version: 66.08
glider: 183
mission: 3
dive: 681
start: 1 4 111 4 39 9
data:
$ID,183
$MISSION,3
$DIVE,681
$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,-11345.838
$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,33
$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
$GPS1,040111,042407,6653.258,-5746.627,41,0.9,41,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.5
$GPS2,040111,043838,6653.265,-5746.505,12,1.3,12,-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,104.5,45936,-17.5,-10.000
$D_GRID,761
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,166,0.00,0.00,-143.00,0.000,2,0.000,0.000,303,2790,3406,0,0,0,0,0,0
$GC,169,-0.57,-146.0,6.2,-16.1,25,189,8.55,1.98,-2.25,0.000,4,0.249,0.082,2276,3929,3522,0,0,0,0,0,0
$GC,313,-0.57,-146.0,39.9,-12.7,50,320,0.00,1.90,0.00,0.000,6,0.000,0.051,2276,2780,3524,0,0,0,0,0,0
$GC,661,-0.57,-146.0,78.9,-9.4,111,668,0.00,2.30,0.00,0.000,4,0.000,0.054,2275,1370,3524,0,0,0,0,0,0
$GC,744,-0.60,-146.0,87.4,-10.5,125,751,0.00,2.35,0.00,0.000,6,0.000,0.064,2275,2761,3523,0,0,0,0,0,0
$GC,1083,-0.60,-146.0,121.3,-9.2,167,1087,0.00,2.00,0.00,0.000,4,0.000,0.074,2275,3935,3523,0,0,0,0,0,0
$GC,1180,-0.65,-146.0,130.5,-9.0,175,1188,0.00,1.92,0.00,0.000,6,0.000,0.051,2275,2766,3523,0,0,0,0,0,0
$GC,1507,-0.69,-146.0,159.4,-9.0,206,1511,0.00,2.25,0.00,0.000,4,0.000,0.052,2275,1363,3523,0,0,0,0,0,0
$GC,1619,-0.74,-146.0,170.0,-9.1,215,1626,0.12,2.35,0.00,0.000,6,0.097,0.063,2219,2758,3523,0,0,0,0,0,0
$GC,1945,-0.67,-146.0,211.0,-12.6,246,1947,0.15,0.00,0.00,0.000,6,0.171,0.000,2261,2758,3523,0,0,0,0,0,0
$GC,2264,-0.69,-146.0,241.4,-8.9,276,2268,0.00,2.25,0.00,0.000,4,0.000,0.053,2261,1364,3524,0,0,0,0,0,0
$GC,2309,-0.73,-146.0,245.6,-9.2,279,2316,0.00,2.35,0.00,0.000,6,0.000,0.063,2261,2765,3523,0,0,0,0,0,0
$GC,2636,-0.75,-146.0,274.1,-8.8,310,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2765,3524,0,0,0,0,0,0
$GC,2958,-0.77,-146.0,299.8,-7.5,340,2965,0.10,2.30,0.00,0.000,4,0.119,0.052,2215,1364,3525,0,0,0,0,0,0
$STATE,2971,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2971,begin apogee
$GC,2979,-0.14,0.0,301.4,7.8,341,3105,0.68,0.00,119.80,0.792,4,0.145,0.000,2420,2601,2923,0,0,0,0,0,0
$STATE,3105,end apogee,CONTROL_FINISHED_OK
$STATE,3105,begin climb
$GC,3108,0.57,146.0,304.6,0.0,352,3242,0.70,2.40,123.95,0.770,4,0.082,0.052,2661,1188,2327,0,0,0,0,0,0
$GC,3435,0.57,146.0,277.7,10.5,381,3439,0.00,2.40,0.00,0.000,6,0.000,0.057,2661,2601,2318,0,0,0,0,0,0
$GC,3766,0.54,146.0,242.1,10.4,412,3770,0.00,2.30,0.00,0.000,4,0.000,0.054,2662,1189,2315,0,0,0,0,0,0
$GC,3981,0.56,164.0,222.1,9.2,431,4004,0.00,2.33,14.27,0.724,6,0.000,0.057,2661,2608,2253,0,0,0,0,0,0
$GC,4323,0.57,178.0,189.2,9.4,463,4346,0.00,2.30,13.20,0.710,4,0.000,0.069,2662,3926,2196,0,0,0,0,0,0
$GC,4405,0.53,178.0,180.0,12.4,470,4409,0.00,2.12,0.00,0.000,6,0.000,0.045,2662,2621,2194,0,0,0,0,0,0
$GC,4736,0.53,184.1,147.4,9.7,501,4749,0.00,2.30,6.12,0.633,4,0.000,0.052,2662,1193,2173,0,0,0,0,0,0
$GC,4823,0.59,207.8,139.1,8.9,508,4852,0.00,2.33,22.08,0.690,6,0.000,0.057,2662,2617,2074,0,0,0,0,0,0
$GC,5172,0.62,220.7,104.9,9.4,541,5190,0.00,0.00,11.52,0.663,6,0.000,0.000,2662,2617,2022,0,0,0,0,0,0
$GC,5526,0.70,245.0,71.4,8.9,599,5557,0.10,2.38,21.77,0.655,4,0.120,0.054,2707,1195,1923,0,0,0,0,0,0
$GC,5605,0.73,245.0,63.4,10.3,612,5612,0.00,2.38,0.00,0.000,6,0.000,0.056,2706,2641,1921,0,0,0,0,0,0
$GC,5952,0.73,245.0,25.8,10.1,673,5958,0.00,2.15,0.00,0.000,4,0.000,0.068,2706,3926,1917,0,0,0,0,0,0
$GC,6011,0.73,245.0,19.1,11.4,683,6018,0.00,2.05,0.00,0.000,6,0.000,0.045,2706,2660,1916,0,0,0,0,0,0
$FREEZE,8.84,-1.729,-1.792,0,1,0
$FREEZE,8.22,-1.729,-1.791,0,1,0
$FREEZE,7.78,-1.727,-1.791,0,1,0
$FREEZE,7.29,-1.728,-1.791,0,1,0
$FREEZE,6.66,-1.727,-1.790,0,1,0
$FREEZE,6.25,-1.727,-1.790,0,1,0
$FREEZE,5.71,-1.727,-1.790,0,1,0
$FREEZE,4.88,-1.728,-1.789,0,1,0
$FREEZE,4.31,-1.727,-1.789,0,1,0
$FREEZE,3.99,-1.728,-1.788,0,1,0
$FREEZE,3.34,-1.727,-1.788,0,1,0
$FREEZE,2.78,-1.734,-1.787,0,1,0
$STATE,6171,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FREEZE,2.26,-1.734,-1.787,0,1,0
$FREEZE,1.72,-1.735,-1.787,0,1,0
$FREEZE,1.32,-1.738,-1.786,0,1,0
$FREEZE,0.83,-1.736,-1.786,0,1,0
$FREEZE,0.85,-1.702,-1.568,0,1,0
$FINISH,0.8,1.023094
$STATE,6199,end surface coast,CONTROL_FINISHED_OK
$STATE,6199,begin surface
$SM_CCo,6216,232.07,0.083,0,0,440,609.08
$SM_GC,1.54,0.00,0.00,232.07,0.000,0.000,0.083,304,2792,440,-6.79,0.34,609.08
$RAFOS_CLK,322
$RAFOS,6,1294116546,4.833333,4.818333,86,48,44,44,43,43,728,1593,1187,26,1928,1365
$RAFOS,5,1294116064,4.700000,4.684444,66,45,43,41,39,38,576,1687,938,940,930,1201
$RAFOS,2,1294114622,4.300000,4.283889,44,43,41,40,40,38,1074,794,889,1568,440,43
$RAFOS_FIX,6653.489746,-5754.594727,040111,040400,2,76,10.54
$IRIDIUM_FIX,6620.33,-5755.62,040111,040408
$TT8_MAMPS,0.029211
$HUMID,46.33
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$ALTIM_BOTTOM_PING,300.7,13.4
$24V_AH,22.2,78.259
$10V_AH,9.7,53.928
$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,16.900,53.700,332.725,232.075,0.000,53.771,62.409,368.325,0.750,0.000,14.744,1697.813,2888.900,676.889,1642.100,432.148,0.000,1347.349,0.000,1183.384,720.000,7.083,0.000
$DEVICE_MAMPS,249.390,83.385,791.775,82.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,26746,717
$CAP_FILE_SIZE,87782,0
$CFSIZE,260165632,204722176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,040111,062804,6653.160,-5744.000,7,99.0,27,-37.6