version: 66.08
glider: 183
mission: 3
dive: 30
start: 9 13 110 14 13 28
data:
$ID,183
$MISSION,3
$DIVE,30
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,8
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7723.208
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,330
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,3
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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,49
$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
$GPS1,130910,140836,6640.152,-6024.253,28,1.1,28,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.3
$GPS2,130910,141256,6640.177,-6024.330,13,1.3,13,-38.0
$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,112.9,161839,-17.5,-10.000
$D_GRID,521
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,99,0.00,0.00,-81.78,0.000,2,0.000,0.000,302,2701,3276,0,0,0,0,0,0
$GC,100,-0.57,-146.0,6.6,-19.6,16,118,8.73,2.15,-4.43,0.000,4,0.279,0.082,2275,3930,3523,0,0,0,0,0,0
$GC,214,-0.57,-146.0,38.7,-15.8,36,221,0.00,2.05,0.00,0.000,6,0.000,0.050,2275,2683,3525,0,0,0,0,0,0
$GC,557,-0.57,-146.0,90.1,-14.5,97,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2683,3526,0,0,0,0,0,0
$GC,890,-0.57,-146.0,132.4,-12.0,135,894,0.00,2.12,0.00,0.000,4,0.000,0.077,2271,3926,3526,0,0,0,0,0,0
$GC,1023,-0.57,-146.0,149.0,-12.5,146,1031,0.00,2.03,0.00,0.000,6,0.000,0.050,2271,2702,3526,0,0,0,0,0,0
$GC,1348,-0.57,-146.0,184.3,-10.9,177,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2702,3526,0,0,0,0,0,0
$GC,1668,-0.57,-146.0,218.6,-10.8,207,1671,0.00,2.08,0.00,0.000,4,0.000,0.078,2264,3932,3528,0,0,0,0,0,0
$GC,1706,-0.57,-146.0,223.2,-12.4,210,1710,0.00,2.00,0.00,0.000,6,0.000,0.050,2263,2687,3525,0,0,0,0,0,0
$GC,2030,-0.57,-146.0,259.6,-11.1,240,2034,0.00,2.22,0.00,0.000,4,0.000,0.056,2263,1291,3525,0,0,0,0,0,0
$GC,2051,-0.57,-146.0,262.0,-11.0,241,2057,0.00,2.33,0.00,0.000,6,0.000,0.066,2262,2700,3525,0,0,0,0,0,0
$GC,2375,-0.57,-146.0,298.1,-11.2,272,2379,0.10,2.10,0.00,0.000,4,0.217,0.077,2279,3936,3524,0,0,0,0,0,0
$GC,2481,-0.57,-146.0,309.2,-10.9,281,2485,0.00,2.00,0.00,0.000,6,0.000,0.050,2279,2692,3524,0,0,0,0,0,0
$GC,2805,-0.57,-146.0,341.0,-9.7,311,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2692,3524,0,0,0,0,0,0
$GC,3125,-0.57,-146.0,370.0,-9.1,341,3129,0.00,2.10,0.00,0.000,4,0.000,0.078,2275,3934,3523,0,0,0,0,0,0
$GC,3213,-0.57,-146.0,378.3,-9.1,348,3221,0.00,2.00,0.00,0.000,6,0.000,0.050,2274,2705,3523,0,0,0,0,0,0
$GC,3538,-0.57,-146.0,405.9,-8.1,379,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2704,3528,0,0,0,0,0,0
$GC,3858,-0.57,-146.0,430.5,-7.4,409,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2704,3523,0,0,0,0,0,0
$GC,4176,-0.57,-146.0,454.9,-8.1,439,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2704,3523,0,0,0,0,0,0
$GC,4495,-0.57,-146.0,480.6,-7.9,469,4499,0.00,2.05,0.00,0.000,4,0.000,0.076,2269,3928,3524,0,0,0,0,0,0
$GC,4578,-0.57,-146.0,487.7,-8.6,476,4582,0.00,1.98,0.00,0.000,6,0.000,0.048,2269,2683,3524,0,0,0,0,0,0
$GC,4902,-0.57,-146.0,515.4,-7.8,506,4906,0.00,2.10,0.00,0.000,4,0.000,0.076,2256,3938,3525,0,0,0,0,0,0
$GC,4952,-0.57,-146.0,519.7,-8.8,510,4957,0.10,1.98,0.00,0.000,6,0.190,0.048,2286,2691,3525,0,0,0,0,0,0
$STATE,4967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4967,begin apogee
$GC,4971,-0.14,0.0,521.1,8.8,511,5096,0.40,0.00,119.75,0.948,6,0.149,0.000,2427,2556,2923,0,0,0,0,0,0
$STATE,5096,end apogee,CONTROL_FINISHED_OK
$STATE,5096,begin climb
$GC,5098,0.57,146.0,524.0,0.0,523,5229,0.68,2.38,123.70,0.915,4,0.104,0.055,2661,1141,2326,0,0,0,0,0,0
$GC,5243,0.57,146.0,514.2,10.7,537,5251,0.00,2.50,0.00,0.000,6,0.000,0.057,2661,2547,2322,0,0,0,0,0,0
$GC,5569,0.57,146.0,472.9,12.9,568,5573,0.00,2.40,0.00,0.000,4,0.000,0.070,2661,3926,2316,0,0,0,0,0,0
$GC,5679,0.57,146.0,456.3,14.2,577,5687,0.00,2.33,0.00,0.000,6,0.000,0.046,2671,2545,2314,0,0,0,0,0,0
$GC,6005,0.57,146.0,415.4,12.6,608,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2545,2314,0,0,0,0,0,0
$GC,6324,0.57,146.0,377.1,12.5,638,6328,0.00,2.38,0.00,0.000,4,0.000,0.071,2671,3936,2310,0,0,0,0,0,0
$GC,6385,0.57,146.0,368.5,14.8,643,6389,0.00,2.25,0.00,0.000,6,0.000,0.047,2682,2550,2312,0,0,0,0,0,0
$GC,6708,0.57,146.0,327.8,11.7,673,6712,0.00,2.35,0.00,0.000,4,0.000,0.072,2682,3929,2312,0,0,0,0,0,0
$GC,6792,0.57,146.0,315.9,14.2,680,6797,0.12,2.22,0.00,0.000,6,0.215,0.047,2664,2549,2312,0,0,0,0,0,0
$GC,7116,0.57,146.0,282.1,10.2,710,7120,0.00,2.33,0.00,0.000,4,0.000,0.071,2664,3928,2317,0,0,0,0,0,0
$GC,7159,0.57,146.0,276.8,13.2,713,7166,0.00,2.20,0.00,0.000,6,0.000,0.047,2672,2549,2312,0,0,0,0,0,0
$GC,7483,0.57,146.0,240.8,11.1,744,7487,0.00,2.33,0.00,0.000,4,0.000,0.072,2673,3928,2312,0,0,0,0,0,0
$GC,7511,0.57,146.0,237.5,12.6,746,7515,0.00,2.22,0.00,0.000,6,0.000,0.047,2683,2537,2312,0,0,0,0,0,0
$GC,7834,0.57,146.0,201.6,11.1,776,7839,0.00,2.35,0.00,0.000,4,0.000,0.073,2683,3930,2313,0,0,0,0,0,0
$GC,7877,0.57,146.0,195.9,12.9,779,7886,0.10,2.22,0.00,0.000,6,0.193,0.047,2665,2555,2312,0,0,0,0,0,0
$GC,8203,0.57,154.5,165.2,9.6,810,8215,0.00,2.33,6.05,0.677,4,0.000,0.057,2673,1138,2292,0,0,0,0,0,0
$GC,8237,0.57,154.5,161.7,10.4,813,8241,0.00,2.30,0.00,0.000,6,0.000,0.060,2673,2551,2292,0,0,0,0,0,0
$GC,8561,0.59,172.6,129.2,9.2,843,8583,0.00,2.40,16.58,0.724,4,0.000,0.073,2673,3933,2219,0,0,0,0,0,0
$GC,8628,0.59,172.6,122.5,11.5,849,8632,0.00,2.25,0.00,0.000,6,0.000,0.048,2683,2544,2216,0,0,0,0,0,0
$GC,8958,0.60,194.2,89.6,9.0,888,8985,0.00,2.42,18.50,0.710,4,0.000,0.073,2683,3926,2126,0,0,0,0,0,0
$GC,9070,0.60,196.9,78.8,9.9,908,9076,0.00,2.25,0.00,0.000,6,0.000,0.048,2693,2546,2126,0,0,0,0,0,0
$GC,9413,0.63,241.9,51.7,7.9,969,9459,0.00,0.00,40.17,0.697,6,0.000,0.000,2693,2545,1934,0,0,0,0,0,0
$GC,9796,0.68,325.7,19.0,6.1,1038,9873,0.00,2.50,68.12,0.662,4,0.000,0.074,2693,3935,1593,0,0,0,0,0,0
$GC,9901,0.72,378.1,12.3,7.6,1058,9953,0.00,2.33,43.80,0.637,6,0.000,0.048,2693,2547,1378,0,0,0,0,0,0
$STATE,10058,end climb,SURFACE_DEPTH_REACHED
$STATE,10058,begin surface coast
$FINISH,0.1,1.024385
$STATE,10105,end surface coast,CONTROL_FINISHED_OK
$STATE,10105,begin surface
$SM_CCo,10178,0.00,0.000,0,0,1363,382.18
$SM_GC,0.78,6.68,0.00,0.00,0.063,0.000,0.000,309,2709,1363,-6.72,0.25,382.18
$MAGERROR,2
$RAFOS_CLK,545
$RAFOS,6,1284396546,16.833334,16.818333,71,48,48,45,42,40,832,1225,1790,469,1297,1615
$RAFOS,5,1284396063,16.700001,16.684166,51,48,44,41,40,39,352,601,1245,1214,513,382
$RAFOS,4,1284395587,16.566668,16.551945,45,44,43,41,41,40,722,1493,626,588,1613,44
$RAFOS,3,1284395101,16.433332,16.416945,112,50,49,46,46,42,803,501,898,1567,255,1427
$RAFOS,2,1284394627,16.299999,16.285278,97,48,47,45,44,44,630,1379,1855,1441,1133,1781
$RAFOS,1,1284394142,16.166666,16.150555,47,44,44,43,41,40,878,145,721,1498,1030,680
$RAFOS,0,1284393671,16.033333,16.019722,48,44,44,43,42,41,162,479,1080,182,839,1934
$RAFOS_FIX,6643.429199,-6016.243164,130910,161642,3,93,1.01
$IRIDIUM_FIX,6609.62,-6022.02,130910,111147
$TT8_MAMPS,0.028462
$HUMID,50.51
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.2,7.781
$10V_AH,10.2,5.039
$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,16.900,85.000,436.675,0.000,0.000,23.262,38.641,90.290,0.000,0.000,16.012,2540.173,6000.576,623.154,1200.065,93.872,0.000,1443.743,0.000,10258.664,2520.000,0.536,0.000
$DEVICE_MAMPS,279.225,85.680,947.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,882.705,910.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151596
$DATA_FILE_SIZE,43329,1095
$CAP_FILE_SIZE,116473,0
$CFSIZE,260165632,249298944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.1
$GPS,130910,170437,6642.455,-6022.229,35,1.3,35,-38.0