version: 66.08
glider: 183
mission: 3
dive: 655
start: 1 1 111 17 24 8
data:
$ID,183
$MISSION,3
$DIVE,655
$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,-3
$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,-11340.817
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,010111,170858,6641.966,-5835.528,25,99.0,44,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-63.3
$GPS2,010111,172246,6641.893,-5835.159,12,99.0,31,-37.6
$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,100.8,86697,-17.5,-10.000
$D_GRID,731
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,169,0.00,0.00,-146.62,0.000,2,0.000,0.000,288,2790,3480,0,0,0,0,0,0
$GC,172,-0.57,-146.0,6.4,-17.2,26,186,8.65,1.98,-0.75,0.000,4,0.253,0.077,2279,3932,3520,0,0,0,0,0,0
$GC,384,-0.57,-146.0,52.5,-13.0,63,391,0.00,1.88,0.00,0.000,6,0.000,0.051,2279,2776,3523,0,0,0,0,0,0
$GC,730,-0.57,-146.0,91.5,-10.3,124,737,0.00,2.25,0.00,0.000,4,0.000,0.053,2279,1372,3521,0,0,0,0,0,0
$GC,859,-0.60,-146.0,104.4,-9.5,143,863,0.00,2.35,0.00,0.000,6,0.000,0.063,2277,2772,3522,0,0,0,0,0,0
$GC,1185,-0.62,-146.0,135.8,-9.1,173,1189,0.00,2.25,0.00,0.000,4,0.000,0.052,2277,1372,3521,0,0,0,0,0,0
$GC,1219,-0.66,-146.0,139.2,-9.6,175,1226,0.00,2.30,0.00,0.000,6,0.000,0.063,2275,2743,3521,0,0,0,0,0,0
$GC,1545,-0.68,-146.0,171.8,-10.1,206,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2743,3521,0,0,0,0,0,0
$GC,1866,-0.72,-146.0,200.7,-8.2,236,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2743,3521,0,0,0,0,0,0
$GC,2195,-0.76,-146.0,231.3,-9.5,267,2199,0.12,2.03,0.00,0.000,4,0.106,0.073,2217,3926,3521,0,0,0,0,0,0
$GC,2244,-0.70,-146.0,238.3,-13.4,271,2252,0.12,1.92,0.00,0.000,6,0.172,0.048,2249,2744,3521,0,0,0,0,0,0
$GC,2570,-0.70,-146.0,273.9,-10.3,302,2574,0.00,2.20,0.00,0.000,4,0.000,0.051,2249,1362,3521,0,0,0,0,0,0
$GC,2603,-0.70,-146.0,277.7,-10.9,304,2610,0.00,2.30,0.00,0.000,6,0.000,0.061,2247,2742,3521,0,0,0,0,0,0
$STATE,2836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2836,begin apogee
$GC,2844,-0.14,0.0,301.0,10.2,326,2969,0.55,0.00,119.18,0.811,4,0.139,0.000,2424,2603,2923,0,0,0,0,0,0
$STATE,2969,end apogee,CONTROL_FINISHED_OK
$STATE,2970,begin climb
$GC,2972,0.57,146.0,307.0,0.0,337,3108,0.70,2.40,124.07,0.784,4,0.081,0.050,2664,1177,2326,0,0,0,0,0,0
$GC,3317,0.58,163.1,284.3,9.2,368,3340,0.00,2.40,14.55,0.745,6,0.000,0.055,2664,2601,2258,0,0,0,0,0,0
$GC,3658,0.58,163.1,249.4,10.8,400,3662,0.00,2.28,0.00,0.000,4,0.000,0.052,2665,1186,2253,0,0,0,0,0,0
$GC,3855,0.58,163.1,229.2,10.7,417,3860,0.00,2.33,0.00,0.000,6,0.000,0.055,2665,2612,2253,0,0,0,0,0,0
$GC,4181,0.58,163.1,194.0,10.7,447,4185,0.00,2.22,0.00,0.000,4,0.000,0.067,2665,3931,2251,0,0,0,0,0,0
$GC,4246,0.51,163.1,186.6,12.0,452,4250,0.00,2.12,0.00,0.000,6,0.000,0.044,2665,2601,2250,0,0,0,0,0,0
$GC,4572,0.51,163.1,153.8,10.4,482,4576,0.00,2.25,0.00,0.000,4,0.000,0.067,2665,3933,2250,0,0,0,0,0,0
$GC,4630,0.45,163.1,146.9,12.2,487,4635,0.15,2.10,0.00,0.000,6,0.200,0.044,2627,2626,2250,0,0,0,0,0,0
$GC,4956,0.55,206.1,120.6,8.0,517,5001,0.00,2.35,36.75,0.692,4,0.000,0.052,2627,1191,2082,0,0,0,0,0,0
$GC,5055,0.73,253.2,113.3,7.8,525,5106,0.22,2.35,40.60,0.677,6,0.080,0.054,2717,2624,1888,0,0,0,0,0,0
$GC,5439,0.73,253.2,65.6,12.0,584,5446,0.00,2.17,0.00,0.000,4,0.000,0.067,2717,3924,1879,0,0,0,0,0,0
$GC,5459,0.70,253.2,63.1,13.0,587,5466,0.00,2.17,0.00,0.000,6,0.000,0.045,2718,2588,1878,0,0,0,0,0,0
$GC,5806,0.71,258.3,27.6,9.8,648,5813,0.00,2.25,0.00,0.000,4,0.000,0.053,2718,1189,1877,0,0,0,0,0,0
$GC,5930,0.79,294.6,17.0,8.3,669,5972,0.00,2.28,33.80,0.643,6,0.000,0.056,2718,2576,1721,0,0,0,0,0,0
$FREEZE,8.91,-1.737,-1.787,2,1,0
$STATE,6022,end climb,FINISH_DEPTH_REACHED
$STATE,6024,begin subsurface finish
$FINISH1,8.9,1.026156,66
$GC,6032,0.04,65.9,8.9,-8.7,685,6068,0.73,2.35,-27.05,0.000,4,0.145,0.083,2492,3932,2658,0,0,0,0,0,0
$FINISH2,7.8
$STATE,6069,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6069,begin surface
$RAFOS_CLK,314
$RAFOS_FIX,6642.819336,-5839.936035,010111,161624,3,86,0.12
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.029211
$HUMID,48.62
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,301.0,13.4
$24V_AH,22.2,76.210
$10V_AH,9.7,52.660
$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,11.250,55.700,368.950,0.000,0.000,29.289,45.487,395.572,0.750,0.000,34.852,1578.982,2802.139,482.014,1614.924,472.184,0.000,1140.918,0.000,1147.719,0.000,7.091,0.000
$DEVICE_MAMPS,253.215,82.620,810.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,477.093,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152532
$DATA_FILE_SIZE,23392,691
$CAP_FILE_SIZE,81972,0
$CFSIZE,260165632,205967360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$GPS,010111,172246,6641.893,-5835.159,12,99.0,31,-37.6