version: 66.08
glider: 183
mission: 3
dive: 666
start: 1 2 111 18 6 5
data:
$ID,183
$MISSION,3
$DIVE,666
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.76
$_SM_ANGLEo,-5.2
$GPS2,020111,163524,6646.410,-5820.752,0,5127.8,0,-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,103.0,73691,-17.5,-10.000
$D_GRID,721
$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,-6.18,0.000,2,0.000,0.000,2481,1179,2894,0,0,0,0,0,0
$GC,28,-0.57,-146.0,8.6,-0.0,1,47,0.50,0.32,-15.77,0.000,4,0.081,0.163,2293,1374,3520,0,0,0,0,0,0
$GC,169,-0.60,-146.0,22.8,-11.7,25,176,0.00,2.30,0.00,0.000,6,0.000,0.060,2292,2774,3524,0,0,0,0,0,0
$GC,516,-0.63,-146.0,62.3,-9.7,86,523,0.00,2.25,0.00,0.000,4,0.000,0.050,2292,1369,3523,0,0,0,0,0,0
$GC,560,-0.70,-146.0,67.0,-9.8,93,567,0.12,2.35,0.00,0.000,6,0.100,0.061,2236,2787,3522,0,0,0,0,0,0
$GC,907,-0.64,-146.0,113.3,-13.0,146,912,0.10,2.33,0.00,0.000,4,0.185,0.050,2261,1370,3521,0,0,0,0,0,0
$GC,947,-0.64,-146.0,118.4,-11.4,149,951,0.00,2.35,0.00,0.000,6,0.000,0.062,2261,2785,3522,0,0,0,0,0,0
$GC,1272,-0.64,-146.0,153.2,-10.4,179,1276,0.00,2.28,0.00,0.000,4,0.000,0.050,2261,1370,3521,0,0,0,0,0,0
$GC,1301,-0.64,-146.0,156.1,-9.7,181,1305,0.00,2.35,0.00,0.000,6,0.000,0.061,2261,2770,3521,0,0,0,0,0,0
$GC,1628,-0.64,-146.0,188.2,-9.5,211,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2770,3521,0,0,0,0,0,0
$GC,1948,-0.67,-146.0,216.0,-8.3,241,1952,0.00,2.25,0.00,0.000,4,0.000,0.050,2261,1369,3520,0,0,0,0,0,0
$GC,1978,-0.70,-146.0,218.8,-8.4,243,1982,0.00,2.35,0.00,0.000,6,0.000,0.062,2261,2770,3520,0,0,0,0,0,0
$GC,2304,-0.73,-146.0,245.6,-8.5,273,2309,0.00,2.25,0.00,0.000,4,0.000,0.050,2261,1368,3520,0,0,0,0,0,0
$GC,2361,-0.78,-146.0,250.6,-8.2,277,2369,0.12,2.30,0.00,0.000,6,0.103,0.061,2207,2744,3520,0,0,0,0,0,0
$GC,2687,-0.71,-146.0,289.9,-12.5,308,2689,0.15,0.00,0.00,0.000,6,0.180,0.000,2247,2744,3520,0,0,0,0,0,0
$STATE,2794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2795,begin apogee
$GC,2802,-0.14,0.0,300.4,9.4,318,2926,0.55,0.00,118.82,0.793,4,0.134,0.000,2427,2602,2922,0,0,0,0,0,0
$STATE,2927,end apogee,CONTROL_FINISHED_OK
$STATE,2927,begin climb
$GC,2930,0.57,146.0,305.9,0.0,329,3063,0.68,2.40,123.88,0.773,4,0.076,0.050,2663,1186,2327,0,0,0,0,0,0
$GC,3248,0.58,170.1,285.2,8.9,357,3277,0.00,2.40,20.85,0.744,6,0.000,0.054,2662,2608,2229,0,0,0,0,0,0
$GC,3595,0.58,170.1,250.0,10.5,390,3599,0.00,2.33,0.00,0.000,4,0.000,0.053,2663,1181,2223,0,0,0,0,0,0
$GC,3786,0.62,185.7,231.0,9.3,406,3806,0.00,2.35,14.10,0.721,6,0.000,0.056,2663,2621,2165,0,0,0,0,0,0
$GC,4133,0.62,185.7,192.9,11.2,439,4137,0.00,2.17,0.00,0.000,4,0.000,0.067,2663,3925,2161,0,0,0,0,0,0
$GC,4163,0.59,185.7,189.2,12.3,441,4167,0.00,2.15,0.00,0.000,6,0.000,0.044,2665,2596,2160,0,0,0,0,0,0
$GC,4489,0.59,186.3,154.7,10.0,471,4493,0.00,2.25,0.00,0.000,4,0.000,0.067,2665,3925,2159,0,0,0,0,0,0
$GC,4511,0.57,186.3,152.3,10.0,472,4518,0.00,2.10,0.00,0.000,6,0.000,0.044,2665,2625,2159,0,0,0,0,0,0
$GC,4837,0.58,206.2,121.6,9.1,503,4861,0.00,2.38,18.08,0.676,4,0.000,0.052,2665,1192,2082,0,0,0,0,0,0
$GC,4897,0.66,226.9,116.0,9.0,508,4922,0.00,2.33,19.15,0.665,6,0.000,0.054,2666,2619,1996,0,0,0,0,0,0
$GC,5254,0.72,235.1,83.7,9.6,556,5269,0.12,2.40,7.60,0.623,4,0.108,0.054,2718,1187,1964,0,0,0,0,0,0
$GC,5304,0.72,235.1,77.9,11.7,564,5311,0.00,2.33,0.00,0.000,6,0.000,0.055,2718,2611,1963,0,0,0,0,0,0
$GC,5650,0.72,236.3,36.9,9.9,625,5656,0.00,2.22,0.00,0.000,4,0.000,0.068,2718,3928,1960,0,0,0,0,0,0
$GC,5670,0.69,236.3,34.9,10.5,628,5677,0.00,2.17,0.00,0.000,6,0.000,0.045,2718,2588,1960,0,0,0,0,0,0
$FREEZE,8.58,-1.754,-1.790,2,12,0
$STATE,5931,end climb,FINISH_DEPTH_REACHED
$STATE,5931,begin subsurface finish
$FINISH1,8.6,1.026210,63
$GC,5938,0.04,63.3,8.6,-10.5,674,5969,0.73,2.35,-20.85,0.000,4,0.155,0.084,2497,3918,2669,0,0,0,0,0,0
$FINISH2,7.1
$STATE,5969,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5969,begin surface
$RAFOS_CLK,353
$RAFOS_FIX,6646.410156,-5820.752441,020111,161624,5,128,0.27
$IRIDIUM_FIX,6609.62,-5920.79,301210,222215
$TT8_MAMPS,0.028462
$HUMID,48.62
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,24.3
$ALTIM_BOTTOM_PING,300.4,14.4
$24V_AH,22.2,77.003
$10V_AH,9.7,53.173
$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,3.075,60.225,322.475,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1602.773,2837.507,337.514,1116.567,130.827,0.000,954.259,0.000,1115.291,0.000,8.764,0.000
$DEVICE_MAMPS,185.130,162.945,792.540,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23494,679
$CAP_FILE_SIZE,73498,0
$CFSIZE,260165632,205459456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$GPS,020111,163524,6646.410,-5820.752,0,5127.8,0,-37.6