version: 66.08
glider: 183
mission: 3
dive: 703
start: 1 7 111 8 38 29
data:
$ID,183
$MISSION,3
$DIVE,703
$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,-11374.607
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,070111,083155,6706.709,-5655.040,39,1.0,40,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-57.1
$GPS2,070111,083758,6706.765,-5655.170,11,4.3,30,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,3000.000
$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,181.0,8685,-17.5,-10.000
$D_GRID,443
$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,-146.0,0.0,0.0,0,161,0.00,0.00,-136.68,0.000,6,0.000,0.000,276,2783,3519,0,0,0,0,0,0
$GC,164,-0.57,-146.0,5.6,-11.0,24,177,8.40,2.30,0.00,0.000,4,0.239,0.041,2286,1367,3521,0,0,0,0,0,0
$GC,310,-0.60,-146.0,34.9,-9.8,49,317,0.00,2.30,0.00,0.000,6,0.000,0.054,2279,2775,3523,0,0,0,0,0,0
$GC,656,-0.60,-146.0,71.4,-11.1,110,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2775,3522,0,0,0,0,0,0
$GC,1003,-0.63,-146.0,108.8,-9.8,164,1007,0.00,2.17,0.00,0.000,4,0.000,0.046,2279,1377,3521,0,0,0,0,0,0
$GC,1039,-0.66,-146.0,112.5,-9.8,167,1043,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2789,3521,0,0,0,0,0,0
$GC,1365,-0.69,-146.0,144.4,-9.4,197,1369,0.00,1.92,0.00,0.000,4,0.000,0.067,2275,3937,3521,0,0,0,0,0,0
$GC,1469,-0.74,-146.0,154.2,-8.7,206,1474,0.08,1.85,0.00,0.000,6,0.064,0.044,2226,2796,3521,0,0,0,0,0,0
$GC,1800,-0.68,-146.0,194.7,-12.6,237,1804,0.00,1.92,0.00,0.000,4,0.000,0.067,2222,3923,3521,0,0,0,0,0,0
$GC,1839,-0.63,-146.0,199.9,-13.7,240,1847,0.17,1.77,0.00,0.000,6,0.149,0.043,2273,2803,3521,0,0,0,0,0,0
$GC,2166,-0.68,-146.0,228.0,-8.2,271,2170,0.00,2.25,0.00,0.000,4,0.000,0.045,2273,1373,3520,0,0,0,0,0,0
$GC,2236,-0.76,-146.0,233.6,-7.8,277,2241,0.12,2.35,0.00,0.000,6,0.090,0.056,2212,2802,3520,0,0,0,0,0,0
$GC,2562,-0.69,-146.0,273.1,-12.2,307,2566,0.15,1.90,0.00,0.000,4,0.164,0.065,2247,3929,3520,0,0,0,0,0,0
$GC,2609,-0.69,-146.0,278.0,-9.7,311,2612,0.00,1.80,0.00,0.000,6,0.000,0.043,2247,2802,3521,0,0,0,0,0,0
$GC,2940,-0.69,-146.0,308.7,-9.2,342,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2801,3522,0,0,0,0,0,0
$GC,3262,-0.71,-146.0,338.7,-9.4,372,3266,0.00,1.90,0.00,0.000,4,0.000,0.066,2240,3929,3522,0,0,0,0,0,0
$GC,3297,-0.71,-146.0,342.4,-9.9,375,3301,0.00,1.80,0.00,0.000,6,0.000,0.042,2240,2798,3522,0,0,0,0,0,0
$GC,3628,-0.71,-146.0,376.4,-10.3,406,3632,0.00,2.22,0.00,0.000,4,0.000,0.044,2239,1371,3523,0,0,0,0,0,0
$GC,3695,-0.74,-146.0,383.5,-10.3,411,3702,0.00,2.35,0.00,0.000,6,0.000,0.054,2235,2802,3523,0,0,0,0,0,0
$GC,4019,-0.74,-146.0,415.5,-9.8,432,4023,0.00,2.25,0.00,0.000,4,0.000,0.043,2235,1365,3523,0,0,0,0,0,0
$GC,4048,-0.74,-146.0,418.8,-9.8,433,4052,0.00,2.33,0.00,0.000,6,0.000,0.054,2235,2799,3523,0,0,0,0,0,0
$STATE,4324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4324,begin apogee
$GC,4332,-0.14,0.0,444.6,8.8,442,4459,0.57,0.00,119.43,0.828,4,0.123,0.000,2426,2605,2922,0,0,0,0,0,0
$STATE,4460,end apogee,CONTROL_FINISHED_OK
$STATE,4460,begin climb
$GC,4463,0.57,146.0,448.1,0.0,446,4595,0.68,2.33,121.30,0.812,4,0.081,0.063,2661,3933,2326,0,0,0,0,0,0
$GC,4782,0.46,146.0,409.7,14.0,455,4787,0.15,2.15,0.00,0.000,6,0.190,0.038,2628,2594,2319,0,0,0,0,0,0
$GC,5104,0.47,158.3,379.1,9.4,479,5119,0.00,2.22,10.48,0.717,4,0.000,0.047,2627,1191,2277,0,0,0,0,0,0
$GC,5323,0.55,182.8,359.3,8.9,498,5352,0.00,2.28,21.92,0.748,6,0.000,0.049,2628,2610,2176,0,0,0,0,0,0
$GC,5671,0.60,182.8,324.0,10.4,531,5676,0.12,2.17,0.00,0.000,4,0.096,0.060,2686,3932,2172,0,0,0,0,0,0
$GC,5704,0.49,182.8,318.9,16.0,533,5712,0.20,2.08,0.00,0.000,6,0.176,0.038,2638,2609,2171,0,0,0,0,0,0
$GC,6030,0.52,182.8,280.7,11.5,564,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2609,2171,0,0,0,0,0,0
$GC,6353,0.55,187.4,246.4,9.8,594,6365,0.00,2.17,4.38,0.532,4,0.000,0.060,2638,3922,2158,0,0,0,0,0,0
$GC,6405,0.55,187.4,240.1,12.3,598,6411,0.00,2.05,0.00,0.000,6,0.000,0.038,2638,2619,2158,0,0,0,0,0,0
$GC,6731,0.59,187.4,205.7,10.4,629,6735,0.00,2.22,0.00,0.000,4,0.000,0.046,2638,1200,2158,0,0,0,0,0,0
$GC,6784,0.67,194.4,200.5,9.7,633,6797,0.15,2.25,7.65,0.617,6,0.087,0.048,2706,2613,2130,0,0,0,0,0,0
$GC,7115,0.61,194.4,153.8,14.6,664,7119,0.12,2.15,0.00,0.000,4,0.185,0.059,2674,3924,2128,0,0,0,0,0,0
$GC,7190,0.56,194.4,143.1,14.2,670,7194,0.00,2.03,0.00,0.000,6,0.000,0.037,2677,2635,2127,0,0,0,0,0,0
$GC,7521,0.56,194.4,100.9,11.6,701,7524,0.00,2.12,0.00,0.000,4,0.000,0.060,2677,3928,2127,0,0,0,0,0,0
$GC,7581,0.51,194.4,94.5,12.0,710,7588,0.15,2.00,0.00,0.000,6,0.180,0.037,2640,2654,2127,0,0,0,0,0,0
$GC,7930,0.61,232.2,66.2,8.3,771,7966,0.00,0.00,32.65,0.603,6,0.000,0.000,2640,2654,1975,0,0,0,0,0,0
$GC,8307,0.75,286.1,35.7,7.5,837,8361,0.20,2.33,44.53,0.584,4,0.079,0.047,2725,1199,1754,0,0,0,0,0,0
$GC,8420,0.79,286.1,21.5,13.0,856,8427,0.00,2.38,0.00,0.000,6,0.000,0.049,2724,2664,1750,0,0,0,0,0,0
$FREEZE,8.48,2.709,-1.825,0,1,0
$FREEZE,7.83,2.711,-1.825,0,1,0
$FREEZE,7.25,2.712,-1.824,0,1,0
$FREEZE,6.58,2.707,-1.824,0,1,0
$FREEZE,5.87,2.713,-1.823,0,1,0
$FREEZE,4.98,2.713,-1.822,0,1,0
$FREEZE,3.95,2.718,-1.822,0,1,0
$FREEZE,3.19,2.709,-1.821,0,1,0
$FREEZE,2.39,2.710,-1.821,0,1,0
$STATE,8554,end climb,SURFACE_DEPTH_REACHED
$STATE,8554,begin surface coast
$FREEZE,1.60,2.717,-1.820,0,1,0
$FREEZE,0.92,2.714,-1.819,0,1,0
$FREEZE,0.95,2.683,-1.808,0,1,0
$FINISH,0.9,1.026302
$STATE,8571,end surface coast,CONTROL_FINISHED_OK
$STATE,8571,begin surface
$SM_CCo,8589,196.12,0.081,0,0,440,609.08
$SM_GC,1.64,0.00,0.00,196.12,0.000,0.000,0.081,282,2785,440,-6.84,0.14,609.08
$RAFOS_CLK,359
$RAFOS,6,1294390146,8.833333,8.818334,54,43,41,40,39,38,814,967,1255,1174,1273,8
$RAFOS,5,1294389665,8.700000,8.684722,56,48,45,43,43,42,668,153,26,162,534,738
$RAFOS,3,1294388705,8.433333,8.418056,53,49,43,41,41,40,880,1902,1788,1132,1329,1936
$RAFOS_FIX,6708.320312,-5658.609863,060111,161656,2,66,2.07
$IRIDIUM_FIX,6641.98,-5653.92,070111,060647
$TT8_MAMPS,0.028462
$HUMID,45.74
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.7
$24V_AH,22.8,80.763
$10V_AH,9.8,55.473
$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,17.725,73.125,362.325,196.125,0.000,26.469,16.788,146.113,1.000,0.000,33.722,2133.034,4367.956,649.535,1716.510,288.265,0.000,1487.878,0.000,1502.629,720.000,7.940,0.000
$DEVICE_MAMPS,239.445,81.090,827.730,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.974,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151780
$DATA_FILE_SIZE,30027,883
$CAP_FILE_SIZE,108315,0
$CFSIZE,260165632,203329536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.0
$GPS,070111,110630,6706.539,-5655.998,39,1.1,46,-37.6