version: 66.08
glider: 183
mission: 3
dive: 879
start: 1 31 111 22 39 35
data:
$ID,183
$MISSION,3
$DIVE,879
$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,-13565.423
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,310111,223222,6702.869,-5709.971,12,3.4,32,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.4
$GPS2,310111,223902,6702.927,-5709.829,11,1.9,11,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,293.9,147730,-17.5,-10.000
$D_GRID,734
$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,13,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,167,0.00,0.00,-144.55,0.000,6,0.000,0.000,272,2787,3520,0,0,0,0,0,0
$GC,170,-0.57,-146.0,5.6,-13.9,26,184,8.35,2.30,0.00,0.000,4,0.238,0.040,2286,1371,3522,0,0,0,0,0,0
$GC,296,-0.62,-146.0,31.5,-8.9,47,302,0.00,2.33,0.00,0.000,6,0.000,0.055,2279,2776,3523,0,0,0,0,0,0
$GC,643,-0.62,-146.0,66.9,-10.5,108,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2776,3523,0,0,0,0,0,0
$GC,990,-0.65,-146.0,101.4,-11.1,168,993,0.00,1.95,0.00,0.000,4,0.000,0.067,2275,3928,3522,0,0,0,0,0,0
$GC,1081,-0.70,-146.0,111.1,-10.7,176,1085,0.00,1.83,0.00,0.000,6,0.000,0.045,2275,2817,3521,0,0,0,0,0,0
$GC,1412,-0.75,-146.0,143.5,-10.0,207,1417,0.12,2.33,0.00,0.000,4,0.094,0.045,2212,1368,3521,0,0,0,0,0,0
$GC,1493,-0.70,-146.0,154.3,-14.2,214,1498,0.15,2.35,0.00,0.000,6,0.166,0.057,2246,2786,3520,0,0,0,0,0,0
$GC,1819,-0.70,-146.0,194.1,-12.6,244,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2786,3520,0,0,0,0,0,0
$GC,2141,-0.70,-146.0,231.9,-11.0,274,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2786,3520,0,0,0,0,0,0
$GC,2469,-0.70,-146.0,266.8,-10.1,305,2473,0.00,2.25,0.00,0.000,4,0.000,0.044,2246,1367,3521,0,0,0,0,0,0
$GC,2503,-0.70,-146.0,270.4,-9.7,307,2510,0.00,2.38,0.00,0.000,6,0.000,0.055,2246,2792,3521,0,0,0,0,0,0
$GC,2829,-0.70,-146.0,301.6,-9.2,338,2833,0.00,1.92,0.00,0.000,4,0.000,0.067,2246,3929,3522,0,0,0,0,0,0
$GC,2858,-0.70,-146.0,304.3,-9.3,340,2865,0.00,1.83,0.00,0.000,6,0.000,0.042,2246,2777,3522,0,0,0,0,0,0
$GC,3185,-0.70,-146.0,331.0,-7.6,371,3189,0.00,2.22,0.00,0.000,4,0.000,0.044,2246,1374,3522,0,0,0,0,0,0
$GC,3242,-0.73,-146.0,335.3,-7.6,375,3249,0.00,2.35,0.00,0.000,6,0.000,0.056,2246,2784,3522,0,0,0,0,0,0
$STATE,3455,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3455,begin apogee
$GC,3462,-0.14,0.0,350.2,6.9,395,3587,0.55,0.00,117.65,0.773,4,0.125,0.000,2427,2602,2923,0,0,0,0,0,0
$STATE,3588,end apogee,CONTROL_FINISHED_OK
$STATE,3588,begin climb
$GC,3591,0.57,146.0,352.2,0.0,406,3717,0.60,0.00,118.95,0.759,6,0.069,0.000,2658,2602,2327,0,0,0,0,0,0
$GC,4038,0.53,146.0,300.2,13.2,447,4042,0.00,2.25,0.00,0.000,4,0.000,0.047,2660,1183,2319,0,0,0,0,0,0
$GC,4093,0.53,146.0,292.3,12.6,451,4100,0.00,2.30,0.00,0.000,6,0.000,0.050,2660,2618,2319,0,0,0,0,0,0
$GC,4419,0.48,146.0,252.3,11.5,482,4423,0.00,2.15,0.00,0.000,4,0.000,0.060,2660,3924,2318,0,0,0,0,0,0
$GC,4475,0.39,146.0,244.6,13.0,486,4483,0.22,2.10,0.00,0.000,6,0.172,0.039,2601,2603,2317,0,0,0,0,0,0
$GC,4802,0.49,197.3,217.8,7.6,517,4847,0.10,0.00,41.80,0.681,6,0.110,0.000,2652,2603,2117,0,0,0,0,0,0
$GC,5165,0.49,197.3,177.8,11.0,551,5169,0.00,2.22,0.00,0.000,4,0.000,0.046,2653,1186,2112,0,0,0,0,0,0
$GC,5192,0.53,197.3,174.7,10.4,553,5199,0.00,2.28,0.00,0.000,6,0.000,0.049,2653,2605,2112,0,0,0,0,0,0
$GC,5520,0.53,197.3,139.4,10.5,584,5524,0.00,2.17,0.00,0.000,4,0.000,0.060,2653,3929,2112,0,0,0,0,0,0
$GC,5554,0.51,197.3,135.1,12.2,586,5561,0.00,2.12,0.00,0.000,6,0.000,0.038,2655,2592,2111,0,0,0,0,0,0
$GC,5880,0.51,197.3,97.6,10.7,619,5887,0.00,2.22,0.00,0.000,4,0.000,0.046,2655,1184,2111,0,0,0,0,0,0
$GC,5939,0.60,242.0,92.3,7.9,629,5986,0.00,2.28,36.92,0.608,6,0.000,0.049,2655,2601,1935,0,0,0,0,0,0
$GC,6327,0.69,272.7,61.0,8.6,697,6359,0.12,2.28,25.75,0.589,4,0.098,0.060,2713,3926,1810,0,0,0,0,0,0
$GC,6486,0.65,272.7,38.1,15.5,724,6493,0.12,2.10,0.00,0.000,6,0.184,0.039,2687,2609,1805,0,0,0,0,0,0
$FREEZE,8.31,1.020,-1.842,3,1,0
$FREEZE,7.54,1.030,-1.842,3,1,0
$FREEZE,6.96,1.028,-1.841,3,1,0
$FREEZE,6.41,1.004,-1.841,3,1,0
$FREEZE,5.81,1.006,-1.841,3,1,0
$FREEZE,5.11,1.000,-1.840,3,1,0
$FREEZE,4.61,1.001,-1.840,3,1,0
$FREEZE,4.23,1.012,-1.839,3,1,0
$FREEZE,3.83,1.013,-1.840,3,1,0
$FREEZE,3.48,1.013,-1.839,3,1,0
$FREEZE,2.90,1.018,-1.838,3,1,0
$STATE,6769,end climb,SURFACE_DEPTH_REACHED
$STATE,6769,begin surface coast
$FREEZE,2.12,1.021,-1.838,3,1,0
$FREEZE,1.56,1.024,-1.837,3,1,0
$FREEZE,0.72,1.027,-1.837,3,1,0
$FREEZE,0.78,0.504,-1.865,3,1,0
$FREEZE,0.69,-0.102,-1.903,3,1,0
$FREEZE,0.91,0.994,-1.835,3,1,0
$FREEZE,0.90,-0.013,-0.836,3,1,0
$FINISH,0.9,1.012336
$STATE,6807,end surface coast,CONTROL_FINISHED_OK
$STATE,6807,begin surface
$SM_CCo,6826,193.43,0.080,0,0,440,609.08
$SM_GC,1.28,0.00,0.00,193.43,0.000,0.000,0.080,290,2790,440,-6.81,0.28,609.08
$RAFOS_CLK,279
$RAFOS,3,1296519907,0.433333,0.418611,48,45,44,44,42,39,26,365,1295,1045,1557,1808
$RAFOS,2,1296519431,0.300000,0.286389,56,53,48,47,42,41,144,1876,251,771,1224,756
$RAFOS,1,1296518942,0.166667,0.150556,52,50,46,43,42,41,1006,144,808,654,1807,723
$RAFOS,0,1296518461,0.033333,0.016944,45,44,44,42,38,38,509,909,1534,879,145,1630
$RAFOS_FIX,6704.651367,-5708.636230,310111,161656,2,98,1.74
$IRIDIUM_FIX,6631.12,-5728.78,310111,202001
$TT8_MAMPS,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,8.54372
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,350.2,9.9
$24V_AH,23.4,98.574
$10V_AH,9.7,66.763
$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,16.575,53.050,341.075,193.425,0.000,28.765,41.179,173.888,1.000,0.000,13.762,1799.453,3243.619,633.910,1464.407,287.977,0.000,1323.948,0.000,1232.227,1440.000,11.961,0.000
$DEVICE_MAMPS,237.915,67.320,772.650,80.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,26710,781
$CAP_FILE_SIZE,88465,0
$CFSIZE,260165632,192659456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.5
$GPS,010211,003806,6703.105,-5712.138,35,1.3,40,-37.6