version: 66.08
glider: 183
mission: 3
dive: 26
start: 9 13 110 2 33 52
data:
$ID,183
$MISSION,3
$DIVE,26
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,8
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7716.8804
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,330
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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,49
$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
$GPS1,130910,022907,6640.082,-6025.413,37,0.9,37,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-72.7
$GPS2,130910,023320,6640.089,-6025.520,10,1.5,10,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,112.9,162711,-17.5,-10.000
$D_GRID,516
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,115,0.00,0.00,-98.38,0.000,2,0.000,0.000,307,2714,3134,0,0,0,0,0,0
$GC,117,-0.57,-146.0,5.1,-15.2,17,142,8.77,2.12,-7.40,0.000,4,0.281,0.088,2275,3926,3522,0,0,0,0,0,0
$GC,396,-0.57,-146.0,64.9,-15.6,66,402,0.00,2.03,0.00,0.000,6,0.000,0.050,2275,2691,3524,0,0,0,0,0,0
$GC,740,-0.57,-146.0,112.8,-12.7,119,744,0.00,2.12,0.00,0.000,4,0.000,0.078,2271,3929,3525,0,0,0,0,0,0
$GC,998,-0.57,-146.0,144.5,-12.7,142,1002,0.00,1.98,0.00,0.000,6,0.000,0.050,2271,2697,3525,0,0,0,0,0,0
$GC,1328,-0.57,-146.0,185.3,-12.0,173,1332,0.00,2.10,0.00,0.000,4,0.000,0.079,2263,3935,3525,0,0,0,0,0,0
$GC,1586,-0.57,-146.0,215.4,-10.4,196,1590,0.00,2.03,0.00,0.000,6,0.000,0.051,2263,2702,3524,0,0,0,0,0,0
$GC,1915,-0.57,-146.0,251.1,-11.3,227,1919,0.00,2.08,0.00,0.000,4,0.000,0.080,2259,3930,3524,0,0,0,0,0,0
$GC,2174,-0.57,-146.0,281.1,-11.8,250,2178,0.12,2.00,0.00,0.000,6,0.189,0.051,2291,2689,3523,0,0,0,0,0,0
$GC,2503,-0.57,-146.0,311.9,-9.2,281,2507,0.00,2.10,0.00,0.000,4,0.000,0.080,2288,3937,3523,0,0,0,0,0,0
$GC,2762,-0.57,-146.0,334.8,-8.0,304,2766,0.00,1.98,0.00,0.000,6,0.000,0.051,2288,2692,3523,0,0,0,0,0,0
$GC,3092,-0.57,-146.0,358.9,-7.2,335,3096,0.00,2.08,0.00,0.000,4,0.000,0.079,2282,3931,3523,0,0,0,0,0,0
$GC,3350,-0.57,-146.0,379.0,-8.0,358,3354,0.00,1.95,0.00,0.000,6,0.000,0.050,2282,2697,3523,0,0,0,0,0,0
$GC,3680,-0.57,-146.0,404.2,-7.5,389,3684,0.00,2.08,0.00,0.000,4,0.000,0.079,2275,3930,3523,0,0,0,0,0,0
$GC,3939,-0.57,-146.0,425.3,-7.9,412,3943,0.00,1.98,0.00,0.000,6,0.000,0.050,2274,2691,3523,0,0,0,0,0,0
$GC,4269,-0.57,-146.0,453.2,-8.6,443,4273,0.00,2.10,0.00,0.000,4,0.000,0.079,2275,3937,3523,0,0,0,0,0,0
$GC,4527,-0.57,-146.0,475.9,-8.5,466,4531,0.00,1.95,0.00,0.000,6,0.000,0.050,2275,2699,3523,0,0,0,0,0,0
$GC,4857,-0.57,-146.0,504.3,-8.3,497,4861,0.00,2.05,0.00,0.000,4,0.000,0.078,2268,3931,3523,0,0,0,0,0,0
$STATE,4996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4997,begin apogee
$GC,5002,-0.14,0.0,516.4,8.7,509,5129,0.50,0.00,119.65,0.946,6,0.152,0.000,2427,2538,2922,0,0,0,0,0,0
$STATE,5130,end apogee,CONTROL_FINISHED_OK
$STATE,5130,begin climb
$GC,5131,0.57,146.0,520.5,0.0,521,5264,0.68,2.50,123.65,0.911,4,0.103,0.054,2661,1143,2326,0,0,0,0,0,0
$GC,5320,0.57,146.0,505.9,11.5,538,5325,0.00,2.45,0.00,0.000,6,0.000,0.059,2660,2559,2320,0,0,0,0,0,0
$GC,5644,0.57,146.0,466.9,12.3,568,5648,0.00,2.35,0.00,0.000,4,0.000,0.072,2661,3927,2315,0,0,0,0,0,0
$GC,5743,0.57,146.0,452.5,14.9,576,5752,0.00,2.30,0.00,0.000,6,0.000,0.047,2671,2549,2314,0,0,0,0,0,0
$GC,6069,0.57,146.0,411.2,12.6,607,6073,0.00,2.35,0.00,0.000,4,0.000,0.072,2671,3928,2313,0,0,0,0,0,0
$GC,6162,0.57,146.0,397.1,14.6,615,6170,0.00,2.28,0.00,0.000,6,0.000,0.047,2682,2545,2312,0,0,0,0,0,0
$GC,6487,0.57,146.0,355.2,12.6,646,6491,0.00,2.35,0.00,0.000,4,0.000,0.073,2682,3932,2312,0,0,0,0,0,0
$GC,6605,0.57,146.0,337.3,15.8,656,6610,0.12,2.25,0.00,0.000,6,0.216,0.047,2664,2542,2311,0,0,0,0,0,0
$GC,6929,0.57,146.0,300.4,11.8,686,6933,0.00,2.35,0.00,0.000,4,0.000,0.073,2664,3927,2312,0,0,0,0,0,0
$GC,6985,0.57,146.0,292.9,13.9,691,6989,0.00,2.22,0.00,0.000,6,0.000,0.047,2673,2548,2311,0,0,0,0,0,0
$GC,7309,0.57,146.0,254.4,11.5,721,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2547,2312,0,0,0,0,0,0
$GC,7628,0.58,160.1,221.2,9.3,751,7643,0.00,2.35,10.35,0.740,4,0.000,0.073,2673,3932,2270,0,0,0,0,0,0
$GC,7699,0.58,160.1,213.3,11.4,757,7704,0.00,2.25,0.00,0.000,6,0.000,0.047,2683,2539,2268,0,0,0,0,0,0
$GC,8024,0.60,199.4,183.4,8.2,787,8062,0.00,2.40,33.30,0.744,4,0.000,0.072,2683,3928,2110,0,0,0,0,0,0
$GC,8096,0.60,199.4,176.5,11.4,793,8100,0.00,2.28,0.00,0.000,6,0.000,0.047,2693,2547,2107,0,0,0,0,0,0
$GC,8420,0.60,199.4,143.2,11.2,823,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,2104,0,0,0,0,0,0
$GC,8739,0.60,199.4,107.7,11.0,853,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,2103,0,0,0,0,0,0
$GC,9072,0.61,204.5,74.4,9.8,906,9085,0.00,2.40,4.65,0.604,4,0.000,0.075,2693,3928,2088,0,0,0,0,0,0
$GC,9113,0.61,204.5,69.7,12.2,913,9121,0.12,2.25,0.00,0.000,6,0.207,0.050,2674,2540,2088,0,0,0,0,0,0
$GC,9458,0.66,283.5,44.6,6.4,974,9535,0.00,2.50,66.18,0.686,4,0.000,0.074,2673,3925,1763,0,0,0,0,0,0
$GC,9603,0.67,310.4,33.2,8.8,999,9633,0.00,2.30,22.62,0.669,6,0.000,0.049,2678,2546,1657,0,0,0,0,0,0
$GC,9970,0.75,420.0,10.0,4.9,1064,10065,0.10,2.47,89.00,0.646,4,0.129,0.058,2717,1141,1208,0,0,0,0,0,0
$STATE,10070,end climb,SURFACE_DEPTH_REACHED
$STATE,10070,begin surface coast
$FINISH,-0.1,1.013924
$STATE,10116,end surface coast,CONTROL_FINISHED_OK
$STATE,10116,begin surface
$SM_CCo,10192,0.00,0.000,0,0,1199,422.90
$SM_GC,0.92,6.95,0.00,0.00,0.074,0.000,0.000,307,2705,1199,-6.72,0.14,422.90
$RAFOS_CLK,542
$RAFOS,6,1284353343,4.833333,4.817500,90,44,43,41,39,39,863,1697,227,165,291,1763
$RAFOS,5,1284352863,4.700000,4.684166,45,44,43,42,41,41,519,939,741,1525,459,1776
$RAFOS,4,1284352391,4.566667,4.553056,41,41,41,39,38,37,1071,1645,1824,1156,867,1892
$RAFOS,3,1284351905,4.433333,4.418056,97,44,42,41,41,39,787,927,26,240,251,1780
$RAFOS,2,1284351431,4.300000,4.286389,118,47,41,40,40,40,604,1632,821,1648,145,888
$RAFOS,1,1284350942,4.166667,4.150556,44,43,42,42,39,39,1662,1590,763,1123,26,1622
$RAFOS,0,1284350464,4.033333,4.017778,49,44,44,41,41,41,1098,638,1322,1831,25,782
$RAFOS_FIX,6641.511230,-6020.038086,130910,040421,3,102,0.67
$IRIDIUM_FIX,6609.62,-6016.65,120910,232341
$TT8_MAMPS,0.029211
$HUMID,50.23
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,23.2,7.335
$10V_AH,10.3,4.690
$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,17.375,84.300,469.400,0.000,0.000,30.761,19.914,102.062,0.000,0.000,12.464,2590.421,5141.409,517.467,2118.128,98.508,0.000,1540.584,0.000,1930.225,2520.000,0.537,0.000
$DEVICE_MAMPS,280.755,87.975,946.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.493,799.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151632
$DATA_FILE_SIZE,43307,1089
$CAP_FILE_SIZE,115602,0
$CFSIZE,260165632,249552896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.2
$GPS,130910,052507,6641.324,-6025.246,30,1.0,30,-38.0