version: 66.08
glider: 183
mission: 3
dive: 659
start: 1 2 111 1 56 59
data:
$ID,183
$MISSION,3
$DIVE,659
$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,35
$R_STBD_OVSHOOT,29
$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
$GPS1,020111,003533,6642.218,-5828.160,0,3124.7,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-7.1
$GPS2,020111,003533,6642.218,-5828.160,0,3124.7,0,-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,99.6,81933,-17.5,-10.000
$D_GRID,719
$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,17,-0.57,-146.0,0.0,0.0,0,47,0.00,0.00,-28.55,0.000,2,0.000,0.000,2477,1195,3400,0,0,0,0,0,0
$GC,51,-0.57,-146.0,5.0,-5.1,5,59,0.52,0.30,-4.00,0.000,4,0.101,0.171,2293,1376,3520,0,0,0,0,0,0
$GC,152,-0.60,-146.0,14.5,-10.9,22,158,0.00,2.30,0.00,0.000,6,0.000,0.060,2291,2772,3522,0,0,0,0,0,0
$GC,497,-0.62,-146.0,55.5,-10.8,83,504,0.00,2.25,0.00,0.000,4,0.000,0.050,2291,1365,3521,0,0,0,0,0,0
$GC,559,-0.67,-146.0,61.5,-10.0,93,565,0.00,2.38,0.00,0.000,6,0.000,0.060,2288,2788,3522,0,0,0,0,0,0
$GC,906,-0.71,-146.0,94.9,-9.3,154,913,0.12,2.30,0.00,0.000,4,0.107,0.050,2233,1368,3521,0,0,0,0,0,0
$GC,943,-0.67,-146.0,99.5,-12.3,160,950,0.00,2.35,0.00,0.000,6,0.000,0.061,2229,2776,3521,0,0,0,0,0,0
$GC,1269,-0.61,-146.0,140.1,-12.3,191,1273,0.17,1.98,0.00,0.000,4,0.172,0.071,2273,3932,3521,0,0,0,0,0,0
$GC,1315,-0.65,-146.0,145.0,-9.5,195,1319,0.00,1.88,0.00,0.000,6,0.000,0.049,2272,2797,3521,0,0,0,0,0,0
$GC,1646,-0.69,-146.0,174.4,-9.2,226,1650,0.00,2.30,0.00,0.000,4,0.000,0.050,2272,1361,3521,0,0,0,0,0,0
$GC,1739,-0.74,-146.0,182.5,-8.7,234,1745,0.10,2.38,0.00,0.000,6,0.117,0.062,2228,2789,3521,0,0,0,0,0,0
$GC,2067,-0.70,-146.0,219.1,-11.4,264,2071,0.00,2.28,0.00,0.000,4,0.000,0.050,2228,1370,3520,0,0,0,0,0,0
$GC,2096,-0.67,-146.0,222.6,-11.5,266,2100,0.12,2.35,0.00,0.000,6,0.185,0.063,2255,2777,3519,0,0,0,0,0,0
$GC,2427,-0.69,-146.0,253.6,-9.3,297,2431,0.00,2.00,0.00,0.000,4,0.000,0.071,2249,3950,3519,0,0,0,0,0,0
$GC,2461,-0.69,-146.0,257.0,-10.3,300,2465,0.00,1.95,0.00,0.000,6,0.000,0.047,2248,2773,3520,0,0,0,0,0,0
$GC,2792,-0.69,-146.0,289.1,-9.8,331,2796,0.00,2.25,0.00,0.000,4,0.000,0.050,2249,1363,3520,0,0,0,0,0,0
$GC,2832,-0.72,-146.0,293.3,-9.9,334,2838,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2779,3519,0,0,0,0,0,0
$STATE,2913,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2913,begin apogee
$GC,2920,-0.14,0.0,300.9,9.7,342,3045,0.55,0.00,119.00,0.800,4,0.137,0.000,2423,2597,2923,0,0,0,0,0,0
$STATE,3046,end apogee,CONTROL_FINISHED_OK
$STATE,3046,begin climb
$GC,3049,0.57,146.0,305.9,0.0,353,3184,0.68,2.38,124.18,0.773,4,0.080,0.050,2657,1184,2326,0,0,0,0,0,0
$GC,3366,0.58,163.3,285.1,9.2,381,3389,0.00,2.40,15.07,0.736,6,0.000,0.054,2658,2602,2256,0,0,0,0,0,0
$GC,3707,0.58,163.3,251.1,10.3,413,3711,0.00,2.30,0.00,0.000,4,0.000,0.052,2658,1178,2252,0,0,0,0,0,0
$GC,3931,0.61,164.0,229.0,10.0,432,3938,0.00,2.33,0.00,0.000,6,0.000,0.055,2658,2601,2251,0,0,0,0,0,0
$GC,4258,0.61,164.0,194.6,11.2,463,4262,0.00,2.22,0.00,0.000,4,0.000,0.067,2658,3935,2250,0,0,0,0,0,0
$GC,4302,0.56,164.0,189.0,12.9,466,4309,0.00,2.15,0.00,0.000,6,0.000,0.044,2662,2587,2248,0,0,0,0,0,0
$GC,4628,0.56,169.5,154.8,9.7,497,4641,0.00,2.22,5.12,0.601,4,0.000,0.050,2662,1194,2234,0,0,0,0,0,0
$GC,4658,0.59,178.1,151.8,9.6,499,4676,0.00,2.30,10.15,0.675,6,0.000,0.054,2662,2600,2196,0,0,0,0,0,0
$GC,4995,0.60,195.6,119.4,9.2,531,5016,0.00,2.30,15.88,0.682,4,0.000,0.066,2662,3925,2124,0,0,0,0,0,0
$GC,5040,0.60,195.6,114.6,11.2,535,5044,0.00,2.12,0.00,0.000,6,0.000,0.043,2662,2598,2122,0,0,0,0,0,0
$GC,5377,0.65,226.7,83.2,8.6,582,5413,0.00,2.33,27.40,0.666,4,0.000,0.051,2662,1195,1997,0,0,0,0,0,0
$GC,5427,0.75,251.5,78.7,8.9,590,5457,0.15,2.33,22.40,0.645,6,0.099,0.054,2723,2600,1896,0,0,0,0,0,0
$GC,5796,0.75,251.5,35.1,11.1,655,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2600,1888,0,0,0,0,0,0
$FREEZE,8.79,-1.744,-1.787,2,5,0
$STATE,6049,end climb,FINISH_DEPTH_REACHED
$STATE,6050,begin subsurface finish
$FINISH1,8.8,1.026155,66
$GC,6056,0.04,66.0,8.8,-9.3,700,6087,0.75,2.30,-22.62,0.000,4,0.151,0.064,2492,1182,2655,0,0,0,0,0,0
$FINISH2,7.1
$STATE,6088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6088,begin surface
$RAFOS_CLK,355
$RAFOS_FIX,6642.218262,-5828.159668,020111,000033,3,125,0.23
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,48.81
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,300.9,13.5
$24V_AH,22.2,76.495
$10V_AH,9.8,52.840
$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,3.175,63.550,339.200,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1678.184,2798.992,372.728,1164.459,130.637,0.000,1018.573,0.000,1160.037,0.000,7.089,0.000
$DEVICE_MAMPS,185.130,170.595,800.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151716
$DATA_FILE_SIZE,23403,705
$CAP_FILE_SIZE,76297,0
$CFSIZE,260165632,205791232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.3
$GPS,020111,003533,6642.218,-5828.160,0,3124.7,0,-37.6