version: 66.08
glider: 183
mission: 3
dive: 432
start: 12 1 110 4 49 18
data:
$ID,183
$MISSION,3
$DIVE,432
$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,-8294.2529
$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,36
$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,1.8
$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
$GPS1,011210,004213,6657.192,-5721.526,10,1.4,10,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,55.49
$_SM_ANGLEo,7.5
$GPS2,011210,004213,6657.192,-5721.526,10,1.4,10,-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,103.6,26493,-17.5,-10.000
$D_GRID,782
$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,-146.0,0.0,0.0,0,27,0.00,1.45,-6.88,0.000,3,0.000,0.067,2491,3037,3525,0,0,0,0,0,0
$GC,29,-0.57,-146.0,55.7,-0.0,1,37,0.57,2.62,0.00,0.000,4,0.132,0.041,2299,1362,3526,0,0,0,0,0,0
$GC,95,-0.73,-146.0,60.5,-6.7,12,102,0.17,2.30,0.00,0.000,6,0.083,0.054,2221,2783,3527,0,0,0,0,0,0
$GC,444,-0.65,-146.0,103.8,-11.9,71,448,0.15,1.90,0.00,0.000,4,0.169,0.065,2257,3929,3528,0,0,0,0,0,0
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$GC,1844,-0.65,-146.0,235.2,-9.6,202,1847,0.00,1.90,0.00,0.000,4,0.000,0.066,2247,3926,3531,0,0,0,0,0,0
$GC,1878,-0.65,-146.0,238.6,-10.2,205,1882,0.00,1.80,0.00,0.000,6,0.000,0.040,2247,2765,3531,0,0,0,0,0,0
$GC,2209,-0.65,-146.0,271.1,-9.8,236,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3532,0,0,0,0,0,0
$GC,2531,-0.65,-146.0,301.3,-8.9,266,2534,0.00,2.17,0.00,0.000,4,0.000,0.044,2247,1369,3532,0,0,0,0,0,0
$GC,2554,-0.65,-146.0,303.8,-9.7,268,2558,0.00,2.28,0.00,0.000,6,0.000,0.055,2247,2773,3532,0,0,0,0,0,0
$GC,2884,-0.65,-146.0,333.1,-8.9,299,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3532,0,0,0,0,0,0
$GC,3204,-0.65,-146.0,361.1,-8.5,329,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3532,0,0,0,0,0,0
$GC,3524,-0.65,-146.0,389.3,-8.7,359,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3532,0,0,0,0,0,0
$GC,3841,-0.65,-146.0,416.7,-8.5,389,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3531,0,0,0,0,0,0
$GC,4160,-0.65,-146.0,445.1,-9.0,419,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3531,0,0,0,0,0,0
$GC,4479,-0.65,-146.0,472.5,-8.6,449,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3531,0,0,0,0,0,0
$GC,4807,-0.65,-146.0,500.2,-8.6,480,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3530,0,0,0,0,0,0
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$GC,5442,-0.65,-146.0,552.9,-8.5,500,5449,0.00,2.28,0.00,0.000,6,0.000,0.057,2247,2768,3530,0,0,0,0,0,0
$GC,5755,-0.65,-146.0,577.5,-7.9,511,5759,0.00,1.98,0.00,0.000,4,0.000,0.069,2247,3931,3529,0,0,0,0,0,0
$GC,5805,-0.68,-146.0,581.6,-8.1,512,5809,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2771,3529,0,0,0,0,0,0
$GC,6129,-0.68,-146.0,607.1,-8.0,523,6133,0.00,2.17,0.00,0.000,4,0.000,0.047,2247,1371,3529,0,0,0,0,0,0
$GC,6159,-0.70,-146.0,609.5,-8.2,524,6164,0.00,2.30,0.00,0.000,6,0.000,0.059,2247,2781,3529,0,0,0,0,0,0
$GC,6495,-0.70,-146.0,636.8,-8.3,535,6498,0.00,1.95,0.00,0.000,4,0.000,0.070,2247,3929,3529,0,0,0,0,0,0
$GC,6539,-0.73,-146.0,640.7,-8.0,536,6543,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2771,3529,0,0,0,0,0,0
$GC,6870,-0.75,-146.0,668.4,-8.4,547,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3529,0,0,0,0,0,0
$GC,7175,-0.77,-146.0,693.7,-8.2,557,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3528,0,0,0,0,0,0
$GC,7482,-0.77,-146.0,718.2,-8.0,567,7486,0.00,1.95,0.00,0.000,4,0.000,0.070,2247,3933,3528,0,0,0,0,0,0
$GC,7510,-0.79,-146.0,720.6,-8.4,567,7517,0.00,1.85,0.00,0.000,6,0.000,0.044,2247,2777,3527,0,0,0,0,0,0
$GC,7823,-0.82,-146.0,744.3,-7.5,578,7828,0.10,2.22,0.00,0.000,4,0.119,0.048,2198,1368,3527,0,0,0,0,0,0
$GC,7853,-0.77,-146.0,747.2,-9.9,579,7858,0.12,2.33,0.00,0.000,6,0.178,0.058,2221,2780,3526,0,0,0,0,0,0
$STATE,8186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8186,begin apogee
$GC,8191,-0.14,0.0,778.5,9.1,590,8323,0.62,0.00,124.90,1.081,4,0.135,0.000,2426,2603,2923,0,0,0,0,0,0
$STATE,8323,end apogee,CONTROL_FINISHED_OK
$STATE,8324,begin climb
$GC,8325,0.57,146.0,782.4,0.0,594,8465,0.68,2.42,130.60,1.060,4,0.064,0.048,2666,1180,2327,0,0,0,0,0,0
$GC,8596,0.53,146.0,758.2,12.2,602,8600,0.00,2.47,0.00,0.000,6,0.000,0.054,2666,2601,2318,0,0,0,0,0,0
$GC,8909,0.45,146.0,716.7,13.1,612,8914,0.17,2.30,0.00,0.000,4,0.195,0.052,2625,1185,2313,0,0,0,0,0,0
$GC,9094,0.49,150.0,698.4,9.8,617,9098,0.00,2.35,0.00,0.000,6,0.000,0.054,2624,2612,2313,0,0,0,0,0,0
$GC,9406,0.49,150.0,666.5,10.3,627,9410,0.00,2.20,0.00,0.000,4,0.000,0.067,2625,3926,2312,0,0,0,0,0,0
$GC,9441,0.44,150.0,662.4,12.8,628,9445,0.00,2.12,0.00,0.000,6,0.000,0.044,2625,2601,2311,0,0,0,0,0,0
$GC,9781,0.44,150.0,626.8,10.4,639,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2600,2311,0,0,0,0,0,0
$GC,10088,0.44,150.0,593.8,10.8,649,10091,0.00,2.22,0.00,0.000,4,0.000,0.067,2625,3925,2311,0,0,0,0,0,0
$GC,10123,0.39,150.0,589.6,13.2,650,10127,0.00,2.08,0.00,0.000,6,0.000,0.044,2625,2609,2309,0,0,0,0,0,0
$GC,10464,0.39,150.0,552.8,10.5,661,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2608,2309,0,0,0,0,0,0
$GC,10770,0.39,150.0,520.6,10.5,671,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2608,2309,0,0,0,0,0,0
$GC,11080,0.39,150.0,487.9,10.0,687,11084,0.00,2.20,0.00,0.000,4,0.000,0.067,2625,3925,2309,0,0,0,0,0,0
$GC,11103,0.36,150.0,485.3,11.2,689,11108,0.12,2.08,0.00,0.000,6,0.198,0.044,2596,2613,2308,0,0,0,0,0,0
$GC,11429,0.44,176.3,458.0,8.8,719,11459,0.00,0.00,24.10,0.882,6,0.000,0.000,2596,2612,2203,0,0,0,0,0,0
$GC,11779,0.54,205.1,428.3,8.7,752,11809,0.15,0.00,25.40,0.861,6,0.093,0.000,2659,2612,2086,0,0,0,0,0,0
$GC,12126,0.51,205.1,383.0,13.7,785,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2612,2080,0,0,0,0,0,0
$GC,12445,0.49,205.1,341.0,12.8,815,12449,0.00,2.20,0.00,0.000,4,0.000,0.067,2659,3930,2079,0,0,0,0,0,0
$GC,12477,0.42,205.1,336.1,15.4,817,12485,0.17,2.08,0.00,0.000,6,0.188,0.043,2616,2616,2078,0,0,0,0,0,0
$GC,12803,0.50,222.2,304.6,9.2,848,12826,0.00,2.30,14.40,0.776,4,0.000,0.051,2616,1199,2017,0,0,0,0,0,0
$GC,12842,0.64,268.7,300.9,7.9,851,12893,0.17,2.30,40.75,0.783,6,0.085,0.054,2690,2624,1825,0,0,0,0,0,0
$GC,13211,0.59,268.7,243.7,16.7,886,13215,0.00,2.17,0.00,0.000,4,0.000,0.065,2690,3925,1816,0,0,0,0,0,0
$GC,13238,0.52,268.7,238.5,18.7,888,13246,0.17,2.10,0.00,0.000,6,0.184,0.043,2647,2606,1815,0,0,0,0,0,0
$GC,13563,0.57,268.7,199.2,11.2,919,13567,0.00,2.22,0.00,0.000,4,0.000,0.050,2647,1191,1814,0,0,0,0,0,0
$GC,13591,0.64,268.7,196.1,10.7,921,13599,0.10,2.28,0.00,0.000,6,0.112,0.053,2689,2609,1814,0,0,0,0,0,0
$GC,13917,0.60,268.7,145.6,16.1,952,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2610,1812,0,0,0,0,0,0
$GC,14237,0.57,268.7,91.8,18.9,986,14245,0.12,2.15,0.00,0.000,4,0.189,0.063,2658,3926,1812,0,0,0,0,0,0
$GC,14291,0.60,268.7,83.1,15.5,995,14298,0.00,2.12,0.00,0.000,6,0.000,0.041,2657,2587,1811,0,0,0,0,0,0
$GC,14636,0.67,268.7,46.0,10.6,1056,14644,0.10,2.22,0.00,0.000,4,0.116,0.063,2700,3932,1811,0,0,0,0,0,0
$GC,14662,0.67,268.7,42.6,12.6,1060,14669,0.00,2.08,0.00,0.000,6,0.000,0.040,2706,2613,1811,0,0,0,0,0,0
$FREEZE,8.79,0.559,-1.788,0,2,0
$FREEZE,7.89,0.558,-1.788,0,2,0
$FREEZE,7.38,0.555,-1.787,0,2,0
$FREEZE,6.65,0.561,-1.787,0,2,0
$STATE,14948,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14948,begin subsurface finish
$FINISH1,6.7,1.026092,69
$GC,14956,0.04,69.1,6.7,-13.6,1111,14993,0.68,2.30,-29.95,0.000,4,0.148,0.057,2493,1181,2643,0,0,0,0,0,0
$FINISH2,3.8
$STATE,14994,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14994,begin surface
$RAFOS_CLK,800
$RAFOS,6,1291193345,8.833333,8.818055,46,44,44,44,43,42,791,990,1273,805,934,1313
$RAFOS,5,1291192862,8.700000,8.683888,57,47,44,43,43,42,628,1495,380,109,307,26
$RAFOS,4,1291192381,8.566667,8.550278,46,46,45,45,41,39,965,1507,875,1470,1910,1937
$RAFOS,3,1291191901,8.433333,8.416945,47,42,41,41,41,39,411,194,1569,492,1298,1849
$RAFOS,2,1291191423,8.300000,8.284166,48,44,43,40,40,40,429,1266,1278,415,180,1806
$RAFOS,1,1291190945,8.166667,8.151389,44,42,42,40,39,39,453,180,665,619,1183,1833
$RAFOS,0,1291190468,8.033334,8.018888,45,43,42,42,42,42,639,413,80,1329,1456,1840
$RAFOS,6,1291178980,4.833333,4.827778,61,50,45,42,41,39,600,364,1309,1131,1712,314
$RAFOS_FIX,1935.830811,1934.583862,211104,212132,16796,20,-0.00
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,47.95
$INTERNAL_PRESSURE,8.72928
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.2
$ALTIM_BOTTOM_PING,701.0,91.2
$24V_AH,21.9,52.700
$10V_AH,10.0,38.914
$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,4.400,98.150,360.150,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2832.787,9770.430,409.811,1896.028,191.931,0.000,1426.134,0.000,1876.187,2880.000,21.451,0.000
$DEVICE_MAMPS,198.135,69.615,1080.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151596
$DATA_FILE_SIZE,40043,1117
$CAP_FILE_SIZE,136788,0
$CFSIZE,260165632,219181056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.1
$GPS,011210,004213,6657.192,-5721.526,10,1.4,10,-37.6