version: 66.08
glider: 183
mission: 3
dive: 604
start: 12 28 110 6 27 10
data:
$ID,183
$MISSION,3
$DIVE,604
$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,-9861.1309
$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
$GPS1,281210,042306,6641.342,-6001.144,0,6106.3,0,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.46
$_SM_ANGLEo,-5.7
$GPS2,281210,042306,6641.342,-6001.144,0,6106.3,0,-38.0
$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,323.1,18838,-17.5,-10.000
$D_GRID,616
$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,17,-0.57,-146.0,0.0,0.0,0,25,0.00,0.00,-6.18,0.000,2,0.000,0.000,2507,2587,2687,0,0,0,0,0,0
$GC,28,-0.57,-146.0,11.0,-0.0,1,53,0.57,2.05,-18.60,0.000,4,0.079,0.070,2289,1369,3522,0,0,0,0,0,0
$GC,79,-0.53,-146.0,16.2,-12.0,9,86,0.00,2.38,0.00,0.000,6,0.000,0.066,2287,2779,3524,0,0,0,0,0,0
$GC,425,-0.48,-146.0,75.0,-14.5,70,433,0.12,1.98,0.00,0.000,4,0.191,0.076,2314,3929,3523,0,0,0,0,0,0
$GC,452,-0.48,-146.0,78.2,-12.5,74,459,0.00,1.88,0.00,0.000,6,0.000,0.050,2313,2779,3523,0,0,0,0,0,0
$GC,791,-0.55,-146.0,110.2,-8.5,124,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2779,3523,0,0,0,0,0,0
$GC,1112,-0.63,-146.0,136.3,-8.2,154,1117,0.12,2.28,0.00,0.000,4,0.109,0.054,2260,1371,3523,0,0,0,0,0,0
$GC,1178,-0.63,-146.0,143.7,-11.1,159,1185,0.00,2.38,0.00,0.000,6,0.000,0.066,2259,2780,3523,0,0,0,0,0,0
$GC,1504,-0.60,-146.0,182.7,-12.2,190,1508,0.00,2.00,0.00,0.000,4,0.000,0.076,2251,3929,3523,0,0,0,0,0,0
$GC,1538,-0.58,-146.0,187.1,-12.5,193,1543,0.10,1.90,0.00,0.000,6,0.145,0.051,2284,2781,3523,0,0,0,0,0,0
$GC,1870,-0.62,-146.0,217.7,-8.7,224,1874,0.00,2.28,0.00,0.000,4,0.000,0.054,2284,1369,3523,0,0,0,0,0,0
$GC,1898,-0.68,-146.0,220.5,-9.3,226,1904,0.00,2.38,0.00,0.000,6,0.000,0.066,2284,2777,3523,0,0,0,0,0,0
$GC,2224,-0.74,-146.0,248.7,-8.4,257,2228,0.15,1.98,0.00,0.000,4,0.099,0.076,2222,3930,3523,0,0,0,0,0,0
$GC,2246,-0.74,-146.0,251.2,-10.3,259,2250,0.00,1.90,0.00,0.000,6,0.000,0.050,2222,2764,3523,0,0,0,0,0,0
$GC,2578,-0.68,-146.0,292.4,-11.8,290,2582,0.12,2.28,0.00,0.000,4,0.185,0.053,2255,1370,3523,0,0,0,0,0,0
$GC,2600,-0.68,-146.0,295.2,-11.8,291,2607,0.00,2.38,0.00,0.000,6,0.000,0.066,2251,2776,3522,0,0,0,0,0,0
$STATE,2661,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2661,begin apogee
$GC,2668,-0.14,0.0,300.9,10.0,297,2793,0.55,0.00,119.60,0.825,4,0.140,0.000,2426,2597,2923,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,0.57,146.0,305.6,0.0,308,2932,0.68,2.40,124.62,0.796,4,0.083,0.053,2656,1185,2326,0,0,0,0,0,0
$GC,3120,0.63,192.6,287.5,7.8,337,3168,0.00,2.47,40.20,0.779,6,0.000,0.060,2656,2605,2136,0,0,0,0,0,0
$GC,3495,0.67,208.5,253.4,9.3,372,3519,0.10,2.42,14.02,0.757,4,0.121,0.056,2697,1182,2072,0,0,0,0,0,0
$GC,3689,0.67,208.5,230.9,11.8,389,3693,0.00,2.40,0.00,0.000,6,0.000,0.060,2697,2613,2070,0,0,0,0,0,0
$GC,4014,0.65,208.5,191.7,11.3,419,4018,0.00,2.25,0.00,0.000,4,0.000,0.073,2697,3929,2068,0,0,0,0,0,0
$GC,4089,0.58,208.5,182.2,12.7,425,4093,0.15,2.15,0.00,0.000,6,0.196,0.048,2664,2611,2065,0,0,0,0,0,0
$GC,4414,0.66,248.2,153.6,8.2,455,4454,0.00,0.00,34.38,0.730,6,0.000,0.000,2664,2610,1910,0,0,0,0,0,0
$GC,4774,0.78,301.4,125.8,7.5,489,4830,0.17,2.40,45.90,0.710,4,0.096,0.057,2732,1196,1691,0,0,0,0,0,0
$GC,4869,0.83,301.4,115.2,11.5,497,4876,0.00,2.38,0.00,0.000,6,0.000,0.059,2732,2622,1687,0,0,0,0,0,0
$GC,5205,0.86,301.4,73.9,11.8,546,5212,0.00,2.22,0.00,0.000,4,0.000,0.073,2731,3925,1682,0,0,0,0,0,0
$GC,5258,0.86,301.4,68.1,11.2,555,5265,0.00,2.10,0.00,0.000,6,0.000,0.049,2732,2645,1680,0,0,0,0,0,0
$GC,5605,0.94,327.8,37.2,8.8,616,5638,0.12,2.38,21.98,0.675,4,0.109,0.058,2781,1191,1584,0,0,0,0,0,0
$GC,5709,0.97,327.8,26.9,10.2,633,5716,0.00,2.38,0.00,0.000,6,0.000,0.060,2782,2626,1581,0,0,0,0,0,0
$FREEZE,8.76,-1.696,-1.677,2,15,0
$STATE,5873,end climb,FINISH_DEPTH_REACHED
$STATE,5873,begin subsurface finish
$FINISH1,8.8,1.024579,143
$GC,5880,0.09,143.5,8.8,-11.3,662,5911,0.88,2.33,-23.05,0.000,4,0.151,0.090,2513,3930,2341,0,0,0,0,0,0
$FINISH2,7.6
$STATE,5912,end subsurface finish,CONTROL_FINISHED_OK
$STATE,5912,begin surface
$RAFOS_CLK,361
$RAFOS_FIX,6641.936523,-6000.166504,281210,040416,7,113,5.25
$IRIDIUM_FIX,6631.12,-5905.01,251210,111108
$TT8_MAMPS,0.030709
$HUMID,50.70
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,300.9,13.1
$24V_AH,22.0,71.517
$10V_AH,9.7,50.306
$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,3.850,60.575,400.700,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1572.570,2744.926,415.278,1108.809,124.121,0.000,1042.526,0.000,1104.283,360.000,7.086,0.000
$DEVICE_MAMPS,195.840,89.505,825.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,23399,667
$CAP_FILE_SIZE,74516,0
$CFSIZE,260165632,208326656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.1
$GPS,281210,042306,6641.342,-6001.144,0,6106.3,0,-38.0