version: 66.08
glider: 183
mission: 3
dive: 646
start: 12 31 110 20 19 53
data:
$ID,183
$MISSION,3
$DIVE,646
$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,33
$R_STBD_OVSHOOT,27
$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,7.79
$_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,-5.45,0.000,2,0.000,0.000,2496,1190,2861,0,0,0,0,0,0
$GC,27,-0.57,-146.0,8.9,-0.0,1,52,0.57,4.65,-16.52,0.000,4,0.104,0.070,2293,3927,3521,0,0,0,0,0,0
$GC,211,-0.60,-146.0,28.0,-11.5,33,218,0.00,1.88,0.00,0.000,6,0.000,0.048,2293,2777,3523,0,0,0,0,0,0
$GC,556,-0.60,-146.0,67.8,-11.5,94,563,0.00,2.25,0.00,0.000,4,0.000,0.052,2292,1368,3522,0,0,0,0,0,0
$GC,622,-0.64,-146.0,75.0,-10.3,105,629,0.00,2.33,0.00,0.000,6,0.000,0.063,2292,2770,3522,0,0,0,0,0,0
$GC,964,-0.68,-146.0,106.7,-8.6,159,968,0.12,2.28,0.00,0.000,4,0.109,0.052,2240,1368,3521,0,0,0,0,0,0
$GC,1063,-0.68,-146.0,118.8,-12.2,167,1070,0.00,2.35,0.00,0.000,6,0.000,0.063,2237,2768,3521,0,0,0,0,0,0
$GC,1389,-0.63,-146.0,160.8,-12.8,198,1391,0.12,0.00,0.00,0.000,6,0.187,0.000,2269,2768,3521,0,0,0,0,0,0
$GC,1708,-0.66,-146.0,194.4,-9.8,228,1712,0.00,2.25,0.00,0.000,4,0.000,0.053,2270,1370,3521,0,0,0,0,0,0
$GC,1738,-0.71,-146.0,197.4,-9.7,230,1742,0.00,2.30,0.00,0.000,6,0.000,0.063,2269,2739,3521,0,0,0,0,0,0
$GC,2064,-0.74,-146.0,227.0,-8.4,260,2068,0.00,2.22,0.00,0.000,4,0.000,0.053,2270,1369,3521,0,0,0,0,0,0
$GC,2088,-0.78,-146.0,229.1,-8.8,261,2096,0.12,2.28,0.00,0.000,6,0.106,0.063,2212,2725,3520,0,0,0,0,0,0
$GC,2414,-0.71,-146.0,266.6,-11.0,292,2416,0.12,0.00,0.00,0.000,6,0.185,0.000,2244,2724,3521,0,0,0,0,0,0
$GC,2732,-0.71,-146.0,295.6,-8.8,322,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2724,3521,0,0,0,0,0,0
$STATE,2787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2787,begin apogee
$GC,2794,-0.14,0.0,300.2,8.5,327,2919,0.55,0.00,119.03,0.811,4,0.138,0.000,2423,2604,2923,0,0,0,0,0,0
$STATE,2920,end apogee,CONTROL_FINISHED_OK
$STATE,2920,begin climb
$GC,2922,0.57,146.0,303.8,0.0,338,3058,0.70,2.42,124.68,0.781,4,0.082,0.053,2662,1176,2326,0,0,0,0,0,0
$GC,3245,0.57,156.6,280.6,9.5,367,3260,0.00,2.45,9.27,0.713,6,0.000,0.057,2662,2600,2284,0,0,0,0,0,0
$GC,3587,0.57,156.6,243.7,10.9,399,3591,0.00,2.35,0.00,0.000,4,0.000,0.055,2662,1184,2279,0,0,0,0,0,0
$GC,3777,0.61,169.8,225.2,9.4,415,3796,0.00,2.38,12.18,0.731,6,0.000,0.057,2662,2617,2230,0,0,0,0,0,0
$GC,4113,0.61,169.8,189.2,10.3,447,4117,0.00,2.22,0.00,0.000,4,0.000,0.069,2662,3929,2227,0,0,0,0,0,0
$GC,4177,0.57,169.8,182.3,11.2,452,4181,0.00,2.15,0.00,0.000,6,0.000,0.046,2662,2596,2225,0,0,0,0,0,0
$GC,4508,0.58,190.3,153.4,9.1,483,4528,0.00,0.00,18.40,0.714,6,0.000,0.000,2662,2596,2146,0,0,0,0,0,0
$GC,4847,0.61,199.4,120.4,9.6,515,4862,0.00,2.33,8.68,0.672,4,0.000,0.070,2662,3923,2110,0,0,0,0,0,0
$GC,4885,0.61,199.4,116.3,10.8,518,4892,0.00,2.10,0.00,0.000,6,0.000,0.046,2662,2619,2109,0,0,0,0,0,0
$GC,5219,0.69,240.6,87.8,8.1,562,5261,0.10,2.40,36.20,0.680,4,0.123,0.054,2703,1194,1941,0,0,0,0,0,0
$GC,5365,0.75,252.3,74.6,9.5,587,5384,0.00,2.35,11.15,0.656,6,0.000,0.057,2703,2606,1894,0,0,0,0,0,0
$GC,5725,0.80,267.0,41.6,9.3,650,5744,0.00,2.38,13.45,0.659,4,0.000,0.054,2704,1194,1833,0,0,0,0,0,0
$GC,5769,0.89,292.3,37.6,8.8,657,5800,0.17,2.33,22.88,0.649,6,0.089,0.057,2775,2607,1730,0,0,0,0,0,0
$FREEZE,8.11,-1.735,-1.786,2,12,0
$STATE,5973,end climb,FINISH_DEPTH_REACHED
$STATE,5973,begin subsurface finish
$FINISH1,8.1,1.026152,66
$GC,5981,0.04,66.1,8.1,-14.8,693,6017,0.95,0.00,-30.95,0.000,6,0.170,0.000,2498,2608,2654,0,0,0,0,0,0
$FINISH2,5.7
$STATE,6017,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6018,begin surface
$RAFOS_CLK,360
$RAFOS,6,1293828546,20.833334,20.818333,106,45,43,41,40,40,751,1137,1083,1666,732,1177
$RAFOS,5,1293828063,20.700001,20.684166,71,47,44,44,43,42,789,284,1779,1639,1763,1236
$RAFOS,4,1293827583,20.566668,20.550833,138,47,46,45,44,40,622,615,1941,735,1420,1561
$RAFOS,3,1293827105,20.433332,20.418056,81,56,43,42,41,39,641,764,1166,304,1014,674
$RAFOS,2,1293826624,20.299999,20.284445,85,44,41,41,39,39,676,533,246,1907,797,945
$RAFOS_FIX,6639.193359,-5904.878906,311210,202038,6,94,0.22
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.029211
$HUMID,50.23
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$ALTIM_BOTTOM_PING,300.2,13.4
$24V_AH,22.1,75.420
$10V_AH,9.7,52.218
$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,3.550,52.825,375.900,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1636.546,2808.624,381.030,1136.991,127.575,0.000,1007.090,0.000,1133.310,1440.000,7.090,0.000
$DEVICE_MAMPS,187.425,73.440,810.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23441,699
$CAP_FILE_SIZE,74005,0
$CFSIZE,260165632,206417920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.0
$GPS,311210,203138,6639.193,-5904.879,0,6093.5,0,-37.8