version: 66.08
glider: 183
mission: 3
dive: 679
start: 1 3 111 23 52 22
data:
$ID,183
$MISSION,3
$DIVE,679
$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,34
$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
$GPS1,030111,203928,6651.931,-5758.999,0,4099.0,0,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.12
$_SM_ANGLEo,0.4
$GPS2,030111,203928,6651.931,-5758.999,0,4099.0,0,-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,105.8,55218,-17.5,-10.000
$D_GRID,799
$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,-146.0,0.0,0.0,0,24,0.00,0.00,-5.50,0.000,2,0.000,0.000,2496,1172,2906,0,0,0,0,0,0
$GC,27,-0.57,-146.0,10.5,-0.0,1,52,0.57,4.72,-13.90,0.000,4,0.116,0.070,2292,3933,3522,0,0,0,0,0,0
$GC,126,-0.57,-146.0,19.9,-10.2,18,133,0.00,1.85,0.00,0.000,6,0.000,0.046,2293,2779,3523,0,0,0,0,0,0
$GC,473,-0.60,-146.0,57.0,-9.4,79,480,0.00,2.25,0.00,0.000,4,0.000,0.050,2292,1369,3522,0,0,0,0,0,0
$GC,540,-0.65,-146.0,63.0,-9.0,90,546,0.00,2.35,0.00,0.000,6,0.000,0.061,2293,2777,3522,0,0,0,0,0,0
$GC,887,-0.70,-146.0,93.7,-8.0,151,894,0.12,0.00,0.00,0.000,6,0.107,0.000,2238,2777,3521,0,0,0,0,0,0
$GC,1223,-0.67,-146.0,132.0,-11.2,187,1227,0.00,2.28,0.00,0.000,4,0.000,0.051,2238,1373,3521,0,0,0,0,0,0
$GC,1267,-0.67,-146.0,137.2,-10.9,190,1274,0.00,2.30,0.00,0.000,6,0.000,0.062,2235,2762,3521,0,0,0,0,0,0
$GC,1593,-0.63,-146.0,174.0,-11.4,221,1598,0.12,2.03,0.00,0.000,4,0.185,0.072,2262,3937,3521,0,0,0,0,0,0
$GC,1657,-0.68,-146.0,180.1,-8.8,226,1661,0.00,1.92,0.00,0.000,6,0.000,0.047,2261,2755,3520,0,0,0,0,0,0
$GC,1989,-0.71,-146.0,210.0,-9.7,257,1993,0.00,2.22,0.00,0.000,4,0.000,0.051,2261,1370,3520,0,0,0,0,0,0
$GC,2034,-0.76,-146.0,214.4,-9.1,260,2041,0.00,2.28,0.00,0.000,6,0.000,0.061,2261,2744,3520,0,0,0,0,0,0
$GC,2360,-0.79,-146.0,243.6,-9.1,291,2362,0.12,0.00,0.00,0.000,6,0.108,0.000,2206,2744,3520,0,0,0,0,0,0
$GC,2678,-0.72,-146.0,283.3,-12.2,321,2683,0.12,2.25,0.00,0.000,4,0.181,0.050,2238,1370,3520,0,0,0,0,0,0
$GC,2702,-0.68,-146.0,286.0,-11.7,322,2709,0.00,2.30,0.00,0.000,6,0.000,0.061,2235,2758,3520,0,0,0,0,0,0
$STATE,2849,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2849,begin apogee
$GC,2857,-0.14,0.0,301.1,10.5,336,2984,0.57,0.00,118.10,0.797,4,0.138,0.000,2420,2599,2922,0,0,0,0,0,0
$STATE,2984,end apogee,CONTROL_FINISHED_OK
$STATE,2985,begin climb
$GC,2987,0.57,146.0,306.5,0.0,347,3119,0.70,2.40,122.90,0.774,4,0.079,0.050,2663,1183,2327,0,0,0,0,0,0
$GC,3327,0.58,168.4,282.9,9.0,377,3356,0.00,2.40,19.05,0.743,6,0.000,0.056,2663,2609,2235,0,0,0,0,0,0
$GC,3674,0.58,168.4,246.9,10.3,410,3678,0.00,2.30,0.00,0.000,4,0.000,0.052,2665,1183,2231,0,0,0,0,0,0
$GC,3876,0.62,186.8,227.5,9.2,427,3898,0.00,2.33,16.38,0.724,6,0.000,0.056,2664,2609,2161,0,0,0,0,0,0
$GC,4223,0.62,186.8,191.1,10.9,460,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2609,2157,0,0,0,0,0,0
$GC,4546,0.62,186.8,155.4,10.7,490,4550,0.00,2.20,0.00,0.000,4,0.000,0.067,2665,3926,2156,0,0,0,0,0,0
$GC,4598,0.57,186.8,148.9,12.7,494,4601,0.00,2.17,0.00,0.000,6,0.000,0.044,2665,2584,2154,0,0,0,0,0,0
$GC,4929,0.57,186.8,115.3,10.2,525,4933,0.00,2.28,0.00,0.000,4,0.000,0.067,2665,3935,2154,0,0,0,0,0,0
$GC,5038,0.54,186.8,102.5,12.5,534,5042,0.00,2.15,0.00,0.000,6,0.000,0.044,2665,2602,2153,0,0,0,0,0,0
$GC,5383,0.58,254.6,70.1,6.9,593,5448,0.00,2.33,56.92,0.647,4,0.000,0.053,2665,1184,1883,0,0,0,0,0,0
$GC,5481,0.71,279.9,62.2,8.8,609,5513,0.10,2.35,22.25,0.630,6,0.119,0.055,2707,2599,1780,0,0,0,0,0,0
$GC,5853,0.75,281.7,19.5,9.9,674,5860,0.00,2.25,0.00,0.000,4,0.000,0.068,2708,3936,1771,0,0,0,0,0,0
$GC,5895,0.75,281.7,14.2,13.2,681,5902,0.00,2.20,0.00,0.000,6,0.000,0.044,2708,2582,1770,0,0,0,0,0,0
$FREEZE,8.59,-1.771,-1.792,2,4,0
$STATE,5947,end climb,FINISH_DEPTH_REACHED
$STATE,5947,begin subsurface finish
$FINISH1,8.6,1.026231,62
$GC,5955,0.04,62.2,8.6,-10.4,690,5991,0.68,2.30,-26.95,0.000,4,0.145,0.065,2496,1189,2671,0,0,0,0,0,0
$FINISH2,6.8
$STATE,5992,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5992,begin surface
$RAFOS_CLK,350
$RAFOS,6,1294102148,0.833333,0.818889,137,45,44,43,41,41,702,928,477,1063,501,1622
$RAFOS,5,1294101663,0.700000,0.684167,46,45,42,42,42,41,145,578,1249,1763,1130,467
$RAFOS,4,1294101184,0.566667,0.551111,161,47,47,44,41,40,735,791,1326,390,1175,25
$RAFOS,3,1294100706,0.433333,0.418333,137,51,48,48,44,41,829,537,508,1888,404,970
$RAFOS,2,1294100226,0.300000,0.285000,51,46,44,42,39,38,1034,26,895,609,436,1858
$RAFOS,1,1294099749,0.166667,0.152500,47,45,45,43,43,42,220,1105,871,723,145,1090
$RAFOS,0,1294099261,0.033333,0.016944,49,47,43,41,40,39,1360,1339,408,1189,1619,763
$RAFOS_FIX,6653.878906,-5754.218262,040111,000024,3,145,0.35
$IRIDIUM_FIX,6631.12,-6110.63,030111,161639
$TT8_MAMPS,0.028462
$HUMID,48.54
$INTERNAL_PRESSURE,8.64138
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.9
$ALTIM_BOTTOM_PING,301.1,13.8
$24V_AH,22.3,78.078
$10V_AH,9.7,53.823
$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,3.125,58.650,355.600,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1651.893,2743.741,372.597,1150.074,139.484,0.000,1010.066,0.000,1147.158,2520.000,7.091,0.000
$DEVICE_MAMPS,185.130,71.910,797.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,481.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,23436,696
$CAP_FILE_SIZE,74853,0
$CFSIZE,260165632,204828672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$GPS,040111,003824,6653.879,-5754.218,0,3145.0,0,-37.6