version: 66.08
glider: 183
mission: 3
dive: 642
start: 12 31 110 12 38 17
data:
$ID,183
$MISSION,3
$DIVE,642
$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,32
$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
$GPS1,311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.82
$_SM_ANGLEo,-1.4
$GPS2,311210,122328,6638.591,-5913.159,0,2084.0,0,-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,104.5,114158,-17.5,-10.000
$D_GRID,868
$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,-6.07,0.000,2,0.000,0.000,2495,2626,2856,0,0,0,0,0,0
$GC,28,-0.57,-146.0,7.5,-0.0,1,53,0.55,2.12,-18.33,0.000,4,0.084,0.069,2292,1370,3522,0,0,0,0,0,0
$GC,105,-0.57,-146.0,13.1,-9.1,14,112,0.00,2.35,0.00,0.000,6,0.000,0.063,2286,2779,3523,0,0,0,0,0,0
$GC,450,-0.57,-146.0,56.0,-12.7,75,456,0.00,2.30,0.00,0.000,4,0.000,0.053,2286,1365,3523,0,0,0,0,0,0
$GC,470,-0.57,-146.0,58.7,-13.1,78,476,0.00,2.35,0.00,0.000,6,0.000,0.064,2286,2779,3523,0,0,0,0,0,0
$GC,817,-0.59,-146.0,98.6,-9.9,139,824,0.00,1.95,0.00,0.000,4,0.000,0.076,2286,3930,3523,0,0,0,0,0,0
$GC,846,-0.63,-146.0,101.9,-9.7,142,853,0.00,1.88,0.00,0.000,6,0.000,0.050,2286,2779,3523,0,0,0,0,0,0
$GC,1173,-0.67,-146.0,130.5,-8.1,173,1177,0.00,2.25,0.00,0.000,4,0.000,0.053,2286,1371,3523,0,0,0,0,0,0
$GC,1226,-0.73,-146.0,135.1,-8.6,177,1230,0.15,2.33,0.00,0.000,6,0.097,0.064,2224,2770,3523,0,0,0,0,0,0
$GC,1551,-0.66,-146.0,177.0,-13.4,207,1556,0.12,2.28,0.00,0.000,4,0.181,0.053,2257,1370,3522,0,0,0,0,0,0
$GC,1620,-0.70,-146.0,184.6,-10.2,212,1626,0.00,2.33,0.00,0.000,6,0.000,0.064,2256,2752,3523,0,0,0,0,0,0
$GC,1945,-0.70,-146.0,217.9,-10.6,243,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2752,3522,0,0,0,0,0,0
$GC,2265,-0.70,-146.0,253.1,-10.9,273,2269,0.00,2.00,0.00,0.000,4,0.000,0.075,2248,3932,3522,0,0,0,0,0,0
$GC,2288,-0.70,-146.0,255.7,-10.7,275,2292,0.00,1.92,0.00,0.000,6,0.000,0.050,2248,2738,3522,0,0,0,0,0,0
$GC,2620,-0.70,-146.0,288.9,-9.9,306,2624,0.00,2.17,0.00,0.000,4,0.000,0.053,2249,1372,3521,0,0,0,0,0,0
$GC,2664,-0.72,-146.0,293.5,-10.2,309,2671,0.00,2.30,0.00,0.000,6,0.000,0.064,2247,2737,3522,0,0,0,0,0,0
$STATE,2747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2747,begin apogee
$GC,2754,-0.14,0.0,300.9,9.6,317,2879,0.55,0.00,119.18,0.815,4,0.139,0.000,2423,2600,2923,0,0,0,0,0,0
$STATE,2880,end apogee,CONTROL_FINISHED_OK
$STATE,2880,begin climb
$GC,2883,0.57,146.0,305.9,0.0,328,3018,0.70,2.40,124.60,0.789,4,0.080,0.052,2663,1182,2327,0,0,0,0,0,0
$GC,3207,0.58,162.9,285.3,9.2,357,3230,0.00,2.45,14.65,0.751,6,0.000,0.057,2663,2600,2259,0,0,0,0,0,0
$GC,3549,0.59,184.0,252.6,9.0,389,3575,0.00,2.40,19.35,0.755,4,0.000,0.056,2663,1185,2171,0,0,0,0,0,0
$GC,3744,0.65,199.9,234.6,9.3,406,3765,0.00,2.38,14.25,0.739,6,0.000,0.058,2663,2609,2107,0,0,0,0,0,0
$GC,4091,0.65,199.9,197.7,10.7,439,4095,0.00,2.22,0.00,0.000,4,0.000,0.070,2663,3930,2105,0,0,0,0,0,0
$GC,4136,0.62,199.9,191.9,13.1,442,4143,0.00,2.17,0.00,0.000,6,0.000,0.047,2663,2595,2102,0,0,0,0,0,0
$GC,4462,0.65,207.4,158.7,9.7,473,4474,0.00,2.35,7.60,0.679,4,0.000,0.055,2663,1183,2077,0,0,0,0,0,0
$GC,4499,0.73,228.3,155.2,9.0,476,4525,0.12,2.33,19.58,0.710,6,0.107,0.057,2716,2603,1992,0,0,0,0,0,0
$GC,4851,0.69,228.3,111.2,13.0,509,4855,0.00,2.28,0.00,0.000,4,0.000,0.055,2718,1194,1987,0,0,0,0,0,0
$GC,4870,0.67,228.3,109.0,12.2,510,4874,0.00,2.30,0.00,0.000,6,0.000,0.057,2717,2596,1987,0,0,0,0,0,0
$GC,5210,0.67,239.0,73.6,9.5,563,5229,0.00,2.30,9.95,0.669,4,0.000,0.072,2717,3920,1947,0,0,0,0,0,0
$GC,5400,0.61,239.0,52.6,10.7,596,5407,0.17,2.05,0.00,0.000,6,0.187,0.049,2673,2649,1944,0,0,0,0,0,0
$GC,5748,0.74,306.0,28.5,6.9,657,5813,0.12,2.40,57.67,0.649,4,0.111,0.054,2723,1195,1674,0,0,0,0,0,0
$GC,5878,0.81,306.0,15.2,10.5,679,5886,0.00,2.42,0.00,0.000,6,0.000,0.058,2723,2643,1667,0,0,0,0,0,0
$FREEZE,8.56,-1.750,-1.783,2,8,0
$STATE,5936,end climb,FINISH_DEPTH_REACHED
$STATE,5936,begin subsurface finish
$FINISH1,8.6,1.026106,68
$GC,5944,0.04,68.4,8.6,-11.3,689,5980,0.75,2.38,-30.70,0.000,4,0.151,0.086,2494,3933,2647,0,0,0,0,0,0
$FINISH2,6.5
$STATE,5981,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5981,begin surface
$RAFOS_CLK,362
$RAFOS,6,1293799746,12.833333,12.818334,64,46,46,44,43,42,744,1256,1216,1176,581,148
$RAFOS,5,1293799264,12.700000,12.684444,58,45,45,43,43,42,803,653,26,156,1649,1192
$RAFOS,4,1293798781,12.566667,12.550278,70,46,46,44,41,40,622,1816,936,1512,940,984
$RAFOS_FIX,6640.368652,-5912.965332,311210,121236,4,76,5.42
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,49.44
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,300.9,13.4
$24V_AH,22.1,75.083
$10V_AH,9.7,52.046
$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,3.250,65.625,386.825,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1629.944,2731.146,406.472,1147.529,129.055,0.000,1048.617,0.000,1141.922,720.000,7.090,0.000
$DEVICE_MAMPS,186.660,143.820,814.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,482.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151740
$DATA_FILE_SIZE,23487,695
$CAP_FILE_SIZE,76819,0
$CFSIZE,260165632,206598144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.3
$GPS,311210,122328,6638.591,-5913.159,0,2084.0,0,-37.8