version: 66.08
glider: 183
mission: 3
dive: 676
start: 1 3 111 16 59 26
data:
$ID,183
$MISSION,3
$DIVE,676
$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,-11344.579
$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,27
$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
$GPS1,030111,164237,6650.508,-5800.553,38,1.2,38,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.5
$GPS2,030111,165855,6650.562,-5800.413,9,1.3,15,-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,103.8,57142,-17.5,-10.000
$D_GRID,770
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.57,-146.0,0.0,0.0,0,165,0.00,0.00,-141.60,0.000,2,0.000,0.000,300,2786,3331,0,0,0,0,0,0
$GC,168,-0.57,-146.0,5.6,-13.9,25,188,8.55,1.95,-3.88,0.000,4,0.249,0.081,2276,3929,3521,0,0,0,0,0,0
$GC,276,-0.57,-146.0,32.3,-13.3,43,283,0.00,1.88,0.00,0.000,6,0.000,0.050,2276,2777,3523,0,0,0,0,0,0
$GC,622,-0.57,-146.0,72.2,-10.3,104,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2777,3523,0,0,0,0,0,0
$GC,963,-0.57,-146.0,107.2,-10.4,159,967,0.00,1.98,0.00,0.000,4,0.000,0.076,2275,3925,3522,0,0,0,0,0,0
$GC,988,-0.57,-146.0,109.8,-10.7,161,991,0.00,1.90,0.00,0.000,6,0.000,0.050,2274,2770,3522,0,0,0,0,0,0
$GC,1319,-0.59,-146.0,144.4,-10.2,192,1323,0.00,2.25,0.00,0.000,4,0.000,0.052,2274,1363,3522,0,0,0,0,0,0
$GC,1441,-0.64,-146.0,157.1,-10.5,202,1445,0.00,2.30,0.00,0.000,6,0.000,0.063,2275,2745,3522,0,0,0,0,0,0
$GC,1768,-0.68,-146.0,186.0,-8.1,232,1772,0.00,2.22,0.00,0.000,4,0.000,0.051,2274,1368,3523,0,0,0,0,0,0
$GC,1808,-0.73,-146.0,189.5,-8.4,235,1815,0.10,2.30,0.00,0.000,6,0.112,0.063,2226,2734,3523,0,0,0,0,0,0
$GC,2134,-0.68,-146.0,225.6,-11.4,266,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2734,3523,0,0,0,0,0,0
$GC,2454,-0.63,-146.0,258.7,-10.1,296,2458,0.15,2.22,0.00,0.000,4,0.164,0.051,2269,1365,3523,0,0,0,0,0,0
$GC,2540,-0.70,-146.0,265.9,-8.2,303,2544,0.00,2.28,0.00,0.000,6,0.000,0.063,2265,2732,3523,0,0,0,0,0,0
$GC,2866,-0.74,-146.0,292.9,-8.7,333,2870,0.00,2.03,0.00,0.000,4,0.000,0.073,2261,3926,3524,0,0,0,0,0,0
$GC,2906,-0.78,-146.0,296.7,-9.6,336,2913,0.10,1.95,0.00,0.000,6,0.116,0.049,2217,2720,3524,0,0,0,0,0,0
$STATE,2945,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2945,begin apogee
$GC,2951,-0.14,0.0,300.8,11.1,340,3084,0.65,0.00,120.05,0.795,4,0.141,0.000,2422,2602,2922,0,0,0,0,0,0
$STATE,3084,end apogee,CONTROL_FINISHED_OK
$STATE,3084,begin climb
$GC,3087,0.57,146.0,306.6,0.0,352,3222,0.70,2.38,124.12,0.776,4,0.079,0.050,2665,1185,2326,0,0,0,0,0,0
$GC,3398,0.59,184.8,288.5,8.2,380,3442,0.00,2.42,33.62,0.755,6,0.000,0.057,2665,2610,2168,0,0,0,0,0,0
$GC,3762,0.60,189.8,254.3,9.8,414,3774,0.00,2.35,4.30,0.568,4,0.000,0.054,2666,1186,2149,0,0,0,0,0,0
$GC,3933,0.65,202.4,238.7,9.4,429,3956,0.00,2.38,12.82,0.724,6,0.000,0.057,2665,2630,2096,0,0,0,0,0,0
$GC,4274,0.65,202.4,201.8,10.9,461,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2630,2092,0,0,0,0,0,0
$GC,4597,0.65,202.4,167.0,10.9,491,4601,0.00,2.33,0.00,0.000,4,0.000,0.054,2665,1184,2092,0,0,0,0,0,0
$GC,4664,0.71,207.7,159.7,9.8,496,4675,0.10,2.38,4.75,0.591,6,0.121,0.057,2708,2635,2078,0,0,0,0,0,0
$GC,5002,0.65,207.7,117.1,12.9,528,5006,0.00,2.33,0.00,0.000,4,0.000,0.054,2709,1187,2076,0,0,0,0,0,0
$GC,5031,0.63,207.7,113.4,13.1,530,5035,0.00,2.33,0.00,0.000,6,0.000,0.057,2709,2615,2077,0,0,0,0,0,0
$GC,5370,0.59,207.7,70.3,11.7,580,5377,0.15,2.25,0.00,0.000,4,0.184,0.068,2669,3931,2075,0,0,0,0,0,0
$GC,5418,0.59,207.7,64.7,11.1,588,5425,0.00,2.15,0.00,0.000,6,0.000,0.046,2668,2598,2075,0,0,0,0,0,0
$GC,5765,0.67,244.1,36.9,8.3,649,5806,0.00,2.33,32.53,0.641,4,0.000,0.053,2669,1196,1926,0,0,0,0,0,0
$GC,5826,0.81,287.5,32.4,8.0,659,5874,0.20,2.33,37.40,0.623,6,0.083,0.056,2751,2613,1749,0,0,0,0,0,0
$FREEZE,8.45,-1.757,-1.791,2,1,0
$STATE,6015,end climb,FINISH_DEPTH_REACHED
$STATE,6016,begin subsurface finish
$FINISH1,8.4,1.026227,62
$GC,6023,0.04,62.4,8.4,-13.2,692,6061,0.85,2.25,-28.75,0.000,4,0.154,0.082,2493,3930,2669,0,0,0,0,0,0
$FINISH2,6.5
$STATE,6062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6062,begin surface
$RAFOS_CLK,305
$RAFOS,4,1294072384,16.566668,16.551111,75,60,46,46,45,44,698,708,389,145,1428,1361
$RAFOS_FIX,6649.613281,-5801.397461,030111,161600,2,80,0.00
$IRIDIUM_FIX,6631.12,-6110.63,030111,161639
$TT8_MAMPS,0.02996
$HUMID,47.44
$INTERNAL_PRESSURE,8.65115
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,300.8,13.4
$24V_AH,22.2,77.835
$10V_AH,9.7,53.682
$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,11.550,55.600,369.600,0.000,0.000,57.821,42.204,464.465,0.750,0.000,17.847,1591.060,2829.817,484.693,1710.756,431.845,0.000,1155.335,0.000,1153.644,0.000,7.089,0.000
$DEVICE_MAMPS,248.625,81.855,794.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,26731,698
$CAP_FILE_SIZE,86540,0
$CFSIZE,260165632,204955648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$GPS,030111,165855,6650.562,-5800.413,9,1.3,15,-37.6