version: 66.08
glider: 183
mission: 3
dive: 839
start: 1 27 111 4 34 19
data:
$ID,183
$MISSION,3
$DIVE,839
$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,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,-13328.532
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,270111,041651,6640.422,-5805.001,40,99.0,59,-37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.3
$GPS2,270111,043346,6640.270,-5804.831,12,2.7,31,-37.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,90.2,69645,-17.5,-10.000
$D_GRID,631
$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,-146.0,0.0,0.0,0,176,0.00,0.00,-154.27,0.000,6,0.000,0.000,299,2799,3520,0,0,0,0,0,0
$GC,180,-0.57,-146.0,7.5,-16.0,27,194,8.45,2.40,0.00,0.000,4,0.246,0.046,2282,1363,3524,0,0,0,0,0,0
$GC,449,-0.57,-146.0,53.4,-12.1,74,456,0.00,2.38,0.00,0.000,6,0.000,0.062,2275,2775,3524,0,0,0,0,0,0
$GC,796,-0.57,-146.0,94.3,-11.2,135,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2775,3524,0,0,0,0,0,0
$GC,1125,-0.57,-146.0,130.4,-11.7,170,1129,0.00,2.28,0.00,0.000,4,0.000,0.051,2275,1376,3524,0,0,0,0,0,0
$GC,1226,-0.59,-146.0,142.0,-11.9,178,1233,0.00,2.35,0.00,0.000,6,0.000,0.063,2275,2755,3524,0,0,0,0,0,0
$GC,1554,-0.61,-146.0,176.6,-9.2,209,1557,0.00,2.03,0.00,0.000,4,0.000,0.073,2275,3929,3523,0,0,0,0,0,0
$GC,1578,-0.64,-146.0,178.9,-8.7,211,1582,0.00,1.90,0.00,0.000,6,0.000,0.048,2275,2765,3523,0,0,0,0,0,0
$GC,1911,-0.67,-146.0,208.0,-9.0,242,1915,0.00,2.25,0.00,0.000,4,0.000,0.050,2275,1372,3523,0,0,0,0,0,0
$GC,1942,-0.70,-146.0,211.0,-9.5,244,1946,0.00,2.35,0.00,0.000,6,0.000,0.063,2275,2762,3523,0,0,0,0,0,0
$GC,2269,-0.74,-146.0,241.2,-9.5,274,2274,0.12,2.30,0.00,0.000,4,0.099,0.050,2216,1362,3523,0,0,0,0,0,0
$GC,2303,-0.68,-146.0,245.5,-12.6,276,2310,0.17,2.38,0.00,0.000,6,0.170,0.061,2254,2759,3523,0,0,0,0,0,0
$GC,2630,-0.68,-146.0,277.1,-9.7,307,2634,0.00,2.28,0.00,0.000,4,0.000,0.050,2254,1362,3523,0,0,0,0,0,0
$GC,2659,-0.68,-146.0,280.0,-9.4,309,2663,0.00,2.38,0.00,0.000,6,0.000,0.061,2248,2756,3523,0,0,0,0,0,0
$GC,2985,-0.68,-146.0,311.7,-10.1,339,2989,0.00,2.25,0.00,0.000,4,0.000,0.049,2248,1370,3523,0,0,0,0,0,0
$GC,3008,-0.68,-146.0,313.9,-9.7,340,3015,0.00,2.33,0.00,0.000,6,0.000,0.061,2248,2747,3523,0,0,0,0,0,0
$GC,3334,-0.68,-146.0,344.2,-8.6,371,3338,0.00,2.03,0.00,0.000,4,0.000,0.073,2247,3927,3524,0,0,0,0,0,0
$GC,3396,-0.68,-146.0,349.7,-8.6,376,3404,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2747,3524,0,0,0,0,0,0
$GC,3723,-0.68,-146.0,376.6,-8.5,407,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2747,3524,0,0,0,0,0,0
$GC,4043,-0.68,-146.0,403.8,-9.0,435,4047,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1363,3525,0,0,0,0,0,0
$GC,4081,-0.68,-146.0,407.5,-9.2,436,4086,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2746,3525,0,0,0,0,0,0
$GC,4407,-0.68,-146.0,436.2,-9.0,447,4411,0.00,2.03,0.00,0.000,4,0.000,0.072,2247,3927,3525,0,0,0,0,0,0
$GC,4442,-0.68,-146.0,439.4,-8.9,448,4446,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2746,3525,0,0,0,0,0,0
$GC,4784,-0.68,-146.0,469.7,-8.9,459,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2746,3525,0,0,0,0,0,0
$GC,5091,-0.68,-146.0,497.4,-9.0,469,5095,0.00,2.05,0.00,0.000,4,0.000,0.073,2247,3927,3526,0,0,0,0,0,0
$GC,5120,-0.68,-146.0,500.2,-9.4,469,5126,0.00,1.92,0.00,0.000,6,0.000,0.047,2247,2749,3526,0,0,0,0,0,0
$GC,5434,-0.68,-146.0,528.1,-8.9,480,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2749,3526,0,0,0,0,0,0
$GC,5741,-0.68,-146.0,553.9,-8.6,490,5745,0.00,2.22,0.00,0.000,4,0.000,0.049,2247,1367,3526,0,0,0,0,0,0
$GC,5775,-0.71,-146.0,557.1,-8.4,491,5779,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2765,3526,0,0,0,0,0,0
$GC,6105,-0.71,-146.0,583.9,-8.4,502,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2764,3526,0,0,0,0,0,0
$GC,6414,-0.71,-146.0,609.5,-8.5,512,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2765,3526,0,0,0,0,0,0
$STATE,6684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6684,begin apogee
$GC,6691,-0.14,0.0,633.8,8.7,521,6824,0.55,0.00,125.38,0.998,4,0.132,0.000,2424,2596,2923,0,0,0,0,0,0
$STATE,6824,end apogee,CONTROL_FINISHED_OK
$STATE,6824,begin climb
$GC,6827,0.57,146.0,638.3,0.0,525,6968,0.68,2.42,133.07,0.972,4,0.067,0.049,2661,1189,2327,0,0,0,0,0,0
$GC,7095,0.57,154.3,620.1,9.6,533,7112,0.00,2.47,7.95,0.828,6,0.000,0.054,2661,2600,2292,0,0,0,0,0,0
$GC,7419,0.54,154.3,583.9,11.4,544,7423,0.00,2.33,0.00,0.000,4,0.000,0.052,2662,1190,2288,0,0,0,0,0,0
$GC,7644,0.54,154.3,559.4,12.0,550,7648,0.00,2.30,0.00,0.000,6,0.000,0.055,2662,2596,2288,0,0,0,0,0,0
$GC,7958,0.50,154.3,524.9,11.3,560,7962,0.00,2.25,0.00,0.000,4,0.000,0.066,2662,3936,2286,0,0,0,0,0,0
$GC,7992,0.41,154.3,520.5,13.4,561,7997,0.20,2.17,0.00,0.000,6,0.188,0.044,2611,2588,2285,0,0,0,0,0,0
$GC,8322,0.49,195.1,493.0,8.1,572,8360,0.00,0.00,35.62,0.899,6,0.000,0.000,2610,2588,2127,0,0,0,0,0,0
$GC,8663,0.61,243.6,465.3,7.8,583,8713,0.17,2.38,42.55,0.883,4,0.083,0.051,2686,1188,1928,0,0,0,0,0,0
$GC,8732,0.61,243.6,457.4,12.4,585,8736,0.00,2.38,0.00,0.000,6,0.000,0.054,2687,2611,1926,0,0,0,0,0,0
$GC,9063,0.58,243.6,414.8,13.2,596,9067,0.00,2.30,0.00,0.000,4,0.000,0.052,2690,1184,1920,0,0,0,0,0,0
$GC,9097,0.58,243.6,410.2,11.6,597,9101,0.00,2.28,0.00,0.000,6,0.000,0.054,2689,2583,1920,0,0,0,0,0,0
$GC,9427,0.55,243.6,366.5,13.4,623,9429,0.15,0.00,0.00,0.000,6,0.184,0.000,2649,2583,1918,0,0,0,0,0,0
$GC,9744,0.60,243.6,334.2,10.1,653,9749,0.00,2.25,0.00,0.000,4,0.000,0.051,2649,1192,1917,0,0,0,0,0,0
$GC,9774,0.68,243.6,331.3,10.1,655,9779,0.12,2.30,0.00,0.000,6,0.096,0.054,2704,2588,1917,0,0,0,0,0,0
$GC,10106,0.63,243.6,283.9,14.4,686,10110,0.00,2.28,0.00,0.000,4,0.000,0.052,2706,1194,1917,0,0,0,0,0,0
$GC,10144,0.63,243.6,278.3,13.7,689,10151,0.00,2.28,0.00,0.000,6,0.000,0.054,2706,2573,1917,0,0,0,0,0,0
$GC,10472,0.59,243.6,231.7,14.1,720,10477,0.15,2.25,0.00,0.000,4,0.180,0.053,2666,1193,1916,0,0,0,0,0,0
$GC,10494,0.59,243.6,228.3,13.2,721,10501,0.00,2.25,0.00,0.000,6,0.000,0.053,2666,2558,1916,0,0,0,0,0,0
$GC,10820,0.63,243.6,193.0,11.4,752,10824,0.00,2.33,0.00,0.000,4,0.000,0.066,2666,3925,1916,0,0,0,0,0,0
$GC,10843,0.63,243.6,190.3,11.5,754,10847,0.00,2.25,0.00,0.000,6,0.000,0.044,2666,2546,1914,0,0,0,0,0,0
$GC,11169,0.67,243.6,155.4,10.2,784,11173,0.00,2.20,0.00,0.000,4,0.000,0.052,2666,1187,1915,0,0,0,0,0,0
$GC,11198,0.74,245.8,152.5,9.9,786,11205,0.12,2.25,0.00,0.000,6,0.101,0.053,2719,2550,1914,0,0,0,0,0,0
$GC,11524,0.70,245.8,106.2,13.7,817,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2549,1915,0,0,0,0,0,0
$GC,11860,0.68,245.8,60.9,15.2,872,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2550,1914,0,0,0,0,0,0
$GC,12205,0.68,245.8,17.7,11.8,933,12211,0.00,2.35,0.00,0.000,4,0.000,0.066,2720,3925,1914,0,0,0,0,0,0
$FREEZE,8.82,-1.390,-1.821,2,1,0
$FREEZE,7.99,-1.389,-1.820,2,1,0
$FREEZE,7.35,-1.394,-1.820,2,1,0
$FREEZE,6.74,-1.392,-1.819,2,1,0
$FREEZE,5.81,-1.388,-1.819,2,1,0
$FREEZE,4.99,-1.391,-1.818,2,1,0
$FREEZE,4.23,-1.389,-1.818,2,1,0
$FREEZE,3.65,-1.388,-1.817,2,1,0
$FREEZE,2.92,-1.386,-1.817,2,1,0
$STATE,12311,end climb,SURFACE_DEPTH_REACHED
$STATE,12311,begin surface coast
$FREEZE,1.79,-1.390,-1.816,2,1,0
$FINISH,1.8,1.026638
$STATE,12317,end surface coast,CONTROL_FINISHED_OK
$STATE,12317,begin surface
$SM_CCo,12338,224.05,0.086,0,0,440,609.08
$SM_GC,1.58,0.00,0.00,224.05,0.000,0.000,0.086,300,2769,440,-6.80,-0.31,609.08
$RAFOS_CLK,670
$RAFOS,6,1296103748,4.833333,4.818889,57,45,45,44,43,43,757,415,1243,400,710,1807
$RAFOS,5,1296103267,4.700000,4.685278,57,48,47,43,42,39,657,1521,392,1446,937,924
$RAFOS,1,1296101347,4.166667,4.151945,43,43,41,41,41,41,671,1104,208,145,162,294
$RAFOS_FIX,6645.491699,-5804.612305,270111,000040,2,64,0.78
$IRIDIUM_FIX,6614.97,-5814.65,260111,222241
$TT8_MAMPS,0.029211
$HUMID,46.69
$INTERNAL_PRESSURE,8.42653
$TCM_TEMP,14.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,21.1,94.632
$10V_AH,9.6,64.301
$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,17.450,103.375,344.575,224.050,0.000,28.788,17.415,508.238,2.000,0.000,36.611,2386.163,7600.681,700.368,2201.817,699.022,0.000,1645.265,0.000,1671.716,720.000,15.000,0.000
$DEVICE_MAMPS,246.330,73.440,997.560,86.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,33340,953
$CAP_FILE_SIZE,133274,0
$CFSIZE,260165632,194785280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$GPS,270111,080519,6641.940,-5803.204,34,1.5,46,-37.4