version: 66.08
glider: 183
mission: 3
dive: 671
start: 1 3 111 5 51 26
data:
$ID,183
$MISSION,3
$DIVE,671
$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,-11342.072
$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,31
$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
$GPS1,030111,053807,6645.828,-5808.182,37,0.8,37,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-66.6
$GPS2,030111,055055,6645.754,-5808.129,12,1.7,29,-37.5
$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,98.6,66095,-17.5,-10.000
$D_GRID,692
$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,-146.0,0.0,0.0,0,163,0.00,0.00,-141.98,0.000,2,0.000,0.000,302,2775,3381,0,0,0,0,0,0
$GC,167,-0.57,-146.0,6.0,-15.4,25,186,8.60,1.98,-2.78,0.000,4,0.251,0.082,2276,3932,3523,0,0,0,0,0,0
$GC,285,-0.57,-146.0,36.3,-13.1,45,292,0.00,1.88,0.00,0.000,6,0.000,0.050,2275,2779,3525,0,0,0,0,0,0
$GC,631,-0.57,-146.0,77.8,-11.7,106,638,0.00,2.28,0.00,0.000,4,0.000,0.054,2275,1365,3524,0,0,0,0,0,0
$GC,708,-0.60,-146.0,86.2,-11.1,119,715,0.00,2.38,0.00,0.000,6,0.000,0.063,2275,2785,3524,0,0,0,0,0,0
$GC,1044,-0.62,-146.0,120.9,-10.5,161,1048,0.00,2.28,0.00,0.000,4,0.000,0.052,2275,1371,3523,0,0,0,0,0,0
$GC,1095,-0.66,-146.0,126.6,-10.7,165,1100,0.00,2.40,0.00,0.000,6,0.000,0.064,2275,2790,3524,0,0,0,0,0,0
$GC,1422,-0.69,-146.0,158.7,-8.9,195,1426,0.00,2.33,0.00,0.000,4,0.000,0.053,2275,1365,3523,0,0,0,0,0,0
$GC,1455,-0.74,-146.0,162.1,-9.0,197,1462,0.12,2.38,0.00,0.000,6,0.097,0.063,2218,2785,3524,0,0,0,0,0,0
$GC,1781,-0.66,-146.0,201.5,-11.9,228,1782,0.15,0.00,0.00,0.000,6,0.171,0.000,2260,2786,3523,0,0,0,0,0,0
$GC,2100,-0.69,-146.0,231.5,-9.2,258,2104,0.00,2.30,0.00,0.000,4,0.000,0.053,2260,1362,3523,0,0,0,0,0,0
$GC,2166,-0.72,-146.0,237.9,-9.4,263,2173,0.00,2.38,0.00,0.000,6,0.000,0.063,2260,2776,3523,0,0,0,0,0,0
$GC,2492,-0.75,-146.0,267.1,-8.4,294,2496,0.00,2.28,0.00,0.000,4,0.000,0.051,2260,1369,3523,0,0,0,0,0,0
$GC,2550,-0.80,-146.0,272.4,-8.8,299,2555,0.12,2.33,0.00,0.000,6,0.099,0.063,2203,2754,3524,0,0,0,0,0,0
$STATE,2774,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2774,begin apogee
$GC,2780,-0.14,0.0,300.2,12.6,319,2912,0.70,0.00,120.20,0.798,4,0.147,0.000,2420,2601,2922,0,0,0,0,0,0
$STATE,2913,end apogee,CONTROL_FINISHED_OK
$STATE,2913,begin climb
$GC,2916,0.57,146.0,306.1,0.0,331,3049,0.70,2.40,124.60,0.777,4,0.083,0.052,2661,1180,2327,0,0,0,0,0,0
$GC,3062,0.60,193.6,300.4,7.8,344,3112,0.00,2.55,43.25,0.753,6,0.000,0.055,2661,2601,2132,0,0,0,0,0,0
$GC,3438,0.60,193.6,260.2,10.6,379,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2601,2121,0,0,0,0,0,0
$GC,3760,0.60,193.6,226.4,10.7,409,3764,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1175,2120,0,0,0,0,0,0
$GC,3800,0.65,193.6,221.8,10.4,412,3805,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2595,2120,0,0,0,0,0,0
$GC,4126,0.65,193.6,187.0,10.8,442,4130,0.00,2.25,0.00,0.000,4,0.000,0.067,2662,3925,2119,0,0,0,0,0,0
$GC,4159,0.62,193.6,183.2,12.1,444,4166,0.00,2.17,0.00,0.000,6,0.000,0.045,2662,2585,2118,0,0,0,0,0,0
$GC,4486,0.62,199.7,149.8,9.7,475,4498,0.00,2.30,4.25,0.555,4,0.000,0.068,2662,3932,2108,0,0,0,0,0,0
$GC,4511,0.62,199.7,146.8,11.5,477,4514,0.00,2.15,0.00,0.000,6,0.000,0.045,2662,2604,2107,0,0,0,0,0,0
$GC,4843,0.66,205.1,114.8,9.8,508,4856,0.00,2.35,6.57,0.633,4,0.000,0.053,2662,1186,2087,0,0,0,0,0,0
$GC,4892,0.75,239.1,110.3,8.4,512,4930,0.15,2.35,30.52,0.675,6,0.097,0.057,2723,2614,1947,0,0,0,0,0,0
$GC,5267,0.71,239.1,58.5,13.8,571,5274,0.00,2.22,0.00,0.000,4,0.000,0.068,2723,3926,1940,0,0,0,0,0,0
$GC,5294,0.66,239.1,54.8,14.0,575,5302,0.15,2.15,0.00,0.000,6,0.193,0.045,2688,2604,1938,0,0,0,0,0,0
$GC,5643,0.74,273.2,21.4,8.4,636,5678,0.00,2.38,28.48,0.635,4,0.000,0.054,2687,1186,1808,0,0,0,0,0,0
$GC,5715,0.88,306.9,15.3,8.4,647,5752,0.20,2.42,29.92,0.619,6,0.083,0.057,2768,2642,1670,0,0,0,0,0,0
$FREEZE,8.28,-1.736,-1.791,2,1,0
$STATE,5769,end climb,FINISH_DEPTH_REACHED
$STATE,5769,begin subsurface finish
$FINISH1,8.3,1.026219,63
$GC,5777,0.04,62.8,8.3,-13.2,656,5820,0.90,2.22,-32.80,0.000,4,0.158,0.086,2498,3933,2668,0,0,0,0,0,0
$FINISH2,5.7
$STATE,5820,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5820,begin surface
$RAFOS_CLK,289
$RAFOS_FIX,6648.002441,-5813.118164,030111,040428,4,105,0.30
$IRIDIUM_FIX,6614.97,-5737.16,010111,171715
$TT8_MAMPS,0.029211
$HUMID,47.48
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$ALTIM_BOTTOM_PING,300.2,13.3
$24V_AH,22.1,77.389
$10V_AH,9.7,53.425
$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,11.800,61.950,387.800,0.000,0.000,30.937,16.403,374.379,0.750,0.000,31.506,1518.789,2673.589,501.006,1465.644,429.315,0.000,1131.881,0.000,1059.138,0.000,9.593,0.000
$DEVICE_MAMPS,250.920,85.680,797.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.512,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151532
$DATA_FILE_SIZE,23401,663
$CAP_FILE_SIZE,81662,0
$CFSIZE,260165632,205201408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.4
$GPS,030111,055055,6645.754,-5808.129,12,1.7,29,-37.5