version: 66.08
glider: 183
mission: 3
dive: 767
start: 1 14 111 21 49 58
data:
$ID,183
$MISSION,3
$DIVE,767
$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,-11459.293
$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,25
$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
$GPS1,140111,214301,6714.027,-5723.688,34,1.6,35,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-64.8
$GPS2,140111,214926,6714.070,-5723.812,14,1.3,14,-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,166.3,33002,-17.5,-10.000
$D_GRID,584
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,168,0.00,0.00,-141.20,0.000,6,0.000,0.000,283,2782,3519,0,0,0,0,0,0
$GC,171,-0.57,-146.0,6.7,-15.7,26,184,8.27,1.95,0.00,0.000,4,0.236,0.054,2276,3937,3520,0,0,0,0,0,0
$GC,423,-0.60,-146.0,52.5,-10.9,70,430,0.00,1.85,0.00,0.000,6,0.000,0.044,2275,2784,3521,0,0,0,0,0,0
$GC,771,-0.63,-146.0,87.7,-9.6,131,778,0.00,2.22,0.00,0.000,4,0.000,0.046,2275,1366,3521,0,0,0,0,0,0
$GC,831,-0.68,-146.0,93.6,-9.5,141,838,0.00,2.33,0.00,0.000,6,0.000,0.057,2275,2773,3521,0,0,0,0,0,0
$GC,1163,-0.72,-146.0,122.7,-8.2,178,1167,0.00,1.95,0.00,0.000,4,0.000,0.068,2275,3927,3520,0,0,0,0,0,0
$GC,1247,-0.79,-146.0,130.3,-9.1,185,1254,0.15,1.83,0.00,0.000,6,0.085,0.044,2208,2785,3520,0,0,0,0,0,0
$GC,1573,-0.73,-146.0,170.9,-12.5,216,1578,0.12,2.25,0.00,0.000,4,0.171,0.045,2242,1365,3519,0,0,0,0,0,0
$GC,1651,-0.73,-146.0,179.1,-9.4,222,1658,0.00,2.30,0.00,0.000,6,0.000,0.056,2235,2762,3520,0,0,0,0,0,0
$GC,1977,-0.73,-146.0,211.1,-10.0,253,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2762,3520,0,0,0,0,0,0
$GC,2298,-0.73,-146.0,241.6,-9.2,283,2301,0.00,1.95,0.00,0.000,4,0.000,0.066,2227,3928,3520,0,0,0,0,0,0
$GC,2357,-0.73,-146.0,247.4,-9.7,288,2360,0.00,1.88,0.00,0.000,6,0.000,0.041,2227,2750,3520,0,0,0,0,0,0
$GC,2688,-0.70,-146.0,280.9,-9.6,319,2692,0.00,2.15,0.00,0.000,4,0.000,0.044,2227,1367,3521,0,0,0,0,0,0
$GC,2719,-0.70,-146.0,284.1,-10.4,321,2723,0.00,2.28,0.00,0.000,6,0.000,0.056,2222,2759,3520,0,0,0,0,0,0
$GC,3050,-0.70,-146.0,320.4,-11.3,352,3054,0.00,1.98,0.00,0.000,4,0.000,0.066,2222,3921,3521,0,0,0,0,0,0
$GC,3085,-0.70,-146.0,324.3,-11.5,355,3089,0.00,1.88,0.00,0.000,6,0.000,0.041,2222,2757,3521,0,0,0,0,0,0
$GC,3416,-0.68,-146.0,358.4,-10.5,386,3421,0.12,2.20,0.00,0.000,4,0.170,0.043,2257,1368,3521,0,0,0,0,0,0
$GC,3456,-0.74,-146.0,362.0,-8.5,389,3463,0.00,2.28,0.00,0.000,6,0.000,0.056,2251,2751,3521,0,0,0,0,0,0
$GC,3782,-0.77,-146.0,388.1,-8.1,420,3786,0.00,1.98,0.00,0.000,4,0.000,0.067,2247,3927,3521,0,0,0,0,0,0
$GC,3808,-0.81,-146.0,390.0,-7.5,422,3812,0.00,1.88,0.00,0.000,6,0.000,0.041,2246,2749,3521,0,0,0,0,0,0
$GC,4154,-0.83,-146.0,416.9,-7.8,441,4159,0.12,2.20,0.00,0.000,4,0.098,0.044,2179,1362,3522,0,0,0,0,0,0
$GC,4207,-0.75,-146.0,423.0,-11.9,442,4212,0.20,2.28,0.00,0.000,6,0.164,0.055,2232,2744,3522,0,0,0,0,0,0
$GC,4525,-0.75,-146.0,454.7,-10.0,453,4529,0.00,2.00,0.00,0.000,4,0.000,0.065,2226,3921,3522,0,0,0,0,0,0
$GC,4570,-0.75,-146.0,459.4,-10.3,454,4574,0.00,1.88,0.00,0.000,6,0.000,0.041,2226,2742,3522,0,0,0,0,0,0
$GC,4901,-0.75,-146.0,490.8,-9.0,465,4905,0.00,2.15,0.00,0.000,4,0.000,0.043,2226,1373,3523,0,0,0,0,0,0
$GC,4935,-0.75,-146.0,494.4,-9.5,466,4939,0.00,2.25,0.00,0.000,6,0.000,0.055,2222,2744,3523,0,0,0,0,0,0
$GC,5265,-0.75,-146.0,524.7,-9.2,477,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2745,3523,0,0,0,0,0,0
$GC,5573,-0.75,-146.0,551.7,-8.7,487,5577,0.00,2.15,0.00,0.000,4,0.000,0.043,2222,1369,3523,0,0,0,0,0,0
$GC,5612,-0.75,-146.0,555.5,-8.6,488,5616,0.00,2.25,0.00,0.000,6,0.000,0.054,2222,2737,3523,0,0,0,0,0,0
$STATE,5934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5934,begin apogee
$GC,5942,-0.14,0.0,585.8,9.7,499,6072,0.62,0.00,121.93,0.920,4,0.126,0.000,2427,2606,2923,0,0,0,0,0,0
$STATE,6072,end apogee,CONTROL_FINISHED_OK
$STATE,6073,begin climb
$GC,6075,0.57,146.0,590.1,0.0,503,6212,0.65,2.33,124.62,0.908,4,0.059,0.044,2669,1186,2327,0,0,0,0,0,0
$GC,6353,-1.77,146.0,565.3,22859.9,511,6365,2.50,2.35,0.00,0.000,6,0.141,0.050,1913,2609,2318,0,0,0,0,0,0
$GC,6673,-1.77,146.0,518.3,22859.9,522,6677,0.00,2.25,0.00,0.000,4,0.000,0.044,1912,1173,2312,0,0,0,0,0,0
$GC,6684,-1.77,146.0,516.8,22859.9,522,6688,0.00,2.35,0.00,0.000,6,0.000,0.052,1901,2616,2312,0,0,0,0,0,0
$GC,7009,-1.77,146.0,459.2,22859.9,533,7013,0.00,2.25,0.00,0.000,4,0.000,0.045,1897,1186,2311,0,0,0,0,0,0
$GC,7268,-1.77,146.0,412.5,22859.9,540,7272,0.00,2.30,0.00,0.000,6,0.000,0.046,1885,2623,2310,0,0,0,0,0,0
$GC,7593,-1.77,146.0,354.3,22859.9,564,7597,0.00,2.25,0.00,0.000,4,0.000,0.041,1883,1174,2308,0,0,0,0,0,0
$GC,7752,-1.77,146.0,325.8,22859.9,577,7759,0.15,2.28,0.00,0.000,6,0.239,0.051,1901,2579,2309,0,0,0,0,0,0
$GC,8078,-1.77,146.0,268.9,22859.9,608,8082,0.00,2.25,0.00,0.000,4,0.000,0.065,1894,3924,2310,0,0,0,0,0,0
$GC,8339,-1.77,146.0,218.6,22859.9,631,8345,0.00,2.20,0.00,0.000,6,0.000,0.037,1891,2526,2307,0,0,0,0,0,0
$GC,8672,-1.77,146.0,161.1,22859.9,662,8676,0.00,2.33,0.00,0.000,4,0.000,0.060,1876,3926,2309,0,0,0,0,0,0
$GC,8930,-1.77,146.0,111.6,22859.9,684,8937,0.12,2.10,0.00,0.000,6,0.233,0.039,1897,2587,2308,0,0,0,0,0,0
$GC,9271,-0.50,146.0,54.1,15.5,739,9279,1.40,2.20,0.00,0.000,4,0.164,0.041,2306,1194,2310,0,0,0,0,0,0
$GC,9422,0.36,222.3,43.9,6.5,765,9493,0.85,2.28,60.53,0.591,6,0.099,0.054,2591,2594,2016,0,0,0,0,0,0
$GC,9833,0.68,299.7,18.2,6.4,837,9903,0.25,2.33,63.40,0.578,4,0.069,0.046,2711,1198,1699,0,0,0,0,0,0
$FREEZE,8.42,2.048,-1.823,0,1,0
$FREEZE,7.73,2.046,-1.822,0,1,0
$FREEZE,7.24,2.045,-1.822,0,1,0
$FREEZE,6.68,2.049,-1.821,0,1,0
$FREEZE,6.14,2.049,-1.821,0,1,0
$FREEZE,5.47,2.050,-1.820,0,1,0
$FREEZE,4.81,2.050,-1.820,0,1,0
$FREEZE,4.26,2.051,-1.820,0,1,0
$FREEZE,3.62,2.051,-1.819,0,1,0
$FREEZE,2.99,2.049,-1.819,0,1,0
$STATE,9975,end climb,SURFACE_DEPTH_REACHED
$STATE,9975,begin surface coast
$FREEZE,2.06,2.045,-1.818,0,1,0
$FREEZE,1.43,2.045,-1.817,0,1,0
$FREEZE,0.77,2.016,-1.816,0,1,0
$FREEZE,0.76,2.044,-1.810,0,1,0
$FINISH,0.8,1.026388
$STATE,9997,end surface coast,CONTROL_FINISHED_OK
$STATE,9997,begin surface
$SM_CCo,10018,186.65,0.081,0,0,440,609.08
$SM_GC,1.50,0.00,0.00,186.65,0.000,0.000,0.081,296,2780,440,-6.81,0.00,609.08
$RAFOS_CLK,395
$RAFOS,3,1295051104,0.433333,0.417778,50,43,41,41,40,39,154,560,832,1851,26,1889
$RAFOS,2,1295050625,0.300000,0.284722,49,47,44,43,42,41,1926,364,1378,329,690,263
$RAFOS,1,1295050141,0.166667,0.150278,54,44,43,43,42,41,1326,1564,1879,1585,626,177
$RAFOS,0,1295049671,0.033333,0.019722,48,47,43,43,41,40,1258,1325,521,413,44,1053
$RAFOS_FIX,6714.848145,-5730.255859,140111,202000,2,96,0.45
$IRIDIUM_FIX,6641.98,-5715.55,140111,181819
$TT8_MAMPS,0.029211
$HUMID,44.84
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.8
$24V_AH,22.4,86.501
$10V_AH,9.8,59.352
$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,21.975,91.100,370.475,186.650,0.000,28.996,21.283,168.022,1.750,0.000,17.396,2109.181,5685.516,663.637,1796.785,341.352,0.000,1554.610,0.000,1589.637,1800.000,13.251,0.000
$DEVICE_MAMPS,239.445,68.085,920.295,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.944,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,33448,866
$CAP_FILE_SIZE,116874,0
$CFSIZE,260165632,199602176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.8
$GPS,150111,004131,6714.092,-5724.249,38,0.9,38,-37.9