version: 66.08
glider: 183
mission: 3
dive: 716
start: 1 8 111 20 29 39
data:
$ID,183
$MISSION,3
$DIVE,716
$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,-11389.762
$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,45
$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
$GPS1,080111,202316,6711.115,-5709.632,30,1.3,40,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-62.4
$GPS2,080111,202908,6711.130,-5709.792,14,1.2,14,-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,171.5,21780,-17.5,-10.000
$D_GRID,518
$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,-134.77,0.000,2,0.000,0.000,278,2806,3470,0,0,0,0,0,0
$GC,161,-0.57,-146.0,5.1,-8.6,24,180,8.38,2.35,-1.02,0.000,4,0.237,0.058,2285,1371,3522,0,0,0,0,0,0
$GC,317,-0.61,-146.0,34.6,-9.8,51,324,0.00,2.30,0.00,0.000,6,0.000,0.058,2279,2762,3524,0,0,0,0,0,0
$GC,662,-0.61,-146.0,75.2,-11.5,112,669,0.00,1.98,0.00,0.000,4,0.000,0.069,2275,3934,3523,0,0,0,0,0,0
$GC,706,-0.61,-146.0,80.3,-12.3,119,712,0.00,1.85,0.00,0.000,6,0.000,0.046,2274,2783,3521,0,0,0,0,0,0
$GC,1043,-0.63,-146.0,114.7,-8.8,166,1047,0.00,2.22,0.00,0.000,4,0.000,0.048,2274,1368,3521,0,0,0,0,0,0
$GC,1107,-0.67,-146.0,120.7,-9.4,171,1112,0.00,2.30,0.00,0.000,6,0.000,0.060,2274,2766,3521,0,0,0,0,0,0
$GC,1440,-0.71,-146.0,150.3,-8.3,202,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2766,3521,0,0,0,0,0,0
$GC,1757,-0.75,-146.0,175.0,-7.7,232,1762,0.12,2.25,0.00,0.000,4,0.099,0.047,2214,1370,3521,0,0,0,0,0,0
$GC,1787,-0.72,-146.0,178.0,-10.9,234,1792,0.12,2.30,0.00,0.000,6,0.176,0.059,2239,2759,3520,0,0,0,0,0,0
$GC,2114,-0.72,-146.0,211.0,-10.6,264,2118,0.00,1.98,0.00,0.000,4,0.000,0.067,2232,3931,3520,0,0,0,0,0,0
$GC,2195,-0.72,-146.0,219.8,-10.5,271,2199,0.00,1.88,0.00,0.000,6,0.000,0.045,2232,2761,3521,0,0,0,0,0,0
$GC,2527,-0.72,-146.0,252.2,-9.2,302,2531,0.00,1.98,0.00,0.000,4,0.000,0.067,2223,3929,3521,0,0,0,0,0,0
$GC,2558,-0.69,-146.0,255.0,-9.2,304,2564,0.00,1.85,0.00,0.000,6,0.000,0.044,2223,2773,3521,0,0,0,0,0,0
$GC,2883,-0.65,-146.0,287.6,-10.4,335,2888,0.15,2.22,0.00,0.000,4,0.161,0.046,2267,1366,3521,0,0,0,0,0,0
$GC,2942,-0.72,-146.0,292.6,-8.0,340,2946,0.00,2.33,0.00,0.000,6,0.000,0.057,2261,2777,3521,0,0,0,0,0,0
$GC,3268,-0.77,-146.0,318.0,-7.0,370,3270,0.10,0.00,0.00,0.000,6,0.112,0.000,2211,2777,3522,0,0,0,0,0,0
$GC,3586,-0.71,-146.0,347.5,-9.7,400,3591,0.12,2.25,0.00,0.000,4,0.168,0.046,2245,1362,3523,0,0,0,0,0,0
$GC,3650,-0.75,-146.0,352.9,-7.9,405,3654,0.00,2.30,0.00,0.000,6,0.000,0.056,2245,2761,3523,0,0,0,0,0,0
$GC,3976,-0.77,-146.0,378.9,-8.2,435,3980,0.00,2.20,0.00,0.000,4,0.000,0.044,2246,1370,3523,0,0,0,0,0,0
$GC,3999,-0.79,-146.0,381.2,-8.9,436,4006,0.00,2.25,0.00,0.000,6,0.000,0.056,2245,2737,3523,0,0,0,0,0,0
$GC,4324,-0.81,-146.0,408.8,-8.9,461,4328,0.00,2.00,0.00,0.000,4,0.000,0.066,2245,3928,3523,0,0,0,0,0,0
$GC,4381,-0.85,-146.0,414.2,-8.7,462,4385,0.10,1.92,0.00,0.000,6,0.060,0.043,2166,2739,3523,0,0,0,0,0,0
$GC,4700,-0.71,-146.0,455.1,-13.0,473,4702,0.28,0.00,0.00,0.000,6,0.158,0.000,2245,2738,3524,0,0,0,0,0,0
$GC,5006,-0.74,-146.0,479.3,-7.2,483,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2738,3524,0,0,0,0,0,0
$GC,5313,-0.76,-146.0,504.2,-8.3,493,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2738,3524,0,0,0,0,0,0
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5492,begin apogee
$GC,5499,-0.14,0.0,520.1,8.7,499,5626,0.52,0.00,121.22,0.874,4,0.122,0.000,2423,2600,2923,0,0,0,0,0,0
$STATE,5627,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5630,0.57,146.0,523.8,0.0,503,5765,0.65,2.33,123.30,0.864,4,0.064,0.046,2662,1178,2326,0,0,0,0,0,0
$GC,5910,0.57,146.0,498.2,12.2,511,5915,0.00,2.35,0.00,0.000,6,0.000,0.050,2662,2605,2322,0,0,0,0,0,0
$GC,6224,0.52,146.0,458.4,12.7,521,6228,0.00,2.25,0.00,0.000,4,0.000,0.047,2663,1188,2318,0,0,0,0,0,0
$GC,6483,0.52,146.0,428.1,12.6,528,6487,0.00,2.25,0.00,0.000,6,0.000,0.050,2663,2598,2318,0,0,0,0,0,0
$GC,6807,0.47,146.0,386.3,13.4,545,6812,0.12,2.20,0.00,0.000,4,0.193,0.062,2631,3930,2316,0,0,0,0,0,0
$GC,6841,0.43,146.0,381.5,13.1,547,6848,0.00,2.12,0.00,0.000,6,0.000,0.040,2634,2588,2315,0,0,0,0,0,0
$GC,7167,0.43,146.0,346.5,10.3,578,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2588,2315,0,0,0,0,0,0
$GC,7488,0.43,146.0,312.5,10.7,608,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2588,2316,0,0,0,0,0,0
$GC,7817,0.44,159.7,279.0,9.4,639,7832,0.00,2.25,10.77,0.685,4,0.000,0.061,2633,3930,2272,0,0,0,0,0,0
$GC,7850,0.44,159.7,275.0,11.2,641,7856,0.00,2.12,0.00,0.000,6,0.000,0.040,2636,2591,2271,0,0,0,0,0,0
$GC,8175,0.44,159.7,241.0,10.9,672,8179,0.00,2.25,0.00,0.000,4,0.000,0.063,2636,3936,2271,0,0,0,0,0,0
$GC,8228,0.41,159.7,234.7,13.3,676,8233,0.12,2.10,0.00,0.000,6,0.186,0.040,2607,2607,2270,0,0,0,0,0,0
$GC,8554,0.52,208.3,207.9,7.8,706,8602,0.10,2.28,41.72,0.678,4,0.110,0.047,2658,1196,2072,0,0,0,0,0,0
$GC,8644,0.59,208.3,198.6,10.7,714,8648,0.00,2.30,0.00,0.000,6,0.000,0.050,2658,2611,2070,0,0,0,0,0,0
$GC,8977,0.61,208.3,160.3,11.1,745,8981,0.00,2.15,0.00,0.000,4,0.000,0.061,2658,3923,2067,0,0,0,0,0,0
$GC,9037,0.61,208.3,152.1,13.1,750,9044,0.00,2.08,0.00,0.000,6,0.000,0.040,2660,2608,2065,0,0,0,0,0,0
$GC,9364,0.64,208.3,115.9,10.7,781,9368,0.00,2.22,0.00,0.000,4,0.000,0.047,2662,1198,2065,0,0,0,0,0,0
$GC,9432,0.72,217.9,109.2,9.6,786,9450,0.12,2.25,8.35,0.588,6,0.100,0.050,2718,2594,2033,0,0,0,0,0,0
$GC,9786,0.67,217.9,65.0,11.7,842,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2593,2032,0,0,0,0,0,0
$GC,10131,0.63,217.9,22.8,12.4,903,10138,0.15,2.22,0.00,0.000,4,0.171,0.062,2677,3925,2031,0,0,0,0,0,0
$FREEZE,8.79,2.294,-1.817,0,1,0
$FREEZE,8.12,2.300,-1.816,0,1,0
$FREEZE,7.68,2.293,-1.816,0,1,0
$FREEZE,7.21,2.293,-1.815,0,1,0
$FREEZE,6.44,2.297,-1.815,0,1,0
$FREEZE,6.02,2.297,-1.815,0,1,0
$GC,10285,0.63,217.9,6.0,11.0,930,10291,0.00,2.10,0.00,0.000,6,0.000,0.041,2676,2601,2029,0,0,0,0,0,0
$FREEZE,4.67,2.303,-1.814,0,1,0
$FREEZE,4.14,2.302,-1.813,0,1,0
$FREEZE,3.66,2.298,-1.813,0,1,0
$FREEZE,3.19,2.297,-1.813,0,1,0
$FREEZE,2.65,2.297,-1.812,0,1,0
$STATE,10317,end climb,SURFACE_DEPTH_REACHED
$STATE,10318,begin surface coast
$FREEZE,2.36,2.294,-1.812,0,1,0
$FREEZE,1.97,2.295,-1.811,0,1,0
$FREEZE,1.59,2.295,-1.811,0,1,0
$FREEZE,1.13,2.290,-1.811,0,1,0
$FREEZE,1.02,2.262,-1.812,0,1,0
$FREEZE,1.06,2.200,-0.874,0,1,0
$FINISH,1.1,1.012881
$STATE,10354,end surface coast,CONTROL_FINISHED_OK
$STATE,10354,begin surface
$SM_CCo,10371,237.60,0.080,0,0,440,609.08
$SM_GC,1.74,0.00,0.00,237.60,0.000,0.000,0.080,291,2789,440,-6.81,0.25,609.08
$RAFOS_CLK,409
$RAFOS,6,1294519749,20.833334,20.819166,79,46,44,44,41,40,746,1098,479,297,1540,743
$RAFOS,5,1294519265,20.700001,20.684723,95,43,42,41,40,38,641,797,144,760,511,1868
$RAFOS,4,1294518787,20.566668,20.551945,42,41,41,41,41,41,897,729,1086,77,150,1753
$RAFOS,2,1294517823,20.299999,20.284166,48,46,44,41,40,39,608,593,433,1039,1733,1665
$RAFOS_FIX,6712.877930,-5714.986816,080111,202000,2,87,4.37
$IRIDIUM_FIX,6647.44,-5712.55,080111,171731
$TT8_MAMPS,0.028462
$HUMID,45.78
$INTERNAL_PRESSURE,8.56325
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.7
$24V_AH,22.6,81.907
$10V_AH,9.8,56.249
$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,17.575,83.025,305.375,237.600,0.000,29.685,16.697,141.046,1.500,0.000,16.617,2307.852,5871.599,662.543,1815.165,318.126,0.000,1552.312,0.000,1619.738,1080.000,11.483,0.000
$DEVICE_MAMPS,237.150,68.850,874.395,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,33314,942
$CAP_FILE_SIZE,120143,0
$CFSIZE,260165632,202563584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1472.5
$GPS,080111,232821,6710.840,-5708.378,35,99.0,55,-37.8