version: 66.08
glider: 183
mission: 3
dive: 550
start: 12 20 110 19 42 23
data:
$ID,183
$MISSION,3
$DIVE,550
$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,-9835.9131
$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,27
$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
$GPS1,201210,193437,6707.442,-5708.551,24,1.6,25,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-61.4
$GPS2,201210,194150,6707.445,-5708.632,14,1.7,14,-37.7
$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,291.0,150774,-17.5,-10.000
$D_GRID,622
$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,-146.0,0.0,0.0,0,155,0.00,0.00,-135.95,0.000,2,0.000,0.000,282,2782,3504,0,0,0,0,0,0
$GC,159,-0.57,-146.0,6.3,-12.5,24,173,8.35,1.98,-0.30,0.000,4,0.242,0.081,2279,3926,3522,0,0,0,0,0,0
$GC,422,-0.59,-146.0,49.7,-10.6,70,429,0.00,1.85,0.00,0.000,6,0.000,0.045,2278,2773,3522,0,0,0,0,0,0
$GC,768,-0.62,-146.0,86.6,-10.7,131,775,0.00,2.20,0.00,0.000,4,0.000,0.047,2278,1367,3521,0,0,0,0,0,0
$GC,811,-0.67,-146.0,91.1,-10.4,138,818,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2776,3520,0,0,0,0,0,0
$GC,1143,-0.71,-146.0,124.3,-9.5,176,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2776,3521,0,0,0,0,0,0
$GC,1463,-0.75,-146.0,154.0,-9.0,206,1468,0.12,2.22,0.00,0.000,4,0.097,0.047,2215,1371,3521,0,0,0,0,0,0
$GC,1537,-0.71,-146.0,162.8,-12.5,212,1542,0.12,2.28,0.00,0.000,6,0.174,0.057,2240,2768,3521,0,0,0,0,0,0
$GC,1863,-0.71,-146.0,194.6,-8.9,242,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2768,3521,0,0,0,0,0,0
$GC,2181,-0.71,-146.0,223.5,-9.8,272,2185,0.00,2.22,0.00,0.000,4,0.000,0.046,2240,1364,3522,0,0,0,0,0,0
$GC,2226,-0.71,-146.0,227.9,-9.4,275,2232,0.00,2.28,0.00,0.000,6,0.000,0.057,2235,2761,3522,0,0,0,0,0,0
$GC,2551,-0.71,-146.0,263.5,-10.4,306,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2761,3522,0,0,0,0,0,0
$GC,2872,-0.71,-146.0,294.8,-9.4,336,2876,0.00,2.17,0.00,0.000,4,0.000,0.046,2235,1370,3523,0,0,0,0,0,0
$GC,2912,-0.71,-146.0,299.0,-9.6,339,2916,0.00,2.25,0.00,0.000,6,0.000,0.057,2235,2740,3523,0,0,0,0,0,0
$GC,3237,-0.71,-146.0,330.1,-9.8,369,3241,0.00,2.00,0.00,0.000,4,0.000,0.068,2235,3946,3523,0,0,0,0,0,0
$GC,3264,-0.71,-146.0,333.2,-10.2,371,3271,0.00,1.95,0.00,0.000,6,0.000,0.043,2235,2737,3523,0,0,0,0,0,0
$GC,3590,-0.71,-146.0,364.8,-9.7,402,3594,0.00,2.12,0.00,0.000,4,0.000,0.046,2235,1371,3523,0,0,0,0,0,0
$GC,3638,-0.71,-146.0,369.4,-9.2,406,3642,0.00,2.20,0.00,0.000,6,0.000,0.057,2235,2730,3523,0,0,0,0,0,0
$GC,3984,-0.71,-146.0,403.7,-9.9,436,3988,0.00,2.12,0.00,0.000,4,0.000,0.045,2235,1371,3524,0,0,0,0,0,0
$GC,4039,-0.71,-146.0,409.2,-9.5,437,4046,0.00,2.20,0.00,0.000,6,0.000,0.057,2235,2724,3524,0,0,0,0,0,0
$GC,4352,-0.71,-146.0,437.6,-9.1,448,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2723,3524,0,0,0,0,0,0
$GC,4660,-0.71,-146.0,466.5,-9.3,458,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2723,3524,0,0,0,0,0,0
$GC,4965,-0.71,-146.0,495.3,-9.5,468,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2724,3524,0,0,0,0,0,0
$GC,5271,-0.71,-146.0,522.9,-8.8,478,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2723,3524,0,0,0,0,0,0
$GC,5578,-0.71,-146.0,549.7,-8.5,488,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2723,3524,0,0,0,0,0,0
$GC,5883,-0.71,-146.0,576.1,-8.7,498,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2723,3524,0,0,0,0,0,0
$GC,6194,-0.71,-146.0,601.9,-8.6,508,6198,0.00,2.05,0.00,0.000,4,0.000,0.070,2231,3935,3524,0,0,0,0,0,0
$GC,6290,-0.71,-146.0,611.1,-9.4,510,6297,0.00,1.98,0.00,0.000,6,0.000,0.045,2231,2705,3524,0,0,0,0,0,0
$STATE,6417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6417,begin apogee
$GC,6423,-0.14,0.0,622.1,8.5,515,6553,0.57,0.00,122.28,0.973,4,0.129,0.000,2422,2602,2923,0,0,0,0,0,0
$STATE,6554,end apogee,CONTROL_FINISHED_OK
$STATE,6554,begin climb
$GC,6556,0.57,146.0,624.7,0.0,519,6692,0.70,2.38,126.93,0.952,4,0.078,0.067,2664,3926,2327,0,0,0,0,0,0
$GC,6872,0.57,146.0,586.5,24560.9,528,6878,0.00,2.22,0.00,0.000,6,0.000,0.042,2666,2589,2318,0,0,0,0,0,0
$GC,7186,0.57,146.0,546.5,24560.9,539,7190,0.00,2.28,0.00,0.000,4,0.000,0.067,2666,3930,2316,0,0,0,0,0,0
$GC,7443,0.57,146.0,508.3,24560.9,546,7450,0.00,2.12,0.00,0.000,6,0.000,0.043,2666,2600,2314,0,0,0,0,0,0
$GC,7757,0.57,146.0,470.1,24560.9,557,7761,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3928,2314,0,0,0,0,0,0
$GC,7812,0.57,146.0,462.4,24560.9,558,7816,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2606,2314,0,0,0,0,0,0
$GC,8131,0.57,146.0,425.7,24560.9,569,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2605,2314,0,0,0,0,0,0
$GC,8441,0.57,146.0,388.2,24560.9,585,8445,0.00,2.22,0.00,0.000,4,0.000,0.051,2667,1186,2314,0,0,0,0,0,0
$GC,8471,0.57,146.0,384.5,24560.9,587,8475,0.00,2.30,0.00,0.000,6,0.000,0.054,2666,2611,2313,0,0,0,0,0,0
$GC,8802,0.57,146.0,344.5,24560.9,618,8806,0.00,2.25,0.00,0.000,4,0.000,0.051,2670,1185,2312,0,0,0,0,0,0
$GC,8834,0.57,146.0,340.7,24560.9,620,8841,0.00,2.30,0.00,0.000,6,0.000,0.054,2670,2599,2313,0,0,0,0,0,0
$GC,9160,0.57,146.0,303.1,24560.9,651,9164,0.00,2.22,0.00,0.000,4,0.000,0.067,2670,3929,2312,0,0,0,0,0,0
$GC,9224,0.57,146.0,294.2,24560.9,656,9228,0.00,2.12,0.00,0.000,6,0.000,0.043,2675,2594,2312,0,0,0,0,0,0
$GC,9549,0.57,146.0,253.2,24560.9,686,9553,0.00,2.20,0.00,0.000,4,0.000,0.050,2679,1190,2312,0,0,0,0,0,0
$GC,9590,0.57,146.0,248.3,24560.9,689,9594,0.00,2.28,0.00,0.000,6,0.000,0.054,2679,2604,2312,0,0,0,0,0,0
$GC,9915,0.57,146.0,207.0,24560.9,719,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2604,2312,0,0,0,0,0,0
$GC,10236,0.57,146.0,169.4,24560.9,749,10240,0.00,2.20,0.00,0.000,4,0.000,0.065,2679,3933,2312,0,0,0,0,0,0
$GC,10293,0.57,146.0,161.6,24560.9,754,10297,0.00,2.10,0.00,0.000,6,0.000,0.042,2684,2608,2312,0,0,0,0,0,0
$GC,10625,0.57,146.0,125.8,24560.9,785,10629,0.00,2.25,0.00,0.000,4,0.000,0.050,2685,1185,2312,0,0,0,0,0,0
$GC,10681,0.57,146.0,120.2,24560.9,789,10688,0.00,2.28,0.00,0.000,6,0.000,0.053,2685,2601,2314,0,0,0,0,0,0
$GC,11014,0.52,152.3,86.0,9.7,832,11022,0.15,0.00,4.40,0.517,6,0.182,0.000,2644,2601,2302,0,0,0,0,0,0
$GC,11363,0.61,219.3,59.5,6.9,893,11426,0.00,0.00,56.45,0.627,6,0.000,0.000,2645,2601,2027,0,0,0,0,0,0
$GC,11766,0.74,292.1,30.3,6.6,964,11830,0.20,0.00,59.12,0.611,6,0.080,0.000,2726,2601,1730,0,0,0,0,0,0
$FREEZE,8.55,1.588,-1.821,0,1,0
$FREEZE,7.91,1.566,-1.819,0,1,0
$FREEZE,7.15,1.595,-1.819,0,1,0
$FREEZE,6.57,1.608,-1.819,0,1,0
$FREEZE,5.70,1.607,-1.818,0,1,0
$FREEZE,4.78,1.598,-1.817,0,1,0
$FREEZE,3.74,1.597,-1.816,0,1,0
$FREEZE,2.89,1.592,-1.815,0,1,0
$STATE,11967,end climb,SURFACE_DEPTH_REACHED
$STATE,11967,begin surface coast
$FREEZE,2.28,1.590,-1.815,0,1,0
$FREEZE,1.58,1.594,-1.814,0,1,0
$FREEZE,1.17,1.597,-1.814,0,1,0
$FINISH,1.2,1.026469
$STATE,11986,end surface coast,CONTROL_FINISHED_OK
$STATE,11986,begin surface
$SM_CCo,12002,214.48,0.570,1,0,440,609.08
$SM_GC,1.61,0.00,0.00,214.48,0.000,0.000,0.570,293,2787,440,-6.81,0.20,609.08
$RAFOS_CLK,601
$RAFOS,6,1292878142,20.833334,20.817223,64,50,46,44,43,41,788,797,1290,1362,824,427
$RAFOS,5,1292877667,20.700001,20.685278,145,47,43,42,41,40,611,612,1255,1000,1140,162
$RAFOS,4,1292877187,20.566668,20.551945,48,43,41,40,40,39,835,1312,1119,726,1569,1540
$RAFOS,3,1292876702,20.433332,20.417223,45,43,42,41,41,40,993,255,243,261,1381,1154
$RAFOS,2,1292876226,20.299999,20.285000,45,44,43,41,41,39,1522,603,1687,787,8,1236
$RAFOS,1,1292875748,20.166666,20.152222,51,46,46,45,45,45,603,558,145,569,1759,453
$RAFOS,0,1292875261,20.033333,20.016945,50,46,45,40,38,38,758,1455,612,490,8,422
$RAFOS_FIX,6709.416016,-5714.258301,201210,202056,2,104,1.40
$IRIDIUM_FIX,6647.44,-5647.86,201210,131328
$TT8_MAMPS,0.029211
$HUMID,48.38
$INTERNAL_PRESSURE,8.51442
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.2
$24V_AH,22.1,65.940
$10V_AH,9.9,47.082
$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,16.675,78.900,369.175,214.475,0.000,30.599,17.571,198.720,2.500,0.000,17.006,2432.288,7249.292,687.585,1981.460,325.341,0.000,1631.450,0.000,1720.990,2520.000,22.293,0.000
$DEVICE_MAMPS,241.740,81.090,973.080,569.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,692.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151656
$DATA_FILE_SIZE,36716,1003
$CAP_FILE_SIZE,126816,0
$CFSIZE,260165632,211423232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$GPS,201210,230736,6707.940,-5711.278,33,0.9,33,-37.8