version: 66.08
glider: 183
mission: 3
dive: 752
start: 1 13 111 0 56 32
data:
$ID,183
$MISSION,3
$DIVE,752
$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,-11436.932
$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,28
$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
$GPS1,130111,005006,6715.113,-5716.344,38,1.2,38,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.5
$GPS2,130111,005601,6715.132,-5716.425,11,1.3,11,-37.9
$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,175.5,30433,-17.5,-10.000
$D_GRID,475
$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,-137.15,0.000,6,0.000,0.000,273,2781,3520,0,0,0,0,0,0
$GC,164,-0.57,-146.0,5.9,-12.0,24,178,8.30,2.30,0.00,0.000,4,0.233,0.041,2282,1366,3523,0,0,0,0,0,0
$GC,322,-0.61,-146.0,38.3,-11.6,51,329,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2774,3524,0,0,0,0,0,0
$GC,669,-0.61,-146.0,75.7,-8.9,112,676,0.00,1.95,0.00,0.000,4,0.000,0.068,2272,3931,3523,0,0,0,0,0,0
$GC,714,-0.64,-146.0,79.8,-9.7,119,721,0.00,1.85,0.00,0.000,6,0.000,0.044,2272,2776,3522,0,0,0,0,0,0
$GC,1054,-0.67,-146.0,110.4,-8.7,169,1057,0.00,2.20,0.00,0.000,4,0.000,0.045,2272,1373,3521,0,0,0,0,0,0
$GC,1129,-0.72,-146.0,116.6,-8.0,175,1136,0.00,2.33,0.00,0.000,6,0.000,0.057,2272,2774,3521,0,0,0,0,0,0
$GC,1456,-0.76,-146.0,142.2,-8.1,206,1461,0.12,2.25,0.00,0.000,4,0.099,0.045,2211,1366,3520,0,0,0,0,0,0
$GC,1488,-0.73,-146.0,145.2,-11.2,208,1492,0.00,2.30,0.00,0.000,6,0.000,0.057,2209,2759,3521,0,0,0,0,0,0
$GC,1814,-0.66,-146.0,184.6,-12.1,238,1816,0.17,0.00,0.00,0.000,6,0.163,0.000,2259,2759,3521,0,0,0,0,0,0
$GC,2133,-0.70,-146.0,211.9,-8.7,268,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2759,3521,0,0,0,0,0,0
$GC,2456,-0.74,-146.0,238.6,-8.1,298,2459,0.00,2.17,0.00,0.000,4,0.000,0.044,2259,1373,3521,0,0,0,0,0,0
$GC,2484,-0.78,-146.0,241.6,-8.4,300,2491,0.10,2.28,0.00,0.000,6,0.105,0.057,2208,2749,3521,0,0,0,0,0,0
$GC,2811,-0.72,-146.0,278.0,-11.2,331,2815,0.12,2.00,0.00,0.000,4,0.171,0.066,2234,3928,3522,0,0,0,0,0,0
$GC,2917,-0.72,-146.0,288.7,-8.7,340,2924,0.00,1.85,0.00,0.000,6,0.000,0.043,2234,2770,3522,0,0,0,0,0,0
$GC,3243,-0.72,-146.0,319.5,-9.3,371,3247,0.00,2.17,0.00,0.000,4,0.000,0.044,2234,1374,3522,0,0,0,0,0,0
$GC,3290,-0.72,-146.0,324.0,-9.7,375,3294,0.00,2.30,0.00,0.000,6,0.000,0.056,2234,2769,3522,0,0,0,0,0,0
$GC,3615,-0.72,-146.0,356.3,-10.4,405,3619,0.00,2.22,0.00,0.000,4,0.000,0.044,2234,1366,3523,0,0,0,0,0,0
$GC,3648,-0.72,-146.0,359.8,-10.6,407,3655,0.00,2.30,0.00,0.000,6,0.000,0.055,2234,2762,3523,0,0,0,0,0,0
$GC,3975,-0.72,-146.0,391.7,-9.6,438,3979,0.00,2.20,0.00,0.000,4,0.000,0.043,2234,1372,3524,0,0,0,0,0,0
$GC,4010,-0.72,-146.0,395.2,-10.1,441,4014,0.00,2.25,0.00,0.000,6,0.000,0.055,2234,2738,3524,0,0,0,0,0,0
$GC,4346,-0.72,-146.0,427.4,-9.4,455,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2739,3524,0,0,0,0,0,0
$GC,4653,-0.72,-146.0,455.0,-9.0,465,4657,0.00,2.00,0.00,0.000,4,0.000,0.067,2233,3927,3524,0,0,0,0,0,0
$GC,4715,-0.72,-146.0,461.0,-9.1,466,4722,0.00,1.92,0.00,0.000,6,0.000,0.041,2234,2721,3524,0,0,0,0,0,0
$STATE,4903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4903,begin apogee
$GC,4910,-0.14,0.0,476.7,8.2,473,5038,0.57,0.00,120.57,0.849,4,0.120,0.000,2425,2598,2923,0,0,0,0,0,0
$STATE,5039,end apogee,CONTROL_FINISHED_OK
$STATE,5039,begin climb
$GC,5042,0.57,146.0,478.9,0.0,477,5174,0.65,2.30,122.05,0.835,4,0.060,0.044,2668,1186,2327,0,0,0,0,0,0
$GC,5333,0.57,146.0,451.1,11.6,486,5337,0.00,2.33,0.00,0.000,6,0.000,0.050,2668,2605,2321,0,0,0,0,0,0
$GC,5675,0.52,146.0,409.5,12.2,497,5679,0.00,2.22,0.00,0.000,4,0.000,0.045,2673,1186,2318,0,0,0,0,0,0
$GC,5929,0.52,146.0,378.3,12.0,514,5933,0.12,2.28,0.00,0.000,6,0.177,0.050,2641,2610,2318,0,0,0,0,0,0
$GC,6259,0.52,146.0,342.4,11.0,545,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2610,2316,0,0,0,0,0,0
$GC,6580,0.52,146.0,307.5,10.3,575,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2610,2316,0,0,0,0,0,0
$GC,6910,0.52,146.3,273.7,10.0,606,6913,0.00,2.17,0.00,0.000,4,0.000,0.061,2641,3935,2316,0,0,0,0,0,0
$GC,6971,0.47,146.3,265.9,12.4,611,6978,0.00,2.10,0.00,0.000,6,0.000,0.038,2642,2605,2316,0,0,0,0,0,0
$GC,7297,0.47,146.3,232.2,10.6,642,7300,0.00,2.20,0.00,0.000,4,0.000,0.062,2642,3933,2316,0,0,0,0,0,0
$GC,7332,0.43,146.3,228.0,12.8,645,7337,0.12,2.08,0.00,0.000,6,0.189,0.038,2615,2621,2315,0,0,0,0,0,0
$GC,7663,0.50,169.8,197.6,8.9,676,7689,0.00,2.30,19.27,0.665,4,0.000,0.045,2614,1203,2230,0,0,0,0,0,0
$GC,7713,0.61,195.3,192.9,8.8,680,7743,0.17,2.33,22.55,0.658,6,0.076,0.049,2693,2639,2127,0,0,0,0,0,0
$GC,8060,0.57,195.3,143.0,14.8,713,8062,0.12,0.00,0.00,0.000,6,0.176,0.000,2659,2639,2121,0,0,0,0,0,0
$GC,8378,0.60,195.3,106.6,11.2,743,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2639,2120,0,0,0,0,0,0
$GC,8713,0.65,195.3,71.4,10.5,797,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2639,2120,0,0,0,0,0,0
$GC,9059,0.72,231.5,40.1,8.3,858,9096,0.15,2.22,30.40,0.584,4,0.089,0.062,2727,3934,1978,0,0,0,0,0,0
$GC,9145,0.64,231.5,28.9,14.9,872,9152,0.20,2.05,0.00,0.000,6,0.169,0.038,2679,2644,1974,0,0,0,0,0,0
$FREEZE,8.71,2.058,-1.812,0,1,0
$FREEZE,8.24,2.060,-1.812,0,1,0
$FREEZE,7.70,2.061,-1.812,0,1,0
$FREEZE,7.19,2.062,-1.811,0,1,0
$FREEZE,6.64,2.062,-1.811,0,1,0
$FREEZE,6.09,2.058,-1.810,0,1,0
$FREEZE,5.55,2.059,-1.810,0,1,0
$FREEZE,5.08,2.058,-1.810,0,1,0
$FREEZE,4.54,2.058,-1.809,0,1,0
$FREEZE,3.99,2.059,-1.809,0,1,0
$FREEZE,3.50,2.059,-1.808,0,1,0
$FREEZE,3.07,2.061,-1.808,0,1,0
$FREEZE,2.53,2.061,-1.808,0,1,0
$STATE,9395,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FREEZE,2.05,2.060,-1.807,0,1,0
$FREEZE,1.44,2.060,-1.807,0,1,0
$FREEZE,1.06,2.061,-1.807,0,1,0
$FREEZE,1.04,2.028,-0.361,0,1,0
$FREEZE,0.99,1.970,-0.152,0,1,0
$FREEZE,1.05,2.048,-1.801,0,1,0
$FINISH,1.1,1.026259
$STATE,9428,end surface coast,CONTROL_FINISHED_OK
$STATE,9429,begin surface
$SM_CCo,9446,225.93,0.076,0,0,440,609.08
$SM_GC,1.68,0.00,0.00,225.93,0.000,0.000,0.076,289,2779,440,-6.82,-0.03,609.08
$RAFOS_CLK,379
$RAFOS,5,1294879266,0.700000,0.685000,78,44,42,41,40,40,652,26,1199,162,858,1544
$RAFOS_FIX,6715.000000,-5714.958496,130111,000050,3,70,0.00
$IRIDIUM_FIX,6641.98,-5712.55,120111,222253
$TT8_MAMPS,0.028462
$HUMID,45.58
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,22.8,85.121
$10V_AH,9.8,58.423
$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,17.300,70.150,314.850,225.925,0.000,29.256,41.869,132.106,1.250,0.000,13.944,2270.561,5064.084,652.672,1757.927,299.993,0.000,1496.951,0.000,1552.854,0.000,12.534,0.000
$DEVICE_MAMPS,233.325,79.560,849.150,76.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,634.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,33314,923
$CAP_FILE_SIZE,108518,0
$CFSIZE,260165632,200499200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1473.4
$GPS,130111,033924,6714.643,-5715.650,39,0.8,39,-37.9