version: 66.08
glider: 183
mission: 3
dive: 683
start: 1 4 111 9 43 39
data:
$ID,183
$MISSION,3
$DIVE,683
$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,-11348.351
$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,20
$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
$GPS1,040111,093031,6653.363,-5739.701,39,1.2,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-63.8
$GPS2,040111,094308,6653.332,-5739.625,11,1.3,11,-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,101.9,41357,-17.5,-10.000
$D_GRID,763
$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,14,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,163,0.00,0.00,-141.23,0.000,2,0.000,0.000,295,2786,3347,0,0,0,0,0,0
$GC,166,-0.57,-146.0,5.6,-13.5,25,186,8.50,1.98,-3.42,0.000,4,0.248,0.083,2279,3938,3521,0,0,0,0,0,0
$GC,249,-0.57,-146.0,30.3,-12.6,39,256,0.00,1.90,0.00,0.000,6,0.000,0.051,2279,2773,3523,0,0,0,0,0,0
$GC,595,-0.57,-146.0,71.6,-10.7,100,602,0.00,2.28,0.00,0.000,4,0.000,0.053,2279,1370,3521,0,0,0,0,0,0
$GC,650,-0.61,-146.0,77.5,-10.6,109,657,0.00,2.40,0.00,0.000,6,0.000,0.065,2278,2787,3522,0,0,0,0,0,0
$GC,995,-0.61,-146.0,112.9,-9.8,159,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2787,3521,0,0,0,0,0,0
$GC,1316,-0.63,-146.0,141.1,-8.3,189,1320,0.00,2.30,0.00,0.000,4,0.000,0.053,2278,1368,3521,0,0,0,0,0,0
$GC,1374,-0.69,-146.0,146.4,-8.3,193,1381,0.00,2.35,0.00,0.000,6,0.000,0.064,2275,2774,3521,0,0,0,0,0,0
$GC,1700,-0.72,-146.0,175.8,-10.1,224,1704,0.00,2.00,0.00,0.000,4,0.000,0.075,2275,3921,3521,0,0,0,0,0,0
$GC,1750,-0.78,-146.0,181.2,-10.4,228,1758,0.15,1.90,0.00,0.000,6,0.093,0.050,2212,2768,3521,0,0,0,0,0,0
$GC,2076,-0.69,-146.0,226.9,-13.4,259,2081,0.15,2.30,0.00,0.000,4,0.173,0.052,2253,1365,3521,0,0,0,0,0,0
$GC,2121,-0.72,-146.0,232.2,-10.3,262,2128,0.00,2.35,0.00,0.000,6,0.000,0.063,2252,2759,3521,0,0,0,0,0,0
$GC,2446,-0.72,-146.0,263.9,-10.0,293,2450,0.00,2.00,0.00,0.000,4,0.000,0.074,2247,3935,3522,0,0,0,0,0,0
$GC,2496,-0.72,-146.0,268.9,-9.8,297,2503,0.00,1.92,0.00,0.000,6,0.000,0.050,2247,2760,3522,0,0,0,0,0,0
$STATE,2822,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2822,begin apogee
$GC,2828,-0.14,0.0,300.8,9.9,328,2954,0.55,0.00,119.05,0.798,4,0.138,0.000,2424,2600,2923,0,0,0,0,0,0
$STATE,2954,end apogee,CONTROL_FINISHED_OK
$STATE,2954,begin climb
$GC,2958,0.57,146.0,305.4,0.0,339,3091,0.68,2.40,123.75,0.779,4,0.079,0.051,2658,1180,2326,0,0,0,0,0,0
$GC,3289,0.61,172.9,281.4,8.8,368,3318,0.00,2.42,22.77,0.752,6,0.000,0.056,2658,2599,2218,0,0,0,0,0,0
$GC,3636,0.61,172.9,243.5,10.6,401,3640,0.00,2.25,0.00,0.000,4,0.000,0.068,2658,3932,2213,0,0,0,0,0,0
$GC,3893,0.56,172.9,212.0,12.0,423,3900,0.00,2.20,0.00,0.000,6,0.000,0.045,2659,2582,2210,0,0,0,0,0,0
$GC,4219,0.57,189.8,180.5,9.2,454,4238,0.00,0.00,14.68,0.712,6,0.000,0.000,2659,2582,2149,0,0,0,0,0,0
$GC,4557,0.57,189.8,146.3,10.6,486,4561,0.00,2.28,0.00,0.000,4,0.000,0.068,2659,3929,2145,0,0,0,0,0,0
$GC,4643,0.55,189.8,136.5,12.3,493,4647,0.00,2.12,0.00,0.000,6,0.000,0.045,2659,2603,2144,0,0,0,0,0,0
$GC,4975,0.59,207.0,104.4,9.2,524,4999,0.00,2.30,15.55,0.679,4,0.000,0.053,2659,1181,2079,0,0,0,0,0,0
$GC,5057,0.69,240.6,97.1,8.4,533,5094,0.10,2.33,29.83,0.671,6,0.120,0.055,2702,2605,1941,0,0,0,0,0,0
$GC,5433,0.69,240.6,51.7,11.0,599,5440,0.00,2.25,0.00,0.000,4,0.000,0.068,2702,3933,1933,0,0,0,0,0,0
$GC,5509,0.69,240.6,41.8,12.7,612,5516,0.00,2.15,0.00,0.000,6,0.000,0.046,2703,2612,1932,0,0,0,0,0,0
$FREEZE,8.35,-1.757,-1.792,0,1,0
$FREEZE,7.60,-1.758,-1.791,0,1,0
$GC,5855,0.69,245.6,8.4,9.8,673,5870,0.00,2.38,4.22,0.525,4,0.000,0.053,2703,1181,1921,0,0,0,0,0,0
$FREEZE,5.98,-1.757,-1.790,0,1,0
$FREEZE,5.41,-1.752,-1.790,0,1,0
$FREEZE,4.87,-1.752,-1.789,0,1,0
$FREEZE,4.46,-1.752,-1.789,0,1,0
$FREEZE,3.92,-1.752,-1.789,0,1,0
$FREEZE,3.37,-1.752,-1.788,0,1,0
$FREEZE,2.81,-1.750,-1.788,0,1,0
$STATE,5909,end climb,SURFACE_DEPTH_REACHED
$STATE,5909,begin surface coast
$FREEZE,2.20,-1.747,-1.787,0,1,0
$FREEZE,1.63,-1.747,-1.787,0,1,0
$FREEZE,1.16,-1.745,-1.786,0,1,0
$FREEZE,0.83,-1.576,-1.776,0,1,0
$FINISH,0.8,1.026085
$STATE,5932,end surface coast,CONTROL_FINISHED_OK
$STATE,5932,begin surface
$SM_CCo,5951,229.85,0.085,0,0,440,609.08
$SM_GC,1.58,0.00,0.00,229.85,0.000,0.000,0.085,296,2781,440,-6.81,0.03,609.08
$RAFOS_CLK,307
$RAFOS_FIX,6654.250488,-5743.056152,040111,080820,4,98,0.32
$IRIDIUM_FIX,6625.71,-5749.80,040111,060619
$TT8_MAMPS,0.028462
$HUMID,46.25
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,300.8,13.8
$24V_AH,22.2,78.481
$10V_AH,9.7,54.046
$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,16.525,53.700,329.850,229.850,0.000,29.486,15.423,377.883,0.750,0.000,14.194,1600.396,2711.772,671.169,1524.907,437.387,0.000,1307.692,0.000,1133.968,0.000,7.092,0.000
$DEVICE_MAMPS,247.860,82.620,797.895,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,474.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151576
$DATA_FILE_SIZE,23457,686
$CAP_FILE_SIZE,83001,0
$CFSIZE,260165632,204619776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$GPS,040111,112743,6653.935,-5738.664,7,1.8,13,-37.6