version: 66.08
glider: 183
mission: 3
dive: 649
start: 1 1 111 1 23 5
data:
$ID,183
$MISSION,3
$DIVE,649
$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
$GPS1,010111,003524,6638.911,-5900.403,0,5100.4,0,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.92
$_SM_ANGLEo,0.9
$GPS2,010111,003524,6638.911,-5900.403,0,5100.4,0,-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,102.8,105510,-17.5,-10.000
$D_GRID,829
$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,-6.28,0.000,2,0.000,0.000,2495,3925,2907,0,0,0,0,0,0
$GC,28,-0.57,-146.0,9.9,-0.0,1,53,0.57,4.22,-14.50,0.000,4,0.113,0.056,2298,1365,3523,0,0,0,0,0,0
$GC,88,-0.63,-146.0,15.1,-10.3,11,95,0.00,2.35,0.00,0.000,6,0.000,0.060,2293,2784,3524,0,0,0,0,0,0
$GC,434,-0.63,-146.0,56.4,-11.5,72,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2784,3524,0,0,0,0,0,0
$GC,781,-0.67,-146.0,92.4,-10.1,133,788,0.10,2.33,0.00,0.000,4,0.124,0.052,2249,1365,3523,0,0,0,0,0,0
$GC,818,-0.67,-146.0,96.9,-12.3,139,825,0.00,2.38,0.00,0.000,6,0.000,0.063,2248,2782,3524,0,0,0,0,0,0
$GC,1146,-0.64,-146.0,134.9,-11.9,172,1150,0.00,2.28,0.00,0.000,4,0.000,0.053,2248,1368,3523,0,0,0,0,0,0
$GC,1213,-0.64,-146.0,143.2,-11.2,177,1220,0.00,2.33,0.00,0.000,6,0.000,0.063,2248,2760,3523,0,0,0,0,0,0
$GC,1539,-0.64,-146.0,181.0,-11.0,208,1543,0.00,2.22,0.00,0.000,4,0.000,0.052,2247,1376,3523,0,0,0,0,0,0
$GC,1567,-0.64,-146.0,184.1,-11.0,210,1571,0.00,2.30,0.00,0.000,6,0.000,0.063,2248,2755,3523,0,0,0,0,0,0
$GC,1898,-0.64,-146.0,216.0,-9.3,241,1902,0.00,2.00,0.00,0.000,4,0.000,0.074,2248,3929,3523,0,0,0,0,0,0
$GC,1932,-0.64,-146.0,219.4,-9.8,244,1937,0.00,1.95,0.00,0.000,6,0.000,0.049,2248,2749,3523,0,0,0,0,0,0
$GC,2264,-0.64,-146.0,250.2,-9.0,275,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3523,0,0,0,0,0,0
$GC,2583,-0.64,-146.0,281.5,-10.3,305,2588,0.00,2.20,0.00,0.000,4,0.000,0.051,2247,1368,3523,0,0,0,0,0,0
$GC,2640,-0.67,-146.0,287.7,-10.9,309,2647,0.00,2.28,0.00,0.000,6,0.000,0.063,2248,2737,3522,0,0,0,0,0,0
$STATE,2766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2766,begin apogee
$GC,2772,-0.14,0.0,300.8,11.1,321,2898,0.55,0.00,119.38,0.811,4,0.139,0.000,2423,2600,2923,0,0,0,0,0,0
$STATE,2899,end apogee,CONTROL_FINISHED_OK
$STATE,2899,begin climb
$GC,2901,0.57,146.0,307.9,0.0,332,3036,0.68,2.38,124.55,0.785,4,0.077,0.052,2657,1186,2327,0,0,0,0,0,0
$GC,3200,0.62,185.9,292.4,8.2,358,3240,0.00,2.42,34.62,0.764,6,0.000,0.056,2657,2599,2165,0,0,0,0,0,0
$GC,3558,0.62,185.9,256.3,10.7,392,3562,0.00,2.30,0.00,0.000,4,0.000,0.054,2657,1188,2158,0,0,0,0,0,0
$GC,3738,0.67,185.9,238.2,10.4,407,3745,0.10,2.35,0.00,0.000,6,0.122,0.057,2699,2616,2157,0,0,0,0,0,0
$GC,4063,0.61,185.9,196.4,12.5,438,4067,0.00,2.22,0.00,0.000,4,0.000,0.069,2699,3930,2156,0,0,0,0,0,0
$GC,4092,0.51,185.9,192.3,14.2,440,4100,0.22,2.12,0.00,0.000,6,0.189,0.046,2642,2605,2154,0,0,0,0,0,0
$GC,4418,0.59,235.1,163.4,7.7,471,4467,0.00,0.00,41.55,0.717,6,0.000,0.000,2642,2605,1963,0,0,0,0,0,0
$GC,4786,0.70,257.0,130.5,9.0,506,4812,0.17,2.35,19.23,0.695,4,0.091,0.054,2711,1195,1873,0,0,0,0,0,0
$GC,4831,0.70,257.0,125.5,11.9,510,4835,0.00,2.33,0.00,0.000,6,0.000,0.057,2711,2607,1872,0,0,0,0,0,0
$GC,5163,0.70,257.0,85.1,11.4,550,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2607,1868,0,0,0,0,0,0
$GC,5508,0.70,260.2,46.6,9.9,611,5515,0.00,2.28,0.00,0.000,4,0.000,0.054,2711,1191,1867,0,0,0,0,0,0
$GC,5534,0.74,272.8,44.2,9.4,615,5553,0.00,2.35,14.05,0.659,6,0.000,0.057,2711,2619,1810,0,0,0,0,0,0
$FREEZE,8.81,-1.759,-1.785,2,15,0
$STATE,5887,end climb,FINISH_DEPTH_REACHED
$STATE,5887,begin subsurface finish
$FINISH1,8.8,1.026135,67
$GC,5894,0.04,66.9,8.8,-11.9,677,5930,0.70,2.22,-28.15,0.000,4,0.155,0.083,2497,3929,2651,0,0,0,0,0,0
$FINISH2,4.9
$STATE,5931,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5931,begin surface
$RAFOS_CLK,354
$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,49.88
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.3
$ALTIM_BOTTOM_PING,300.8,13.4
$24V_AH,22.1,75.649
$10V_AH,9.7,52.335
$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,3.100,54.375,353.375,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1611.836,2764.063,377.035,1110.901,121.433,0.000,989.099,0.000,1107.782,0.000,7.088,0.000
$DEVICE_MAMPS,188.955,82.620,810.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23461,683
$CAP_FILE_SIZE,69392,0
$CFSIZE,260165632,206303232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.0
$GPS,010111,003524,6638.911,-5900.403,0,5100.4,0,-37.8