version: 66.08
glider: 183
mission: 3
dive: 847
start: 1 28 111 10 16 33
data:
$ID,183
$MISSION,3
$DIVE,847
$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,-13519.108
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,280111,095507,6646.329,-5741.987,28,1.2,28,-37.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-51.3
$GPS2,280111,101602,6646.182,-5741.708,13,1.8,13,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,88.6,49744,-17.5,-10.000
$D_GRID,641
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.57,-146.0,0.0,0.0,0,188,0.00,0.00,-162.68,0.000,6,0.000,0.000,274,2781,3519,0,0,0,0,0,0
$GC,192,-0.57,-146.0,3.4,-6.2,29,205,8.52,2.35,0.00,0.000,4,0.246,0.047,2283,1369,3521,0,0,0,0,0,0
$GC,462,-0.48,-146.0,49.8,-13.7,76,469,0.17,2.40,0.00,0.000,6,0.171,0.063,2320,2784,3522,0,0,0,0,0,0
$GC,810,-0.52,-146.0,85.6,-8.2,137,817,0.00,2.30,0.00,0.000,4,0.000,0.051,2320,1372,3522,0,0,0,0,0,0
$GC,916,-0.59,-146.0,94.5,-7.9,155,924,0.12,2.40,0.00,0.000,6,0.093,0.063,2262,2782,3522,0,0,0,0,0,0
$GC,1252,-0.59,-146.0,132.3,-10.3,191,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2782,3521,0,0,0,0,0,0
$GC,1573,-0.59,-146.0,166.4,-10.4,221,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2782,3521,0,0,0,0,0,0
$GC,1902,-0.59,-146.0,197.3,-8.4,252,1905,0.00,1.98,0.00,0.000,4,0.000,0.073,2255,3932,3521,0,0,0,0,0,0
$GC,1937,-0.59,-146.0,200.6,-9.0,255,1941,0.00,1.88,0.00,0.000,6,0.000,0.049,2255,2781,3521,0,0,0,0,0,0
$GC,2269,-0.59,-146.0,230.2,-8.9,286,2273,0.00,2.28,0.00,0.000,4,0.000,0.050,2255,1370,3521,0,0,0,0,0,0
$GC,2309,-0.59,-146.0,233.8,-9.1,289,2314,0.12,2.40,0.00,0.000,6,0.171,0.061,2281,2778,3521,0,0,0,0,0,0
$GC,2636,-0.65,-146.0,254.1,-6.0,319,2640,0.00,2.30,0.00,0.000,4,0.000,0.049,2281,1371,3521,0,0,0,0,0,0
$GC,2658,-0.72,-146.0,255.6,-6.4,320,2665,0.10,2.38,0.00,0.000,6,0.105,0.061,2229,2769,3521,0,0,0,0,0,0
$GC,2984,-0.67,-146.0,286.2,-10.2,351,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2769,3521,0,0,0,0,0,0
$GC,3307,-0.63,-146.0,317.8,-10.0,381,3312,0.15,2.30,0.00,0.000,4,0.161,0.050,2271,1370,3521,0,0,0,0,0,0
$GC,3338,-0.66,-146.0,320.7,-7.6,383,3342,0.00,2.38,0.00,0.000,6,0.000,0.061,2271,2765,3521,0,0,0,0,0,0
$GC,3670,-0.71,-146.0,344.6,-7.3,414,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2765,3522,0,0,0,0,0,0
$GC,3991,-0.76,-146.0,368.2,-7.5,444,3998,0.12,0.00,0.00,0.000,6,0.100,0.000,2216,2766,3522,0,0,0,0,0,0
$GC,4317,-0.70,-146.0,403.7,-10.9,473,4319,0.12,0.00,0.00,0.000,6,0.175,0.000,2249,2766,3522,0,0,0,0,0,0
$GC,4622,-0.70,-146.0,431.8,-9.3,483,4626,0.00,2.28,0.00,0.000,4,0.000,0.049,2249,1365,3522,0,0,0,0,0,0
$GC,4644,-0.70,-146.0,434.1,-10.0,483,4651,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2761,3522,0,0,0,0,0,0
$GC,4958,-0.70,-146.0,462.6,-9.1,494,4962,0.00,2.03,0.00,0.000,4,0.000,0.072,2247,3935,3523,0,0,0,0,0,0
$GC,4994,-0.70,-146.0,466.1,-9.1,495,4998,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2756,3522,0,0,0,0,0,0
$GC,5336,-0.70,-146.0,495.3,-8.6,506,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3523,0,0,0,0,0,0
$GC,5643,-0.70,-146.0,522.1,-8.8,516,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3523,0,0,0,0,0,0
$GC,5948,-0.70,-146.0,548.8,-8.5,526,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2756,3523,0,0,0,0,0,0
$GC,6254,-0.70,-146.0,575.7,-8.7,536,6258,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3933,3523,0,0,0,0,0,0
$GC,6283,-0.70,-146.0,578.1,-8.3,536,6289,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2759,3523,0,0,0,0,0,0
$STATE,6535,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6535,begin apogee
$GC,6542,-0.14,0.0,601.3,9.3,545,6671,0.55,0.00,123.93,0.970,4,0.132,0.000,2424,2599,2923,0,0,0,0,0,0
$STATE,6671,end apogee,CONTROL_FINISHED_OK
$STATE,6672,begin climb
$GC,6674,0.57,146.0,606.4,0.0,549,6813,0.68,2.42,131.30,0.943,4,0.070,0.050,2659,1188,2327,0,0,0,0,0,0
$GC,6982,0.58,158.2,584.2,9.4,558,6998,0.00,2.42,10.80,0.854,6,0.000,0.055,2658,2600,2278,0,0,0,0,0,0
$GC,7332,0.54,158.2,547.1,10.8,570,7336,0.00,2.33,0.00,0.000,4,0.000,0.052,2662,1188,2274,0,0,0,0,0,0
$GC,7539,0.54,158.2,525.3,10.3,576,7543,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2605,2273,0,0,0,0,0,0
$GC,7865,0.51,158.2,489.0,11.3,587,7869,0.00,2.22,0.00,0.000,4,0.000,0.067,2662,3927,2272,0,0,0,0,0,0
$GC,7921,0.42,158.2,481.4,13.1,588,7929,0.17,2.15,0.00,0.000,6,0.192,0.044,2617,2594,2271,0,0,0,0,0,0
$GC,8236,0.50,208.1,456.5,7.7,599,8282,0.00,0.00,44.03,0.873,6,0.000,0.000,2618,2594,2074,0,0,0,0,0,0
$GC,8573,0.60,238.0,427.6,8.6,610,8607,0.15,2.38,26.23,0.848,4,0.089,0.053,2685,1183,1951,0,0,0,0,0,0
$GC,8642,0.60,238.0,419.2,12.6,612,8646,0.00,2.33,0.00,0.000,6,0.000,0.055,2685,2599,1948,0,0,0,0,0,0
$GC,8969,0.60,238.0,375.1,13.8,633,8973,0.00,2.22,0.00,0.000,4,0.000,0.067,2685,3925,1944,0,0,0,0,0,0
$GC,8999,0.55,238.0,370.2,15.7,635,9004,0.12,2.17,0.00,0.000,6,0.192,0.044,2659,2590,1943,0,0,0,0,0,0
$GC,9325,0.58,238.0,331.1,12.0,665,9329,0.00,2.25,0.00,0.000,4,0.000,0.052,2659,1186,1943,0,0,0,0,0,0
$GC,9378,0.66,238.0,325.1,11.4,669,9382,0.00,2.30,0.00,0.000,6,0.000,0.055,2659,2590,1943,0,0,0,0,0,0
$GC,9704,0.69,238.0,288.8,10.3,699,9706,0.10,0.00,0.00,0.000,6,0.115,0.000,2704,2590,1942,0,0,0,0,0,0
$GC,10022,0.64,238.0,245.6,14.2,729,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2590,1942,0,0,0,0,0,0
$GC,10343,0.60,238.0,200.2,14.3,759,10348,0.12,2.28,0.00,0.000,4,0.182,0.067,2672,3926,1941,0,0,0,0,0,0
$GC,10378,0.58,238.0,194.9,15.1,761,10385,0.00,2.20,0.00,0.000,6,0.000,0.044,2672,2576,1940,0,0,0,0,0,0
$GC,10703,0.58,238.0,154.0,12.7,792,10707,0.00,2.25,0.00,0.000,4,0.000,0.051,2672,1186,1940,0,0,0,0,0,0
$GC,10734,0.63,238.0,150.2,12.8,794,10739,0.00,2.33,0.00,0.000,6,0.000,0.054,2672,2590,1940,0,0,0,0,0,0
$GC,11061,0.65,238.0,110.9,10.5,824,11065,0.00,2.28,0.00,0.000,4,0.000,0.067,2672,3932,1940,0,0,0,0,0,0
$GC,11101,0.65,238.0,106.0,12.8,827,11105,0.00,2.17,0.00,0.000,6,0.000,0.044,2672,2597,1939,0,0,0,0,0,0
$GC,11444,0.70,247.2,69.9,9.6,882,11458,0.00,2.35,7.38,0.627,4,0.000,0.051,2672,1188,1915,0,0,0,0,0,0
$GC,11669,0.78,247.2,49.2,10.1,921,11676,0.15,2.22,0.00,0.000,6,0.093,0.054,2735,2542,1914,0,0,0,0,0,0
$FREEZE,8.21,-0.688,-1.835,3,6,0
$FREEZE,7.62,-0.689,-1.835,3,6,0
$FREEZE,7.03,-0.689,-1.834,3,6,0
$FREEZE,6.45,-0.688,-1.834,3,6,0
$FREEZE,5.72,-0.690,-1.833,3,6,0
$FREEZE,5.14,-0.702,-1.833,3,6,0
$FREEZE,4.47,-0.701,-1.832,3,6,0
$GC,12016,0.73,247.2,4.5,11.3,982,12023,0.00,2.17,0.00,0.000,4,0.000,0.050,2737,1194,1913,0,0,0,0,0,0
$FREEZE,2.76,-0.712,-1.831,3,6,0
$STATE,12029,end climb,SURFACE_DEPTH_REACHED
$STATE,12029,begin surface coast
$FREEZE,2.21,-0.728,-1.831,3,6,0
$FREEZE,1.63,-0.725,-1.830,3,6,0
$FINISH,1.6,1.026825
$STATE,12040,end surface coast,CONTROL_FINISHED_OK
$STATE,12040,begin surface
$SM_CCo,12061,217.57,0.085,0,0,440,609.08
$SM_GC,1.51,0.00,0.00,217.57,0.000,0.000,0.085,289,2780,440,-6.81,-0.03,609.08
$RAFOS_CLK,644
$RAFOS,6,1296218945,12.833333,12.818055,118,50,46,43,42,41,769,1905,759,1283,1320,1027
$RAFOS,5,1296218462,12.700000,12.683888,76,44,43,41,39,38,608,1218,1531,301,349,832
$RAFOS,4,1296217994,12.566667,12.553889,42,40,39,38,38,37,645,965,1630,572,1826,1849
$RAFOS,3,1296217532,12.433333,12.425555,48,46,41,40,38,37,165,685,1878,1357,1514,325
$RAFOS,2,1296217027,12.300000,12.285277,45,44,43,43,42,42,288,1641,1533,1656,1385,423
$RAFOS,1,1296216543,12.166667,12.150833,50,45,42,41,40,39,1279,1317,1924,1877,1049,1393
$RAFOS,0,1296216061,12.033333,12.016945,47,43,41,41,40,40,801,608,1400,343,811,1224
$RAFOS_FIX,6648.929199,-5747.456543,280111,121200,2,97,0.72
$IRIDIUM_FIX,6614.97,-5657.88,280111,101007
$TT8_MAMPS,0.029211
$HUMID,47.59
$INTERNAL_PRESSURE,8.44606
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,601.3,11.9
$24V_AH,21.3,95.615
$10V_AH,9.7,64.888
$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,18.075,90.600,343.650,217.575,0.000,80.933,126.711,555.311,2.250,0.000,16.407,2445.828,7384.802,700.464,2452.349,562.669,0.000,1629.551,0.000,1677.525,2520.000,19.654,0.000
$DEVICE_MAMPS,245.565,73.440,970.020,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,686.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151548
$DATA_FILE_SIZE,33404,986
$CAP_FILE_SIZE,134895,0
$CFSIZE,260165632,194310144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.5
$GPS,280111,134237,6647.396,-5738.764,26,1.1,26,-37.4