version: 66.08
glider: 183
mission: 3
dive: 531
start: 12 18 110 17 37 49
data:
$ID,183
$MISSION,3
$DIVE,531
$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,-9815.5479
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,181210,150637,6705.725,-5651.304,8,1.8,13,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.47
$_SM_ANGLEo,3.3
$GPS2,181210,150637,6705.725,-5651.304,8,1.8,13,-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,192.3,5582,-17.5,-10.000
$D_GRID,454
$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,-146.0,0.0,0.0,0,41,0.00,0.00,-23.38,0.000,2,0.000,0.000,2497,3933,3407,0,0,0,0,0,0
$GC,44,-0.57,-146.0,5.1,-1.8,4,58,0.57,4.10,-3.47,0.000,4,0.119,0.050,2299,1367,3521,0,0,0,0,0,0
$GC,88,-0.68,-146.0,8.4,-7.8,11,95,0.10,2.28,0.00,0.000,6,0.112,0.054,2243,2779,3522,0,0,0,0,0,0
$GC,435,-0.62,-146.0,53.3,-12.6,72,442,0.10,1.92,0.00,0.000,4,0.186,0.066,2262,3932,3522,0,0,0,0,0,0
$GC,517,-0.62,-146.0,63.2,-11.4,86,524,0.00,1.80,0.00,0.000,6,0.000,0.042,2262,2789,3522,0,0,0,0,0,0
$GC,861,-0.62,-146.0,102.5,-11.7,145,865,0.00,1.90,0.00,0.000,4,0.000,0.067,2261,3926,3521,0,0,0,0,0,0
$GC,896,-0.62,-146.0,106.7,-11.6,148,899,0.00,1.77,0.00,0.000,6,0.000,0.042,2261,2803,3521,0,0,0,0,0,0
$GC,1227,-0.62,-146.0,140.7,-10.0,179,1231,0.00,2.22,0.00,0.000,4,0.000,0.044,2261,1365,3520,0,0,0,0,0,0
$GC,1324,-0.65,-146.0,150.1,-9.8,187,1328,0.00,2.33,0.00,0.000,6,0.000,0.057,2261,2791,3520,0,0,0,0,0,0
$GC,1650,-0.68,-146.0,177.4,-8.0,217,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2791,3520,0,0,0,0,0,0
$GC,1970,-0.71,-146.0,203.8,-8.3,247,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2791,3520,0,0,0,0,0,0
$GC,2288,-0.75,-146.0,230.0,-8.5,277,2292,0.00,2.20,0.00,0.000,4,0.000,0.044,2261,1373,3519,0,0,0,0,0,0
$GC,2340,-0.80,-146.0,234.8,-8.9,281,2345,0.12,2.30,0.00,0.000,6,0.095,0.057,2201,2785,3519,0,0,0,0,0,0
$GC,2666,-0.73,-146.0,274.5,-11.7,311,2670,0.15,1.92,0.00,0.000,4,0.169,0.065,2235,3938,3519,0,0,0,0,0,0
$GC,2700,-0.73,-146.0,278.2,-10.3,314,2704,0.00,1.83,0.00,0.000,6,0.000,0.041,2236,2778,3519,0,0,0,0,0,0
$GC,3031,-0.73,-146.0,308.8,-9.1,345,3035,0.00,2.17,0.00,0.000,4,0.000,0.044,2235,1367,3519,0,0,0,0,0,0
$GC,3083,-0.75,-146.0,313.6,-9.1,349,3087,0.00,2.30,0.00,0.000,6,0.000,0.055,2232,2782,3519,0,0,0,0,0,0
$GC,3414,-0.75,-146.0,344.1,-9.4,380,3418,0.00,2.20,0.00,0.000,4,0.000,0.043,2232,1365,3519,0,0,0,0,0,0
$GC,3471,-0.75,-146.0,349.2,-8.8,384,3478,0.00,2.30,0.00,0.000,6,0.000,0.054,2229,2781,3520,0,0,0,0,0,0
$GC,3796,-0.75,-146.0,377.9,-8.9,415,3800,0.00,2.20,0.00,0.000,4,0.000,0.044,2229,1375,3520,0,0,0,0,0,0
$GC,3818,-0.75,-146.0,380.0,-8.5,416,3825,0.00,2.25,0.00,0.000,6,0.000,0.055,2222,2760,3520,0,0,0,0,0,0
$GC,4142,-0.75,-146.0,409.5,-9.3,441,4146,0.00,2.17,0.00,0.000,4,0.000,0.043,2222,1371,3520,0,0,0,0,0,0
$GC,4174,-0.75,-146.0,413.0,-9.5,442,4178,0.00,2.25,0.00,0.000,6,0.000,0.055,2221,2757,3520,0,0,0,0,0,0
$GC,4511,-0.75,-146.0,444.3,-9.3,453,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2757,3520,0,0,0,0,0,0
$STATE,4630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4630,begin apogee
$GC,4636,-0.14,0.0,455.4,9.1,457,4762,0.60,0.00,117.15,0.842,4,0.129,0.000,2421,2603,2923,0,0,0,0,0,0
$STATE,4763,end apogee,CONTROL_FINISHED_OK
$STATE,4763,begin climb
$GC,4766,0.57,146.0,458.4,0.0,461,4893,0.62,0.00,120.15,0.825,6,0.074,0.000,2656,2603,2327,0,0,0,0,0,0
$GC,5197,0.53,146.0,410.6,13.0,475,5201,0.00,2.20,0.00,0.000,4,0.000,0.061,2656,3930,2319,0,0,0,0,0,0
$GC,5213,0.47,146.0,408.3,12.8,475,5218,0.15,2.10,0.00,0.000,6,0.190,0.038,2624,2596,2318,0,0,0,0,0,0
$GC,5540,0.47,146.0,373.7,10.4,500,5544,0.00,2.20,0.00,0.000,4,0.000,0.046,2624,1190,2317,0,0,0,0,0,0
$GC,5562,0.51,149.3,371.4,9.8,501,5569,0.00,2.25,0.00,0.000,6,0.000,0.050,2624,2595,2317,0,0,0,0,0,0
$GC,5888,0.54,149.3,337.6,10.2,532,5892,0.00,2.20,0.00,0.000,4,0.000,0.061,2624,3937,2316,0,0,0,0,0,0
$GC,5910,0.54,149.3,334.9,11.5,533,5916,0.00,2.12,0.00,0.000,6,0.000,0.039,2624,2586,2316,0,0,0,0,0,0
$GC,6235,0.54,149.3,300.6,11.0,564,6239,0.00,2.17,0.00,0.000,4,0.000,0.047,2625,1193,2316,0,0,0,0,0,0
$GC,6264,0.59,149.3,297.5,11.4,566,6269,0.12,2.25,0.00,0.000,6,0.096,0.050,2683,2600,2316,0,0,0,0,0,0
$GC,6589,0.51,149.3,253.1,12.8,596,6591,0.15,0.00,0.00,0.000,6,0.185,0.000,2643,2600,2316,0,0,0,0,0,0
$GC,6907,0.51,149.3,219.9,10.4,626,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2600,2316,0,0,0,0,0,0
$GC,7227,0.51,149.3,187.8,10.2,656,7231,0.00,2.20,0.00,0.000,4,0.000,0.060,2643,3929,2316,0,0,0,0,0,0
$GC,7249,0.48,149.3,185.1,11.0,657,7256,0.00,2.10,0.00,0.000,6,0.000,0.038,2649,2584,2315,0,0,0,0,0,0
$GC,7574,0.48,149.3,149.5,11.1,688,7578,0.00,2.20,0.00,0.000,4,0.000,0.061,2648,3928,2315,0,0,0,0,0,0
$GC,7676,0.43,149.3,137.1,11.9,696,7683,0.12,2.08,0.00,0.000,6,0.194,0.038,2620,2602,2315,0,0,0,0,0,0
$GC,8001,0.53,212.2,111.4,7.1,727,8059,0.00,2.25,52.78,0.627,4,0.000,0.045,2620,1192,2056,0,0,0,0,0,0
$GC,8123,0.70,252.5,102.2,8.1,738,8163,0.22,2.22,33.45,0.614,6,0.069,0.049,2716,2580,1892,0,0,0,0,0,0
$GC,8502,0.68,252.5,51.6,13.3,802,8509,0.00,2.20,0.00,0.000,4,0.000,0.061,2715,3930,1883,0,0,0,0,0,0
$GC,8561,0.62,252.5,42.6,16.2,812,8569,0.17,2.12,0.00,0.000,6,0.179,0.039,2672,2585,1882,0,0,0,0,0,0
$FREEZE,8.95,3.179,-1.821,0,2,0
$FREEZE,8.54,3.175,-1.821,0,2,0
$FREEZE,7.57,3.174,-1.820,0,2,0
$FREEZE,6.88,3.174,-1.820,0,2,0
$GC,8911,0.70,269.8,8.5,9.2,873,8933,0.00,2.28,13.73,0.563,4,0.000,0.063,2672,3925,1823,0,0,0,0,0,0
$FREEZE,5.33,3.174,-1.819,0,2,0
$FREEZE,4.69,3.172,-1.818,0,2,0
$FREEZE,4.09,3.171,-1.818,0,2,0
$FREEZE,3.55,3.168,-1.817,0,2,0
$FREEZE,3.13,3.164,-1.817,0,2,0
$FREEZE,2.45,3.161,-1.816,0,2,0
$STATE,8967,end climb,SURFACE_DEPTH_REACHED
$STATE,8967,begin surface coast
$FREEZE,1.72,3.148,-1.816,0,2,0
$FINISH,1.7,1.026369
$STATE,8974,end surface coast,CONTROL_FINISHED_OK
$STATE,8974,begin surface
$SM_CCo,8991,209.27,0.076,0,0,440,609.08
$SM_GC,2.01,0.00,0.00,209.27,0.000,0.000,0.076,289,2773,440,-6.82,-0.20,609.08
$RAFOS_CLK,406
$RAFOS,0,1292702465,20.033333,20.018055,43,43,43,42,41,41,610,1242,1914,383,286,1327
$RAFOS_FIX,6706.943359,-5656.664062,181210,080856,2,68,0.75
$IRIDIUM_FIX,6636.54,-5702.96,181210,090952
$TT8_MAMPS,0.028462
$HUMID,45.58
$INTERNAL_PRESSURE,8.59255
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,22.8,64.295
$10V_AH,9.9,45.978
$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,9.450,83.650,337.250,209.275,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2152.426,4913.110,571.675,1459.964,166.848,0.000,1361.445,0.000,1449.692,360.000,15.159,0.000
$DEVICE_MAMPS,194.310,67.320,841.500,75.735,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,30064,883
$CAP_FILE_SIZE,103440,0
$CFSIZE,260165632,212500480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1474.5
$GPS,181210,201236,6705.244,-5647.446,38,0.8,39,-37.6