version: 66.08
glider: 183
mission: 3
dive: 664
start: 1 2 111 13 53 47
data:
$ID,183
$MISSION,3
$DIVE,664
$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,24
$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
$GPS1,020111,123512,6644.940,-5824.600,0,5107.8,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.91
$_SM_ANGLEo,0.4
$GPS2,020111,123512,6644.940,-5824.600,0,5107.8,0,-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,102.0,77363,-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,16,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.25,0.000,2,0.000,0.000,2496,1188,2909,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.8,-0.0,1,53,0.57,4.70,-15.27,0.000,4,0.117,0.070,2293,3929,3521,0,0,0,0,0,0
$GC,202,-0.61,-146.0,26.5,-11.4,31,208,0.00,1.85,0.00,0.000,6,0.000,0.047,2293,2776,3523,0,0,0,0,0,0
$GC,548,-0.65,-146.0,65.3,-9.7,92,555,0.00,1.98,0.00,0.000,4,0.000,0.073,2288,3925,3522,0,0,0,0,0,0
$GC,637,-0.72,-146.0,73.8,-9.6,107,644,0.12,1.80,0.00,0.000,6,0.107,0.048,2233,2818,3522,0,0,0,0,0,0
$GC,981,-0.66,-146.0,118.8,-12.8,156,985,0.00,2.30,0.00,0.000,4,0.000,0.051,2232,1376,3521,0,0,0,0,0,0
$GC,1036,-0.66,-146.0,126.1,-12.1,160,1044,0.12,2.42,0.00,0.000,6,0.176,0.062,2260,2830,3520,0,0,0,0,0,0
$GC,1362,-0.66,-146.0,159.6,-10.3,191,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2260,2830,3521,0,0,0,0,0,0
$GC,1682,-0.68,-146.0,189.8,-8.8,221,1686,0.00,2.38,0.00,0.000,4,0.000,0.052,2261,1371,3520,0,0,0,0,0,0
$GC,1764,-0.73,-146.0,197.2,-9.1,228,1768,0.00,2.45,0.00,0.000,6,0.000,0.063,2261,2828,3520,0,0,0,0,0,0
$GC,2095,-0.75,-146.0,226.1,-8.7,259,2099,0.00,2.35,0.00,0.000,4,0.000,0.051,2260,1370,3520,0,0,0,0,0,0
$GC,2129,-0.80,-146.0,229.0,-8.8,261,2136,0.12,2.42,0.00,0.000,6,0.103,0.062,2206,2816,3520,0,0,0,0,0,0
$GC,2455,-0.72,-146.0,266.7,-12.0,292,2460,0.12,2.35,0.00,0.000,4,0.185,0.051,2238,1372,3520,0,0,0,0,0,0
$GC,2488,-0.72,-146.0,270.4,-10.3,294,2495,0.00,2.42,0.00,0.000,6,0.000,0.062,2235,2817,3519,0,0,0,0,0,0
$STATE,2796,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2796,begin apogee
$GC,2803,-0.14,0.0,300.2,10.3,323,2927,0.60,0.00,118.30,0.798,4,0.136,0.000,2427,2601,2922,0,0,0,0,0,0
$STATE,2928,end apogee,CONTROL_FINISHED_OK
$STATE,2928,begin climb
$GC,2931,0.57,146.0,305.7,0.0,334,3064,0.68,2.38,123.65,0.773,4,0.075,0.051,2663,1188,2327,0,0,0,0,0,0
$GC,3234,0.58,158.4,286.3,9.4,361,3250,0.00,2.40,10.60,0.713,6,0.000,0.055,2663,2600,2277,0,0,0,0,0,0
$GC,3571,0.55,158.4,252.0,10.4,392,3575,0.00,2.33,0.00,0.000,4,0.000,0.054,2665,1180,2273,0,0,0,0,0,0
$GC,3806,0.56,161.0,228.4,9.9,412,3813,0.00,2.33,0.00,0.000,6,0.000,0.056,2665,2605,2273,0,0,0,0,0,0
$GC,4133,0.53,161.0,192.4,11.4,443,4137,0.00,2.20,0.00,0.000,4,0.000,0.067,2665,3925,2273,0,0,0,0,0,0
$GC,4178,0.46,161.0,186.6,13.4,446,4185,0.15,2.12,0.00,0.000,6,0.201,0.044,2627,2598,2271,0,0,0,0,0,0
$GC,4505,0.53,195.9,157.6,8.4,477,4542,0.00,2.28,32.38,0.699,4,0.000,0.050,2627,1194,2123,0,0,0,0,0,0
$GC,4567,0.66,234.5,152.5,8.2,482,4611,0.17,2.30,33.78,0.682,6,0.085,0.054,2697,2598,1966,0,0,0,0,0,0
$GC,4929,0.66,234.5,105.8,13.1,516,4933,0.00,2.22,0.00,0.000,4,0.000,0.066,2697,3931,1959,0,0,0,0,0,0
$GC,4986,0.61,234.5,97.9,13.5,521,4993,0.00,2.15,0.00,0.000,6,0.000,0.044,2699,2606,1957,0,0,0,0,0,0
$GC,5332,0.61,234.5,59.2,11.3,582,5339,0.00,2.25,0.00,0.000,4,0.000,0.054,2699,1192,1957,0,0,0,0,0,0
$GC,5421,0.67,245.8,50.5,9.5,597,5439,0.00,2.30,9.65,0.633,6,0.000,0.054,2699,2597,1920,0,0,0,0,0,0
$GC,5780,0.73,270.3,17.5,8.9,660,5810,0.00,2.28,21.98,0.636,4,0.000,0.069,2699,3928,1819,0,0,0,0,0,0
$GC,5829,0.75,270.3,12.5,10.5,668,5835,0.00,2.15,0.00,0.000,6,0.000,0.045,2699,2597,1818,0,0,0,0,0,0
$FREEZE,8.96,-1.744,-1.791,2,10,0
$STATE,5864,end climb,FINISH_DEPTH_REACHED
$STATE,5864,begin subsurface finish
$FINISH1,9.0,1.026216,63
$GC,5871,0.04,63.0,9.0,-8.7,674,5902,0.65,2.35,-24.55,0.000,4,0.145,0.065,2496,1183,2669,0,0,0,0,0,0
$FINISH2,7.4
$STATE,5903,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5903,begin surface
$RAFOS_CLK,347
$RAFOS_FIX,6644.939941,-5824.599609,020111,121212,5,108,0.25
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.029211
$HUMID,48.54
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.7
$ALTIM_BOTTOM_PING,300.2,14.0
$24V_AH,22.3,76.870
$10V_AH,9.7,53.084
$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,3.325,63.800,350.325,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1590.721,2734.430,373.668,1130.743,128.463,0.000,1000.033,0.000,1126.489,0.000,7.091,0.000
$DEVICE_MAMPS,201.195,73.440,797.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,23481,679
$CAP_FILE_SIZE,73655,0
$CFSIZE,260165632,205549568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.8
$GPS,020111,123512,6644.940,-5824.600,0,5107.8,0,-37.6