version: 66.08
glider: 183
mission: 3
dive: 890
start: 2 2 111 4 58 14
data:
$ID,183
$MISSION,3
$DIVE,890
$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,-13581.372
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,020211,045100,6702.180,-5738.609,38,1.4,38,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.3
$GPS2,020211,045743,6702.056,-5738.586,10,1.4,10,-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,292.5,126956,-17.5,-10.000
$D_GRID,846
$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,-146.0,0.0,0.0,0,171,0.00,0.00,-150.52,0.000,6,0.000,0.000,277,2788,3520,0,0,0,0,0,0
$GC,174,-0.57,-146.0,4.7,-11.8,26,188,8.38,2.00,0.00,0.000,4,0.240,0.062,2277,3935,3523,0,0,0,0,0,0
$GC,274,-0.57,-146.0,29.8,-10.7,43,281,0.00,1.90,0.00,0.000,6,0.000,0.047,2278,2775,3523,0,0,0,0,0,0
$GC,622,-0.57,-146.0,68.1,-10.0,104,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2775,3524,0,0,0,0,0,0
$GC,970,-0.61,-146.0,100.1,-7.6,165,974,0.00,2.00,0.00,0.000,4,0.000,0.073,2275,3923,3523,0,0,0,0,0,0
$GC,1110,-0.66,-146.0,112.7,-9.6,177,1114,0.00,1.90,0.00,0.000,6,0.000,0.047,2275,2772,3523,0,0,0,0,0,0
$GC,1442,-0.70,-146.0,143.2,-9.3,208,1446,0.00,2.25,0.00,0.000,4,0.000,0.048,2275,1369,3523,0,0,0,0,0,0
$GC,1488,-0.76,-146.0,147.7,-9.1,211,1495,0.12,2.38,0.00,0.000,6,0.089,0.060,2214,2769,3522,0,0,0,0,0,0
$GC,1815,-0.69,-146.0,191.9,-13.4,242,1820,0.15,2.30,0.00,0.000,4,0.166,0.047,2255,1369,3522,0,0,0,0,0,0
$GC,1850,-0.71,-146.0,196.1,-10.5,245,1855,0.00,2.33,0.00,0.000,6,0.000,0.060,2249,2759,3523,0,0,0,0,0,0
$GC,2182,-0.71,-146.0,228.2,-9.4,276,2186,0.00,2.00,0.00,0.000,4,0.000,0.070,2247,3927,3523,0,0,0,0,0,0
$GC,2206,-0.71,-146.0,230.5,-10.3,278,2210,0.00,1.90,0.00,0.000,6,0.000,0.045,2247,2753,3523,0,0,0,0,0,0
$GC,2538,-0.71,-146.0,262.1,-9.3,309,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2753,3523,0,0,0,0,0,0
$GC,2862,-0.71,-146.0,292.6,-10.0,339,2866,0.00,2.22,0.00,0.000,4,0.000,0.047,2246,1372,3523,0,0,0,0,0,0
$GC,2929,-0.74,-146.0,299.7,-9.8,344,2940,0.00,2.33,0.00,0.000,6,0.000,0.060,2247,2755,3523,0,0,0,0,0,0
$GC,3257,-0.74,-146.0,330.2,-9.5,375,3261,0.00,2.03,0.00,0.000,4,0.000,0.070,2247,3934,3523,0,0,0,0,0,0
$GC,3285,-0.74,-146.0,333.2,-9.4,377,3292,0.00,1.95,0.00,0.000,6,0.000,0.045,2247,2748,3523,0,0,0,0,0,0
$GC,3611,-0.74,-146.0,363.4,-9.5,408,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2748,3523,0,0,0,0,0,0
$GC,3932,-0.74,-146.0,392.4,-8.5,438,3936,0.00,2.20,0.00,0.000,4,0.000,0.047,2246,1371,3523,0,0,0,0,0,0
$GC,3956,-0.74,-146.0,394.8,-9.0,439,3963,0.00,2.35,0.00,0.000,6,0.000,0.060,2246,2751,3523,0,0,0,0,0,0
$GC,4272,-0.74,-146.0,421.7,-8.6,454,4276,0.00,2.03,0.00,0.000,4,0.000,0.071,2246,3928,3523,0,0,0,0,0,0
$GC,4311,-0.74,-146.0,425.5,-9.1,455,4315,0.00,1.95,0.00,0.000,6,0.000,0.047,2247,2746,3523,0,0,0,0,0,0
$GC,4649,-0.74,-146.0,456.5,-9.6,466,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2746,3523,0,0,0,0,0,0
$GC,4954,-0.74,-146.0,486.0,-9.6,476,4958,0.00,2.22,0.00,0.000,4,0.000,0.047,2247,1373,3522,0,0,0,0,0,0
$GC,5000,-0.77,-146.0,490.4,-9.7,477,5004,0.00,2.33,0.00,0.000,6,0.000,0.060,2247,2750,3522,0,0,0,0,0,0
$GC,5319,-0.77,-146.0,519.4,-9.1,488,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2750,3522,0,0,0,0,0,0
$GC,5625,-0.77,-146.0,547.7,-9.1,498,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2750,3522,0,0,0,0,0,0
$STATE,5657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5657,begin apogee
$GC,5665,-0.14,0.0,550.5,9.2,499,5796,0.55,0.00,122.57,0.933,4,0.131,0.000,2423,2596,2923,0,0,0,0,0,0
$STATE,5796,end apogee,CONTROL_FINISHED_OK
$STATE,5797,begin climb
$GC,5799,0.57,146.0,555.6,0.0,503,5938,0.68,2.40,129.23,0.908,4,0.066,0.049,2664,1184,2326,0,0,0,0,0,0
$GC,6075,-1.62,146.0,535.2,21884.0,511,6084,2.42,2.42,0.00,0.000,6,0.143,0.055,1955,2601,2317,0,0,0,0,0,0
$GC,6401,-1.62,146.0,489.6,21884.0,522,6405,0.00,2.28,0.00,0.000,4,0.000,0.046,1954,1180,2308,0,0,0,0,0,0
$GC,6660,-1.62,146.0,449.6,21884.0,529,6667,0.00,2.25,0.00,0.000,6,0.000,0.048,1942,2572,2308,0,0,0,0,0,0
$GC,6974,-1.62,146.0,401.8,21884.0,540,6978,0.00,2.22,0.00,0.000,4,0.000,0.046,1940,1181,2305,0,0,0,0,0,0
$GC,7232,-1.62,146.0,361.7,21884.0,561,7239,0.00,2.30,0.00,0.000,6,0.000,0.052,1928,2581,2307,0,0,0,0,0,0
$GC,7558,-1.62,146.0,308.2,21884.0,592,7562,0.00,2.28,0.00,0.000,4,0.000,0.067,1917,3926,2306,0,0,0,0,0,0
$GC,7814,-1.62,146.0,261.4,21884.0,614,7822,0.15,2.22,0.00,0.000,6,0.236,0.044,1944,2562,2304,0,0,0,0,0,0
$GC,8141,-1.62,146.0,208.0,21884.0,645,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2562,2304,0,0,0,0,0,0
$GC,8462,-1.62,146.0,154.2,21884.0,675,8466,0.00,2.38,0.00,0.000,4,0.000,0.072,1937,3929,2306,0,0,0,0,0,0
$GC,8719,-1.62,146.0,105.8,21884.0,697,8726,0.00,2.22,0.00,0.000,6,0.000,0.046,1937,2578,2305,0,0,0,0,0,0
$GC,9064,-1.62,146.0,51.8,21884.0,755,9070,0.00,2.22,0.00,0.000,4,0.000,0.048,1937,1182,2305,0,0,0,0,0,0
$GC,9091,-1.62,146.0,47.5,21884.0,759,9098,0.00,2.45,0.00,0.000,6,0.000,0.057,1926,2649,2305,0,0,0,0,0,0
$FREEZE,8.36,0.903,-1.822,3,1,0
$FREEZE,7.12,0.752,-1.830,3,1,0
$FREEZE,5.93,0.726,-1.831,3,1,0
$FREEZE,5.24,0.747,-1.829,3,1,0
$FREEZE,4.33,0.793,-1.825,3,1,0
$FREEZE,2.96,0.663,-1.831,3,1,0
$STATE,9353,end climb,SURFACE_DEPTH_REACHED
$STATE,9353,begin surface coast
$FREEZE,1.98,0.589,-1.835,3,1,0
$FINISH,2.0,1.026823
$STATE,9360,end surface coast,CONTROL_FINISHED_OK
$STATE,9360,begin surface
$SM_CCo,9377,254.00,0.082,0,0,440,609.08
$SM_GC,1.28,0.00,0.00,254.00,0.000,0.000,0.082,291,2787,440,-6.80,0.20,609.08
$RAFOS_CLK,488
$RAFOS,5,1296621664,4.700000,4.684444,105,47,45,44,44,43,547,1094,285,832,1275,1477
$RAFOS_FIX,6704.098145,-5739.917480,020211,000022,3,104,1.06
$IRIDIUM_FIX,6631.12,-5736.37,020211,010111
$TT8_MAMPS,0.028462
$HUMID,49.44
$INTERNAL_PRESSURE,8.49489
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,550.5,11.8
$24V_AH,21.8,99.589
$10V_AH,9.7,67.419
$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,16.850,70.675,251.800,254.000,0.000,24.548,19.013,187.955,2.250,0.000,12.957,2029.887,5316.147,637.839,1719.099,335.176,0.000,1455.956,0.000,1491.273,0.000,18.945,0.000
$DEVICE_MAMPS,240.210,86.445,932.535,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151684
$DATA_FILE_SIZE,30091,807
$CAP_FILE_SIZE,105110,0
$CFSIZE,260165632,192036864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.7
$GPS,020211,074009,6701.332,-5740.683,11,2.4,30,-37.7