,1800.000,9.530,0.000
$DEVICE_MAMPS,178.245,75.735,815.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23438,694
$CAP_FILE_SIZE,76078,0
$CFSIZE,260165632,206639104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.4
$GPS,311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8