version: 66.08
glider: 183
mission: 3
dive: 644
start: 12 31 110 16 57 20
data:
$ID,183
$MISSION,3
$DIVE,644
$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
$GPS1,311210,162718,6639.493,-5909.194,0,5094.4,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.82
$_SM_ANGLEo,-2.0
$GPS2,311210,162718,6639.493,-5909.194,0,5094.4,0,-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,104.7,110868,-17.5,-10.000
$D_GRID,873
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.12,0.000,2,0.000,0.000,2495,2574,2886,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.9,-0.0,1,52,0.55,2.33,-15.88,0.000,4,0.092,0.089,2293,3925,3521,0,0,0,0,0,0
$GC,77,-0.65,-146.0,12.7,-8.6,9,84,0.00,1.85,0.00,0.000,6,0.000,0.048,2293,2770,3522,0,0,0,0,0,0
$GC,423,-0.65,-146.0,52.6,-11.8,70,429,0.00,2.22,0.00,0.000,4,0.000,0.052,2293,1375,3523,0,0,0,0,0,0
$GC,528,-0.69,-146.0,64.1,-11.0,88,536,0.12,2.33,0.00,0.000,6,0.107,0.062,2240,2778,3522,0,0,0,0,0,0
$GC,876,-0.63,-146.0,113.8,-12.6,140,881,0.12,2.30,0.00,0.000,4,0.185,0.052,2273,1364,3523,0,0,0,0,0,0
$GC,939,-0.67,-146.0,121.4,-10.3,145,943,0.00,2.33,0.00,0.000,6,0.000,0.064,2272,2763,3522,0,0,0,0,0,0
$GC,1265,-0.67,-146.0,152.3,-9.6,175,1269,0.00,1.98,0.00,0.000,4,0.000,0.075,2267,3931,3522,0,0,0,0,0,0
$GC,1300,-0.67,-146.0,155.8,-9.7,178,1304,0.00,1.90,0.00,0.000,6,0.000,0.049,2267,2747,3522,0,0,0,0,0,0
$GC,1632,-0.69,-146.0,188.0,-9.8,209,1636,0.00,2.22,0.00,0.000,4,0.000,0.053,2267,1370,3521,0,0,0,0,0,0
$GC,1718,-0.73,-146.0,196.4,-9.6,216,1722,0.00,2.28,0.00,0.000,6,0.000,0.064,2266,2739,3521,0,0,0,0,0,0
$GC,2044,-0.76,-146.0,226.2,-8.6,246,2046,0.10,0.00,0.00,0.000,6,0.125,0.000,2223,2740,3521,0,0,0,0,0,0
$GC,2362,-0.71,-146.0,261.1,-11.1,276,2366,0.00,2.20,0.00,0.000,4,0.000,0.053,2223,1371,3521,0,0,0,0,0,0
$GC,2392,-0.67,-146.0,264.3,-10.7,278,2397,0.12,2.28,0.00,0.000,6,0.184,0.063,2253,2739,3521,0,0,0,0,0,0
$GC,2718,-0.69,-146.0,292.4,-9.1,308,2722,0.00,2.03,0.00,0.000,4,0.000,0.073,2248,3936,3521,0,0,0,0,0,0
$GC,2769,-0.72,-146.0,297.8,-10.5,312,2776,0.00,1.92,0.00,0.000,6,0.000,0.050,2247,2745,3520,0,0,0,0,0,0
$STATE,2797,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2797,begin apogee
$GC,2804,-0.14,0.0,300.4,10.0,315,2929,0.55,0.00,118.90,0.810,4,0.136,0.000,2424,2599,2923,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2933,0.57,146.0,305.8,0.0,326,3067,0.68,2.40,124.50,0.781,4,0.076,0.052,2658,1185,2327,0,0,0,0,0,0
$GC,3244,0.61,173.3,286.6,8.7,354,3273,0.00,2.42,23.58,0.756,6,0.000,0.057,2658,2601,2216,0,0,0,0,0,0
$GC,3592,0.61,173.3,252.1,10.7,386,3596,0.00,2.30,0.00,0.000,4,0.000,0.055,2659,1187,2210,0,0,0,0,0,0
$GC,3801,0.66,194.4,232.3,9.0,404,3825,0.00,2.35,18.33,0.743,6,0.000,0.057,2659,2605,2130,0,0,0,0,0,0
$GC,4143,0.69,194.4,197.2,10.0,436,4147,0.12,2.28,0.00,0.000,4,0.106,0.070,2712,3930,2126,0,0,0,0,0,0
$GC,4176,0.58,194.4,192.6,14.7,438,4184,0.20,2.15,0.00,0.000,6,0.193,0.046,2664,2595,2124,0,0,0,0,0,0
$GC,4502,0.59,204.8,159.5,9.5,469,4517,0.00,2.33,9.77,0.698,4,0.000,0.055,2664,1190,2088,0,0,0,0,0,0
$GC,4548,0.67,227.4,155.2,9.0,473,4574,0.00,2.30,20.62,0.704,6,0.000,0.057,2664,2596,1997,0,0,0,0,0,0
$GC,4901,0.72,230.7,121.4,9.8,506,4914,0.12,2.28,4.20,0.551,4,0.106,0.070,2715,3925,1981,0,0,0,0,0,0
$GC,4950,0.64,230.7,115.2,14.4,510,4955,0.15,2.12,0.00,0.000,6,0.200,0.047,2679,2620,1980,0,0,0,0,0,0
$GC,5287,0.69,251.6,81.9,9.0,556,5312,0.00,2.40,19.17,0.679,4,0.000,0.054,2678,1183,1896,0,0,0,0,0,0
$GC,5376,0.82,280.6,74.1,8.7,571,5412,0.17,2.35,26.10,0.666,6,0.091,0.057,2748,2613,1777,0,0,0,0,0,0
$GC,5751,0.80,280.6,30.0,11.6,637,5757,0.00,2.33,0.00,0.000,4,0.000,0.055,2749,1191,1771,0,0,0,0,0,0
$GC,5782,0.80,280.6,26.3,11.7,642,5789,0.00,2.30,0.00,0.000,6,0.000,0.057,2749,2584,1770,0,0,0,0,0,0
$FREEZE,8.56,-1.751,-1.786,2,10,0
$STATE,5925,end climb,FINISH_DEPTH_REACHED
$STATE,5925,begin subsurface finish
$FINISH1,8.6,1.026143,67
$GC,5932,0.04,66.6,8.6,-12.4,667,5968,0.82,2.28,-27.67,0.000,4,0.158,0.065,2498,1182,2653,0,0,0,0,0,0
$FINISH2,6.7
$STATE,5969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5969,begin surface
$RAFOS_CLK,355
$RAFOS,6,1293814143,16.833334,16.817499,76,41,41,41,41,40,768,255,1836,594,1776,287
$RAFOS_FIX,6640.225586,-5909.272949,311210,161617,6,91,5.68
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.11
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,26.7
$ALTIM_BOTTOM_PING,300.4,13.4
$24V_AH,22.1,75.262
$10V_AH,9.7,52.139
$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,3.850,64.950,365.175,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1594.060,2803.606,377.726,1130.256,127.740,0.000,1009.752,0.000,1123.629,0.000,7.100,0.000
$DEVICE_MAMPS,199.665,88.740,810.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,467.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23452,673
$CAP_FILE_SIZE,77052,0
$CFSIZE,260165632,206499840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.4
$GPS,311210,162718,6639.493,-5909.194,0,5094.4,0,-37.8