version: 66.08
glider: 183
mission: 3
dive: 884
start: 2 1 111 10 59 38
data:
$ID,183
$MISSION,3
$DIVE,884
$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,-13571.702
$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,33
$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
$GPS1,010211,105207,6702.513,-5722.618,30,1.9,30,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-58.2
$GPS2,010211,105907,6702.667,-5722.639,11,1.8,11,-37.7
$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,293.2,138523,-17.5,-10.000
$D_GRID,802
$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,-146.0,0.0,0.0,0,170,0.00,0.00,-147.55,0.000,2,0.000,0.000,253,2784,3496,0,0,0,0,0,0
$GC,173,-0.57,-146.0,5.2,-10.3,26,187,8.52,2.35,-0.45,0.000,4,0.241,0.057,2282,1356,3520,0,0,0,0,0,0
$GC,298,-0.60,-146.0,29.8,-11.0,47,305,0.00,2.38,0.00,0.000,6,0.000,0.060,2275,2781,3522,0,0,0,0,0,0
$GC,646,-0.60,-146.0,64.3,-9.5,108,653,0.00,2.30,0.00,0.000,4,0.000,0.047,2275,1361,3523,0,0,0,0,0,0
$GC,697,-0.60,-146.0,69.2,-9.5,116,703,0.00,2.38,0.00,0.000,6,0.000,0.058,2275,2775,3523,0,0,0,0,0,0
$GC,1044,-0.62,-146.0,101.0,-8.9,176,1048,0.00,2.28,0.00,0.000,4,0.000,0.047,2275,1365,3521,0,0,0,0,0,0
$GC,1073,-0.66,-146.0,103.9,-8.6,178,1081,0.00,2.35,0.00,0.000,6,0.000,0.059,2275,2773,3521,0,0,0,0,0,0
$GC,1400,-0.70,-146.0,132.7,-9.2,209,1404,0.00,2.25,0.00,0.000,4,0.000,0.047,2274,1369,3521,0,0,0,0,0,0
$GC,1434,-0.75,-146.0,136.2,-9.9,211,1442,0.12,2.30,0.00,0.000,6,0.090,0.058,2215,2750,3521,0,0,0,0,0,0
$GC,1762,-0.67,-146.0,175.9,-12.1,242,1764,0.15,0.00,0.00,0.000,6,0.166,0.000,2256,2750,3521,0,0,0,0,0,0
$GC,2081,-0.67,-146.0,204.8,-8.5,272,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2750,3521,0,0,0,0,0,0
$GC,2411,-0.67,-146.0,234.5,-8.7,303,2415,0.00,2.22,0.00,0.000,4,0.000,0.046,2257,1370,3522,0,0,0,0,0,0
$GC,2435,-0.70,-146.0,237.0,-9.0,305,2440,0.00,2.30,0.00,0.000,6,0.000,0.057,2249,2754,3522,0,0,0,0,0,0
$GC,2761,-0.70,-146.0,268.0,-9.4,335,2765,0.00,2.22,0.00,0.000,4,0.000,0.046,2249,1363,3522,0,0,0,0,0,0
$GC,2784,-0.70,-146.0,270.4,-9.4,336,2791,0.00,2.30,0.00,0.000,6,0.000,0.057,2247,2735,3522,0,0,0,0,0,0
$GC,3111,-0.70,-146.0,302.8,-10.4,367,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2734,3523,0,0,0,0,0,0
$GC,3432,-0.70,-146.0,337.5,-10.9,397,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2735,3524,0,0,0,0,0,0
$GC,3759,-0.70,-146.0,371.5,-10.3,428,3763,0.00,2.05,0.00,0.000,4,0.000,0.068,2247,3925,3524,0,0,0,0,0,0
$GC,3794,-0.70,-146.0,375.4,-10.8,431,3798,0.00,1.92,0.00,0.000,6,0.000,0.044,2247,2727,3524,0,0,0,0,0,0
$GC,4144,-0.70,-146.0,409.1,-9.4,458,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2727,3524,0,0,0,0,0,0
$GC,4450,-0.70,-146.0,438.0,-9.2,468,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2727,3524,0,0,0,0,0,0
$GC,4756,-0.70,-146.0,466.5,-9.2,478,4760,0.00,2.10,0.00,0.000,4,0.000,0.071,2247,3929,3524,0,0,0,0,0,0
$GC,4790,-0.70,-146.0,469.7,-9.8,479,4794,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2727,3524,0,0,0,0,0,0
$GC,5130,-0.70,-146.0,499.9,-8.9,490,5134,0.00,2.08,0.00,0.000,4,0.000,0.071,2247,3925,3524,0,0,0,0,0,0
$GC,5158,-0.70,-146.0,502.7,-8.4,490,5164,0.00,1.95,0.00,0.000,6,0.000,0.046,2247,2724,3524,0,0,0,0,0,0
$GC,5472,-0.70,-146.0,530.4,-8.8,501,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2724,3523,0,0,0,0,0,0
$GC,5778,-0.70,-146.0,557.3,-8.7,511,5782,0.00,2.10,0.00,0.000,4,0.000,0.071,2248,3925,3523,0,0,0,0,0,0
$GC,5812,-0.70,-146.0,560.4,-8.7,512,5815,0.00,1.95,0.00,0.000,6,0.000,0.046,2247,2726,3523,0,0,0,0,0,0
$GC,6149,-0.70,-146.0,588.5,-8.5,523,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2726,3523,0,0,0,0,0,0
$STATE,6300,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6301,begin apogee
$GC,6308,-0.14,0.0,601.0,8.1,528,6438,0.55,0.00,122.30,0.961,4,0.130,0.000,2424,2594,2925,0,0,0,0,0,0
$STATE,6439,end apogee,CONTROL_FINISHED_OK
$STATE,6439,begin climb
$GC,6442,0.57,146.0,604.6,0.0,532,6579,0.68,2.40,128.98,0.935,4,0.065,0.049,2665,1183,2327,0,0,0,0,0,0
$GC,6753,-1.82,146.0,578.5,24183.6,541,6766,2.58,2.38,0.00,0.000,6,0.146,0.055,1896,2608,2316,0,0,0,0,0,0
$GC,7073,-1.82,146.0,530.8,24183.6,552,7077,0.00,2.28,0.00,0.000,4,0.000,0.047,1894,1177,2306,0,0,0,0,0,0
$GC,7333,-1.82,146.0,487.5,24183.6,559,7337,0.00,2.35,0.00,0.000,6,0.000,0.057,1882,2601,2308,0,0,0,0,0,0
$GC,7653,-1.82,146.0,434.7,24183.6,570,7657,0.00,2.22,0.00,0.000,4,0.000,0.060,1869,3936,2305,0,0,0,0,0,0
$GC,7912,-1.82,146.0,385.8,24183.6,581,7919,0.00,2.10,0.00,0.000,6,0.000,0.045,1867,2642,2305,0,0,0,0,0,0
$GC,8238,-1.82,146.0,326.0,24183.6,612,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2641,2305,0,0,0,0,0,0
$GC,8562,-1.82,146.0,266.1,24183.6,642,8566,0.00,2.30,0.00,0.000,4,0.000,0.041,1867,1177,2304,0,0,0,0,0,0
$GC,8738,-1.82,146.0,233.2,24183.6,657,8743,0.12,2.40,0.00,0.000,6,0.199,0.059,1883,2622,2307,0,0,0,0,0,0
$GC,9064,-1.82,146.0,178.2,24183.6,687,9068,0.00,2.35,0.00,0.000,4,0.000,0.050,1881,1179,2305,0,0,0,0,0,0
$GC,9105,-1.82,146.0,171.5,24183.6,690,9109,0.00,2.47,0.00,0.000,6,0.000,0.057,1870,2664,2306,0,0,0,0,0,0
$GC,9431,-1.82,146.0,116.3,24183.6,720,9435,0.00,2.15,0.00,0.000,4,0.000,0.067,1858,3926,2306,0,0,0,0,0,0
$GC,9670,-0.45,146.0,69.5,20.9,754,9678,1.83,2.10,0.00,0.000,6,0.202,0.044,2322,2633,2305,0,0,0,0,0,0
$GC,10021,0.19,255.9,50.4,4.9,815,10122,0.65,2.45,87.90,0.603,4,0.154,0.049,2522,1180,1878,0,0,0,0,0,0
$GC,10182,0.59,283.7,39.0,8.7,842,10213,0.40,2.42,23.50,0.585,6,0.083,0.055,2669,2653,1765,0,0,0,0,0,0
$FREEZE,8.57,1.327,-1.845,3,1,0
$FREEZE,7.98,1.327,-1.844,3,1,0
$FREEZE,7.58,1.326,-1.844,3,1,0
$FREEZE,7.16,1.316,-1.844,3,1,0
$FREEZE,6.64,1.326,-1.843,3,1,0
$FREEZE,6.24,1.321,-1.843,3,1,0
$FREEZE,5.66,1.328,-1.843,3,1,0
$FREEZE,4.67,1.329,-1.842,3,1,0
$FREEZE,3.87,1.324,-1.841,3,1,0
$GC,10552,0.68,299.1,5.7,9.3,907,10575,0.00,2.45,12.65,0.570,4,0.000,0.050,2669,1182,1701,0,0,0,0,0,0
$FREEZE,2.33,1.319,-1.840,3,1,0
$STATE,10581,end climb,SURFACE_DEPTH_REACHED
$STATE,10581,begin surface coast
$FREEZE,1.89,1.299,-1.840,3,1,0
$FREEZE,1.66,1.316,-1.839,3,1,0
$FREEZE,1.20,1.315,-1.839,3,1,0
$FREEZE,0.65,1.299,-1.839,3,1,0
$FREEZE,0.66,1.325,-1.835,3,1,0
$FINISH,0.7,1.026794
$STATE,10612,end surface coast,CONTROL_FINISHED_OK
$STATE,10612,begin surface
$SM_CCo,10631,176.82,0.081,0,0,440,609.08
$SM_GC,1.28,0.00,0.00,176.82,0.000,0.000,0.081,285,2785,440,-6.81,0.14,609.08
$RAFOS_CLK,546
$RAFOS,6,1296564547,12.833333,12.818611,109,47,44,42,42,40,724,1046,1311,607,433,1634
$RAFOS,5,1296564061,12.700000,12.683611,97,52,46,42,41,41,587,1007,833,587,26,856
$RAFOS,4,1296563599,12.566667,12.555278,48,46,43,41,41,39,144,156,408,1281,712,1924
$RAFOS,3,1296563101,12.433333,12.416945,44,43,41,40,39,39,26,1755,1735,886,996,1854
$RAFOS,2,1296562639,12.300000,12.288611,45,44,40,40,40,39,322,1568,727,1802,1046,1611
$RAFOS,1,1296562149,12.166667,12.152500,51,48,47,46,41,39,1686,1733,1156,934,241,771
$RAFOS,0,1296561669,12.033333,12.019167,46,45,44,43,41,41,384,999,567,1279,1463,412
$RAFOS_FIX,6704.276855,-5731.602051,010211,121200,2,103,1.09
$IRIDIUM_FIX,6636.54,-5722.85,010211,080847
$TT8_MAMPS,0.028462
$HUMID,48.93
$INTERNAL_PRESSURE,8.52419
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$ALTIM_BOTTOM_PING,601.0,11.9
$24V_AH,21.9,99.025
$10V_AH,9.7,67.053
$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,21.900,81.425,375.325,176.825,0.000,41.367,40.561,169.888,2.250,0.000,13.925,2242.632,6095.872,668.182,1878.748,356.817,0.000,1568.534,0.000,1619.030,2520.000,17.697,0.000
$DEVICE_MAMPS,240.975,71.145,960.840,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,632.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33338,916
$CAP_FILE_SIZE,117552,0
$CFSIZE,260165632,192364544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.9
$GPS,010211,140130,6703.630,-5726.399,43,1.1,43,-37.7