version: 66.08
glider: 183
mission: 3
dive: 852
start: 1 29 111 4 0 27
data:
$ID,183
$MISSION,3
$DIVE,852
$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,1
$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,-13525.401
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,290111,034235,6649.148,-5727.402,10,99.0,29,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.0
$GPS2,290111,035958,6649.246,-5727.777,14,2.6,33,-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,85.8,38393,-17.5,-10.000
$D_GRID,728
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.57,-146.0,0.0,0.0,0,177,0.00,0.00,-150.38,0.000,6,0.000,0.000,278,2773,3520,0,0,0,0,0,0
$GC,180,-0.57,-146.0,6.2,-17.0,27,194,8.48,2.33,0.00,0.000,4,0.243,0.046,2286,1368,3522,0,0,0,0,0,0
$GC,312,-0.61,-146.0,33.6,-10.0,49,319,0.00,2.38,0.00,0.000,6,0.000,0.061,2284,2778,3524,0,0,0,0,0,0
$GC,658,-0.61,-146.0,68.2,-9.6,110,665,0.00,1.95,0.00,0.000,4,0.000,0.071,2276,3928,3523,0,0,0,0,0,0
$GC,780,-0.61,-146.0,79.6,-8.2,131,787,0.00,1.85,0.00,0.000,6,0.000,0.048,2275,2803,3523,0,0,0,0,0,0
$GC,1127,-0.61,-146.0,109.9,-9.5,184,1131,0.00,1.95,0.00,0.000,4,0.000,0.072,2274,3935,3523,0,0,0,0,0,0
$GC,1175,-0.65,-146.0,114.3,-9.9,188,1179,0.00,1.85,0.00,0.000,6,0.000,0.048,2274,2797,3522,0,0,0,0,0,0
$GC,1507,-0.68,-146.0,145.8,-9.3,219,1511,0.00,2.30,0.00,0.000,4,0.000,0.049,2274,1365,3522,0,0,0,0,0,0
$GC,1609,-0.73,-146.0,155.5,-8.9,227,1616,0.10,2.42,0.00,0.000,6,0.104,0.060,2225,2797,3522,0,0,0,0,0,0
$GC,1935,-0.66,-146.0,194.3,-11.9,258,1939,0.12,1.95,0.00,0.000,4,0.169,0.070,2252,3928,3522,0,0,0,0,0,0
$GC,1970,-0.66,-146.0,197.9,-11.0,261,1974,0.00,1.85,0.00,0.000,6,0.000,0.047,2251,2787,3522,0,0,0,0,0,0
$GC,2302,-0.66,-146.0,229.1,-8.7,292,2306,0.00,2.30,0.00,0.000,4,0.000,0.049,2251,1368,3522,0,0,0,0,0,0
$GC,2370,-0.69,-146.0,235.3,-8.8,297,2377,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2781,3522,0,0,0,0,0,0
$GC,2697,-0.69,-146.0,264.0,-8.7,328,2701,0.00,2.28,0.00,0.000,4,0.000,0.047,2247,1369,3522,0,0,0,0,0,0
$GC,2739,-0.69,-146.0,267.7,-8.6,331,2743,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2772,3522,0,0,0,0,0,0
$GC,3066,-0.69,-146.0,295.6,-8.7,361,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2772,3522,0,0,0,0,0,0
$GC,3394,-0.69,-146.0,325.1,-9.1,392,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2772,3522,0,0,0,0,0,0
$GC,3725,-0.69,-146.0,355.4,-9.1,423,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2772,3523,0,0,0,0,0,0
$GC,4055,-0.69,-146.0,386.8,-9.6,454,4059,0.00,2.28,0.00,0.000,4,0.000,0.048,2247,1364,3524,0,0,0,0,0,0
$GC,4084,-0.69,-146.0,390.2,-10.6,456,4088,0.00,2.35,0.00,0.000,6,0.000,0.059,2247,2761,3524,0,0,0,0,0,0
$GC,4407,-0.69,-146.0,421.0,-9.5,473,4411,0.00,2.00,0.00,0.000,4,0.000,0.070,2247,3933,3524,0,0,0,0,0,0
$GC,4435,-0.69,-146.0,423.9,-9.2,473,4442,0.00,1.92,0.00,0.000,6,0.000,0.047,2248,2750,3524,0,0,0,0,0,0
$GC,4751,-0.69,-146.0,452.4,-9.3,484,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2750,3524,0,0,0,0,0,0
$GC,5055,-0.69,-146.0,479.9,-8.9,494,5059,0.00,2.05,0.00,0.000,4,0.000,0.070,2247,3928,3524,0,0,0,0,0,0
$GC,5083,-0.69,-146.0,482.5,-8.7,494,5089,0.00,1.90,0.00,0.000,6,0.000,0.047,2247,2759,3524,0,0,0,0,0,0
$GC,5397,-0.69,-146.0,510.9,-9.1,505,5401,0.00,2.22,0.00,0.000,4,0.000,0.048,2247,1370,3524,0,0,0,0,0,0
$GC,5419,-0.69,-146.0,513.4,-9.8,505,5426,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2771,3524,0,0,0,0,0,0
$GC,5733,-0.69,-146.0,541.5,-9.0,516,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3523,0,0,0,0,0,0
$GC,6040,-0.69,-146.0,568.8,-9.0,526,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2770,3523,0,0,0,0,0,0
$GC,6345,-0.69,-146.0,595.5,-8.6,536,6349,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1369,3523,0,0,0,0,0,0
$GC,6367,-0.69,-146.0,597.7,-9.4,536,6371,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2766,3523,0,0,0,0,0,0
$STATE,6405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6405,begin apogee
$GC,6413,-0.14,0.0,600.7,8.6,537,6544,0.55,0.00,123.53,0.969,4,0.131,0.000,2424,2598,2923,0,0,0,0,0,0
$STATE,6544,end apogee,CONTROL_FINISHED_OK
$STATE,6544,begin climb
$GC,6547,0.57,146.0,604.8,0.0,541,6690,0.68,2.40,130.57,0.940,4,0.067,0.049,2663,1183,2325,0,0,0,0,0,0
$GC,6894,-1.82,146.0,575.1,24706.7,551,6906,2.60,2.38,0.00,0.000,6,0.151,0.055,1899,2602,2315,0,0,0,0,0,0
$GC,7212,-1.82,146.0,527.0,24706.7,562,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,2602,2307,0,0,0,0,0,0
$GC,7518,-1.82,146.0,475.2,24706.7,572,7523,0.00,2.22,0.00,0.000,4,0.000,0.064,1885,3932,2307,0,0,0,0,0,0
$GC,7776,-1.82,146.0,426.6,24706.7,579,7780,0.00,2.08,0.00,0.000,6,0.000,0.048,1882,2655,2305,0,0,0,0,0,0
$GC,8105,-1.82,146.0,368.0,24706.7,600,8109,0.00,2.38,0.00,0.000,4,0.000,0.049,1881,1178,2305,0,0,0,0,0,0
$GC,8314,-1.82,146.0,328.0,24706.7,618,8318,0.00,2.38,0.00,0.000,6,0.000,0.058,1870,2615,2307,0,0,0,0,0,0
$GC,8640,-1.82,146.0,266.6,24706.7,648,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,2615,2306,0,0,0,0,0,0
$GC,8961,-1.82,146.0,208.7,24706.7,678,8965,0.00,2.25,0.00,0.000,4,0.000,0.070,1861,3935,2305,0,0,0,0,0,0
$GC,9218,-1.82,146.0,157.4,24706.7,700,9226,0.12,2.20,0.00,0.000,6,0.214,0.045,1886,2590,2305,0,0,0,0,0,0
$GC,9544,-1.82,146.0,102.1,24706.7,731,9548,0.00,2.22,0.00,0.000,4,0.000,0.055,1876,3932,2304,0,0,0,0,0,0
$GC,9771,-1.82,146.0,62.3,24706.7,769,9778,0.00,2.17,0.00,0.000,6,0.000,0.042,1874,2590,2304,0,0,0,0,0,0
$FREEZE,7.84,1.410,-1.833,2,1,0
$FREEZE,6.83,1.440,-1.831,2,1,0
$FREEZE,6.24,1.577,-1.822,2,1,0
$FREEZE,5.44,1.528,-1.825,2,1,0
$FREEZE,4.21,1.406,-1.831,2,1,0
$FREEZE,3.19,1.365,-1.832,2,1,0
$FREEZE,2.84,1.502,-1.824,2,1,0
$STATE,10098,end climb,SURFACE_DEPTH_REACHED
$STATE,10098,begin surface coast
$FREEZE,1.45,1.328,-1.833,2,1,0
$FINISH,1.5,1.026759
$STATE,10104,end surface coast,CONTROL_FINISHED_OK
$STATE,10104,begin surface
$SM_CCo,10120,252.65,0.083,0,0,440,609.08
$SM_GC,1.43,0.00,0.00,252.65,0.000,0.000,0.083,296,2778,440,-6.80,-0.06,609.08
$RAFOS_CLK,531
$RAFOS,6,1296276550,4.833333,4.819445,124,48,46,45,44,41,756,1398,1293,1502,311,1465
$RAFOS,5,1296276065,4.700000,4.684722,146,73,44,43,42,41,596,597,585,269,988,26
$RAFOS,4,1296275582,4.566667,4.550556,48,44,41,40,39,39,665,1281,301,301,274,731
$RAFOS,3,1296275109,4.433333,4.419167,57,47,47,44,41,40,843,415,1010,104,1922,332
$RAFOS,2,1296274622,4.300000,4.283889,54,53,44,41,41,41,869,730,1401,104,1243,280
$RAFOS,1,1296274141,4.166667,4.150278,44,43,43,42,41,41,779,1406,166,213,180,746
$RAFOS,0,1296273665,4.033333,4.018055,45,43,41,41,41,40,705,1491,502,1213,555,149
$RAFOS_FIX,6648.477051,-5737.719238,290111,040400,2,135,2.57
$IRIDIUM_FIX,6620.33,-5714.58,290111,000041
$TT8_MAMPS,0.028462
$HUMID,47.75
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$ALTIM_BOTTOM_PING,600.7,11.9
$24V_AH,21.5,96.239
$10V_AH,9.7,65.246
$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,16.825,75.125,254.100,252.650,0.000,28.632,17.685,545.056,2.500,0.000,36.662,2079.665,5991.842,646.693,2057.013,652.541,0.000,1473.353,0.000,1493.969,2520.000,20.723,0.000
$DEVICE_MAMPS,242.505,78.030,969.255,82.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151620
$DATA_FILE_SIZE,30061,828
$CAP_FILE_SIZE,114602,0
$CFSIZE,260165632,194035712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$GPS,290111,065515,6649.363,-5725.992,35,3.1,54,-37.4