version: 66.08
glider: 183
mission: 3
dive: 78
start: 9 22 110 14 8 36
data:
$ID,183
$MISSION,3
$DIVE,78
$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,-3
$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,2
$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,-7787.5137
$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,2780
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,30
$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,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
$GPS1,220910,140406,6704.408,-5653.312,35,1.0,35,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,220910,140802,6704.409,-5653.354,11,1.5,11,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,248.9,160090,-17.5,-10.000
$D_GRID,527
$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,-82.10,0.000,2,0.000,0.000,300,2794,3363,0,0,0,0,0,0
$GC,100,-0.57,-146.0,6.0,-13.9,14,121,8.30,2.25,-3.00,0.000,4,0.264,0.054,2282,1364,3522,0,0,0,0,0,0
$GC,300,-0.57,-146.0,48.9,-10.9,49,307,0.00,2.30,0.00,0.000,6,0.000,0.056,2276,2772,3524,0,0,0,0,0,0
$GC,641,-0.57,-146.0,87.8,-11.8,110,648,0.00,1.92,0.00,0.000,4,0.000,0.066,2271,3926,3525,0,0,0,0,0,0
$GC,698,-0.57,-146.0,94.6,-12.3,120,705,0.00,1.83,0.00,0.000,6,0.000,0.042,2270,2771,3524,0,0,0,0,0,0
$GC,1032,-0.57,-146.0,133.1,-10.8,155,1036,0.00,2.17,0.00,0.000,4,0.000,0.045,2271,1371,3524,0,0,0,0,0,0
$GC,1063,-0.57,-146.0,136.8,-11.6,157,1071,0.00,2.30,0.00,0.000,6,0.000,0.056,2262,2773,3524,0,0,0,0,0,0
$GC,1388,-0.57,-146.0,172.2,-10.7,188,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2773,3523,0,0,0,0,0,0
$GC,1709,-0.57,-146.0,203.7,-9.8,218,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2774,3523,0,0,0,0,0,0
$GC,2027,-0.57,-146.0,234.0,-9.6,248,2031,0.00,2.17,0.00,0.000,4,0.000,0.044,2262,1371,3523,0,0,0,0,0,0
$GC,2077,-0.57,-146.0,239.1,-9.6,252,2082,0.00,2.28,0.00,0.000,6,0.000,0.057,2262,2782,3523,0,0,0,0,0,0
$GC,2402,-0.57,-146.0,271.6,-10.2,282,2403,0.10,0.00,0.00,0.000,6,0.200,0.000,2286,2782,3523,0,0,0,0,0,0
$GC,2721,-0.57,-146.0,298.3,-8.1,312,2725,0.00,2.20,0.00,0.000,4,0.000,0.046,2286,1362,3522,0,0,0,0,0,0
$GC,2754,-0.57,-146.0,301.0,-8.2,315,2758,0.00,2.28,0.00,0.000,6,0.000,0.057,2286,2778,3522,0,0,0,0,0,0
$GC,3079,-0.57,-146.0,326.3,-7.5,345,3083,0.00,1.90,0.00,0.000,4,0.000,0.068,2279,3931,3522,0,0,0,0,0,0
$GC,3101,-0.57,-146.0,328.3,-8.7,347,3105,0.00,1.80,0.00,0.000,6,0.000,0.043,2279,2762,3522,0,0,0,0,0,0
$GC,3431,-0.57,-146.0,354.6,-7.5,378,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2761,3522,0,0,0,0,0,0
$GC,3751,-0.57,-146.0,379.1,-7.3,408,3754,0.00,2.15,0.00,0.000,4,0.000,0.046,2279,1365,3522,0,0,0,0,0,0
$GC,3785,-0.57,-146.0,381.7,-7.2,411,3789,0.00,2.22,0.00,0.000,6,0.000,0.057,2276,2767,3522,0,0,0,0,0,0
$GC,4110,-0.57,-146.0,406.1,-7.6,441,4114,0.00,1.90,0.00,0.000,4,0.000,0.067,2268,3939,3522,0,0,0,0,0,0
$GC,4143,-0.57,-146.0,409.0,-8.9,444,4147,0.00,1.80,0.00,0.000,6,0.000,0.043,2268,2768,3522,0,0,0,0,0,0
$GC,4473,-0.57,-146.0,435.5,-8.4,475,4478,0.00,2.15,0.00,0.000,4,0.000,0.045,2268,1356,3523,0,0,0,0,0,0
$GC,4500,-0.57,-146.0,437.8,-8.0,477,4507,0.00,2.28,0.00,0.000,6,0.000,0.056,2262,2769,3523,0,0,0,0,0,0
$GC,4825,-0.57,-146.0,465.8,-8.7,508,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2769,3523,0,0,0,0,0,0
$GC,5147,-0.57,-146.0,494.5,-9.2,538,5150,0.00,1.85,0.00,0.000,4,0.000,0.067,2257,3929,3523,0,0,0,0,0,0
$GC,5183,-0.57,-146.0,498.0,-9.9,541,5187,0.12,1.80,0.00,0.000,6,0.168,0.042,2292,2768,3522,0,0,0,0,0,0
$GC,5512,-0.57,-146.0,521.7,-7.0,572,5516,0.00,2.15,0.00,0.000,4,0.000,0.045,2292,1368,3523,0,0,0,0,0,0
$GC,5569,-0.57,-146.0,525.7,-6.9,577,5573,0.00,2.22,0.00,0.000,6,0.000,0.056,2290,2769,3523,0,0,0,0,0,0
$STATE,5589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5589,begin apogee
$GC,5593,-0.14,0.0,527.1,7.0,579,5716,0.40,0.00,116.45,0.907,4,0.135,0.000,2424,2601,2923,0,0,0,0,0,0
$STATE,5716,end apogee,CONTROL_FINISHED_OK
$STATE,5717,begin climb
$GC,5718,0.57,146.0,529.9,0.0,590,5846,0.68,2.33,120.47,0.888,4,0.084,0.045,2656,1192,2327,0,0,0,0,0,0
$GC,6030,0.57,146.0,499.3,11.7,617,6038,0.00,2.38,0.00,0.000,6,0.000,0.050,2656,2603,2319,0,0,0,0,0,0
$GC,6355,0.57,146.0,458.2,12.5,648,6359,0.00,2.25,0.00,0.000,4,0.000,0.047,2663,1192,2316,0,0,0,0,0,0
$GC,6555,0.57,146.0,434.7,11.8,665,6563,0.00,2.30,0.00,0.000,6,0.000,0.050,2664,2596,2316,0,0,0,0,0,0
$GC,6880,0.57,146.0,394.2,12.5,696,6884,0.00,2.17,0.00,0.000,4,0.000,0.062,2664,3926,2315,0,0,0,0,0,0
$GC,6937,0.57,146.0,386.2,15.1,701,6941,0.00,2.10,0.00,0.000,6,0.000,0.040,2670,2598,2314,0,0,0,0,0,0
$GC,7261,0.57,146.0,341.2,13.9,731,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2314,0,0,0,0,0,0
$GC,7581,0.57,146.0,296.4,13.7,761,7585,0.00,2.17,0.00,0.000,4,0.000,0.063,2671,3934,2314,0,0,0,0,0,0
$GC,7631,0.57,146.0,288.5,16.5,765,7635,0.00,2.08,0.00,0.000,6,0.000,0.040,2680,2607,2313,0,0,0,0,0,0
$GC,7960,0.57,146.0,241.7,13.7,796,7964,0.00,2.17,0.00,0.000,4,0.000,0.063,2679,3931,2313,0,0,0,0,0,0
$GC,8045,0.57,146.0,228.6,15.9,803,8049,0.12,2.05,0.00,0.000,6,0.211,0.040,2659,2619,2313,0,0,0,0,0,0
$GC,8369,0.57,146.0,191.8,11.0,833,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2619,2313,0,0,0,0,0,0
$GC,8687,0.57,146.0,155.4,11.7,863,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2619,2313,0,0,0,0,0,0
$GC,9008,0.57,146.0,119.8,11.0,893,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2619,2313,0,0,0,0,0,0
$GC,9331,0.57,146.0,85.9,10.3,935,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2619,2313,0,0,0,0,0,0
$GC,9675,0.58,169.5,53.4,8.9,996,9700,0.00,2.20,17.58,0.621,4,0.000,0.065,2659,3935,2231,0,0,0,0,0,0
$GC,9776,0.59,184.1,44.0,9.3,1013,9795,0.00,2.08,13.15,0.610,6,0.000,0.041,2665,2613,2171,0,0,0,0,0,0
$GC,10132,0.67,299.9,18.8,4.7,1076,10230,0.00,2.38,92.03,0.604,4,0.000,0.047,2665,1198,1698,0,0,0,0,0,0
$GC,10254,0.73,402.8,12.4,5.3,1096,10342,0.15,2.35,81.78,0.586,6,0.096,0.050,2725,2614,1280,0,0,0,0,0,0
$STATE,10364,end climb,SURFACE_DEPTH_REACHED
$STATE,10364,begin surface coast
$FINISH,0.2,1.024669
$STATE,10399,end surface coast,CONTROL_FINISHED_OK
$STATE,10399,begin surface
$SM_CCo,10473,0.00,0.000,0,0,1270,405.48
$SM_GC,1.21,6.78,0.00,0.00,0.063,0.000,0.000,300,2780,1270,-6.74,0.03,405.48
$RAFOS_CLK,464
$RAFOS,6,1285174145,16.833334,16.818056,96,44,39,38,38,37,813,750,1542,25,1245,1837
$RAFOS,5,1285173670,16.700001,16.686111,129,47,46,44,43,37,619,1063,488,1552,1723,431
$RAFOS,4,1285173192,16.566668,16.553333,130,44,44,43,42,42,834,751,976,1704,348,319
$RAFOS,3,1285172703,16.433332,16.417500,98,43,41,41,41,40,996,320,613,1564,1907,1671
$RAFOS,2,1285172231,16.299999,16.286388,67,44,43,39,39,39,1022,287,1827,344,453,1807
$RAFOS,1,1285171744,16.166666,16.151112,80,46,45,44,42,41,1053,1880,1571,408,774,1257
$RAFOS,0,1285171268,16.033333,16.018888,98,44,41,41,39,39,1155,1601,1163,805,423,26
$RAFOS_FIX,6706.036133,-5656.298340,220910,161602,7,100,0.44
$IRIDIUM_FIX,6631.12,-5653.72,220910,111125
$TT8_MAMPS,0.028462
$HUMID,48.14
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.6,12.936
$10V_AH,10.4,9.424
$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,16.650,77.450,441.450,0.000,0.000,29.029,12.901,96.956,0.000,0.000,14.630,2762.277,5443.217,493.052,1938.740,106.492,0.000,1443.701,0.000,1769.100,2520.000,0.537,0.000
$DEVICE_MAMPS,263.925,75.735,906.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.069,826.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151672
$DATA_FILE_SIZE,43344,1120
$CAP_FILE_SIZE,116420,0
$CFSIZE,260165632,245493760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.0
$CURRENT,0.150,305.5,1
$GPS,220910,170443,6703.819,-5656.546,23,1.6,29,-37.6