version: 66.08
glider: 183
mission: 3
dive: 562
start: 12 22 110 21 11 59
data:
$ID,183
$MISSION,3
$DIVE,562
$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,-9850.9922
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,221210,210501,6709.830,-5816.788,40,1.0,40,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.9
$GPS2,221210,211126,6709.697,-5816.656,9,1.3,9,-38.1
$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,281.4,105917,-17.5,-10.000
$D_GRID,1121
$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,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,160,0.00,0.00,-140.05,0.000,2,0.000,0.000,286,2782,3311,0,0,0,0,0,0
$GC,162,-0.57,-146.0,5.2,-11.7,25,182,8.43,1.95,-4.50,0.000,4,0.245,0.080,2277,3929,3522,0,0,0,0,0,0
$GC,437,-0.57,-146.0,49.5,-13.1,73,443,0.00,1.90,0.00,0.000,6,0.000,0.050,2276,2769,3523,0,0,0,0,0,0
$GC,782,-0.57,-146.0,89.3,-11.5,134,789,0.00,2.22,0.00,0.000,4,0.000,0.052,2276,1370,3523,0,0,0,0,0,0
$GC,836,-0.59,-146.0,95.3,-11.0,143,843,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2769,3523,0,0,0,0,0,0
$GC,1171,-0.59,-146.0,129.8,-9.7,178,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2769,3523,0,0,0,0,0,0
$GC,1492,-0.59,-146.0,162.0,-10.3,208,1496,0.00,1.98,0.00,0.000,4,0.000,0.074,2274,3934,3523,0,0,0,0,0,0
$GC,1712,-0.62,-146.0,183.6,-9.3,227,1718,0.00,1.88,0.00,0.000,6,0.000,0.050,2274,2786,3522,0,0,0,0,0,0
$GC,2038,-0.66,-146.0,210.8,-8.1,258,2042,0.00,2.25,0.00,0.000,4,0.000,0.052,2274,1372,3522,0,0,0,0,0,0
$GC,2072,-0.70,-146.0,213.8,-8.3,260,2079,0.00,2.35,0.00,0.000,6,0.000,0.064,2273,2780,3522,0,0,0,0,0,0
$GC,2398,-0.74,-146.0,237.6,-6.9,291,2403,0.10,2.30,0.00,0.000,4,0.121,0.051,2228,1361,3521,0,0,0,0,0,0
$GC,2450,-0.71,-146.0,242.3,-9.6,295,2454,0.00,2.38,0.00,0.000,6,0.000,0.063,2222,2775,3522,0,0,0,0,0,0
$GC,2782,-0.65,-146.0,276.6,-10.3,326,2787,0.15,2.00,0.00,0.000,4,0.177,0.073,2256,3927,3521,0,0,0,0,0,0
$GC,2817,-0.65,-146.0,279.9,-9.3,329,2821,0.00,1.90,0.00,0.000,6,0.000,0.049,2257,2761,3521,0,0,0,0,0,0
$GC,3148,-0.65,-146.0,310.3,-9.5,360,3152,0.00,2.22,0.00,0.000,4,0.000,0.051,2256,1372,3522,0,0,0,0,0,0
$GC,3171,-0.65,-146.0,312.5,-9.5,361,3178,0.00,2.35,0.00,0.000,6,0.000,0.063,2250,2771,3523,0,0,0,0,0,0
$GC,3496,-0.65,-146.0,343.1,-9.2,392,3500,0.00,1.98,0.00,0.000,4,0.000,0.073,2247,3936,3523,0,0,0,0,0,0
$GC,3547,-0.65,-146.0,348.2,-9.8,396,3554,0.00,1.90,0.00,0.000,6,0.000,0.048,2247,2770,3523,0,0,0,0,0,0
$GC,3872,-0.65,-146.0,376.7,-8.4,427,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3523,0,0,0,0,0,0
$GC,4203,-0.65,-146.0,402.8,-7.7,456,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3523,0,0,0,0,0,0
$GC,4507,-0.65,-146.0,426.8,-7.8,466,4511,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1368,3524,0,0,0,0,0,0
$GC,4546,-0.68,-146.0,430.1,-7.8,467,4550,0.00,2.33,0.00,0.000,6,0.000,0.061,2247,2767,3524,0,0,0,0,0,0
$GC,4870,-0.68,-146.0,456.4,-8.3,478,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3524,0,0,0,0,0,0
$GC,5176,-0.68,-146.0,482.5,-8.5,488,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2767,3524,0,0,0,0,0,0
$GC,5483,-0.68,-146.0,507.4,-8.0,498,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3524,0,0,0,0,0,0
$GC,5788,-0.68,-146.0,534.4,-9.1,508,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2767,3525,0,0,0,0,0,0
$GC,6095,-0.68,-146.0,563.1,-9.4,518,6099,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1362,3525,0,0,0,0,0,0
$GC,6129,-0.71,-146.0,566.5,-9.8,519,6133,0.00,2.33,0.00,0.000,6,0.000,0.061,2247,2763,3525,0,0,0,0,0,0
$GC,6459,-0.73,-146.0,596.4,-9.0,530,6463,0.00,2.22,0.00,0.000,4,0.000,0.050,2247,1369,3525,0,0,0,0,0,0
$GC,6494,-0.76,-146.0,599.7,-9.4,531,6500,0.00,2.30,0.00,0.000,6,0.000,0.062,2247,2753,3525,0,0,0,0,0,0
$STATE,6505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6505,begin apogee
$GC,6512,-0.14,0.0,601.0,9.2,531,6642,0.55,0.00,124.35,0.975,4,0.131,0.000,2425,2598,2923,0,0,0,0,0,0
$STATE,6643,end apogee,CONTROL_FINISHED_OK
$STATE,6643,begin climb
$GC,6646,0.57,146.0,605.6,0.0,535,6784,0.68,2.42,130.12,0.952,4,0.068,0.050,2663,1186,2328,0,0,0,0,0,0
$GC,6912,0.57,146.0,586.4,10.2,544,6916,0.00,2.47,0.00,0.000,6,0.000,0.055,2663,2606,2320,0,0,0,0,0,0
$GC,7247,0.52,146.0,549.5,10.8,555,7251,0.00,2.30,0.00,0.000,4,0.000,0.053,2665,1190,2316,0,0,0,0,0,0
$GC,7432,0.52,147.5,530.3,9.9,560,7437,0.00,2.33,0.00,0.000,6,0.000,0.057,2665,2607,2316,0,0,0,0,0,0
$GC,7751,0.46,147.5,495.8,11.0,571,7756,0.15,2.22,0.00,0.000,4,0.194,0.068,2626,3925,2315,0,0,0,0,0,0
$GC,7801,0.43,147.5,490.1,11.2,572,7805,0.00,2.12,0.00,0.000,6,0.000,0.046,2626,2600,2313,0,0,0,0,0,0
$GC,8115,0.45,171.7,462.0,8.9,582,8143,0.00,0.00,21.35,0.876,6,0.000,0.000,2626,2599,2222,0,0,0,0,0,0
$GC,8450,0.50,198.8,432.0,8.7,593,8479,0.00,0.00,24.35,0.861,6,0.000,0.000,2626,2598,2111,0,0,0,0,0,0
$GC,8787,0.57,223.9,402.8,8.8,604,8819,0.00,2.35,22.48,0.842,4,0.000,0.054,2626,1191,2009,0,0,0,0,0,0
$GC,8854,0.70,241.2,396.8,9.2,608,8878,0.20,2.35,16.52,0.820,6,0.081,0.056,2707,2606,1939,0,0,0,0,0,0
$GC,9196,0.63,241.2,342.6,17.1,640,9200,0.00,2.22,0.00,0.000,4,0.000,0.068,2706,3925,1932,0,0,0,0,0,0
$GC,9228,0.54,241.2,336.2,19.4,642,9236,0.20,2.15,0.00,0.000,6,0.182,0.046,2654,2601,1931,0,0,0,0,0,0
$GC,9554,0.57,241.2,293.7,12.5,673,9558,0.00,2.25,0.00,0.000,4,0.000,0.053,2654,1186,1930,0,0,0,0,0,0
$GC,9583,0.64,241.2,290.2,11.8,675,9587,0.00,2.33,0.00,0.000,6,0.000,0.056,2654,2602,1930,0,0,0,0,0,0
$GC,9910,0.69,241.2,253.4,10.2,705,9912,0.12,0.00,0.00,0.000,6,0.104,0.000,2706,2602,1929,0,0,0,0,0,0
$GC,10227,0.64,241.2,208.4,14.7,735,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2603,1929,0,0,0,0,0,0
$GC,10546,0.60,241.2,163.4,13.3,765,10550,0.15,2.28,0.00,0.000,4,0.176,0.054,2665,1188,1929,0,0,0,0,0,0
$GC,10612,0.68,249.9,156.0,9.6,770,10625,0.00,2.30,7.40,0.670,6,0.000,0.057,2666,2602,1904,0,0,0,0,0,0
$GC,10944,0.73,249.9,120.6,10.5,801,10949,0.12,2.22,0.00,0.000,4,0.107,0.069,2718,3925,1902,0,0,0,0,0,0
$GC,10999,0.65,249.9,112.1,15.9,805,11007,0.15,2.10,0.00,0.000,6,0.188,0.046,2687,2612,1900,0,0,0,0,0,0
$GC,11338,0.68,253.0,75.0,9.9,857,11351,0.00,2.33,3.97,0.532,4,0.000,0.054,2687,1192,1891,0,0,0,0,0,0
$GC,11415,0.77,260.8,67.3,9.6,870,11434,0.10,2.30,8.98,0.653,6,0.116,0.057,2727,2592,1858,0,0,0,0,0,0
$GC,11772,0.77,260.8,22.7,10.5,933,11778,0.00,2.25,0.00,0.000,4,0.000,0.070,2727,3933,1855,0,0,0,0,0,0
$GC,11853,0.73,260.8,13.1,11.2,947,11860,0.00,2.17,0.00,0.000,6,0.000,0.047,2733,2593,1854,0,0,0,0,0,0
$FREEZE,8.46,-1.777,-1.779,2,1,0
$STATE,11894,end climb,FINISH_DEPTH_REACHED
$STATE,11894,begin subsurface finish
$FINISH1,8.5,1.026044,71
$GC,11900,0.05,71.4,8.5,-10.3,954,11930,0.77,0.00,-23.45,0.000,6,0.151,0.000,2494,2593,2634,0,0,0,0,0,0
$FINISH2,7.1
$STATE,11931,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11931,begin surface
$RAFOS_CLK,633
$RAFOS,2,1293063424,0.300000,0.284444,60,44,42,41,40,40,900,570,26,1468,158,476
$RAFOS,1,1293062941,0.166667,0.150278,78,49,48,46,43,42,861,148,1607,1640,1393,1040
$RAFOS,0,1293062469,0.033333,0.019167,52,48,48,46,46,41,952,476,941,1294,246,963
$RAFOS_FIX,6708.136230,-5820.014648,231210,000056,2,69,0.34
$IRIDIUM_FIX,6641.98,-5815.55,221210,151515
$TT8_MAMPS,0.02996
$HUMID,49.56
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,600.3,11.0
$24V_AH,21.7,67.424
$10V_AH,9.8,47.949
$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,11.875,93.250,359.525,0.000,0.000,30.278,41.442,156.151,2.250,0.000,11.590,2336.801,7294.832,511.269,1896.164,278.751,0.000,1438.049,0.000,1657.967,1440.000,17.691,0.000
$DEVICE_MAMPS,244.800,80.325,975.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,666.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,33365,959
$CAP_FILE_SIZE,125718,0
$CFSIZE,260165632,210616320
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,231210,001456,6708.136,-5820.015,0,2069.0,0,-38.1