version: 66.08
glider: 183
mission: 3
dive: 630
start: 12 30 110 10 52 1
data:
$ID,183
$MISSION,3
$DIVE,630
$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,-11338.299
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,301210,082718,6641.460,-5944.668,181,99.0,181,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-45.3
$GPS2,301210,082718,6641.460,-5944.668,181,99.0,181,-38.0
$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,110.6,133671,-17.5,-10.000
$D_GRID,792
$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,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,138,0.00,0.00,-117.95,0.000,2,0.000,0.000,289,2780,3075,0,0,0,0,0,0
$GC,144,-0.57,-146.0,5.4,-7.3,21,169,8.60,2.30,-9.35,0.000,4,0.254,0.065,2283,1372,3521,0,0,0,0,0,0
$GC,277,-0.55,-146.0,33.3,-14.6,44,284,0.00,2.40,0.00,0.000,6,0.000,0.071,2280,2776,3522,0,0,0,0,0,0
$GC,623,-0.55,-146.0,79.9,-12.9,105,630,0.00,1.98,0.00,0.000,4,0.000,0.076,2273,3938,3523,0,0,0,0,0,0
$GC,711,-0.55,-146.0,90.8,-11.1,120,718,0.00,1.92,0.00,0.000,6,0.000,0.053,2273,2769,3523,0,0,0,0,0,0
$GC,1048,-0.55,-146.0,127.6,-12.5,159,1052,0.00,2.25,0.00,0.000,4,0.000,0.054,2273,1368,3522,0,0,0,0,0,0
$GC,1116,-0.55,-146.0,136.3,-13.0,165,1120,0.00,2.35,0.00,0.000,6,0.000,0.067,2273,2773,3523,0,0,0,0,0,0
$GC,1442,-0.55,-146.0,172.8,-10.0,195,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2773,3523,0,0,0,0,0,0
$GC,1764,-0.55,-146.0,203.3,-9.4,225,1768,0.00,2.28,0.00,0.000,4,0.000,0.054,2273,1364,3523,0,0,0,0,0,0
$GC,1838,-0.60,-146.0,210.9,-10.3,231,1842,0.00,2.35,0.00,0.000,6,0.000,0.067,2273,2766,3523,0,0,0,0,0,0
$GC,2169,-0.63,-146.0,239.2,-8.7,262,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2766,3522,0,0,0,0,0,0
$GC,2489,-0.67,-146.0,266.7,-8.8,292,2493,0.00,2.28,0.00,0.000,4,0.000,0.054,2273,1361,3522,0,0,0,0,0,0
$GC,2546,-0.72,-146.0,272.1,-9.3,296,2553,0.00,2.33,0.00,0.000,6,0.000,0.066,2273,2755,3522,0,0,0,0,0,0
$STATE,2874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2874,begin apogee
$GC,2880,-0.14,0.0,300.6,8.6,327,3007,0.47,0.00,119.88,0.820,4,0.137,0.000,2426,2602,2922,0,0,0,0,0,0
$STATE,3007,end apogee,CONTROL_FINISHED_OK
$STATE,3008,begin climb
$GC,3010,0.57,146.0,306.0,0.0,338,3146,0.68,2.42,125.00,0.793,4,0.081,0.054,2657,1180,2327,0,0,0,0,0,0
$GC,3153,0.61,214.6,302.6,6.8,351,3221,0.00,2.58,62.03,0.771,6,0.000,0.057,2657,2599,2047,0,0,0,0,0,0
$GC,3540,0.65,214.6,265.5,10.1,387,3544,0.00,2.33,0.00,0.000,4,0.000,0.071,2657,3928,2034,0,0,0,0,0,0
$GC,3579,0.65,214.6,260.9,12.1,390,3584,0.00,2.20,0.00,0.000,6,0.000,0.048,2658,2598,2033,0,0,0,0,0,0
$GC,3905,0.69,214.6,228.1,10.1,420,3910,0.10,2.28,0.00,0.000,4,0.122,0.055,2700,1183,2033,0,0,0,0,0,0
$GC,3956,0.69,214.6,222.2,12.1,424,3961,0.00,2.33,0.00,0.000,6,0.000,0.059,2700,2596,2033,0,0,0,0,0,0
$GC,4282,0.67,214.6,181.8,12.6,454,4286,0.00,2.25,0.00,0.000,4,0.000,0.071,2700,3926,2032,0,0,0,0,0,0
$GC,4326,0.61,214.6,175.2,15.0,457,4333,0.00,2.17,0.00,0.000,6,0.000,0.048,2701,2598,2031,0,0,0,0,0,0
$GC,4651,0.61,214.6,137.0,10.5,488,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2598,2031,0,0,0,0,0,0
$GC,4971,0.61,214.6,104.3,10.2,518,4975,0.00,2.28,0.00,0.000,4,0.000,0.073,2701,3935,2030,0,0,0,0,0,0
$GC,5017,0.56,214.6,98.9,12.0,522,5025,0.17,2.15,0.00,0.000,6,0.188,0.047,2656,2614,2030,0,0,0,0,0,0
$GC,5366,0.69,264.8,71.2,7.7,583,5413,0.12,2.40,41.25,0.682,4,0.107,0.056,2705,1194,1842,0,0,0,0,0,0
$GC,5451,0.79,297.6,64.0,8.5,597,5487,0.00,2.35,29.05,0.666,6,0.000,0.060,2705,2606,1708,0,0,0,0,0,0
$GC,5826,0.87,325.8,33.6,8.7,663,5856,0.12,2.28,23.12,0.659,4,0.105,0.070,2759,3934,1597,0,0,0,0,0,0
$GC,5898,0.83,325.8,22.8,16.3,675,5905,0.00,2.20,0.00,0.000,6,0.000,0.048,2762,2589,1593,0,0,0,0,0,0
$FREEZE,8.44,-1.758,-1.764,2,41,0
$STATE,6007,end climb,FINISH_DEPTH_REACHED
$STATE,6007,begin subsurface finish
$FINISH1,8.4,1.025834,82
$GC,6014,0.05,81.7,8.4,-13.3,694,6057,0.88,2.33,-32.12,0.000,4,0.155,0.068,2496,1189,2593,0,0,0,0,0,0
$FINISH2,6.8
$STATE,6058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6058,begin surface
$RAFOS_CLK,406
$RAFOS,3,1293711903,12.433333,12.417500,119,49,45,40,38,38,718,257,136,1550,541,1639
$RAFOS,2,1293711423,12.300000,12.284166,134,44,42,41,39,39,629,1496,1576,1114,26,1880
$RAFOS,1,1293710949,12.166667,12.152500,95,48,45,43,43,43,567,1726,1773,248,1898,1549
$RAFOS,0,1293710462,12.033333,12.017222,69,47,45,44,41,41,721,1128,968,1389,668,1490
$RAFOS_FIX,6641.633789,-5943.247070,301210,121256,4,104,0.08
$IRIDIUM_FIX,6620.33,-5929.30,261210,232303
$TT8_MAMPS,0.028462
$HUMID,49.76
$INTERNAL_PRESSURE,8.58279
$TCM_TEMP,14.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.9
$ALTIM_BOTTOM_PING,300.6,13.3
$24V_AH,21.8,74.028
$10V_AH,9.7,51.491
$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,11.150,57.200,400.325,0.000,0.000,101.216,17.402,0.000,0.750,0.000,183.589,1588.842,2931.710,485.302,1419.914,423.433,0.000,1131.162,0.000,1110.688,1440.000,7.092,0.000
$DEVICE_MAMPS,253.980,76.500,820.080,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,23431,701
$CAP_FILE_SIZE,80418,0
$CFSIZE,260165632,207163392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.5
$GPS,301210,121456,6641.634,-5943.247,0,4104.2,0,-38.0