version: 66.08
glider: 183
mission: 3
dive: 647
start: 12 31 110 22 2 20
data:
$ID,183
$MISSION,3
$DIVE,647
$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
$GPS1,311210,203138,6639.193,-5904.879,0,6093.5,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.19
$_SM_ANGLEo,-0.1
$GPS2,311210,203138,6639.193,-5904.879,0,6093.5,0,-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,103.8,108234,-17.5,-10.000
$D_GRID,865
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.25,0.000,2,0.000,0.000,2498,2607,2868,0,0,0,0,0,0
$GC,28,-0.57,-146.0,7.0,-0.0,1,53,0.57,2.35,-18.25,0.000,4,0.096,0.088,2289,3930,3522,0,0,0,0,0,0
$GC,88,-0.61,-146.0,12.1,-10.2,11,95,0.00,1.88,0.00,0.000,6,0.000,0.047,2289,2774,3523,0,0,0,0,0,0
$GC,434,-0.61,-146.0,53.9,-12.4,72,441,0.00,2.25,0.00,0.000,4,0.000,0.052,2289,1366,3522,0,0,0,0,0,0
$GC,546,-0.64,-146.0,67.1,-12.3,91,552,0.00,2.33,0.00,0.000,6,0.000,0.063,2288,2769,3523,0,0,0,0,0,0
$GC,891,-0.67,-146.0,104.0,-8.2,148,895,0.00,2.25,0.00,0.000,4,0.000,0.052,2288,1365,3522,0,0,0,0,0,0
$GC,936,-0.73,-146.0,107.9,-7.4,151,943,0.12,2.33,0.00,0.000,6,0.106,0.063,2235,2766,3523,0,0,0,0,0,0
$GC,1262,-0.67,-146.0,146.3,-11.7,182,1266,0.00,2.28,0.00,0.000,4,0.000,0.052,2236,1364,3522,0,0,0,0,0,0
$GC,1305,-0.67,-146.0,151.5,-11.2,185,1312,0.00,2.33,0.00,0.000,6,0.000,0.063,2235,2754,3522,0,0,0,0,0,0
$GC,1632,-0.63,-146.0,186.2,-10.7,216,1636,0.12,2.00,0.00,0.000,4,0.190,0.074,2261,3927,3522,0,0,0,0,0,0
$GC,1678,-0.66,-146.0,190.7,-9.4,220,1681,0.00,1.90,0.00,0.000,6,0.000,0.049,2261,2750,3522,0,0,0,0,0,0
$GC,2009,-0.69,-146.0,222.5,-9.9,251,2013,0.00,2.20,0.00,0.000,4,0.000,0.052,2261,1370,3522,0,0,0,0,0,0
$GC,2032,-0.71,-146.0,224.8,-9.1,252,2039,0.00,2.30,0.00,0.000,6,0.000,0.063,2261,2751,3522,0,0,0,0,0,0
$GC,2358,-0.74,-146.0,253.5,-9.2,283,2362,0.00,2.22,0.00,0.000,4,0.000,0.052,2261,1371,3522,0,0,0,0,0,0
$GC,2409,-0.80,-146.0,258.2,-8.9,287,2416,0.12,2.30,0.00,0.000,6,0.106,0.063,2208,2741,3522,0,0,0,0,0,0
$GC,2734,-0.73,-146.0,298.5,-12.6,318,2736,0.12,0.00,0.00,0.000,6,0.185,0.000,2240,2741,3522,0,0,0,0,0,0
$STATE,2757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2757,begin apogee
$GC,2764,-0.14,0.0,300.8,11.8,320,2889,0.57,0.00,119.20,0.813,4,0.138,0.000,2426,2604,2922,0,0,0,0,0,0
$STATE,2890,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin climb
$GC,2893,0.57,146.0,305.9,0.0,331,3027,0.68,2.40,124.18,0.786,4,0.079,0.052,2659,1184,2328,0,0,0,0,0,0
$GC,3186,0.60,164.7,287.3,9.1,357,3208,0.00,2.47,16.58,0.753,6,0.000,0.057,2658,2602,2251,0,0,0,0,0,0
$GC,3529,0.60,164.7,253.2,10.4,389,3533,0.00,2.30,0.00,0.000,4,0.000,0.054,2659,1185,2246,0,0,0,0,0,0
$GC,3741,0.64,164.7,231.8,10.6,407,3748,0.00,2.35,0.00,0.000,6,0.000,0.057,2659,2617,2245,0,0,0,0,0,0
$GC,4067,0.64,164.7,197.7,10.0,438,4071,0.00,2.22,0.00,0.000,4,0.000,0.070,2659,3932,2244,0,0,0,0,0,0
$GC,4111,0.59,164.7,192.6,11.8,441,4118,0.00,2.12,0.00,0.000,6,0.000,0.046,2662,2607,2243,0,0,0,0,0,0
$GC,4437,0.59,173.2,161.4,9.6,472,4447,0.00,0.00,8.05,0.692,6,0.000,0.000,2662,2607,2215,0,0,0,0,0,0
$GC,4766,0.60,179.5,129.7,9.7,503,4778,0.00,2.33,6.72,0.661,4,0.000,0.070,2662,3930,2191,0,0,0,0,0,0
$GC,4818,0.56,179.5,123.6,12.2,507,4824,0.00,2.12,0.00,0.000,6,0.000,0.045,2662,2605,2189,0,0,0,0,0,0
$GC,5146,0.63,228.0,97.3,7.8,541,5194,0.00,2.38,42.35,0.688,4,0.000,0.054,2662,1195,1991,0,0,0,0,0,0
$GC,5291,0.78,289.6,85.8,7.2,566,5350,0.17,2.30,52.60,0.669,6,0.093,0.056,2731,2578,1741,0,0,0,0,0,0
$GC,5688,0.78,289.6,37.6,11.5,636,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2578,1730,0,0,0,0,0,0
$FREEZE,8.35,-1.747,-1.788,2,13,0
$STATE,5942,end climb,FINISH_DEPTH_REACHED
$STATE,5942,begin subsurface finish
$FINISH1,8.4,1.026178,65
$GC,5949,0.04,64.9,8.4,-11.5,681,5986,0.77,2.38,-29.38,0.000,4,0.150,0.084,2492,3929,2661,0,0,0,0,0,0
$FINISH2,6.4
$STATE,5987,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5987,begin surface
$RAFOS_CLK,367
$RAFOS_FIX,6639.193359,-5904.878906,311210,202038,6,94,0.22
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,49.84
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,300.8,13.4
$24V_AH,22.1,75.499
$10V_AH,9.7,52.257
$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,3.275,56.500,369.675,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1581.139,2822.579,385.274,1128.117,124.801,0.000,1008.578,0.000,1122.212,0.000,7.088,0.000
$DEVICE_MAMPS,189.720,87.975,813.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23419,687
$CAP_FILE_SIZE,73002,0
$CFSIZE,260165632,206381056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.5
$GPS,311210,203138,6639.193,-5904.879,0,6093.5,0,-37.8