version: 66.08
glider: 183
mission: 3
dive: 149
start: 10 7 110 19 4 28
data:
$ID,183
$MISSION,3
$DIVE,149
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$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,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,51717
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,100000
$HEAPDBG,0
$T_GPS,8
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7906.6294
$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
$PITCH_ADJ_DBAND,0
$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,23
$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,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,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,49
$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
$GPS1,071010,185942,6701.089,-5701.841,35,1.7,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.8
$GPS2,071010,190356,6701.091,-5701.822,13,1.2,13,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,85.9,10589,-17.5,-10.000
$D_GRID,693
$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,-0.57,-146.0,0.0,0.0,0,106,0.00,0.00,-88.57,0.000,2,0.000,0.000,302,2782,3458,0,0,0,0,0,0
$GC,107,-0.57,-146.0,6.5,-18.7,15,122,8.20,2.30,-1.20,0.000,4,0.259,0.057,2283,1359,3521,0,0,0,0,0,0
$GC,134,-0.57,-146.0,21.5,-49.6,19,140,0.00,2.35,0.00,0.000,6,0.000,0.056,2275,2785,3523,0,0,0,0,0,0
$GC,476,-0.57,-146.0,75.5,-12.9,80,483,0.00,1.88,0.00,0.000,4,0.000,0.067,2269,3927,3524,0,0,0,0,0,0
$GC,585,-0.57,-146.0,88.7,-11.3,99,591,0.00,1.77,0.00,0.000,6,0.000,0.044,2269,2796,3524,0,0,0,0,0,0
$GC,916,-0.57,-146.0,123.2,-9.7,139,920,0.00,2.22,0.00,0.000,4,0.000,0.047,2269,1364,3524,0,0,0,0,0,0
$GC,967,-0.57,-146.0,128.3,-9.5,143,971,0.00,2.30,0.00,0.000,6,0.000,0.058,2262,2792,3524,0,0,0,0,0,0
$GC,1291,-0.57,-146.0,162.2,-10.4,173,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2792,3523,0,0,0,0,0,0
$GC,1610,-0.57,-146.0,199.0,-11.3,203,1614,0.00,2.22,0.00,0.000,4,0.000,0.047,2262,1365,3522,0,0,0,0,0,0
$GC,1644,-0.57,-146.0,202.9,-11.5,206,1649,0.12,2.33,0.00,0.000,6,0.177,0.058,2289,2796,3522,0,0,0,0,0,0
$GC,1968,-0.57,-146.0,230.9,-7.8,236,1972,0.00,2.22,0.00,0.000,4,0.000,0.046,2290,1361,3523,0,0,0,0,0,0
$GC,1997,-0.57,-146.0,233.1,-7.6,238,2002,0.00,2.33,0.00,0.000,6,0.000,0.058,2287,2794,3523,0,0,0,0,0,0
$GC,2322,-0.57,-146.0,258.1,-7.7,268,2326,0.00,2.22,0.00,0.000,4,0.000,0.047,2287,1364,3522,0,0,0,0,0,0
$GC,2367,-0.57,-146.0,261.6,-7.1,272,2371,0.00,2.30,0.00,0.000,6,0.000,0.057,2287,2786,3522,0,0,0,0,0,0
$GC,2692,-0.57,-146.0,285.7,-7.4,302,2696,0.00,1.90,0.00,0.000,4,0.000,0.068,2281,3930,3522,0,0,0,0,0,0
$GC,2738,-0.57,-146.0,289.3,-8.3,306,2742,0.00,1.80,0.00,0.000,6,0.000,0.044,2281,2772,3522,0,0,0,0,0,0
$GC,3069,-0.57,-146.0,315.1,-8.0,337,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2772,3522,0,0,0,0,0,0
$GC,3388,-0.57,-146.0,340.0,-8.1,367,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2772,3522,0,0,0,0,0,0
$GC,3707,-0.57,-146.0,365.5,-7.6,397,3711,0.00,2.15,0.00,0.000,4,0.000,0.047,2281,1367,3522,0,0,0,0,0,0
$GC,3746,-0.57,-146.0,368.6,-7.8,400,3750,0.00,2.22,0.00,0.000,6,0.000,0.057,2279,2761,3522,0,0,0,0,0,0
$GC,4071,-0.57,-146.0,393.3,-7.3,430,4075,0.00,1.90,0.00,0.000,4,0.000,0.068,2272,3935,3522,0,0,0,0,0,0
$GC,4098,-0.57,-146.0,395.7,-8.0,432,4106,0.00,1.88,0.00,0.000,6,0.000,0.044,2273,2755,3522,0,0,0,0,0,0
$GC,4423,-0.57,-146.0,420.6,-7.8,463,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2755,3522,0,0,0,0,0,0
$GC,4743,-0.57,-146.0,443.0,-6.7,493,4747,0.00,1.92,0.00,0.000,4,0.000,0.070,2272,3933,3522,0,0,0,0,0,0
$GC,4777,-0.57,-146.0,445.3,-6.6,496,4781,0.00,1.83,0.00,0.000,6,0.000,0.044,2273,2755,3522,0,0,0,0,0,0
$GC,5107,-0.57,-146.0,468.4,-7.6,527,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2755,3522,0,0,0,0,0,0
$GC,5426,-0.57,-146.0,492.0,-7.1,557,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2755,3522,0,0,0,0,0,0
$GC,5745,-0.57,-146.0,515.5,-7.2,587,5749,0.00,1.95,0.00,0.000,4,0.000,0.070,2272,3921,3523,0,0,0,0,0,0
$GC,5772,-0.57,-146.0,517.8,-7.6,589,5780,0.00,1.83,0.00,0.000,6,0.000,0.043,2272,2771,3523,0,0,0,0,0,0
$GC,6098,-0.57,-146.0,542.3,-7.3,620,6102,0.00,2.15,0.00,0.000,4,0.000,0.047,2272,1363,3523,0,0,0,0,0,0
$GC,6127,-0.57,-146.0,544.5,-7.6,622,6131,0.00,2.28,0.00,0.000,6,0.000,0.058,2272,2779,3523,0,0,0,0,0,0
$GC,6457,-0.57,-146.0,568.9,-7.6,653,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2779,3523,0,0,0,0,0,0
$GC,6776,-0.57,-146.0,593.3,-7.7,683,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2779,3523,0,0,0,0,0,0
$GC,7085,-0.57,-146.0,616.6,-7.6,699,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2779,3523,0,0,0,0,0,0
$GC,7392,-0.57,-146.0,639.1,-7.6,709,7396,0.00,2.17,0.00,0.000,4,0.000,0.048,2272,1371,3522,0,0,0,0,0,0
$GC,7429,-0.57,-146.0,642.2,-7.6,710,7434,0.00,2.25,0.00,0.000,6,0.000,0.059,2272,2755,3523,0,0,0,0,0,0
$GC,7766,-0.57,-146.0,666.8,-7.4,721,7769,0.00,1.92,0.00,0.000,4,0.000,0.070,2272,3928,3522,0,0,0,0,0,0
$GC,7800,-0.57,-146.0,669.5,-7.8,722,7804,0.00,1.83,0.00,0.000,6,0.000,0.046,2272,2752,3522,0,0,0,0,0,0
$GC,8141,-0.57,-146.0,691.8,-5.3,733,8145,0.00,2.15,0.00,0.000,4,0.000,0.048,2272,1358,3522,0,0,0,0,0,0
$STATE,8278,end dive,NO_VERTICAL_VELOCITY
$STATE,8279,begin apogee
$GC,8285,-0.14,0.0,691.9,0.0,737,8409,0.43,0.00,119.30,1.030,4,0.093,0.000,2434,2611,2923,0,0,0,0,0,0
$STATE,8410,end apogee,CONTROL_FINISHED_OK
$STATE,8410,begin climb
$GC,8411,0.57,146.0,691.9,0.0,741,8541,0.62,0.00,123.40,1.008,6,0.087,0.000,2658,2611,2329,0,0,0,0,0,0
$GC,8870,0.57,146.0,647.0,31461.9,756,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2611,2318,0,0,0,0,0,0
$GC,9177,0.57,146.0,605.6,31461.9,766,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2611,2317,0,0,0,0,0,0
$GC,9493,0.57,146.0,562.8,31461.9,792,9497,0.00,2.20,0.00,0.000,4,0.000,0.067,2658,3926,2316,0,0,0,0,0,0
$GC,9558,0.57,146.0,552.7,31461.9,797,9566,0.00,2.15,0.00,0.000,6,0.000,0.043,2665,2601,2315,0,0,0,0,0,0
$GC,9884,0.57,146.0,508.2,31461.9,828,9888,0.00,2.20,0.00,0.000,4,0.000,0.066,2665,3930,2315,0,0,0,0,0,0
$GC,9915,0.57,146.0,502.8,31461.9,830,9923,0.00,2.12,0.00,0.000,6,0.000,0.043,2671,2614,2314,0,0,0,0,0,0
$GC,10241,0.57,146.0,455.8,31461.9,861,10245,0.00,2.20,0.00,0.000,4,0.000,0.066,2672,3935,2314,0,0,0,0,0,0
$GC,10292,0.57,146.0,447.4,31461.9,865,10296,0.00,2.08,0.00,0.000,6,0.000,0.044,2680,2615,2313,0,0,0,0,0,0
$GC,10616,0.57,146.0,398.6,31461.9,895,10620,0.00,2.15,0.00,0.000,4,0.000,0.065,2680,3926,2313,0,0,0,0,0,0
$GC,10637,0.57,146.0,395.0,31461.9,896,10645,0.00,2.08,0.00,0.000,6,0.000,0.042,2688,2632,2312,0,0,0,0,0,0
$GC,10962,0.57,146.0,345.7,31461.9,927,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2632,2313,0,0,0,0,0,0
$GC,11282,0.57,146.0,299.8,31461.9,957,11286,0.00,2.12,0.00,0.000,4,0.000,0.065,2688,3932,2314,0,0,0,0,0,0
$GC,11321,0.57,146.0,293.5,31461.9,960,11326,0.15,2.05,0.00,0.000,6,0.215,0.042,2661,2631,2313,0,0,0,0,0,0
$GC,11646,0.57,146.0,251.4,31461.9,990,11650,0.00,2.25,0.00,0.000,4,0.000,0.050,2665,1180,2313,0,0,0,0,0,0
$GC,11660,0.57,146.0,249.3,31461.9,991,11668,0.00,2.35,0.00,0.000,6,0.000,0.052,2665,2635,2313,0,0,0,0,0,0
$GC,11986,0.57,146.0,209.8,31461.9,1022,11990,0.00,2.10,0.00,0.000,4,0.000,0.064,2665,3936,2313,0,0,0,0,0,0
$GC,12041,0.57,146.0,202.0,31461.9,1026,12048,0.00,2.05,0.00,0.000,6,0.000,0.042,2667,2646,2313,0,0,0,0,0,0
$GC,12367,0.57,146.0,163.6,31461.9,1057,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2646,2313,0,0,0,0,0,0
$GC,12686,0.57,146.0,130.6,31461.9,1087,12690,0.00,2.12,0.00,0.000,4,0.000,0.065,2666,3934,2312,0,0,0,0,0,0
$GC,12723,0.57,146.0,125.3,31461.9,1090,12731,0.00,2.05,0.00,0.000,6,0.000,0.041,2670,2643,2313,0,0,0,0,0,0
$GC,13055,0.57,146.0,86.1,31461.9,1131,13062,0.00,2.10,0.00,0.000,4,0.000,0.065,2670,3935,2313,0,0,0,0,0,0
$GC,13124,0.57,146.0,77.1,31461.9,1143,13131,0.00,1.98,0.00,0.000,6,0.000,0.041,2676,2654,2313,0,0,0,0,0,0
$GC,13469,0.57,146.0,44.3,31461.9,1204,13475,0.00,2.10,0.00,0.000,4,0.000,0.065,2676,3934,2313,0,0,0,0,0,0
$GC,13498,0.57,146.0,42.1,31461.9,1209,13505,0.00,2.00,0.00,0.000,6,0.000,0.042,2681,2656,2313,0,0,0,0,0,0
$GC,13843,0.57,146.0,26.2,31461.9,1270,13849,0.00,2.30,0.00,0.000,4,0.000,0.049,2684,1181,2314,0,0,0,0,0,0
$GC,13974,0.57,146.0,19.9,31461.9,1293,13981,0.00,2.33,0.00,0.000,6,0.000,0.053,2684,2655,2314,0,0,0,0,0,0
$GC,14319,0.57,146.0,4.2,31461.9,1354,14325,0.00,2.28,0.00,0.000,4,0.000,0.049,2687,1191,2313,0,0,0,0,0,0
$STATE,14347,end climb,SURFACE_DEPTH_REACHED
$STATE,14347,begin surface coast
$FINISH,2.5,1.025419
$STATE,14354,end surface coast,CONTROL_FINISHED_OK
$STATE,14354,begin surface
$SM_CCo,14370,91.90,0.080,0,0,1495,350.04
$SM_GC,1.60,0.00,0.00,91.90,0.000,0.000,0.080,297,2781,1495,-6.81,0.03,350.04
$RAFOS_CLK,733
$RAFOS,6,1286484543,20.833334,20.817499,123,49,45,43,42,38,837,1373,1203,26,1441,1792
$RAFOS,65,612319650,4571990528.000000,-0.000000,173,44,65,154,0,172,22876,16777,46265,16800,8312,16798
$RAFOS,0,1286481664,20.033333,20.017778,63,46,43,43,40,39,1171,830,1180,1532,467,913
$RAFOS_FIX,6706.202148,-5700.305176,071010,202044,2,93,1.90
$IRIDIUM_FIX,6636.54,-5718.20,071010,151509
$TT8_MAMPS,0.029211
$HUMID,49.09
$INTERNAL_PRESSURE,8.62185
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,13974.0,13982.0
$ALTIM_BOTTOM_PING,13929.0,13963.0
$24V_AH,23.1,20.510
$10V_AH,10.2,15.871
$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,16.275,114.550,242.700,91.900,0.000,28.298,16.698,101.098,0.000,0.000,16.940,3366.101,8382.246,475.808,2357.079,150.395,0.000,1615.957,0.000,2173.332,2520.000,0.535,0.000
$DEVICE_MAMPS,259.335,69.615,1029.690,79.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.868,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189536
$DATA_FILE_SIZE,50001,1360
$CAP_FILE_SIZE,147218,0
$CFSIZE,260165632,239878144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.1
$CURRENT,0.215, 81.4,1
$GPS,071010,230701,6701.938,-5655.717,40,1.1,40,-37.5