version: 66.08
glider: 183
mission: 3
dive: 645
start: 12 31 110 18 38 47
data:
$ID,183
$MISSION,3
$DIVE,645
$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,21
$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,8.54
$_SM_ANGLEo,0.1
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2498,1182,2876,0,0,0,0,0,0
$GC,27,-0.57,-146.0,9.7,-0.0,1,52,0.57,4.72,-15.40,0.000,4,0.110,0.072,2293,3935,3521,0,0,0,0,0,0
$GC,256,-0.57,-146.0,33.3,-11.3,41,263,0.00,1.88,0.00,0.000,6,0.000,0.048,2292,2781,3523,0,0,0,0,0,0
$GC,602,-0.59,-146.0,75.5,-11.2,102,609,0.00,2.25,0.00,0.000,4,0.000,0.052,2293,1373,3522,0,0,0,0,0,0
$GC,679,-0.63,-146.0,83.7,-9.7,115,686,0.00,2.33,0.00,0.000,6,0.000,0.063,2292,2773,3522,0,0,0,0,0,0
$GC,1023,-0.68,-146.0,116.1,-9.8,161,1028,0.10,2.28,0.00,0.000,4,0.122,0.053,2249,1369,3522,0,0,0,0,0,0
$GC,1123,-0.68,-146.0,129.1,-12.9,169,1130,0.00,2.28,0.00,0.000,6,0.000,0.063,2247,2738,3522,0,0,0,0,0,0
$GC,1449,-0.66,-146.0,169.7,-11.6,200,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2738,3521,0,0,0,0,0,0
$GC,1770,-0.66,-146.0,205.5,-9.8,230,1774,0.00,2.22,0.00,0.000,4,0.000,0.053,2247,1369,3521,0,0,0,0,0,0
$GC,1793,-0.66,-146.0,208.2,-10.5,232,1797,0.00,2.22,0.00,0.000,6,0.000,0.063,2247,2712,3521,0,0,0,0,0,0
$GC,2119,-0.66,-146.0,238.2,-8.7,262,2123,0.00,2.17,0.00,0.000,4,0.000,0.053,2247,1373,3521,0,0,0,0,0,0
$GC,2153,-0.66,-146.0,241.4,-9.2,264,2159,0.00,2.22,0.00,0.000,6,0.000,0.063,2247,2703,3521,0,0,0,0,0,0
$GC,2478,-0.66,-146.0,274.1,-10.4,295,2482,0.00,2.08,0.00,0.000,4,0.000,0.073,2247,3929,3521,0,0,0,0,0,0
$GC,2536,-0.68,-146.0,280.5,-11.1,300,2540,0.00,2.00,0.00,0.000,6,0.000,0.049,2247,2705,3521,0,0,0,0,0,0
$STATE,2731,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2733,begin apogee
$GC,2739,-0.14,0.0,300.4,9.9,318,2865,0.55,0.00,119.12,0.812,4,0.142,0.000,2423,2606,2923,0,0,0,0,0,0
$STATE,2866,end apogee,CONTROL_FINISHED_OK
$STATE,2866,begin climb
$GC,2868,0.57,146.0,305.1,0.0,329,3003,0.70,2.40,124.62,0.784,4,0.080,0.052,2663,1187,2327,0,0,0,0,0,0
$GC,3183,0.57,146.0,280.5,10.5,357,3190,0.00,2.45,0.00,0.000,6,0.000,0.057,2663,2603,2318,0,0,0,0,0,0
$GC,3509,0.54,146.0,245.4,10.3,388,3513,0.00,2.25,0.00,0.000,4,0.000,0.070,2663,3932,2316,0,0,0,0,0,0
$GC,3768,0.47,146.0,215.2,10.9,410,3776,0.15,2.17,0.00,0.000,6,0.203,0.046,2628,2584,2313,0,0,0,0,0,0
$GC,4094,0.58,226.2,194.4,6.3,441,4172,0.10,2.42,66.18,0.732,4,0.118,0.070,2673,3929,1997,0,0,0,0,0,0
$GC,4202,0.56,226.2,183.5,12.4,450,4209,0.00,2.20,0.00,0.000,6,0.000,0.045,2673,2605,1993,0,0,0,0,0,0
$GC,4528,0.58,226.2,147.5,11.2,481,4532,0.00,2.30,0.00,0.000,4,0.000,0.054,2673,1188,1989,0,0,0,0,0,0
$GC,4614,0.65,226.2,138.7,10.2,488,4618,0.00,2.33,0.00,0.000,6,0.000,0.057,2673,2607,1989,0,0,0,0,0,0
$GC,4944,0.70,252.9,109.1,8.8,518,4968,0.00,0.00,22.02,0.692,6,0.000,0.000,2673,2607,1892,0,0,0,0,0,0
$GC,5298,0.79,275.1,77.2,9.0,572,5324,0.15,2.40,19.75,0.673,4,0.100,0.055,2735,1186,1801,0,0,0,0,0,0
$GC,5411,0.82,283.9,65.3,9.6,591,5426,0.00,2.30,8.95,0.641,6,0.000,0.057,2735,2583,1764,0,0,0,0,0,0
$GC,5766,0.82,283.9,26.4,11.6,653,5773,0.00,2.28,0.00,0.000,4,0.000,0.070,2735,3934,1759,0,0,0,0,0,0
$GC,5796,0.79,283.9,22.4,13.0,658,5803,0.00,2.25,0.00,0.000,6,0.000,0.047,2735,2555,1758,0,0,0,0,0,0
$FREEZE,8.83,-1.757,-1.786,2,11,0
$STATE,5911,end climb,FINISH_DEPTH_REACHED
$STATE,5911,begin subsurface finish
$FINISH1,8.8,1.026139,67
$GC,5919,0.04,66.8,8.8,-12.2,678,5955,0.77,2.30,-28.08,0.000,4,0.151,0.065,2496,1190,2651,0,0,0,0,0,0
$FINISH2,6.3
$STATE,5956,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5956,begin surface
$RAFOS_CLK,359
$RAFOS,1,1293826143,20.166666,20.150833,80,45,44,43,42,40,713,268,877,773,1623,1836
$RAFOS,0,1293825664,20.033333,20.017778,48,45,43,41,39,39,587,26,811,1436,587,1922
$RAFOS_FIX,6640.225586,-5909.272949,311210,161617,6,91,5.68
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.031458
$HUMID,50.39
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.6
$ALTIM_BOTTOM_PING,300.4,13.4
$24V_AH,22.1,75.340
$10V_AH,9.7,52.178
$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,3.100,58.950,360.650,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1597.871,2768.430,374.550,1144.438,126.109,0.000,1004.415,0.000,1137.918,1080.000,7.087,0.000
$DEVICE_MAMPS,203.490,114.750,812.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23422,684
$CAP_FILE_SIZE,72347,0
$CFSIZE,260165632,206462976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.0
$GPS,311210,162718,6639.493,-5909.194,0,5094.4,0,-37.8