version: 66.08
glider: 183
mission: 3
dive: 912
start: 2 5 111 2 55 29
data:
$ID,183
$MISSION,3
$DIVE,912
$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,-15625.182
$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,32
$R_STBD_OVSHOOT,19
$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
$GPS1,050211,024830,6652.711,-5817.851,33,1.3,37,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-59.2
$GPS2,050211,025456,6652.681,-5817.912,14,1.5,14,-37.7
$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,298.0,95073,-17.5,-10.000
$D_GRID,883
$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,-146.0,0.0,0.0,0,177,0.00,0.00,-154.12,0.000,2,0.000,0.000,280,2779,3487,0,0,0,0,0,0
$GC,181,-0.57,-146.0,5.0,-9.8,27,195,8.43,2.03,-0.68,0.000,4,0.243,0.078,2277,3938,3520,0,0,0,0,0,0
$GC,300,-0.57,-146.0,35.6,-12.7,47,307,0.00,1.90,0.00,0.000,6,0.000,0.047,2277,2780,3522,0,0,0,0,0,0
$GC,648,-0.57,-146.0,76.5,-12.5,108,654,0.00,2.05,0.00,0.000,4,0.000,0.073,2275,3932,3523,0,0,0,0,0,0
$GC,687,-0.57,-146.0,81.5,-12.8,114,693,0.00,1.90,0.00,0.000,6,0.000,0.049,2275,2784,3523,0,0,0,0,0,0
$GC,1021,-0.57,-146.0,123.1,-11.9,157,1026,0.00,2.30,0.00,0.000,4,0.000,0.050,2275,1363,3523,0,0,0,0,0,0
$GC,1057,-0.60,-146.0,127.5,-11.7,159,1064,0.00,2.45,0.00,0.000,6,0.000,0.061,2275,2797,3523,0,0,0,0,0,0
$GC,1383,-0.60,-146.0,162.2,-9.9,190,1387,0.00,2.33,0.00,0.000,4,0.000,0.050,2275,1370,3523,0,0,0,0,0,0
$GC,1414,-0.62,-146.0,165.0,-9.1,192,1418,0.00,2.40,0.00,0.000,6,0.000,0.062,2275,2784,3523,0,0,0,0,0,0
$GC,1741,-0.65,-146.0,196.2,-8.8,222,1744,0.00,2.00,0.00,0.000,4,0.000,0.073,2273,3931,3522,0,0,0,0,0,0
$GC,1769,-0.70,-146.0,198.8,-8.3,224,1776,0.00,1.88,0.00,0.000,6,0.000,0.048,2273,2780,3522,0,0,0,0,0,0
$GC,2098,-0.73,-146.0,224.7,-7.5,255,2102,0.00,2.30,0.00,0.000,4,0.000,0.050,2273,1370,3522,0,0,0,0,0,0
$GC,2132,-0.78,-146.0,227.4,-7.4,257,2139,0.15,2.38,0.00,0.000,6,0.084,0.061,2207,2776,3522,0,0,0,0,0,0
$GC,2458,-0.69,-146.0,264.4,-11.3,288,2460,0.17,0.00,0.00,0.000,6,0.172,0.000,2255,2775,3521,0,0,0,0,0,0
$GC,2778,-0.69,-146.0,289.6,-8.3,318,2782,0.00,2.30,0.00,0.000,4,0.000,0.049,2255,1363,3522,0,0,0,0,0,0
$GC,2800,-0.69,-146.0,291.9,-9.1,319,2807,0.00,2.40,0.00,0.000,6,0.000,0.060,2248,2773,3522,0,0,0,0,0,0
$GC,3126,-0.69,-146.0,322.3,-9.0,350,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2774,3522,0,0,0,0,0,0
$GC,3448,-0.69,-146.0,352.8,-9.5,380,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2774,3522,0,0,0,0,0,0
$GC,3778,-0.69,-146.0,383.4,-9.5,411,3782,0.00,2.30,0.00,0.000,4,0.000,0.048,2248,1369,3522,0,0,0,0,0,0
$GC,3817,-0.71,-146.0,387.4,-9.1,414,3824,0.00,2.38,0.00,0.000,6,0.000,0.060,2247,2771,3522,0,0,0,0,0,0
$GC,4161,-0.71,-146.0,416.1,-8.2,435,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2771,3522,0,0,0,0,0,0
$GC,4463,-0.71,-146.0,441.4,-8.3,445,4467,0.00,2.30,0.00,0.000,4,0.000,0.049,2247,1370,3523,0,0,0,0,0,0
$GC,4486,-0.71,-146.0,443.5,-8.6,445,4493,0.00,2.40,0.00,0.000,6,0.000,0.060,2247,2773,3523,0,0,0,0,0,0
$GC,4800,-0.71,-146.0,469.7,-8.5,456,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3523,0,0,0,0,0,0
$GC,5106,-0.71,-146.0,495.0,-8.3,466,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3524,0,0,0,0,0,0
$GC,5412,-0.71,-146.0,521.1,-8.6,476,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2773,3524,0,0,0,0,0,0
$GC,5719,-0.71,-146.0,547.4,-8.3,486,5723,0.00,2.30,0.00,0.000,4,0.000,0.047,2246,1369,3523,0,0,0,0,0,0
$GC,5750,-0.74,-146.0,549.9,-8.9,487,5757,0.00,2.35,0.00,0.000,6,0.000,0.060,2247,2760,3524,0,0,0,0,0,0
$STATE,5760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5761,begin apogee
$GC,5769,-0.14,0.0,551.3,8.5,487,5899,0.55,0.00,123.15,0.942,4,0.132,0.000,2423,2592,2923,0,0,0,0,0,0
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5902,0.57,146.0,554.8,0.0,491,6045,0.70,2.42,130.05,0.913,4,0.069,0.049,2666,1181,2328,0,0,0,0,0,0
$GC,6196,0.57,146.0,530.2,10.9,500,6200,0.00,2.47,0.00,0.000,6,0.000,0.054,2666,2599,2321,0,0,0,0,0,0
$GC,6516,0.52,146.0,490.8,12.8,511,6520,0.00,2.30,0.00,0.000,4,0.000,0.051,2666,1181,2318,0,0,0,0,0,0
$GC,6719,0.52,146.0,465.0,12.1,517,6724,0.00,2.38,0.00,0.000,6,0.000,0.055,2666,2625,2317,0,0,0,0,0,0
$GC,7058,0.46,146.0,421.8,12.6,528,7063,0.15,2.22,0.00,0.000,4,0.193,0.066,2628,3927,2316,0,0,0,0,0,0
$GC,7131,0.44,146.0,411.9,12.6,530,7136,0.00,2.15,0.00,0.000,6,0.000,0.044,2628,2605,2314,0,0,0,0,0,0
$GC,7458,0.44,146.0,377.8,10.8,552,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2605,2315,0,0,0,0,0,0
$GC,7787,0.46,146.0,340.6,11.8,583,7791,0.00,2.28,0.00,0.000,4,0.000,0.067,2628,3932,2314,0,0,0,0,0,0
$GC,7838,0.43,146.0,333.5,13.5,587,7845,0.00,2.12,0.00,0.000,6,0.000,0.044,2628,2629,2314,0,0,0,0,0,0
$GC,8165,0.46,146.0,298.6,10.0,618,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2629,2314,0,0,0,0,0,0
$GC,8486,0.50,167.6,269.1,9.0,648,8510,0.00,2.30,17.48,0.763,4,0.000,0.067,2629,3925,2239,0,0,0,0,0,0
$GC,8558,0.50,167.6,261.8,10.3,654,8562,0.00,2.10,0.00,0.000,6,0.000,0.044,2629,2627,2236,0,0,0,0,0,0
$GC,8889,0.56,194.9,233.7,8.7,685,8918,0.00,0.00,24.35,0.744,6,0.000,0.000,2629,2626,2128,0,0,0,0,0,0
$GC,9239,0.63,217.7,202.7,8.9,718,9266,0.15,2.38,20.10,0.724,4,0.093,0.052,2694,1198,2034,0,0,0,0,0,0
$GC,9285,0.61,217.7,197.5,12.0,722,9289,0.00,2.35,0.00,0.000,6,0.000,0.054,2694,2633,2034,0,0,0,0,0,0
$GC,9612,0.58,217.7,153.6,14.2,752,9613,0.12,0.00,0.00,0.000,6,0.189,0.000,2662,2633,2029,0,0,0,0,0,0
$GC,9931,0.61,217.7,114.9,11.8,782,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2633,2029,0,0,0,0,0,0
$GC,10258,0.67,217.7,76.5,11.6,830,10264,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2633,2028,0,0,0,0,0,0
$GC,10606,0.74,224.5,42.5,9.7,891,10619,0.15,0.00,6.18,0.597,6,0.093,0.000,2724,2633,2008,0,0,0,0,0,0
$FREEZE,8.39,-1.301,-1.830,3,1,0
$FREEZE,7.71,-1.290,-1.829,3,1,0
$FREEZE,7.07,-1.308,-1.828,3,1,0
$FREEZE,6.43,-1.303,-1.827,3,1,0
$FREEZE,5.75,-1.329,-1.826,3,1,0
$FREEZE,5.04,-1.348,-1.825,3,1,0
$FREEZE,4.36,-1.371,-1.824,3,1,0
$FREEZE,3.93,-1.376,-1.824,3,1,0
$FREEZE,3.23,-1.389,-1.823,3,1,0
$FREEZE,2.58,-1.401,-1.823,3,1,0
$STATE,10914,end climb,SURFACE_DEPTH_REACHED
$STATE,10914,begin surface coast
$FREEZE,1.96,-1.394,-1.822,3,1,0
$FREEZE,1.15,-1.372,-1.821,3,1,0
$FREEZE,0.59,-1.382,-1.821,3,1,0
$FREEZE,0.67,-1.329,-1.818,3,1,0
$FREEZE,0.61,-1.413,-0.935,3,1,0
$FINISH,0.6,1.013798
$STATE,10942,end surface coast,FINISH_DEPTH_REACHED
$STATE,10942,begin surface
$SM_CCo,10962,226.93,0.084,0,0,441,609.08
$SM_GC,1.37,0.00,0.00,226.93,0.000,0.000,0.084,299,2788,441,-6.80,0.23,609.08
$RAFOS_CLK,591
$RAFOS,6,1296881367,4.833333,4.824167,89,44,42,41,39,38,552,1028,1246,979,1399,1583
$RAFOS,5,1296880887,4.700000,4.690834,155,54,44,40,40,39,503,917,625,1807,755,686
$RAFOS,4,1296880384,4.566667,4.551111,51,50,48,43,43,40,1031,929,1505,490,1677,1481
$RAFOS,3,1296879907,4.433333,4.418611,103,44,44,42,40,40,767,1886,145,513,685,1349
$RAFOS,2,1296879448,4.300000,4.291111,49,44,42,42,39,38,1561,1158,25,1085,1803,1826
$RAFOS,1,1296878959,4.166667,4.155278,43,43,43,41,41,40,104,26,1343,90,1671,408
$RAFOS,0,1296878467,4.033333,4.018611,48,47,45,42,39,38,162,1290,1182,1916,1455,485
$RAFOS_FIX,6653.856934,-5821.750977,050211,040453,3,116,0.56
$IRIDIUM_FIX,6625.71,-5832.15,050211,000040
$TT8_MAMPS,0.028462
$HUMID,46.88
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,550.8,11.7
$24V_AH,21.5,101.957
$10V_AH,9.6,68.922
$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,17.275,72.625,321.300,226.925,0.000,24.664,25.519,170.291,2.000,0.000,17.171,2357.579,6369.971,682.621,1817.691,366.464,0.000,1568.032,0.000,1593.550,2520.000,18.176,0.000
$DEVICE_MAMPS,243.270,80.325,942.480,84.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,662.070,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151744
$DATA_FILE_SIZE,33338,951
$CAP_FILE_SIZE,117996,0
$CFSIZE,260165632,190746624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,050211,060337,6652.731,-5820.178,35,1.1,35,-37.7