version: 66.08
glider: 184
mission: 3
dive: 5
start: 9 15 110 23 19 1
data:
$ID,184
$MISSION,3
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,420
$D_ABORT,500
$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,140
$T_MISSION,200
$T_ABORT,720
$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,51696
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4708
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33810.895
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,223
$ROLL_MAX,3813
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2914
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00125
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-54.061352
$PRESSURE_SLOPE,0.0001157311
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,3
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5
$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,80
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043635513
$SEABIRD_T_H,0.0006292222
$SEABIRD_T_I,2.4569574e-05
$SEABIRD_T_J,2.6955906e-06
$SEABIRD_C_G,-10.09016
$SEABIRD_C_H,1.1251791
$SEABIRD_C_I,-0.0014842621
$SEABIRD_C_J,0.00019950744
$GPS1,150910,231437,6644.629,-6006.933,36,1.1,36,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-74.3
$GPS2,150910,231832,6644.626,-6006.847,12,1.9,12,-38.0
$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,303.3,14060,-17.5,-10.000
$D_GRID,588
$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,14,-0.66,-146.0,0.0,0.0,0,119,0.00,0.00,-102.00,0.000,2,0.000,0.000,149,2615,3255,0,0,0,0,0,0
$GC,121,-0.66,-146.0,6.5,-22.0,20,144,10.60,2.03,-4.50,0.000,4,0.284,0.098,2443,3799,3514,0,0,0,0,0,0
$GC,155,-0.31,-146.0,24.9,-50.3,26,162,0.47,1.95,0.00,0.000,6,0.201,0.053,2565,2591,3515,0,0,0,0,0,0
$GC,500,-0.54,-146.0,50.7,-7.0,87,506,0.20,2.28,0.00,0.000,4,0.115,0.063,2500,1189,3517,0,0,0,0,0,0
$GC,568,-0.65,-146.0,56.3,-7.1,99,575,0.10,2.33,0.00,0.000,6,0.118,0.062,2455,2590,3519,0,0,0,0,0,0
$GC,913,-0.67,-146.0,86.1,-10.1,160,919,0.00,2.28,0.00,0.000,4,0.000,0.067,2454,1193,3517,0,0,0,0,0,0
$GC,1052,-0.70,-146.0,100.7,-9.4,184,1060,0.00,2.33,0.00,0.000,6,0.000,0.063,2445,2613,3517,0,0,0,0,0,0
$GC,1377,-0.72,-146.0,135.0,-10.3,215,1381,0.00,1.98,0.00,0.000,4,0.000,0.081,2435,3803,3516,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,146.3,-11.4,223,1484,0.00,1.95,0.00,0.000,6,0.000,0.051,2436,2590,3516,0,0,0,0,0,0
$GC,1802,-0.76,-146.0,178.1,-9.2,254,1806,0.00,2.03,0.00,0.000,4,0.000,0.082,2427,3803,3516,0,0,0,0,0,0
$GC,1908,-0.78,-146.0,188.4,-9.5,263,1912,0.00,1.92,0.00,0.000,6,0.000,0.054,2427,2589,3516,0,0,0,0,0,0
$GC,2233,-0.80,-146.0,218.4,-9.6,293,2236,0.00,2.03,0.00,0.000,4,0.000,0.083,2418,3803,3516,0,0,0,0,0,0
$GC,2339,-0.82,-146.0,229.1,-9.6,302,2343,0.00,1.90,0.00,0.000,6,0.000,0.054,2418,2598,3515,0,0,0,0,0,0
$GC,2664,-0.84,-146.0,258.9,-9.0,332,2668,0.00,2.03,0.00,0.000,4,0.000,0.083,2409,3812,3515,0,0,0,0,0,0
$GC,2759,-0.86,-146.0,268.2,-9.3,340,2763,0.00,1.92,0.00,0.000,6,0.000,0.054,2409,2593,3515,0,0,0,0,0,0
$GC,3083,-0.87,-146.0,300.1,-9.9,370,3087,0.00,2.03,0.00,0.000,4,0.000,0.082,2400,3809,3515,0,0,0,0,0,0
$GC,3182,-0.89,-146.0,310.9,-10.8,378,3190,0.00,1.95,0.00,0.000,6,0.000,0.053,2400,2594,3515,0,0,0,0,0,0
$GC,3507,-0.89,-146.0,345.2,-10.0,409,3511,0.00,2.00,0.00,0.000,4,0.000,0.082,2391,3802,3515,0,0,0,0,0,0
$GC,3607,-0.89,-146.0,356.1,-10.7,417,3614,0.00,1.88,0.00,0.000,6,0.000,0.054,2391,2599,3515,0,0,0,0,0,0
$GC,3932,-0.89,-146.0,390.5,-10.4,448,3935,0.00,2.00,0.00,0.000,4,0.000,0.081,2382,3809,3515,0,0,0,0,0,0
$GC,4049,-0.89,-146.0,403.6,-11.3,458,4053,0.00,1.90,0.00,0.000,6,0.000,0.053,2383,2593,3515,0,0,0,0,0,0
$STATE,4202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4202,begin apogee
$GC,4206,-0.14,0.0,420.4,11.0,472,4340,0.75,0.00,125.57,1.033,6,0.161,0.000,2622,2493,2914,0,0,0,0,0,0
$STATE,4340,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4342,0.66,146.0,425.2,0.0,485,4478,0.75,2.55,125.60,0.986,4,0.080,0.078,2895,1095,2318,0,0,0,0,0,0
$GC,4504,0.61,146.0,417.0,11.8,500,4511,0.00,2.47,0.00,0.000,6,0.000,0.063,2895,2487,2315,0,0,0,0,0,0
$GC,4829,0.55,146.0,377.8,12.3,531,4834,0.17,2.30,0.00,0.000,4,0.203,0.080,2855,3822,2310,0,0,0,0,0,0
$GC,5025,0.51,146.0,355.2,11.2,548,5029,0.00,2.17,0.00,0.000,6,0.000,0.056,2862,2497,2309,0,0,0,0,0,0
$GC,5349,0.48,146.0,321.5,10.2,578,5353,0.17,2.25,0.00,0.000,4,0.218,0.079,2823,3822,2309,0,0,0,0,0,0
$GC,5492,0.47,154.7,307.1,9.6,590,5504,0.00,2.17,7.05,0.835,6,0.000,0.056,2830,2497,2283,0,0,0,0,0,0
$GC,5823,0.52,193.7,278.8,8.2,621,5865,0.00,2.30,34.65,0.929,4,0.000,0.077,2830,3816,2124,0,0,0,0,0,0
$GC,6025,0.52,193.7,257.7,11.1,639,6034,0.00,2.20,0.00,0.000,6,0.000,0.054,2838,2497,2120,0,0,0,0,0,0
$GC,6352,0.54,193.7,222.6,11.4,670,6356,0.00,2.22,0.00,0.000,4,0.000,0.077,2838,3813,2120,0,0,0,0,0,0
$GC,6446,0.54,193.7,210.9,12.7,678,6450,0.00,2.12,0.00,0.000,6,0.000,0.056,2847,2500,2118,0,0,0,0,0,0
$GC,6770,0.57,221.4,178.8,8.7,708,6802,0.00,2.28,23.70,0.877,4,0.000,0.077,2853,3816,2011,0,0,0,0,0,0
$GC,6907,0.58,227.9,165.7,9.7,720,6919,0.00,2.20,6.97,0.774,6,0.000,0.055,2856,2496,1983,0,0,0,0,0,0
$GC,7238,0.60,233.2,135.9,9.8,751,7250,0.00,2.22,5.62,0.734,4,0.000,0.076,2856,3813,1963,0,0,0,0,0,0
$GC,7396,0.60,233.2,118.1,11.2,765,7400,0.00,2.15,0.00,0.000,6,0.000,0.055,2866,2492,1963,0,0,0,0,0,0
$GC,7728,0.65,250.9,86.1,9.2,808,7751,0.00,2.28,16.38,0.837,4,0.000,0.078,2866,3822,1893,0,0,0,0,0,0
$GC,7953,0.65,250.9,62.0,11.5,848,7959,0.00,2.17,0.00,0.000,6,0.000,0.056,2871,2491,1888,0,0,0,0,0,0
$GC,8297,0.73,293.4,33.9,8.0,909,8340,0.00,2.35,36.55,0.822,4,0.000,0.076,2876,3814,1719,0,0,0,0,0,0
$GC,8593,0.85,360.3,11.0,6.9,962,8656,0.17,2.15,55.10,0.794,6,0.103,0.055,2947,2487,1444,0,0,0,0,0,0
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FINISH,-0.1,1.024611
$STATE,8712,end surface coast,CONTROL_FINISHED_OK
$STATE,8712,begin surface
$SM_CCo,8727,34.95,0.602,2,0,1282,400.08
$SM_GC,1.35,0.00,0.00,34.95,0.000,0.000,0.602,150,2611,1282,-7.87,0.45,400.08
$MAGERROR,2
$RAFOS_CLK,272
$RAFOS,6,1284598143,0.833333,0.817500,118,117,68,62,60,58,822,821,168,204,219,186
$RAFOS,5,1284597664,0.700000,0.684444,120,113,66,60,58,58,938,937,190,203,201,132
$RAFOS,4,1284597184,0.566667,0.551111,146,130,66,62,60,60,705,705,222,172,187,201
$RAFOS,3,1284596704,0.433333,0.417778,89,77,65,64,62,61,758,758,214,186,215,235
$RAFOS,2,1284596226,0.300000,0.285000,133,122,75,66,63,63,612,611,182,209,219,170
$RAFOS,1,1284595748,0.166667,0.152222,159,157,65,60,58,56,514,515,167,200,203,149
$RAFOS,0,1284595265,0.033333,0.018056,89,80,68,62,59,56,625,625,209,193,187,151
$RAFOS_FIX,6643.831055,-6004.319336,160910,000025,7,122,0.57
$IRIDIUM_FIX,6620.33,-6013.28,150910,212116
$TT8_MAMPS,0.027713
$HUMID,54.01
$INTERNAL_PRESSURE,8.8479
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.3,2.722
$10V_AH,10.0,2.129
$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,21.550,81.625,437.200,34.950,0.000,30.785,41.071,77.461,0.000,0.000,13.457,2321.796,4828.061,687.891,1132.611,74.561,0.000,1470.166,0.000,8855.531,2520.000,0.528,0.000
$DEVICE_MAMPS,283.815,97.920,1032.750,602.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.584,793.138,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151732
$DATA_FILE_SIZE,40022,984
$CAP_FILE_SIZE,113414,0
$CFSIZE,260165632,250806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1449.3
$GPS,160910,014646,6643.197,-6008.568,12,4.1,31,-38.0