version: 66.08
glider: 183
mission: 3
dive: 572
start: 12 24 110 7 14 31
data:
$ID,183
$MISSION,3
$DIVE,572
$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,-2
$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,-9852.2461
$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,21
$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
$GPS1,241210,065756,6705.729,-5850.339,40,1.0,40,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-63.4
$GPS2,241210,071308,6705.803,-5850.313,14,1.2,14,-38.2
$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,278.2,80812,-17.5,-10.000
$D_GRID,1248
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,164,0.00,0.00,-142.30,0.000,2,0.000,0.000,292,2786,3366,0,0,0,0,0,0
$GC,167,-0.57,-146.0,6.3,-15.1,25,187,8.55,2.30,-3.08,0.000,4,0.249,0.064,2284,1369,3523,0,0,0,0,0,0
$GC,307,-0.57,-146.0,39.4,-13.5,49,314,0.00,2.40,0.00,0.000,6,0.000,0.064,2284,2786,3525,0,0,0,0,0,0
$GC,653,-0.57,-146.0,78.4,-11.1,110,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2786,3524,0,0,0,0,0,0
$GC,992,-0.59,-146.0,111.2,-8.9,160,996,0.00,2.30,0.00,0.000,4,0.000,0.052,2283,1361,3523,0,0,0,0,0,0
$GC,1026,-0.63,-146.0,114.4,-9.4,162,1032,0.00,2.40,0.00,0.000,6,0.000,0.063,2278,2786,3524,0,0,0,0,0,0
$GC,1352,-0.66,-146.0,145.3,-9.6,193,1356,0.00,2.28,0.00,0.000,4,0.000,0.051,2278,1371,3524,0,0,0,0,0,0
$GC,1393,-0.70,-146.0,149.2,-9.5,196,1398,0.00,2.33,0.00,0.000,6,0.000,0.063,2275,2768,3524,0,0,0,0,0,0
$GC,1719,-0.73,-146.0,177.2,-8.4,226,1721,0.10,0.00,0.00,0.000,6,0.115,0.000,2229,2768,3524,0,0,0,0,0,0
$GC,2037,-0.68,-146.0,215.6,-12.4,256,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2768,3524,0,0,0,0,0,0
$GC,2358,-0.63,-146.0,252.5,-11.1,286,2365,0.15,0.00,0.00,0.000,6,0.165,0.000,2271,2768,3524,0,0,0,0,0,0
$GC,2684,-0.68,-146.0,281.6,-9.0,317,2688,0.00,2.25,0.00,0.000,4,0.000,0.051,2271,1365,3525,0,0,0,0,0,0
$GC,2725,-0.74,-146.0,285.4,-9.4,320,2730,0.00,2.33,0.00,0.000,6,0.000,0.063,2271,2764,3524,0,0,0,0,0,0
$GC,3051,-0.79,-146.0,315.4,-8.9,350,3053,0.15,0.00,0.00,0.000,6,0.094,0.000,2205,2764,3525,0,0,0,0,0,0
$GC,3369,-0.71,-146.0,356.5,-13.4,380,3371,0.15,0.00,0.00,0.000,6,0.178,0.000,2245,2764,3524,0,0,0,0,0,0
$GC,3688,-0.71,-146.0,390.0,-10.0,410,3692,0.00,2.03,0.00,0.000,4,0.000,0.073,2238,3932,3525,0,0,0,0,0,0
$GC,3722,-0.71,-146.0,393.8,-10.9,413,3726,0.00,1.92,0.00,0.000,6,0.000,0.048,2238,2763,3525,0,0,0,0,0,0
$GC,4063,-0.71,-146.0,428.8,-10.1,428,4067,0.00,2.25,0.00,0.000,4,0.000,0.050,2237,1362,3526,0,0,0,0,0,0
$GC,4096,-0.71,-146.0,432.5,-10.4,429,4100,0.00,2.33,0.00,0.000,6,0.000,0.062,2235,2762,3526,0,0,0,0,0,0
$GC,4425,-0.71,-146.0,465.9,-10.2,440,4429,0.00,1.98,0.00,0.000,4,0.000,0.072,2229,3933,3527,0,0,0,0,0,0
$GC,4475,-0.71,-146.0,471.2,-10.8,441,4479,0.00,1.92,0.00,0.000,6,0.000,0.047,2228,2762,3526,0,0,0,0,0,0
$GC,4800,-0.71,-146.0,503.5,-9.9,452,4804,0.00,2.03,0.00,0.000,4,0.000,0.073,2222,3936,3527,0,0,0,0,0,0
$GC,4828,-0.68,-146.0,506.6,-10.4,452,4835,0.12,1.90,0.00,0.000,6,0.170,0.047,2254,2762,3527,0,0,0,0,0,0
$GC,5142,-0.71,-146.0,531.4,-8.0,463,5147,0.00,2.20,0.00,0.000,4,0.000,0.049,2255,1371,3527,0,0,0,0,0,0
$GC,5187,-0.77,-146.0,535.4,-8.4,464,5192,0.00,2.30,0.00,0.000,6,0.000,0.062,2250,2758,3527,0,0,0,0,0,0
$GC,5512,-0.79,-146.0,562.3,-8.6,475,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2758,3528,0,0,0,0,0,0
$GC,5819,-0.82,-146.0,587.7,-8.4,485,5821,0.12,0.00,0.00,0.000,6,0.106,0.000,2189,2758,3528,0,0,0,0,0,0
$STATE,5942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5942,begin apogee
$GC,5948,-0.14,0.0,602.3,12.0,489,6078,0.75,0.00,124.45,0.979,4,0.145,0.000,2423,2600,2925,0,0,0,0,0,0
$STATE,6079,end apogee,CONTROL_FINISHED_OK
$STATE,6079,begin climb
$GC,6081,0.57,146.0,607.4,0.0,493,6221,0.70,2.42,131.32,0.954,4,0.072,0.050,2664,1190,2326,0,0,0,0,0,0
$GC,6402,-1.84,146.0,580.5,22708.2,503,6411,2.70,2.45,0.00,0.000,6,0.151,0.055,1895,2601,2317,0,0,0,0,0,0
$GC,6744,-1.84,146.0,525.9,22708.2,514,6748,0.00,2.20,0.00,0.000,4,0.000,0.055,1882,3938,2306,0,0,0,0,0,0
$GC,6877,-1.84,146.0,500.5,22708.2,518,6881,0.00,2.12,0.00,0.000,6,0.000,0.047,1881,2641,2308,0,0,0,0,0,0
$GC,7219,-1.84,146.0,438.6,22708.2,529,7223,0.00,2.17,0.00,0.000,4,0.000,0.064,1870,3933,2306,0,0,0,0,0,0
$GC,7480,-1.84,146.0,387.1,22708.2,540,7483,0.00,2.03,0.00,0.000,6,0.000,0.044,1868,2668,2304,0,0,0,0,0,0
$GC,7811,-1.84,146.0,326.5,22708.2,571,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,2667,2306,0,0,0,0,0,0
$GC,8132,-1.84,146.0,267.9,22708.2,601,8135,0.00,2.10,0.00,0.000,4,0.000,0.060,1857,3933,2304,0,0,0,0,0,0
$GC,8390,-1.84,146.0,215.2,22708.2,624,8394,0.00,2.08,0.00,0.000,6,0.000,0.042,1856,2638,2304,0,0,0,0,0,0
$GC,8722,-1.84,146.0,153.6,22708.2,655,8726,0.00,2.30,0.00,0.000,4,0.000,0.051,1855,1186,2306,0,0,0,0,0,0
$GC,8869,-1.84,146.0,126.4,22708.2,667,8877,0.17,2.35,0.00,0.000,6,0.269,0.050,1878,2646,2304,0,0,0,0,0,0
$GC,9205,-1.84,146.0,67.4,22708.2,714,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,1878,2647,2306,0,0,0,0,0,0
$GC,9549,-1.84,146.0,18.5,22708.2,775,9556,0.00,2.12,0.00,0.000,4,0.000,0.064,1869,3917,2305,0,0,0,0,0,0
$FREEZE,8.33,-1.371,-1.749,2,1,0
$FREEZE,7.59,-1.134,-1.734,2,1,0
$FREEZE,6.63,-1.417,-1.750,2,1,0
$FREEZE,5.85,-1.614,-1.761,2,1,0
$FREEZE,5.15,-1.308,-1.742,2,1,0
$FREEZE,4.53,-1.304,-1.741,2,1,0
$FREEZE,3.70,-1.441,-1.749,2,1,0
$FREEZE,2.76,-1.401,-1.746,2,1,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FREEZE,1.99,-1.453,-1.749,2,1,0
$FINISH,2.0,1.025677
$STATE,9668,end surface coast,CONTROL_FINISHED_OK
$STATE,9668,begin surface
$SM_CCo,9684,283.08,0.085,0,0,440,609.08
$SM_GC,1.85,0.00,0.00,283.08,0.000,0.000,0.085,287,2775,440,-6.84,-0.14,609.08
$RAFOS_CLK,523
$RAFOS,6,1293180563,8.833333,8.823055,54,53,46,44,42,41,834,465,483,1431,594,356
$RAFOS,5,1293180062,8.700000,8.683888,106,48,43,43,43,41,732,938,1125,145,1173,238
$RAFOS,4,1293179607,8.566667,8.557500,57,48,46,44,42,42,502,1375,1592,1248,358,1667
$RAFOS,3,1293179110,8.433333,8.419444,73,48,46,45,42,39,799,1196,1088,36,203,1587
$RAFOS,2,1293178624,8.300000,8.284445,64,47,46,42,40,40,824,804,198,26,492,1074
$RAFOS,1,1293178152,8.166667,8.153334,75,47,46,46,45,42,715,1801,1248,389,616,180
$RAFOS,0,1293177664,8.033334,8.017777,63,52,45,45,43,41,884,1676,1318,1669,444,1277
$RAFOS_FIX,6704.132812,-5850.895020,241210,080854,5,76,0.77
$IRIDIUM_FIX,6641.98,-5753.81,221210,212129
$TT8_MAMPS,0.029211
$HUMID,45.47
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,602.3,10.9
$24V_AH,21.6,68.322
$10V_AH,9.8,48.540
$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,17.775,65.925,255.775,283.075,0.000,28.540,41.011,493.351,2.250,0.000,16.517,2037.362,5729.683,653.069,1998.402,534.411,0.000,1453.916,0.000,1461.272,2520.000,17.890,0.000
$DEVICE_MAMPS,268.515,72.675,979.200,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152544
$DATA_FILE_SIZE,30090,796
$CAP_FILE_SIZE,112085,0
$CFSIZE,260165632,210042880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.9
$GPS,241210,100224,6704.868,-5850.263,27,1.5,44,-38.2