version: 66.08
glider: 183
mission: 3
dive: 583
start: 12 25 110 23 13 47
data:
$ID,183
$MISSION,3
$DIVE,583
$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,-2
$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,9
$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,-9859.7803
$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,21
$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,4
$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
$GPS1,251210,203544,6659.419,-5917.136,0,4078.2,0,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.60
$_SM_ANGLEo,-3.2
$GPS2,251210,203544,6659.419,-5917.136,0,4078.2,0,-38.1
$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,278.6,57909,-17.5,-10.000
$D_GRID,1093
$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,-146.0,0.0,0.0,0,25,0.00,0.00,-6.40,0.000,2,0.000,0.000,2498,2632,2854,0,0,0,0,0,0
$GC,28,-0.57,-146.0,10.4,-0.0,1,46,0.55,0.00,-15.52,0.000,6,0.085,0.000,2294,2632,3521,0,0,0,0,0,0
$GC,385,-0.57,-146.0,52.3,-11.9,64,392,0.00,2.22,0.00,0.000,4,0.000,0.073,2286,3930,3524,0,0,0,0,0,0
$GC,472,-0.57,-146.0,62.9,-11.4,79,478,0.00,1.85,0.00,0.000,6,0.000,0.048,2286,2791,3523,0,0,0,0,0,0
$GC,818,-0.57,-146.0,101.2,-10.1,139,821,0.00,1.95,0.00,0.000,4,0.000,0.076,2286,3928,3523,0,0,0,0,0,0
$GC,858,-0.59,-146.0,105.1,-9.7,142,864,0.00,1.83,0.00,0.000,6,0.000,0.049,2286,2809,3523,0,0,0,0,0,0
$GC,1183,-0.63,-146.0,136.3,-9.2,173,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2809,3523,0,0,0,0,0,0
$GC,1506,-0.67,-146.0,164.6,-9.0,203,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2809,3522,0,0,0,0,0,0
$GC,1833,-0.74,-146.0,193.0,-8.4,234,1838,0.15,1.95,0.00,0.000,4,0.098,0.077,2222,3931,3522,0,0,0,0,0,0
$GC,1858,-0.74,-146.0,195.6,-9.6,236,1862,0.00,1.80,0.00,0.000,6,0.000,0.049,2222,2811,3522,0,0,0,0,0,0
$GC,2189,-0.68,-146.0,234.8,-10.9,267,2194,0.12,2.33,0.00,0.000,4,0.183,0.053,2256,1373,3522,0,0,0,0,0,0
$GC,2244,-0.72,-146.0,240.2,-9.7,271,2251,0.00,2.42,0.00,0.000,6,0.000,0.063,2249,2813,3521,0,0,0,0,0,0
$GC,2570,-0.72,-146.0,269.0,-8.4,302,2574,0.00,2.35,0.00,0.000,4,0.000,0.052,2249,1367,3522,0,0,0,0,0,0
$GC,2603,-0.72,-146.0,272.3,-9.4,304,2610,0.00,2.40,0.00,0.000,6,0.000,0.064,2247,2804,3522,0,0,0,0,0,0
$GC,2929,-0.72,-146.0,303.1,-9.7,335,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2803,3522,0,0,0,0,0,0
$GC,3249,-0.72,-146.0,335.1,-10.2,365,3253,0.00,2.33,0.00,0.000,4,0.000,0.052,2247,1373,3521,0,0,0,0,0,0
$GC,3270,-0.72,-146.0,337.5,-10.1,366,3277,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2797,3522,0,0,0,0,0,0
$GC,3596,-0.72,-146.0,368.8,-9.1,397,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2797,3522,0,0,0,0,0,0
$GC,3914,-0.72,-146.0,397.7,-8.9,427,3919,0.00,2.30,0.00,0.000,4,0.000,0.052,2247,1367,3522,0,0,0,0,0,0
$GC,3946,-0.72,-146.0,400.5,-9.5,429,3950,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2792,3522,0,0,0,0,0,0
$GC,4284,-0.72,-146.0,432.2,-9.7,440,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2792,3523,0,0,0,0,0,0
$GC,4588,-0.72,-146.0,460.0,-8.7,450,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2792,3522,0,0,0,0,0,0
$GC,4893,-0.72,-146.0,485.5,-8.2,460,4897,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1371,3522,0,0,0,0,0,0
$GC,4916,-0.74,-146.0,487.7,-9.2,460,4922,0.00,2.38,0.00,0.000,6,0.000,0.063,2247,2795,3522,0,0,0,0,0,0
$GC,5230,-0.74,-146.0,513.0,-8.3,471,5233,0.00,1.92,0.00,0.000,4,0.000,0.073,2247,3935,3523,0,0,0,0,0,0
$GC,5257,-0.76,-146.0,515.7,-8.8,471,5264,0.00,1.85,0.00,0.000,6,0.000,0.047,2247,2781,3523,0,0,0,0,0,0
$GC,5571,-0.78,-146.0,541.9,-8.3,482,5575,0.00,2.28,0.00,0.000,4,0.000,0.050,2247,1365,3523,0,0,0,0,0,0
$GC,5601,-0.81,-146.0,544.5,-9.0,483,5605,0.00,2.38,0.00,0.000,6,0.000,0.062,2247,2793,3522,0,0,0,0,0,0
$GC,5938,-0.83,-146.0,570.7,-7.7,494,5940,0.12,0.00,0.00,0.000,6,0.108,0.000,2189,2793,3523,0,0,0,0,0,0
$GC,6243,-0.74,-146.0,605.5,-11.6,504,6248,0.17,2.33,0.00,0.000,4,0.170,0.050,2236,1371,3523,0,0,0,0,0,0
$GC,6282,-0.77,-146.0,609.5,-8.7,505,6286,0.00,2.38,0.00,0.000,6,0.000,0.062,2235,2783,3523,0,0,0,0,0,0
$GC,6618,-0.77,-146.0,637.0,-8.2,516,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2784,3523,0,0,0,0,0,0
$STATE,6803,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6803,begin apogee
$GC,6809,-0.14,0.0,652.3,8.3,522,6939,0.57,0.00,124.30,1.011,4,0.134,0.000,2421,2599,2923,0,0,0,0,0,0
$STATE,6940,end apogee,CONTROL_FINISHED_OK
$STATE,6940,begin climb
$GC,6943,0.57,146.0,656.2,0.0,526,7082,0.70,2.45,131.82,0.987,4,0.067,0.050,2666,1176,2327,0,0,0,0,0,0
$GC,7252,0.55,146.0,630.0,11.4,535,7256,0.00,2.47,0.00,0.000,6,0.000,0.056,2667,2605,2318,0,0,0,0,0,0
$GC,7587,0.49,146.0,588.7,12.5,546,7592,0.12,2.33,0.00,0.000,4,0.198,0.054,2636,1185,2315,0,0,0,0,0,0
$GC,7772,0.52,155.9,569.8,9.5,551,7789,0.00,2.38,7.93,0.848,6,0.000,0.057,2636,2617,2286,0,0,0,0,0,0
$GC,8095,0.53,156.4,536.8,10.0,562,8099,0.00,2.20,0.00,0.000,4,0.000,0.069,2636,3925,2284,0,0,0,0,0,0
$GC,8122,0.49,156.4,533.6,11.7,562,8129,0.00,2.12,0.00,0.000,6,0.000,0.045,2639,2602,2283,0,0,0,0,0,0
$GC,8435,0.49,156.4,502.2,10.0,573,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2602,2283,0,0,0,0,0,0
$GC,8742,0.49,156.4,469.3,11.1,583,8746,0.00,2.25,0.00,0.000,4,0.000,0.070,2639,3923,2283,0,0,0,0,0,0
$GC,8777,0.45,156.4,465.1,12.9,584,8781,0.00,2.10,0.00,0.000,6,0.000,0.046,2642,2613,2282,0,0,0,0,0,0
$GC,9118,0.45,156.4,428.2,10.5,595,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2612,2282,0,0,0,0,0,0
$GC,9424,0.45,156.4,397.0,10.2,605,9428,0.00,2.22,0.00,0.000,4,0.000,0.069,2642,3925,2282,0,0,0,0,0,0
$GC,9503,0.39,156.4,387.7,11.5,611,9511,0.15,2.12,0.00,0.000,6,0.192,0.045,2605,2612,2282,0,0,0,0,0,0
$GC,9829,0.49,205.5,361.7,7.7,642,9878,0.00,2.35,43.50,0.831,4,0.000,0.052,2605,1186,2084,0,0,0,0,0,0
$GC,9908,0.66,251.7,355.5,7.9,648,9959,0.25,2.40,41.17,0.812,6,0.076,0.056,2702,2624,1894,0,0,0,0,0,0
$GC,10278,0.60,251.7,296.7,16.9,683,10283,0.12,2.22,0.00,0.000,4,0.192,0.068,2671,3930,1884,0,0,0,0,0,0
$GC,10311,0.58,251.7,290.8,16.7,685,10318,0.00,2.12,0.00,0.000,6,0.000,0.046,2670,2621,1883,0,0,0,0,0,0
$GC,10636,0.58,251.7,246.7,13.6,716,10640,0.00,2.28,0.00,0.000,4,0.000,0.054,2671,1195,1881,0,0,0,0,0,0
$GC,10699,0.64,251.7,239.1,12.5,721,10703,0.00,2.33,0.00,0.000,6,0.000,0.056,2670,2615,1881,0,0,0,0,0,0
$GC,11030,0.67,251.7,198.4,11.6,752,11034,0.00,2.20,0.00,0.000,4,0.000,0.069,2671,3925,1880,0,0,0,0,0,0
$GC,11076,0.67,251.7,192.5,13.4,756,11080,0.00,2.10,0.00,0.000,6,0.000,0.046,2670,2624,1879,0,0,0,0,0,0
$GC,11407,0.71,251.7,155.5,11.1,787,11412,0.10,2.30,0.00,0.000,4,0.125,0.054,2711,1182,1879,0,0,0,0,0,0
$GC,11436,0.74,251.7,151.9,12.6,789,11440,0.00,2.38,0.00,0.000,6,0.000,0.056,2710,2628,1879,0,0,0,0,0,0
$GC,11762,0.71,251.7,110.1,12.1,819,11765,0.00,2.17,0.00,0.000,4,0.000,0.070,2711,3924,1879,0,0,0,0,0,0
$GC,11830,0.68,251.7,100.6,13.1,825,11834,0.00,2.08,0.00,0.000,6,0.000,0.047,2711,2645,1878,0,0,0,0,0,0
$GC,12175,0.68,257.5,63.7,9.7,885,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2644,1878,0,0,0,0,0,0
$GC,12520,0.72,284.0,31.4,8.8,946,12551,0.00,2.45,25.77,0.658,4,0.000,0.055,2711,1178,1764,0,0,0,0,0,0
$GC,12593,0.83,295.8,24.6,9.5,958,12612,0.00,2.45,11.68,0.636,6,0.000,0.057,2711,2668,1715,0,0,0,0,0,0
$FREEZE,8.87,-1.698,-1.754,2,4,0
$STATE,12770,end climb,FINISH_DEPTH_REACHED
$STATE,12770,begin subsurface finish
$FINISH1,8.9,1.025686,89
$GC,12778,0.06,89.0,8.9,-9.2,989,12810,0.68,2.35,-25.23,0.000,4,0.142,0.067,2501,1186,2564,0,0,0,0,0,0
$FINISH2,7.7
$STATE,12811,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12811,begin surface
$RAFOS_CLK,747
$RAFOS,6,1293324546,0.833333,0.818333,117,46,43,43,43,41,661,948,857,1296,1612,1430
$RAFOS,5,1293324066,0.700000,0.685000,54,47,44,43,40,39,795,148,67,1861,1373,1891
$RAFOS,4,1293323595,0.566667,0.554167,82,50,47,44,41,40,522,1373,1805,468,80,618
$RAFOS,3,1293323106,0.433333,0.418333,55,42,42,42,41,40,767,283,1806,1916,145,1069
$RAFOS,2,1293322622,0.300000,0.283889,72,48,42,42,41,39,726,1431,1832,1929,928,144
$RAFOS,1,1293322144,0.166667,0.151111,118,51,47,41,39,38,653,1032,365,469,1413,104
$RAFOS,0,1293321668,0.033333,0.018889,59,50,46,43,43,41,762,321,1437,1793,153,1126
$RAFOS_FIX,6655.893066,-5921.148926,261210,000020,4,97,0.51
$IRIDIUM_FIX,6631.12,-5917.28,251210,080854
$TT8_MAMPS,0.029211
$HUMID,49.84
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.2
$ALTIM_BOTTOM_PING,652.3,11.7
$24V_AH,21.5,69.530
$10V_AH,9.8,49.265
$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,3.825,105.500,386.175,0.000,0.000,0.000,0.000,0.000,3.000,0.000,0.000,2499.332,7988.264,425.024,1752.000,212.549,0.000,1379.480,0.000,1732.710,2520.000,25.122,0.000
$DEVICE_MAMPS,198.135,91.035,1011.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,694.263,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151720
$DATA_FILE_SIZE,36626,994
$CAP_FILE_SIZE,127122,0
$CFSIZE,260165632,209326080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$GPS,261210,002920,6655.893,-5921.149,0,4097.2,0,-38.1