version: 66.08
glider: 183
mission: 3
dive: 714
start: 1 8 111 14 38 33
data:
$ID,183
$MISSION,3
$DIVE,714
$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,-11387.251
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,080111,142801,6709.662,-5706.118,39,1.4,39,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-58.8
$GPS2,080111,143802,6709.745,-5706.366,12,1.1,12,-37.8
$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,171.1,18218,-17.5,-10.000
$D_GRID,483
$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,-146.0,0.0,0.0,0,157,0.00,0.00,-135.32,0.000,2,0.000,0.000,271,2790,3462,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.4,-12.6,24,181,8.30,2.33,-1.17,0.000,4,0.235,0.057,2282,1367,3522,0,0,0,0,0,0
$GC,302,-0.60,-146.0,33.5,-9.6,48,309,0.00,2.33,0.00,0.000,6,0.000,0.057,2280,2777,3523,0,0,0,0,0,0
$GC,649,-0.60,-146.0,71.2,-10.4,109,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2777,3522,0,0,0,0,0,0
$GC,995,-0.63,-146.0,102.0,-9.1,168,999,0.00,2.22,0.00,0.000,4,0.000,0.047,2280,1374,3522,0,0,0,0,0,0
$GC,1043,-0.68,-146.0,106.5,-9.7,172,1047,0.00,2.33,0.00,0.000,6,0.000,0.058,2278,2782,3521,0,0,0,0,0,0
$GC,1370,-0.72,-146.0,137.3,-9.0,202,1374,0.10,1.92,0.00,0.000,4,0.112,0.068,2223,3931,3521,0,0,0,0,0,0
$GC,1398,-0.67,-146.0,140.7,-11.5,204,1406,0.12,1.83,0.00,0.000,6,0.167,0.044,2256,2775,3521,0,0,0,0,0,0
$GC,1727,-0.67,-146.0,173.0,-9.6,235,1731,0.00,2.20,0.00,0.000,4,0.000,0.047,2256,1373,3521,0,0,0,0,0,0
$GC,1783,-0.71,-146.0,178.9,-9.8,239,1790,0.00,2.30,0.00,0.000,6,0.000,0.058,2249,2764,3521,0,0,0,0,0,0
$GC,2110,-0.71,-146.0,210.0,-9.7,270,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2764,3521,0,0,0,0,0,0
$GC,2431,-0.71,-146.0,239.7,-9.3,300,2434,0.00,1.95,0.00,0.000,4,0.000,0.067,2247,3926,3522,0,0,0,0,0,0
$GC,2470,-0.71,-146.0,244.0,-9.6,303,2477,0.00,1.85,0.00,0.000,6,0.000,0.044,2247,2767,3522,0,0,0,0,0,0
$GC,2795,-0.71,-146.0,275.4,-10.1,334,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2766,3522,0,0,0,0,0,0
$GC,3117,-0.71,-146.0,304.2,-8.7,364,3121,0.00,2.20,0.00,0.000,4,0.000,0.045,2247,1363,3523,0,0,0,0,0,0
$GC,3197,-0.75,-146.0,311.7,-8.5,371,3201,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2760,3523,0,0,0,0,0,0
$GC,3523,-0.75,-146.0,339.9,-8.5,401,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2760,3523,0,0,0,0,0,0
$GC,3844,-0.77,-146.0,365.7,-7.9,431,3848,0.00,1.95,0.00,0.000,4,0.000,0.066,2247,3927,3523,0,0,0,0,0,0
$GC,3907,-0.80,-146.0,371.1,-8.2,436,3914,0.00,1.90,0.00,0.000,6,0.000,0.043,2247,2753,3524,0,0,0,0,0,0
$GC,4233,-0.83,-146.0,397.8,-8.2,467,4238,0.12,2.17,0.00,0.000,4,0.100,0.044,2181,1369,3524,0,0,0,0,0,0
$GC,4272,-0.74,-146.0,402.0,-11.4,469,4277,0.20,2.30,0.00,0.000,6,0.167,0.057,2232,2768,3524,0,0,0,0,0,0
$GC,4602,-0.74,-146.0,431.8,-9.0,480,4606,0.00,1.95,0.00,0.000,4,0.000,0.065,2225,3935,3525,0,0,0,0,0,0
$GC,4652,-0.74,-146.0,437.1,-10.6,481,4656,0.00,1.88,0.00,0.000,6,0.000,0.044,2225,2756,3524,0,0,0,0,0,0
$GC,4981,-0.74,-146.0,467.8,-9.0,492,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2755,3525,0,0,0,0,0,0
$STATE,5127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5127,begin apogee
$GC,5133,-0.14,0.0,483.3,9.8,497,5261,0.60,0.00,120.38,0.851,4,0.127,0.000,2423,2599,2923,0,0,0,0,0,0
$STATE,5262,end apogee,CONTROL_FINISHED_OK
$STATE,5262,begin climb
$GC,5265,0.57,146.0,486.9,0.0,501,5392,0.62,0.00,121.90,0.836,6,0.070,0.000,2660,2599,2326,0,0,0,0,0,0
$GC,5697,0.52,146.0,440.5,13.3,515,5701,0.00,2.22,0.00,0.000,4,0.000,0.062,2660,3928,2319,0,0,0,0,0,0
$GC,5719,0.45,146.0,437.3,13.5,515,5726,0.15,2.12,0.00,0.000,6,0.191,0.040,2624,2593,2317,0,0,0,0,0,0
$GC,6033,0.48,146.7,406.7,10.0,526,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2592,2317,0,0,0,0,0,0
$GC,6349,0.51,147.8,374.5,9.9,550,6353,0.00,2.20,0.00,0.000,4,0.000,0.062,2624,3927,2317,0,0,0,0,0,0
$GC,6389,0.48,147.8,369.8,11.9,553,6394,0.00,2.10,0.00,0.000,6,0.000,0.040,2624,2600,2316,0,0,0,0,0,0
$GC,6721,0.51,147.8,335.7,10.3,584,6725,0.00,2.20,0.00,0.000,4,0.000,0.061,2625,3930,2317,0,0,0,0,0,0
$GC,6761,0.48,147.8,330.9,12.3,587,6766,0.00,2.05,0.00,0.000,6,0.000,0.039,2624,2632,2316,0,0,0,0,0,0
$GC,7094,0.51,147.8,297.8,10.3,618,7098,0.00,2.28,0.00,0.000,4,0.000,0.047,2625,1185,2316,0,0,0,0,0,0
$GC,7117,0.57,164.1,295.5,9.2,619,7138,0.10,2.35,14.65,0.710,6,0.108,0.050,2675,2642,2254,0,0,0,0,0,0
$GC,7464,0.52,164.1,250.3,12.4,652,7466,0.12,0.00,0.00,0.000,6,0.186,0.000,2642,2642,2252,0,0,0,0,0,0
$GC,7783,0.52,164.1,215.1,12.0,682,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2642,2251,0,0,0,0,0,0
$GC,8101,0.52,164.1,180.7,10.8,712,8106,0.00,2.28,0.00,0.000,4,0.000,0.047,2642,1197,2251,0,0,0,0,0,0
$GC,8125,0.55,164.1,178.2,10.1,713,8131,0.00,2.33,0.00,0.000,6,0.000,0.050,2642,2637,2251,0,0,0,0,0,0
$GC,8451,0.58,176.5,145.1,9.4,744,8467,0.00,2.15,11.80,0.624,4,0.000,0.060,2642,3930,2203,0,0,0,0,0,0
$GC,8507,0.58,176.5,138.9,12.4,748,8514,0.00,2.03,0.00,0.000,6,0.000,0.040,2642,2649,2201,0,0,0,0,0,0
$GC,8833,0.66,221.0,111.3,7.9,779,8878,0.12,2.33,37.47,0.623,4,0.099,0.047,2701,1194,2022,0,0,0,0,0,0
$GC,8948,0.66,221.0,98.9,10.6,789,8955,0.00,2.35,0.00,0.000,6,0.000,0.050,2701,2644,2018,0,0,0,0,0,0
$GC,9294,0.66,221.0,58.9,11.1,850,9300,0.00,2.10,0.00,0.000,4,0.000,0.062,2701,3929,2015,0,0,0,0,0,0
$GC,9347,0.61,221.0,51.9,14.0,859,9355,0.12,2.05,0.00,0.000,6,0.188,0.040,2673,2635,2013,0,0,0,0,0,0
$GC,9695,0.66,221.0,18.9,10.2,920,9702,0.00,2.28,0.00,0.000,4,0.000,0.049,2673,1197,2014,0,0,0,0,0,0
$FREEZE,8.91,2.328,-1.816,0,1,0
$GC,9756,0.79,271.2,13.9,7.7,930,9805,0.15,2.33,41.33,0.574,6,0.088,0.052,2740,2634,1817,0,0,0,0,0,0
$FREEZE,6.37,2.320,-1.814,0,1,0
$FREEZE,5.36,2.324,-1.813,0,1,0
$FREEZE,4.66,2.324,-1.813,0,1,0
$FREEZE,3.80,2.325,-1.812,0,1,0
$FREEZE,3.05,2.326,-1.811,0,1,0
$FREEZE,2.34,2.319,-1.811,0,1,0
$STATE,9838,end climb,SURFACE_DEPTH_REACHED
$STATE,9839,begin surface coast
$FREEZE,1.48,2.318,-1.810,0,1,0
$FREEZE,1.15,2.331,-1.810,0,1,0
$FREEZE,1.04,2.135,-0.869,0,1,0
$FREEZE,0.98,2.080,-1.049,0,1,0
$FINISH,1.0,1.015457
$STATE,9861,end surface coast,CONTROL_FINISHED_OK
$STATE,9861,begin surface
$SM_CCo,9879,211.07,0.080,0,0,440,609.08
$SM_GC,1.67,0.00,0.00,211.07,0.000,0.000,0.080,294,2801,440,-6.80,0.59,609.08
$RAFOS_CLK,392
$RAFOS,6,1294505345,16.833334,16.818056,88,41,41,40,39,38,770,822,1256,1868,460,935
$RAFOS,5,1294504868,16.700001,16.685556,121,49,45,42,39,39,626,1163,1495,946,541,1848
$RAFOS,4,1294504390,16.566668,16.552778,47,44,43,40,39,38,194,366,841,1476,26,1477
$RAFOS,3,1294503906,16.433332,16.418333,48,45,45,44,42,42,354,1739,1822,990,408,1499
$RAFOS,2,1294503450,16.299999,16.291666,47,46,45,43,41,41,145,1554,960,1812,628,1840
$RAFOS,1,1294502961,16.166666,16.155834,47,46,45,44,42,39,1553,1478,253,1109,401,1722
$RAFOS,0,1294502487,16.033333,16.024166,46,45,44,43,39,39,891,908,806,149,1040,1315
$RAFOS_FIX,6712.104492,-5713.421387,080111,161656,2,104,0.87
$IRIDIUM_FIX,6647.44,-5700.20,080111,141413
$TT8_MAMPS,0.029211
$HUMID,46.06
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$24V_AH,22.7,81.721
$10V_AH,9.8,56.125
$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,17.400,78.075,347.525,211.075,0.000,58.581,62.327,210.448,1.250,0.000,15.203,2288.101,5511.560,669.506,1867.160,370.366,0.000,1525.425,0.000,1539.332,2520.000,9.708,0.000
$DEVICE_MAMPS,234.855,68.085,850.680,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,651.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151732
$DATA_FILE_SIZE,33386,948
$CAP_FILE_SIZE,117329,0
$CFSIZE,260165632,202690560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.0
$GPS,080111,172806,6710.796,-5708.403,8,1.4,25,-37.8