version: 66.08
glider: 183
mission: 3
dive: 895
start: 2 2 111 19 34 17
data:
$ID,183
$MISSION,3
$DIVE,895
$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,-13773.687
$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,30
$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
$GPS1,020211,192621,6700.955,-5751.967,35,99.0,54,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-56.7
$GPS2,020211,193346,6700.798,-5751.921,34,99.0,53,-37.8
$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,292.4,116933,-17.5,-10.000
$D_GRID,898
$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,-146.0,0.0,0.0,0,168,0.00,0.00,-145.82,0.000,2,0.000,0.000,251,2785,3315,0,0,0,0,0,0
$GC,171,-0.57,-146.0,5.1,-11.3,26,191,8.57,1.95,-4.18,0.000,4,0.243,0.082,2278,3924,3521,0,0,0,0,0,0
$GC,402,-0.57,-146.0,45.3,-13.4,66,409,0.00,1.90,0.00,0.000,6,0.000,0.049,2278,2777,3523,0,0,0,0,0,0
$GC,748,-0.57,-146.0,84.9,-10.7,127,755,0.00,2.03,0.00,0.000,4,0.000,0.074,2273,3924,3523,0,0,0,0,0,0
$GC,821,-0.60,-146.0,92.8,-9.7,139,828,0.00,1.85,0.00,0.000,6,0.000,0.050,2272,2798,3523,0,0,0,0,0,0
$GC,1153,-0.60,-146.0,128.4,-10.4,176,1157,0.00,2.33,0.00,0.000,4,0.000,0.051,2273,1366,3522,0,0,0,0,0,0
$GC,1209,-0.64,-146.0,134.5,-10.1,180,1216,0.00,2.42,0.00,0.000,6,0.000,0.063,2272,2791,3522,0,0,0,0,0,0
$GC,1537,-0.67,-146.0,166.2,-9.2,211,1541,0.00,2.33,0.00,0.000,4,0.000,0.050,2273,1366,3522,0,0,0,0,0,0
$GC,1604,-0.72,-146.0,172.9,-9.5,216,1613,0.00,2.40,0.00,0.000,6,0.000,0.062,2273,2778,3522,0,0,0,0,0,0
$GC,1932,-0.75,-146.0,202.8,-9.0,247,1937,0.12,2.35,0.00,0.000,4,0.101,0.050,2217,1363,3522,0,0,0,0,0,0
$GC,1954,-0.73,-146.0,205.6,-10.5,248,1961,0.00,2.38,0.00,0.000,6,0.000,0.060,2209,2767,3522,0,0,0,0,0,0
$GC,2282,-0.64,-146.0,248.9,-14.0,279,2286,0.20,2.33,0.00,0.000,4,0.170,0.047,2265,1360,3522,0,0,0,0,0,0
$GC,2315,-0.67,-146.0,253.1,-10.8,281,2322,0.00,2.38,0.00,0.000,6,0.000,0.060,2261,2763,3522,0,0,0,0,0,0
$GC,2642,-0.69,-146.0,282.1,-8.5,312,2646,0.00,2.28,0.00,0.000,4,0.000,0.049,2261,1370,3522,0,0,0,0,0,0
$GC,2670,-0.72,-146.0,285.0,-9.0,314,2677,0.00,2.38,0.00,0.000,6,0.000,0.061,2261,2758,3522,0,0,0,0,0,0
$GC,2997,-0.75,-146.0,313.1,-8.6,345,3000,0.00,2.03,0.00,0.000,4,0.000,0.072,2257,3929,3522,0,0,0,0,0,0
$GC,3033,-0.77,-146.0,316.4,-9.5,348,3036,0.00,1.92,0.00,0.000,6,0.000,0.047,2257,2753,3522,0,0,0,0,0,0
$GC,3364,-0.77,-146.0,345.6,-8.7,379,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2752,3523,0,0,0,0,0,0
$GC,3684,-0.79,-146.0,372.3,-8.1,409,3688,0.10,2.25,0.00,0.000,4,0.115,0.048,2208,1369,3523,0,0,0,0,0,0
$GC,3718,-0.74,-146.0,375.9,-11.5,411,3726,0.12,2.38,0.00,0.000,6,0.176,0.060,2232,2758,3523,0,0,0,0,0,0
$GC,4062,-0.74,-146.0,409.0,-9.4,438,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2758,3523,0,0,0,0,0,0
$GC,4369,-0.74,-146.0,437.2,-9.3,448,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2758,3523,0,0,0,0,0,0
$GC,4674,-0.74,-146.0,467.4,-10.1,458,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2758,3524,0,0,0,0,0,0
$GC,4981,-0.74,-146.0,496.8,-9.4,468,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2758,3524,0,0,0,0,0,0
$GC,5288,-0.74,-146.0,526.2,-9.8,478,5292,0.00,2.03,0.00,0.000,4,0.000,0.071,2229,3931,3525,0,0,0,0,0,0
$GC,5323,-0.71,-146.0,529.9,-10.5,479,5327,0.00,1.98,0.00,0.000,6,0.000,0.046,2229,2735,3524,0,0,0,0,0,0
$GC,5667,-0.69,-146.0,564.5,-9.9,490,5671,0.00,2.20,0.00,0.000,4,0.000,0.048,2228,1369,3525,0,0,0,0,0,0
$GC,5696,-0.69,-146.0,567.6,-10.6,491,5701,0.12,2.33,0.00,0.000,6,0.169,0.060,2253,2744,3525,0,0,0,0,0,0
$GC,6032,-0.72,-146.0,594.6,-7.9,502,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2744,3525,0,0,0,0,0,0
$GC,6340,-0.75,-146.0,618.8,-7.9,512,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2744,3526,0,0,0,0,0,0
$GC,6644,-0.79,-146.0,643.2,-8.1,522,6648,0.00,2.05,0.00,0.000,4,0.000,0.071,2247,3927,3525,0,0,0,0,0,0
$GC,6673,-0.82,-146.0,645.9,-8.9,522,6680,0.10,1.95,0.00,0.000,6,0.112,0.046,2197,2734,3525,0,0,0,0,0,0
$STATE,6741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6741,begin apogee
$GC,6750,-0.14,0.0,653.4,11.0,525,6884,0.73,0.00,125.43,1.004,4,0.142,0.000,2420,2602,2923,0,0,0,0,0,0
$STATE,6885,end apogee,CONTROL_FINISHED_OK
$STATE,6885,begin climb
$GC,6889,0.57,146.0,659.0,0.0,529,7035,0.70,2.42,133.55,0.976,4,0.067,0.048,2663,1187,2326,0,0,0,0,0,0
$GC,7180,0.57,146.0,636.6,10.8,538,7185,0.00,2.50,0.00,0.000,6,0.000,0.054,2663,2604,2319,0,0,0,0,0,0
$GC,7505,0.52,146.0,598.7,11.8,549,7509,0.00,2.33,0.00,0.000,4,0.000,0.050,2666,1181,2315,0,0,0,0,0,0
$GC,7725,0.52,146.0,573.3,11.9,555,7730,0.00,2.38,0.00,0.000,6,0.000,0.055,2666,2614,2315,0,0,0,0,0,0
$GC,8039,0.47,146.0,535.2,12.3,565,8044,0.15,2.22,0.00,0.000,4,0.187,0.067,2626,3925,2313,0,0,0,0,0,0
$GC,8109,0.44,146.0,526.8,11.9,567,8113,0.00,2.15,0.00,0.000,6,0.000,0.044,2626,2602,2312,0,0,0,0,0,0
$GC,8445,0.47,149.8,493.3,9.8,578,8449,0.00,2.25,0.00,0.000,4,0.000,0.067,2626,3924,2313,0,0,0,0,0,0
$GC,8485,0.44,149.8,488.7,11.7,579,8489,0.00,2.10,0.00,0.000,6,0.000,0.044,2626,2631,2312,0,0,0,0,0,0
$GC,8811,0.48,163.6,457.6,9.4,590,8827,0.00,0.00,14.02,0.859,6,0.000,0.000,2626,2630,2256,0,0,0,0,0,0
$GC,9116,0.52,182.7,429.0,9.1,600,9136,0.00,0.00,18.05,0.850,6,0.000,0.000,2626,2630,2178,0,0,0,0,0,0
$GC,9423,0.58,193.6,399.9,9.5,610,9442,0.10,0.00,10.82,0.806,6,0.110,0.000,2676,2630,2132,0,0,0,0,0,0
$GC,9760,0.55,193.6,359.1,12.7,642,9765,0.00,2.30,0.00,0.000,4,0.000,0.052,2679,1194,2129,0,0,0,0,0,0
$GC,9791,0.55,193.6,355.5,12.3,644,9795,0.00,2.35,0.00,0.000,6,0.000,0.054,2679,2631,2129,0,0,0,0,0,0
$GC,10117,0.52,193.6,316.0,11.9,674,10122,0.12,2.25,0.00,0.000,4,0.190,0.067,2646,3936,2128,0,0,0,0,0,0
$GC,10181,0.52,193.6,308.5,11.6,679,10185,0.00,2.10,0.00,0.000,6,0.000,0.043,2646,2642,2127,0,0,0,0,0,0
$GC,10513,0.55,199.8,275.4,9.7,710,10526,0.00,2.35,6.45,0.698,4,0.000,0.050,2646,1182,2107,0,0,0,0,0,0
$GC,10575,0.63,214.5,269.7,9.3,715,10599,0.00,2.40,14.12,0.754,6,0.000,0.054,2646,2638,2047,0,0,0,0,0,0
$GC,10919,0.67,214.5,234.5,10.7,747,10924,0.12,2.20,0.00,0.000,4,0.100,0.066,2700,3926,2045,0,0,0,0,0,0
$GC,10963,0.58,214.5,227.3,16.4,750,10971,0.15,2.10,0.00,0.000,6,0.183,0.044,2667,2634,2043,0,0,0,0,0,0
$GC,11290,0.58,214.5,187.1,11.9,781,11295,0.00,2.33,0.00,0.000,4,0.000,0.051,2667,1186,2043,0,0,0,0,0,0
$GC,11335,0.64,214.5,181.7,10.7,784,11342,0.00,2.38,0.00,0.000,6,0.000,0.054,2667,2633,2043,0,0,0,0,0,0
$GC,11663,0.66,214.5,144.9,11.2,815,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2633,2043,0,0,0,0,0,0
$GC,11984,0.68,214.5,110.9,10.4,845,11988,0.00,2.35,0.00,0.000,4,0.000,0.051,2667,1184,2043,0,0,0,0,0,0
$GC,12052,0.77,227.8,103.8,9.4,850,12071,0.15,2.38,12.35,0.674,6,0.092,0.054,2728,2625,1993,0,0,0,0,0,0
$GC,12410,0.69,227.8,58.5,11.9,910,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2625,1990,0,0,0,0,0,0
$GC,12757,0.66,270.2,20.2,8.0,971,12800,0.15,2.30,36.50,0.630,4,0.191,0.068,2690,3928,1820,0,0,0,0,0,0
$FREEZE,8.67,-1.450,-1.833,3,1,0
$FREEZE,7.76,-1.450,-1.832,3,1,0
$FREEZE,7.21,-1.451,-1.832,3,1,0
$FREEZE,5.99,-1.453,-1.831,3,1,0
$FREEZE,5.25,-1.451,-1.830,3,1,0
$FREEZE,4.41,-1.449,-1.830,3,1,0
$FREEZE,3.88,-1.450,-1.829,3,1,0
$FREEZE,3.05,-1.451,-1.829,3,1,0
$GC,12848,0.75,350.0,10.4,6.3,986,12930,0.00,2.15,67.15,0.609,6,0.000,0.047,2692,2620,1494,0,0,0,0,0,0
$FREEZE,0.64,-1.453,-1.827,3,1,0
$STATE,12935,end climb,SURFACE_DEPTH_REACHED
$STATE,12935,begin surface coast
$FREEZE,0.60,-1.485,-1.828,3,1,0
$FREEZE,0.59,-1.570,-0.480,3,1,0
$FINISH,0.6,1.006933
$STATE,12948,end surface coast,FINISH_DEPTH_REACHED
$STATE,12948,begin surface
$SM_CCo,12966,164.40,0.087,0,0,440,609.08
$SM_GC,1.38,0.00,0.00,164.40,0.000,0.000,0.087,300,2787,440,-6.79,0.20,609.08
$RAFOS_CLK,699
$RAFOS,6,1296679745,20.833334,20.818056,57,46,43,42,41,41,684,800,1867,1939,795,1062
$RAFOS,5,1296679285,20.700001,20.690277,96,56,50,45,45,42,442,1774,443,766,1448,884
$RAFOS,4,1296678788,20.566668,20.552221,53,52,47,45,44,42,1329,1266,1906,154,433,542
$RAFOS,3,1296678310,20.433332,20.419445,46,42,42,40,38,38,1612,434,275,179,706,1835
$RAFOS,2,1296677831,20.299999,20.286388,47,43,42,41,41,39,262,858,1006,26,145,1238
$RAFOS,1,1296677343,20.166666,20.150833,47,45,44,43,41,40,837,1121,935,454,26,1576
$RAFOS,0,1296676867,20.033333,20.018612,44,42,42,42,40,39,398,864,1399,1827,1890,26
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6636.54,-5742.73,020211,161648
$TT8_MAMPS,0.028462
$HUMID,46.57
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,20.6
$ALTIM_BOTTOM_PING,653.4,12.0
$24V_AH,21.2,100.128
$10V_AH,9.7,67.743
$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,18.275,103.150,438.450,164.400,0.000,27.559,26.154,183.547,2.500,0.000,57.375,2433.465,7990.486,740.091,2023.330,394.608,0.000,1719.745,0.000,1735.913,2520.000,19.466,0.000
$DEVICE_MAMPS,243.270,81.855,1004.445,87.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.312,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151692
$DATA_FILE_SIZE,36721,1000
$CAP_FILE_SIZE,139614,0
$CFSIZE,260165632,191717376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,020211,231524,6659.578,-5754.050,64,1.5,82,-37.8