version: 66.08
glider: 183
mission: 3
dive: 695
start: 1 6 111 8 3 48
data:
$ID,183
$MISSION,3
$DIVE,695
$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,-11364.271
$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,36
$R_STBD_OVSHOOT,30
$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,5
$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
$GPS1,060111,074425,6702.040,-5659.059,37,1.1,37,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.6
$GPS2,060111,080319,6701.989,-5659.087,12,1.5,12,-37.6
$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,114.4,8223,-17.5,-10.000
$D_GRID,655
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.57,-146.0,0.0,0.0,0,165,0.00,0.00,-141.65,0.000,2,0.000,0.000,278,2788,3452,0,0,0,0,0,0
$GC,168,-0.57,-146.0,5.1,-11.8,25,187,8.45,2.30,-1.40,0.000,4,0.243,0.057,2282,1369,3522,0,0,0,0,0,0
$GC,322,-0.61,-146.0,33.4,-10.0,51,328,0.00,2.33,0.00,0.000,6,0.000,0.058,2276,2773,3522,0,0,0,0,0,0
$GC,668,-0.61,-146.0,72.7,-12.1,112,674,0.00,2.22,0.00,0.000,4,0.000,0.047,2276,1368,3522,0,0,0,0,0,0
$GC,711,-0.64,-146.0,77.3,-10.9,119,718,0.00,2.33,0.00,0.000,6,0.000,0.058,2275,2771,3521,0,0,0,0,0,0
$GC,1051,-0.66,-146.0,110.5,-10.2,170,1055,0.00,1.92,0.00,0.000,4,0.000,0.069,2272,3927,3522,0,0,0,0,0,0
$GC,1120,-0.70,-146.0,117.6,-10.4,176,1124,0.00,1.88,0.00,0.000,6,0.000,0.045,2272,2778,3522,0,0,0,0,0,0
$GC,1452,-0.74,-146.0,150.1,-10.1,207,1457,0.10,2.22,0.00,0.000,4,0.113,0.047,2224,1373,3522,0,0,0,0,0,0
$GC,1504,-0.69,-146.0,156.6,-13.3,211,1508,0.00,2.30,0.00,0.000,6,0.000,0.059,2222,2770,3522,0,0,0,0,0,0
$GC,1838,-0.64,-146.0,197.9,-11.4,242,1842,0.15,1.98,0.00,0.000,4,0.170,0.068,2257,3928,3522,0,0,0,0,0,0
$GC,1906,-0.67,-146.0,204.7,-8.8,248,1910,0.00,1.88,0.00,0.000,6,0.000,0.045,2257,2778,3523,0,0,0,0,0,0
$GC,2241,-0.69,-146.0,232.9,-8.5,279,2245,0.00,2.22,0.00,0.000,4,0.000,0.046,2256,1363,3522,0,0,0,0,0,0
$GC,2264,-0.71,-146.0,235.4,-9.3,280,2270,0.00,2.35,0.00,0.000,6,0.000,0.057,2250,2784,3522,0,0,0,0,0,0
$GC,2589,-0.71,-146.0,267.4,-10.4,311,2593,0.00,1.90,0.00,0.000,4,0.000,0.068,2247,3928,3523,0,0,0,0,0,0
$GC,2614,-0.71,-146.0,270.0,-10.8,313,2618,0.00,1.83,0.00,0.000,6,0.000,0.044,2247,2775,3523,0,0,0,0,0,0
$GC,2946,-0.71,-146.0,303.2,-9.0,344,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2775,3523,0,0,0,0,0,0
$GC,3264,-0.71,-146.0,332.3,-9.8,374,3268,0.00,2.22,0.00,0.000,4,0.000,0.045,2247,1364,3524,0,0,0,0,0,0
$GC,3313,-0.75,-146.0,336.5,-9.3,378,3317,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2786,3524,0,0,0,0,0,0
$GC,3638,-0.75,-146.0,367.4,-8.9,408,3642,0.00,1.90,0.00,0.000,4,0.000,0.067,2247,3929,3525,0,0,0,0,0,0
$GC,3679,-0.77,-146.0,371.2,-9.6,411,3685,0.00,1.83,0.00,0.000,6,0.000,0.043,2247,2774,3525,0,0,0,0,0,0
$GC,4005,-0.77,-146.0,399.6,-9.1,442,4010,0.00,2.20,0.00,0.000,4,0.000,0.045,2247,1369,3525,0,0,0,0,0,0
$GC,4027,-0.79,-146.0,402.0,-9.7,443,4032,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2790,3526,0,0,0,0,0,0
$GC,4342,-0.79,-146.0,427.2,-7.5,453,4346,0.00,2.25,0.00,0.000,4,0.000,0.044,2246,1365,3526,0,0,0,0,0,0
$GC,4371,-0.81,-146.0,429.9,-9.2,454,4375,0.00,2.33,0.00,0.000,6,0.000,0.056,2247,2787,3526,0,0,0,0,0,0
$GC,4708,-0.81,-146.0,458.9,-8.9,465,4712,0.00,2.22,0.00,0.000,4,0.000,0.045,2247,1373,3526,0,0,0,0,0,0
$GC,4752,-0.85,-146.0,463.3,-9.3,466,4757,0.15,2.28,0.00,0.000,6,0.085,0.057,2178,2764,3526,0,0,0,0,0,0
$GC,5072,-0.74,-146.0,504.7,-13.4,477,5077,0.20,2.22,0.00,0.000,4,0.168,0.044,2233,1365,3526,0,0,0,0,0,0
$GC,5111,-0.74,-146.0,509.2,-9.2,478,5115,0.00,2.28,0.00,0.000,6,0.000,0.057,2233,2755,3526,0,0,0,0,0,0
$GC,5435,-0.74,-146.0,538.7,-9.0,489,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2755,3527,0,0,0,0,0,0
$GC,5742,-0.74,-146.0,566.6,-9.0,499,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2755,3526,0,0,0,0,0,0
$GC,6048,-0.74,-146.0,594.1,-8.9,509,6052,0.00,2.20,0.00,0.000,4,0.000,0.047,2233,1374,3526,0,0,0,0,0,0
$GC,6075,-0.74,-146.0,596.7,-8.4,509,6082,0.00,2.25,0.00,0.000,6,0.000,0.057,2233,2747,3527,0,0,0,0,0,0
$GC,6390,-0.74,-146.0,621.4,-8.2,520,6393,0.00,1.98,0.00,0.000,4,0.000,0.067,2228,3929,3527,0,0,0,0,0,0
$GC,6440,-0.74,-146.0,626.2,-9.1,521,6444,0.00,1.88,0.00,0.000,6,0.000,0.044,2228,2754,3527,0,0,0,0,0,0
$STATE,6703,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6703,begin apogee
$GC,6710,-0.14,0.0,650.8,9.4,530,6841,0.60,0.00,124.53,0.978,4,0.129,0.000,2424,2599,2923,0,0,0,0,0,0
$STATE,6842,end apogee,CONTROL_FINISHED_OK
$STATE,6842,begin climb
$GC,6845,0.57,146.0,655.0,0.0,534,6986,0.68,2.38,129.80,0.958,4,0.060,0.047,2671,1185,2326,0,0,0,0,0,0
$GC,7166,0.54,146.0,625.6,11.0,544,7170,0.00,2.38,0.00,0.000,6,0.000,0.052,2671,2609,2318,0,0,0,0,0,0
$GC,7496,0.48,146.0,584.8,12.6,555,7501,0.15,2.28,0.00,0.000,4,0.187,0.049,2636,1191,2314,0,0,0,0,0,0
$GC,7727,0.53,164.0,561.7,9.2,561,7748,0.00,2.30,14.25,0.877,6,0.000,0.054,2635,2614,2255,0,0,0,0,0,0
$GC,8073,0.53,164.0,525.6,10.7,573,8077,0.00,2.20,0.00,0.000,4,0.000,0.064,2635,3930,2252,0,0,0,0,0,0
$GC,8117,0.48,164.0,519.8,13.3,574,8121,0.00,2.12,0.00,0.000,6,0.000,0.042,2639,2605,2251,0,0,0,0,0,0
$GC,8442,0.48,164.0,484.9,11.0,585,8446,0.00,2.25,0.00,0.000,4,0.000,0.050,2639,1183,2251,0,0,0,0,0,0
$GC,8463,0.48,164.0,482.2,11.0,585,8467,0.00,2.30,0.00,0.000,6,0.000,0.053,2639,2614,2251,0,0,0,0,0,0
$GC,8782,0.48,164.0,448.6,10.5,596,8786,0.00,2.17,0.00,0.000,4,0.000,0.064,2639,3925,2250,0,0,0,0,0,0
$GC,8827,0.44,164.0,443.2,12.3,597,8831,0.00,2.08,0.00,0.000,6,0.000,0.042,2645,2620,2249,0,0,0,0,0,0
$GC,9156,0.44,164.0,407.2,10.9,608,9160,0.00,2.20,0.00,0.000,4,0.000,0.065,2645,3923,2249,0,0,0,0,0,0
$GC,9190,0.38,164.0,402.7,13.3,609,9194,0.17,2.08,0.00,0.000,6,0.185,0.041,2603,2625,2248,0,0,0,0,0,0
$GC,9520,0.46,180.6,373.9,9.2,637,9540,0.00,0.00,15.32,0.791,6,0.000,0.000,2603,2625,2185,0,0,0,0,0,0
$GC,9859,0.54,180.6,340.5,10.0,669,9863,0.15,2.20,0.00,0.000,4,0.090,0.064,2672,3932,2183,0,0,0,0,0,0
$GC,9880,0.54,180.6,337.4,13.4,670,9887,0.00,2.08,0.00,0.000,6,0.000,0.041,2677,2630,2182,0,0,0,0,0,0
$GC,10206,0.49,180.6,290.3,12.7,701,10208,0.15,0.00,0.00,0.000,6,0.184,0.000,2637,2630,2182,0,0,0,0,0,0
$GC,10524,0.52,180.6,257.1,11.1,731,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2630,2182,0,0,0,0,0,0
$GC,10845,0.54,180.6,223.2,10.4,761,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2630,2182,0,0,0,0,0,0
$GC,11173,0.58,180.6,187.1,10.2,792,11176,0.00,2.15,0.00,0.000,4,0.000,0.063,2637,3925,2182,0,0,0,0,0,0
$GC,11224,0.58,180.6,181.2,11.6,796,11231,0.00,2.05,0.00,0.000,6,0.000,0.040,2637,2635,2182,0,0,0,0,0,0
$GC,11550,0.63,198.4,150.6,9.2,827,11574,0.12,2.30,16.00,0.652,4,0.100,0.046,2694,1184,2114,0,0,0,0,0,0
$GC,11588,0.60,198.4,146.6,11.5,830,11592,0.00,2.35,0.00,0.000,6,0.000,0.050,2694,2647,2113,0,0,0,0,0,0
$GC,11915,0.55,198.4,107.7,11.6,860,11917,0.15,0.00,0.00,0.000,6,0.180,0.000,2653,2647,2112,0,0,0,0,0,0
$GC,12247,0.61,216.5,75.0,9.2,913,12265,0.00,0.00,16.45,0.617,6,0.000,0.000,2653,2647,2039,0,0,0,0,0,0
$GC,12607,0.71,266.0,45.3,7.7,976,12655,0.15,0.00,42.03,0.601,6,0.091,0.000,2717,2647,1837,0,0,0,0,0,0
$FREEZE,8.40,1.833,-1.830,0,1,0
$FREEZE,7.55,1.791,-1.828,0,1,0
$FREEZE,6.84,1.821,-1.828,0,1,0
$FREEZE,5.90,1.867,-1.828,0,1,0
$FREEZE,5.12,1.820,-1.827,0,1,0
$FREEZE,4.10,1.766,-1.826,0,1,0
$FREEZE,3.27,1.824,-1.826,0,1,0
$FREEZE,2.50,1.834,-1.823,0,1,0
$STATE,12929,end climb,SURFACE_DEPTH_REACHED
$STATE,12929,begin surface coast
$FREEZE,1.70,1.792,-1.824,0,1,0
$FREEZE,1.07,1.757,-1.823,0,1,0
$FREEZE,1.01,1.774,-1.824,0,1,0
$FINISH,1.0,1.026595
$STATE,12946,end surface coast,CONTROL_FINISHED_OK
$STATE,12947,begin surface
$SM_CCo,12965,208.20,0.081,0,0,440,609.08
$SM_GC,1.73,0.00,0.00,208.20,0.000,0.000,0.081,293,2814,440,-6.81,0.96,609.08
$RAFOS_CLK,640
$RAFOS,6,1294303748,8.833333,8.818889,107,49,48,43,42,41,800,1551,918,1593,1872,779
$RAFOS,5,1294303263,8.700000,8.684167,72,46,45,44,43,41,656,500,745,26,1686,1864
$RAFOS,4,1294302786,8.566667,8.551666,49,46,45,44,44,40,1111,418,292,280,1276,268
$RAFOS,3,1294302307,8.433333,8.418612,49,49,46,42,41,40,605,1942,1319,77,26,972
$RAFOS,2,1294301824,8.300000,8.284445,51,46,46,46,45,41,180,411,1373,854,1763,629
$RAFOS,1,1294301344,8.166667,8.151111,49,46,44,44,43,39,1375,291,434,785,1788,1400
$RAFOS_FIX,6705.925781,-5700.966309,060111,080856,2,90,2.84
$IRIDIUM_FIX,6636.54,-5638.47,060111,070727
$TT8_MAMPS,0.028462
$HUMID,46.02
$INTERNAL_PRESSURE,8.53396
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.1
$ALTIM_BOTTOM_PING,650.8,14.2
$24V_AH,21.8,79.932
$10V_AH,9.8,54.946
$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,17.875,104.625,358.375,208.200,0.000,58.428,62.888,538.532,2.500,0.000,14.812,2576.579,7974.111,685.956,2461.655,617.071,0.000,1694.801,0.000,1814.957,2160.000,19.472,0.000
$DEVICE_MAMPS,243.270,68.850,977.670,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151692
$DATA_FILE_SIZE,36680,1036
$CAP_FILE_SIZE,147123,0
$CFSIZE,260165632,203776000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.1
$GPS,060111,114500,6702.122,-5655.037,39,1.2,39,-37.5