version: 66.08
glider: 183
mission: 3
dive: 162
start: 10 9 110 18 42 34
data:
$ID,183
$MISSION,3
$DIVE,162
$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,-7926.4497
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,091010,183737,6703.026,-5720.657,39,1.5,39,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-71.5
$GPS2,091010,184202,6703.018,-5720.728,13,1.5,13,-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,251.6,140039,-17.5,-10.000
$D_GRID,794
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.57,-146.0,0.0,0.0,0,100,0.00,0.00,-83.07,0.000,2,0.000,0.000,290,2794,3245,0,0,0,0,0,0
$GC,102,-0.57,-146.0,5.1,-12.2,14,123,8.38,2.38,-5.75,0.000,4,0.262,0.066,2282,1371,3523,0,0,0,0,0,0
$GC,231,-0.57,-146.0,35.3,-16.2,36,239,0.00,2.35,0.00,0.000,6,0.000,0.063,2276,2774,3525,0,0,0,0,0,0
$GC,575,-0.57,-146.0,78.2,-11.0,97,582,0.00,2.25,0.00,0.000,4,0.000,0.049,2276,1368,3526,0,0,0,0,0,0
$GC,644,-0.57,-146.0,85.7,-11.6,109,651,0.00,2.33,0.00,0.000,6,0.000,0.061,2274,2785,3526,0,0,0,0,0,0
$GC,982,-0.57,-146.0,123.7,-10.8,151,985,0.00,1.90,0.00,0.000,4,0.000,0.072,2269,3933,3527,0,0,0,0,0,0
$GC,1027,-0.57,-146.0,128.9,-11.5,155,1030,0.00,1.85,0.00,0.000,6,0.000,0.047,2269,2780,3527,0,0,0,0,0,0
$GC,1357,-0.57,-146.0,162.5,-10.1,186,1361,0.00,1.95,0.00,0.000,4,0.000,0.075,2261,3932,3527,0,0,0,0,0,0
$GC,1383,-0.57,-146.0,165.5,-10.5,188,1392,0.00,1.85,0.00,0.000,6,0.000,0.047,2261,2794,3527,0,0,0,0,0,0
$GC,1709,-0.57,-146.0,200.4,-11.1,219,1711,0.10,0.00,0.00,0.000,6,0.193,0.000,2286,2794,3526,0,0,0,0,0,0
$GC,2028,-0.57,-146.0,230.3,-9.3,249,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2795,3525,0,0,0,0,0,0
$GC,2348,-0.57,-146.0,259.3,-8.8,279,2352,0.00,2.25,0.00,0.000,4,0.000,0.051,2286,1369,3524,0,0,0,0,0,0
$GC,2379,-0.57,-146.0,262.4,-8.9,281,2387,0.00,2.35,0.00,0.000,6,0.000,0.063,2286,2785,3524,0,0,0,0,0,0
$GC,2705,-0.57,-146.0,290.3,-8.5,312,2709,0.00,1.90,0.00,0.000,4,0.000,0.073,2280,3928,3524,0,0,0,0,0,0
$GC,2743,-0.57,-146.0,293.8,-9.4,315,2750,0.00,1.83,0.00,0.000,6,0.000,0.047,2279,2796,3524,0,0,0,0,0,0
$GC,3068,-0.57,-146.0,322.6,-8.8,346,3072,0.00,2.25,0.00,0.000,4,0.000,0.050,2279,1363,3524,0,0,0,0,0,0
$GC,3101,-0.57,-146.0,325.7,-8.9,348,3109,0.00,2.35,0.00,0.000,6,0.000,0.063,2279,2800,3523,0,0,0,0,0,0
$GC,3426,-0.57,-146.0,353.0,-8.0,379,3430,0.00,1.90,0.00,0.000,4,0.000,0.074,2273,3928,3523,0,0,0,0,0,0
$GC,3460,-0.57,-146.0,356.1,-9.1,382,3464,0.00,1.83,0.00,0.000,6,0.000,0.047,2272,2797,3524,0,0,0,0,0,0
$GC,3790,-0.57,-146.0,385.4,-9.2,413,3794,0.00,2.25,0.00,0.000,4,0.000,0.050,2272,1362,3523,0,0,0,0,0,0
$GC,3834,-0.57,-146.0,389.6,-9.1,416,3842,0.00,2.35,0.00,0.000,6,0.000,0.063,2272,2804,3524,0,0,0,0,0,0
$GC,4159,-0.57,-146.0,419.3,-9.5,447,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2804,3523,0,0,0,0,0,0
$GC,4481,-0.57,-146.0,449.6,-9.5,477,4485,0.00,2.28,0.00,0.000,4,0.000,0.050,2272,1359,3523,0,0,0,0,0,0
$GC,4509,-0.57,-146.0,452.5,-9.1,479,4513,0.00,2.33,0.00,0.000,6,0.000,0.063,2272,2795,3523,0,0,0,0,0,0
$GC,4834,-0.57,-146.0,481.3,-8.7,509,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2795,3523,0,0,0,0,0,0
$GC,5152,-0.57,-146.0,509.0,-8.6,539,5156,0.00,1.85,0.00,0.000,4,0.000,0.074,2272,3928,3524,0,0,0,0,0,0
$GC,5179,-0.57,-146.0,511.4,-8.2,541,5186,0.00,1.83,0.00,0.000,6,0.000,0.047,2272,2793,3524,0,0,0,0,0,0
$GC,5504,-0.57,-146.0,538.8,-8.5,572,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2793,3524,0,0,0,0,0,0
$GC,5822,-0.57,-146.0,564.8,-8.0,602,5826,0.00,2.22,0.00,0.000,4,0.000,0.050,2272,1357,3524,0,0,0,0,0,0
$GC,5843,-0.57,-146.0,566.7,-8.2,603,5851,0.00,2.38,0.00,0.000,6,0.000,0.063,2272,2794,3524,0,0,0,0,0,0
$GC,6169,-0.57,-146.0,592.4,-8.0,634,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2794,3524,0,0,0,0,0,0
$GC,6479,-0.57,-146.0,616.9,-7.8,650,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2794,3524,0,0,0,0,0,0
$GC,6785,-0.57,-146.0,641.1,-7.8,660,6789,0.00,2.25,0.00,0.000,4,0.000,0.050,2272,1359,3524,0,0,0,0,0,0
$GC,6812,-0.57,-146.0,643.4,-8.2,660,6820,0.00,2.33,0.00,0.000,6,0.000,0.063,2273,2795,3524,0,0,0,0,0,0
$GC,7128,-0.57,-146.0,667.5,-7.6,671,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2795,3524,0,0,0,0,0,0
$GC,7432,-0.57,-146.0,691.4,-7.8,681,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2794,3524,0,0,0,0,0,0
$GC,7738,-0.57,-146.0,715.6,-8.0,691,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2795,3524,0,0,0,0,0,0
$GC,8044,-0.57,-146.0,739.0,-7.5,701,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2795,3524,0,0,0,0,0,0
$GC,8350,-0.57,-146.0,761.8,-7.4,711,8351,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2795,3524,0,0,0,0,0,0
$GC,8657,-0.57,-146.0,785.1,-7.8,721,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2795,3524,0,0,0,0,0,0
$STATE,8777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8777,begin apogee
$GC,8781,-0.14,0.0,794.8,7.8,725,8909,0.45,0.00,121.30,1.104,4,0.142,0.000,2421,2600,2923,0,0,0,0,0,0
$STATE,8910,end apogee,CONTROL_FINISHED_OK
$STATE,8910,begin climb
$GC,8911,0.57,146.0,797.8,0.0,729,9047,0.70,2.40,126.22,1.082,4,0.083,0.050,2659,1191,2330,0,0,0,0,0,0
$GC,9265,0.57,146.0,763.3,11.6,739,9273,0.00,2.45,0.00,0.000,6,0.000,0.057,2659,2598,2321,0,0,0,0,0,0
$GC,9578,0.57,146.0,723.9,12.8,750,9582,0.00,2.30,0.00,0.000,4,0.000,0.054,2666,1189,2318,0,0,0,0,0,0
$GC,9794,0.57,146.0,697.1,13.0,756,9799,0.00,2.40,0.00,0.000,6,0.000,0.057,2666,2616,2318,0,0,0,0,0,0
$GC,10113,0.57,146.0,655.5,13.3,767,10117,0.00,2.20,0.00,0.000,4,0.000,0.069,2666,3926,2316,0,0,0,0,0,0
$GC,10181,0.57,146.0,645.1,16.3,769,10185,0.00,2.12,0.00,0.000,6,0.000,0.045,2671,2608,2315,0,0,0,0,0,0
$GC,10515,0.57,146.0,599.4,13.4,780,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2607,2315,0,0,0,0,0,0
$GC,10834,0.57,146.0,557.4,13.1,810,10838,0.00,2.22,0.00,0.000,4,0.000,0.069,2671,3928,2315,0,0,0,0,0,0
$GC,10896,0.57,146.0,548.0,15.4,815,10899,0.00,2.10,0.00,0.000,6,0.000,0.046,2678,2613,2314,0,0,0,0,0,0
$GC,11226,0.57,146.0,502.8,13.7,846,11230,0.00,2.17,0.00,0.000,4,0.000,0.070,2678,3926,2314,0,0,0,0,0,0
$GC,11258,0.57,146.0,497.8,16.1,848,11266,0.00,2.10,0.00,0.000,6,0.000,0.045,2686,2628,2313,0,0,0,0,0,0
$GC,11583,0.57,146.0,450.9,15.2,879,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2628,2313,0,0,0,0,0,0
$GC,11903,0.57,146.0,403.0,15.0,909,11907,0.00,2.15,0.00,0.000,4,0.000,0.070,2686,3926,2314,0,0,0,0,0,0
$GC,11924,0.57,146.0,399.0,16.7,910,11933,0.10,2.10,0.00,0.000,6,0.194,0.045,2665,2622,2313,0,0,0,0,0,0
$GC,12252,0.57,146.0,355.0,13.4,941,12253,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2622,2313,0,0,0,0,0,0
$GC,12569,0.57,146.0,312.8,12.9,971,12573,0.00,2.17,0.00,0.000,4,0.000,0.069,2665,3926,2313,0,0,0,0,0,0
$GC,12631,0.57,146.0,303.4,15.6,976,12634,0.00,2.08,0.00,0.000,6,0.000,0.045,2666,2619,2313,0,0,0,0,0,0
$GC,12960,0.57,146.0,260.1,13.1,1007,12964,0.00,2.17,0.00,0.000,4,0.000,0.070,2666,3926,2313,0,0,0,0,0,0
$GC,13009,0.57,146.0,252.9,13.8,1011,13017,0.00,2.08,0.00,0.000,6,0.000,0.045,2670,2639,2313,0,0,0,0,0,0
$GC,13335,0.57,146.0,212.7,11.8,1042,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2638,2313,0,0,0,0,0,0
$GC,13654,0.57,146.0,177.1,11.6,1072,13658,0.00,2.15,0.00,0.000,4,0.000,0.072,2670,3926,2313,0,0,0,0,0,0
$GC,13716,0.57,146.0,169.1,12.9,1077,13720,0.00,2.05,0.00,0.000,6,0.000,0.049,2677,2643,2313,0,0,0,0,0,0
$GC,14046,0.57,146.0,131.6,10.2,1108,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2642,2313,0,0,0,0,0,0
$GC,14366,0.57,152.6,100.2,9.7,1138,14378,0.00,2.17,4.78,0.593,4,0.000,0.073,2677,3929,2299,0,0,0,0,0,0
$GC,14445,0.57,152.6,91.5,11.1,1151,14451,0.00,2.03,0.00,0.000,6,0.000,0.048,2683,2644,2299,0,0,0,0,0,0
$GC,14787,0.59,174.6,59.7,9.0,1212,14812,0.00,0.00,19.55,0.679,6,0.000,0.000,2683,2644,2210,0,0,0,0,0,0
$GC,15148,0.66,284.4,31.2,4.9,1276,15245,0.00,2.45,88.57,0.653,4,0.000,0.057,2683,1185,1760,0,0,0,0,0,0
$GC,15375,0.70,348.5,15.6,7.0,1315,15438,0.00,2.45,51.60,0.635,6,0.000,0.061,2683,2638,1498,0,0,0,0,0,0
$STATE,15527,end climb,SURFACE_DEPTH_REACHED
$STATE,15527,begin surface coast
$FINISH,1.0,1.025426
$STATE,15555,end surface coast,CONTROL_FINISHED_OK
$STATE,15555,begin surface
$SM_CCo,15629,0.00,0.000,0,0,1485,352.74
$SM_GC,1.51,6.50,0.00,0.00,0.055,0.000,0.000,303,2787,1485,-6.73,0.20,352.74
$RAFOS_CLK,829
$RAFOS,6,1286657367,20.833334,20.824167,101,44,43,43,42,41,634,285,431,1239,1864,1652
$RAFOS,5,1286656877,20.700001,20.688055,65,43,43,43,42,40,504,1313,1356,1897,1800,693
$RAFOS,4,1286656384,20.566668,20.551111,57,53,49,45,44,41,804,276,967,1371,144,1479
$RAFOS,3,1286655911,20.433332,20.419722,53,51,45,42,40,40,898,917,276,1627,1712,1366
$RAFOS,2,1286655426,20.299999,20.285000,50,48,48,44,41,40,144,825,703,1078,652,1084
$RAFOS,1,1286654948,20.166666,20.152222,47,47,45,44,43,41,968,1803,233,602,1278,1499
$RAFOS,0,1286654469,20.033333,20.019167,54,48,43,42,41,39,1078,1605,853,341,1230,1398
$RAFOS_FIX,6703.964844,-5727.510254,091010,202000,2,83,0.69
$IRIDIUM_FIX,6636.54,-5722.85,091010,141410
$TT8_MAMPS,0.028462
$HUMID,51.65
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.7,21.860
$10V_AH,10.1,16.837
$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,16.225,104.625,412.025,0.000,0.000,27.184,19.488,105.836,0.000,0.000,17.136,3383.656,9444.433,520.180,2387.028,171.582,0.000,1698.691,0.000,2206.031,2520.000,0.536,0.000
$DEVICE_MAMPS,262.395,83.385,1103.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189556
$DATA_FILE_SIZE,46714,1346
$CAP_FILE_SIZE,150222,0
$CFSIZE,260165632,238989312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$CURRENT,0.117,142.1,1
$GPS,091010,230457,6700.672,-5721.542,41,99.0,60,-37.6