version: 66.08
glider: 183
mission: 3
dive: 648
start: 12 31 110 23 43 55
data:
$ID,183
$MISSION,3
$DIVE,648
$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,35
$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
$GPS1,311210,203138,6639.193,-5904.879,0,6093.5,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.50
$_SM_ANGLEo,-0.2
$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,12,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,-5.57,0.000,2,0.000,0.000,2492,3929,2892,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.3,-0.0,1,52,0.55,4.25,-14.43,0.000,4,0.106,0.056,2298,1362,3523,0,0,0,0,0,0
$GC,161,-0.61,-146.0,24.0,-10.3,24,168,0.00,2.38,0.00,0.000,6,0.000,0.060,2293,2786,3525,0,0,0,0,0,0
$GC,506,-0.61,-146.0,65.7,-11.1,85,513,0.00,2.30,0.00,0.000,4,0.000,0.052,2293,1369,3525,0,0,0,0,0,0
$GC,550,-0.66,-146.0,70.1,-10.5,92,557,0.00,2.30,0.00,0.000,6,0.000,0.062,2293,2757,3525,0,0,0,0,0,0
$GC,895,-0.70,-146.0,102.1,-7.8,151,899,0.12,2.03,0.00,0.000,4,0.111,0.073,2234,3929,3524,0,0,0,0,0,0
$GC,913,-0.70,-146.0,104.1,-9.2,152,920,0.00,1.90,0.00,0.000,6,0.000,0.047,2234,2760,3524,0,0,0,0,0,0
$GC,1239,-0.65,-146.0,149.4,-14.5,183,1243,0.12,2.25,0.00,0.000,4,0.182,0.053,2268,1374,3523,0,0,0,0,0,0
$GC,1340,-0.69,-146.0,161.0,-11.1,192,1344,0.00,2.33,0.00,0.000,6,0.000,0.063,2265,2772,3524,0,0,0,0,0,0
$GC,1668,-0.71,-146.0,192.5,-9.5,222,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2771,3523,0,0,0,0,0,0
$GC,1997,-0.74,-146.0,225.2,-9.8,253,2001,0.00,2.25,0.00,0.000,4,0.000,0.053,2265,1373,3523,0,0,0,0,0,0
$GC,2020,-0.77,-146.0,228.0,-9.7,254,2028,0.10,2.33,0.00,0.000,6,0.118,0.063,2220,2766,3523,0,0,0,0,0,0
$GC,2346,-0.72,-146.0,265.8,-11.7,285,2350,0.00,2.25,0.00,0.000,4,0.000,0.053,2220,1374,3523,0,0,0,0,0,0
$GC,2374,-0.67,-146.0,269.5,-11.7,287,2381,0.15,2.28,0.00,0.000,6,0.178,0.063,2256,2745,3523,0,0,0,0,0,0
$GC,2701,-0.70,-146.0,300.0,-8.7,318,2707,0.00,2.00,0.00,0.000,4,0.000,0.073,2250,3928,3523,0,0,0,0,0,0
$STATE,2712,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2712,begin apogee
$GC,2720,-0.14,0.0,301.3,8.8,319,2851,0.52,0.00,119.38,0.812,4,0.135,0.000,2421,2601,2922,0,0,0,0,0,0
$STATE,2851,end apogee,CONTROL_FINISHED_OK
$STATE,2852,begin climb
$GC,2855,0.57,146.0,305.3,0.0,331,2989,0.70,2.38,124.43,0.785,4,0.079,0.052,2662,1189,2327,0,0,0,0,0,0
$GC,3192,0.57,146.0,277.6,10.6,361,3196,0.00,2.40,0.00,0.000,6,0.000,0.057,2662,2600,2318,0,0,0,0,0,0
$GC,3519,0.54,146.0,241.4,10.8,391,3523,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1183,2316,0,0,0,0,0,0
$GC,3733,0.56,169.9,220.2,8.9,409,3762,0.00,2.33,19.25,0.743,6,0.000,0.057,2662,2602,2231,0,0,0,0,0,0
$GC,4080,0.58,196.4,188.4,8.8,442,4114,0.00,2.33,23.62,0.729,4,0.000,0.070,2662,3926,2120,0,0,0,0,0,0
$GC,4139,0.55,196.4,182.8,11.0,447,4143,0.00,2.17,0.00,0.000,6,0.000,0.046,2663,2588,2118,0,0,0,0,0,0
$GC,4465,0.59,213.8,150.5,9.2,477,4488,0.00,2.28,15.80,0.705,4,0.000,0.052,2663,1181,2050,0,0,0,0,0,0
$GC,4525,0.68,230.4,145.1,9.2,482,4548,0.00,2.30,15.73,0.695,6,0.000,0.057,2662,2585,1982,0,0,0,0,0,0
$GC,4867,0.75,248.4,112.6,9.2,514,4887,0.15,0.00,16.10,0.690,6,0.099,0.000,2724,2585,1909,0,0,0,0,0,0
$GC,5219,0.73,248.4,67.0,12.5,568,5226,0.00,2.28,0.00,0.000,4,0.000,0.069,2725,3929,1905,0,0,0,0,0,0
$GC,5240,0.69,248.4,64.3,12.9,571,5247,0.00,2.22,0.00,0.000,6,0.000,0.046,2725,2559,1904,0,0,0,0,0,0
$GC,5585,0.69,248.4,28.0,10.4,632,5592,0.00,2.33,0.00,0.000,4,0.000,0.070,2725,3933,1903,0,0,0,0,0,0
$GC,5662,0.62,248.4,19.4,11.4,645,5670,0.17,2.22,0.00,0.000,6,0.190,0.046,2681,2564,1902,0,0,0,0,0,0
$FREEZE,8.83,-1.757,-1.785,2,14,0
$STATE,5784,end climb,FINISH_DEPTH_REACHED
$STATE,5784,begin subsurface finish
$FINISH1,8.8,1.026129,67
$GC,5792,0.04,67.3,8.8,-8.4,666,5823,0.57,2.28,-22.12,0.000,4,0.144,0.086,2495,3925,2651,0,0,0,0,0,0
$FINISH2,7.2
$STATE,5824,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5824,begin surface
$RAFOS_CLK,349
$RAFOS,6,1293842945,0.833333,0.818056,75,48,45,44,42,42,756,663,26,439,1875,1114
$RAFOS,5,1293842465,0.700000,0.684722,113,45,44,43,42,38,777,1676,1205,1340,324,879
$RAFOS,4,1293841986,0.566667,0.551667,135,54,46,44,44,41,605,960,439,873,1161,1435
$RAFOS,3,1293841509,0.433333,0.419167,84,46,45,43,42,40,627,1490,1523,1733,292,1869
$RAFOS,2,1293841026,0.300000,0.285000,95,49,47,47,44,44,689,1793,664,1608,951,136
$RAFOS,1,1293840550,0.166667,0.152778,56,41,40,39,39,39,697,489,587,81,1023,1095
$RAFOS,0,1293840069,0.033333,0.019167,42,41,41,39,38,37,1894,670,1921,954,1594,1017
$RAFOS_FIX,6638.911133,-5900.402832,010111,000024,5,100,0.23
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,50.23
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,300.8,13.5
$24V_AH,22.1,75.572
$10V_AH,9.7,52.297
$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,3.175,62.900,334.300,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1612.371,2678.021,370.106,1106.792,127.057,0.000,989.477,0.000,1104.064,2520.000,7.076,0.000
$DEVICE_MAMPS,189.720,127.755,812.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,466.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23415,671
$CAP_FILE_SIZE,73966,0
$CFSIZE,260165632,206336000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.5
$GPS,010111,003524,6638.911,-5900.403,0,5100.4,0,-37.8