version: 66.08
glider: 183
mission: 3
dive: 434
start: 12 1 110 13 19 25
data:
$ID,183
$MISSION,3
$DIVE,434
$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,44
$R_STBD_OVSHOOT,25
$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,5.19
$_SM_ANGLEo,2.4
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-6.28,0.000,2,0.000,0.000,2496,3930,2868,0,0,0,0,0,0
$GC,26,-0.57,-146.0,5.9,-0.0,1,57,0.57,4.12,-18.70,0.000,4,0.108,0.049,2294,1376,3522,0,0,0,0,0,0
$GC,108,-0.57,-146.0,12.6,-10.5,15,115,0.00,2.28,0.00,0.000,6,0.000,0.054,2293,2780,3523,0,0,0,0,0,0
$GC,454,-0.59,-146.0,49.5,-9.9,76,461,0.00,1.88,0.00,0.000,4,0.000,0.066,2287,3925,3523,0,0,0,0,0,0
$GC,508,-0.62,-146.0,55.1,-10.0,85,515,0.00,1.80,0.00,0.000,6,0.000,0.042,2287,2781,3523,0,0,0,0,0,0
$GC,854,-0.65,-146.0,90.6,-10.2,146,860,0.00,1.92,0.00,0.000,4,0.000,0.067,2288,3929,3523,0,0,0,0,0,0
$GC,912,-0.70,-146.0,96.7,-10.3,156,920,0.12,1.77,0.00,0.000,6,0.099,0.041,2229,2788,3522,0,0,0,0,0,0
$GC,1241,-0.64,-146.0,140.1,-12.7,189,1243,0.15,0.00,0.00,0.000,6,0.162,0.000,2272,2787,3522,0,0,0,0,0,0
$GC,1560,-0.68,-146.0,167.8,-8.2,219,1564,0.00,1.88,0.00,0.000,4,0.000,0.067,2272,3924,3521,0,0,0,0,0,0
$GC,1607,-0.73,-146.0,171.3,-8.3,223,1610,0.00,1.77,0.00,0.000,6,0.000,0.042,2272,2797,3521,0,0,0,0,0,0
$GC,1938,-0.77,-146.0,194.0,-7.2,254,1940,0.12,0.00,0.00,0.000,6,0.100,0.000,2213,2797,3521,0,0,0,0,0,0
$GC,2256,-0.69,-146.0,228.1,-11.0,284,2260,0.12,2.25,0.00,0.000,4,0.174,0.043,2247,1367,3521,0,0,0,0,0,0
$GC,2279,-0.67,-146.0,230.3,-9.6,286,2283,0.00,2.30,0.00,0.000,6,0.000,0.055,2247,2796,3521,0,0,0,0,0,0
$GC,2604,-0.67,-146.0,256.5,-8.4,316,2608,0.00,2.20,0.00,0.000,4,0.000,0.042,2246,1373,3522,0,0,0,0,0,0
$GC,2633,-0.67,-146.0,258.9,-8.1,318,2637,0.00,2.30,0.00,0.000,6,0.000,0.054,2247,2789,3523,0,0,0,0,0,0
$GC,2959,-0.67,-146.0,286.8,-8.9,348,2962,0.00,1.90,0.00,0.000,4,0.000,0.065,2246,3926,3523,0,0,0,0,0,0
$GC,2986,-0.67,-146.0,289.3,-9.0,350,2993,0.00,1.83,0.00,0.000,6,0.000,0.040,2246,2773,3523,0,0,0,0,0,0
$GC,3311,-0.67,-146.0,319.1,-9.6,381,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2773,3523,0,0,0,0,0,0
$GC,3631,-0.67,-146.0,347.2,-8.9,411,3635,0.00,2.15,0.00,0.000,4,0.000,0.042,2246,1370,3523,0,0,0,0,0,0
$GC,3683,-0.69,-146.0,352.0,-9.1,415,3687,0.00,2.28,0.00,0.000,6,0.000,0.054,2243,2788,3523,0,0,0,0,0,0
$GC,4008,-0.69,-146.0,381.5,-9.1,445,4012,0.00,1.85,0.00,0.000,4,0.000,0.064,2244,3929,3524,0,0,0,0,0,0
$GC,4080,-0.69,-146.0,388.5,-9.0,451,4087,0.00,1.77,0.00,0.000,6,0.000,0.040,2244,2792,3524,0,0,0,0,0,0
$GC,4405,-0.69,-146.0,417.3,-8.6,482,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2792,3524,0,0,0,0,0,0
$GC,4727,-0.69,-146.0,444.6,-8.3,512,4731,0.00,1.90,0.00,0.000,4,0.000,0.065,2237,3932,3525,0,0,0,0,0,0
$GC,4754,-0.69,-146.0,447.4,-8.7,514,4761,0.00,1.80,0.00,0.000,6,0.000,0.041,2237,2800,3524,0,0,0,0,0,0
$GC,5080,-0.69,-146.0,477.4,-9.1,545,5084,0.00,2.22,0.00,0.000,4,0.000,0.044,2237,1367,3524,0,0,0,0,0,0
$GC,5127,-0.69,-146.0,481.5,-9.1,549,5131,0.00,2.33,0.00,0.000,6,0.000,0.056,2235,2793,3524,0,0,0,0,0,0
$GC,5460,-0.69,-146.0,511.3,-9.0,572,5463,0.00,1.88,0.00,0.000,4,0.000,0.067,2232,3938,3524,0,0,0,0,0,0
$GC,5515,-0.69,-146.0,516.8,-8.9,573,5519,0.00,1.83,0.00,0.000,6,0.000,0.042,2231,2797,3524,0,0,0,0,0,0
$GC,5834,-0.69,-146.0,544.9,-8.8,584,5838,0.00,2.20,0.00,0.000,4,0.000,0.044,2231,1373,3524,0,0,0,0,0,0
$GC,5861,-0.69,-146.0,547.5,-8.8,584,5868,0.00,2.33,0.00,0.000,6,0.000,0.057,2230,2793,3524,0,0,0,0,0,0
$GC,6174,-0.67,-146.0,575.8,-9.1,595,6178,0.00,1.88,0.00,0.000,4,0.000,0.067,2223,3936,3523,0,0,0,0,0,0
$GC,6202,-0.64,-146.0,578.7,-9.7,595,6209,0.15,1.80,0.00,0.000,6,0.162,0.042,2265,2794,3523,0,0,0,0,0,0
$GC,6517,-0.69,-146.0,601.0,-7.2,606,6521,0.00,2.22,0.00,0.000,4,0.000,0.045,2265,1363,3523,0,0,0,0,0,0
$GC,6549,-0.75,-146.0,603.9,-8.2,607,6554,0.00,2.35,0.00,0.000,6,0.000,0.057,2265,2797,3523,0,0,0,0,0,0
$GC,6880,-0.80,-146.0,628.3,-7.4,618,6882,0.15,0.00,0.00,0.000,6,0.093,0.000,2196,2797,3522,0,0,0,0,0,0
$GC,7185,-0.72,-146.0,663.6,-11.7,628,7187,0.17,0.00,0.00,0.000,6,0.171,0.000,2243,2797,3522,0,0,0,0,0,0
$GC,7491,-0.72,-146.0,689.3,-8.3,638,7495,0.00,2.22,0.00,0.000,4,0.000,0.046,2243,1374,3521,0,0,0,0,0,0
$GC,7521,-0.74,-146.0,691.8,-8.6,639,7525,0.00,2.30,0.00,0.000,6,0.000,0.058,2243,2785,3521,0,0,0,0,0,0
$GC,7858,-0.76,-146.0,719.1,-8.0,650,7862,0.00,1.88,0.00,0.000,4,0.000,0.067,2238,3928,3521,0,0,0,0,0,0
$GC,7886,-0.76,-146.0,721.7,-8.7,650,7893,0.00,1.83,0.00,0.000,6,0.000,0.044,2238,2780,3520,0,0,0,0,0,0
$STATE,7921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7922,begin apogee
$GC,7927,-0.14,0.0,724.6,8.5,652,8056,0.55,0.00,121.53,1.046,4,0.127,0.000,2421,2596,2923,0,0,0,0,0,0
$STATE,8057,end apogee,CONTROL_FINISHED_OK
$STATE,8057,begin climb
$GC,8059,0.57,146.0,727.2,0.0,656,8196,0.70,2.40,127.68,1.021,4,0.080,0.065,2662,3926,2327,0,0,0,0,0,0
$GC,8449,0.57,146.0,676.2,30217.6,668,8453,0.00,2.17,0.00,0.000,6,0.000,0.041,2665,2599,2317,0,0,0,0,0,0
$GC,8785,0.57,146.0,631.3,30217.6,679,8789,0.00,2.22,0.00,0.000,4,0.000,0.050,2666,1189,2315,0,0,0,0,0,0
$GC,9031,0.57,146.0,600.1,30217.6,686,9036,0.00,2.28,0.00,0.000,6,0.000,0.054,2666,2603,2315,0,0,0,0,0,0
$GC,9351,0.57,146.0,558.0,30217.6,697,9355,0.00,2.17,0.00,0.000,4,0.000,0.064,2666,3926,2313,0,0,0,0,0,0
$GC,9405,0.57,146.0,549.5,30217.6,698,9413,0.00,2.08,0.00,0.000,6,0.000,0.043,2666,2604,2312,0,0,0,0,0,0
$GC,9722,0.57,146.0,507.9,30217.6,709,9726,0.00,2.20,0.00,0.000,4,0.000,0.065,2666,3933,2313,0,0,0,0,0,0
$GC,9755,0.57,146.0,502.4,30217.6,710,9759,0.00,2.08,0.00,0.000,6,0.000,0.042,2666,2621,2312,0,0,0,0,0,0
$GC,10081,0.57,146.0,459.9,30217.6,739,10085,0.00,2.17,0.00,0.000,4,0.000,0.065,2666,3929,2312,0,0,0,0,0,0
$GC,10104,0.57,146.0,456.7,30217.6,741,10108,0.00,2.08,0.00,0.000,6,0.000,0.042,2666,2620,2311,0,0,0,0,0,0
$GC,10435,0.57,146.0,413.6,30217.6,772,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2619,2311,0,0,0,0,0,0
$GC,10754,0.57,146.0,371.7,30217.6,802,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2619,2311,0,0,0,0,0,0
$GC,11073,0.57,146.0,329.2,30217.6,832,11077,0.00,2.17,0.00,0.000,4,0.000,0.064,2666,3928,2311,0,0,0,0,0,0
$GC,11113,0.57,146.0,323.3,30217.6,835,11116,0.00,2.05,0.00,0.000,6,0.000,0.041,2666,2618,2310,0,0,0,0,0,0
$GC,11444,0.57,146.0,280.5,30217.6,866,11448,0.00,2.17,0.00,0.000,4,0.000,0.063,2666,3936,2310,0,0,0,0,0,0
$GC,11499,0.57,146.0,272.6,30217.6,870,11506,0.00,2.03,0.00,0.000,6,0.000,0.041,2666,2640,2310,0,0,0,0,0,0
$GC,11826,0.57,146.0,234.7,30217.6,901,11830,0.00,2.12,0.00,0.000,4,0.000,0.063,2666,3930,2310,0,0,0,0,0,0
$GC,11853,0.57,146.0,231.0,30217.6,903,11860,0.00,2.03,0.00,0.000,6,0.000,0.040,2667,2633,2310,0,0,0,0,0,0
$GC,12181,0.57,146.0,194.7,30217.6,934,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2633,2310,0,0,0,0,0,0
$GC,12497,0.57,146.0,157.7,30217.6,964,12501,0.00,2.15,0.00,0.000,4,0.000,0.062,2666,3936,2311,0,0,0,0,0,0
$GC,12560,0.57,146.0,149.4,30217.6,969,12564,0.00,2.00,0.00,0.000,6,0.000,0.039,2666,2648,2311,0,0,0,0,0,0
$GC,12891,0.57,146.0,111.7,30217.6,1000,12895,0.00,2.25,0.00,0.000,4,0.000,0.046,2666,1193,2311,0,0,0,0,0,0
$GC,12909,0.57,146.0,110.2,30217.6,1001,12913,0.00,2.33,0.00,0.000,6,0.000,0.050,2666,2651,2312,0,0,0,0,0,0
$GC,13246,0.57,146.0,79.0,30217.6,1051,13252,0.00,2.08,0.00,0.000,4,0.000,0.061,2666,3929,2313,0,0,0,0,0,0
$STATE,13302,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,13302,begin subsurface finish
$FINISH1,72.6,1.026642,42
$GC,13311,0.03,42.1,72.6,-30217.6,1061,13325,0.57,2.28,-3.85,0.000,4,0.163,0.076,2491,3925,2759,0,0,0,0,0,0
$FINISH2,70.7
$STATE,13326,end subsurface finish,CONTROL_FINISHED_OK
$STATE,13326,begin surface
$RAFOS_CLK,681
$RAFOS,6,1291222145,16.833334,16.818056,67,46,45,41,40,39,827,1505,606,26,972,1531
$RAFOS,5,1291221667,16.700001,16.685278,69,46,44,42,37,36,632,1791,165,1896,1800,304
$RAFOS,4,1291221186,16.566668,16.551666,47,46,44,44,44,43,1861,285,346,153,1080,1400
$RAFOS,65,-1585495631,0.000000,0.000000,95,67,65,180,37,163,1800,16645,26749,373,1768,767
$RAFOS,2,1291220231,16.299999,16.286388,50,46,45,45,43,42,1172,1755,232,1151,1739,1701
$RAFOS,1,1291219743,16.166666,16.150833,48,47,44,43,42,39,402,709,269,618,849,1233
$RAFOS,0,1291219281,16.033333,16.022499,47,45,41,40,40,39,1771,1072,1785,720,1803,567
$RAFOS_FIX,6703.312988,-5701.014160,011210,161656,2,68,0.32
$IRIDIUM_FIX,6625.71,-5722.48,011210,000045
$TT8_MAMPS,0.028462
$HUMID,48.81
$INTERNAL_PRESSURE,8.8074
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,19.3
$ALTIM_BOTTOM_PING,73.8,19.1
$24V_AH,22.1,52.870
$10V_AH,10.0,39.052
$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,3.400,121.100,249.200,0.000,0.000,0.000,0.000,0.000,2.500,0.000,0.000,2761.396,8298.673,323.358,1885.506,187.060,0.000,1325.306,0.000,1866.568,2520.000,19.684,0.000
$DEVICE_MAMPS,173.655,76.500,1045.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.261,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,40066,1063
$CAP_FILE_SIZE,137074,0
$CFSIZE,260165632,219041792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.8
$GPS,011210,164656,6703.313,-5701.014,0,2068.0,0,-37.6