version: 66.08
glider: 183
mission: 3
dive: 163
start: 10 9 110 23 10 8
data:
$ID,183
$MISSION,3
$DIVE,163
$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,-7928.3345
$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,32
$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
$GPS1,091010,230457,6700.672,-5721.542,41,99.0,60,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.7
$GPS2,091010,230936,6700.647,-5721.563,9,1.9,25,-37.6
$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,318.7,138404,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,103,0.00,0.00,-85.28,0.000,2,0.000,0.000,294,2788,3346,0,0,0,0,0,0
$GC,104,-0.57,-146.0,6.2,-16.6,14,125,8.38,1.95,-3.47,0.000,4,0.262,0.083,2277,3936,3522,0,0,0,0,0,0
$GC,209,-0.57,-146.0,38.4,-16.5,32,217,0.00,1.88,0.00,0.000,6,0.000,0.050,2277,2778,3524,0,0,0,0,0,0
$GC,554,-0.57,-146.0,77.2,-10.9,93,560,0.00,2.25,0.00,0.000,4,0.000,0.053,2277,1361,3526,0,0,0,0,0,0
$GC,646,-0.57,-146.0,87.8,-12.0,109,653,0.00,2.38,0.00,0.000,6,0.000,0.066,2274,2782,3526,0,0,0,0,0,0
$GC,981,-0.57,-146.0,130.7,-12.6,149,985,0.00,1.95,0.00,0.000,4,0.000,0.076,2267,3939,3525,0,0,0,0,0,0
$GC,1075,-0.57,-146.0,143.5,-13.5,157,1083,0.00,1.88,0.00,0.000,6,0.000,0.050,2267,2797,3525,0,0,0,0,0,0
$GC,1401,-0.57,-146.0,183.9,-11.6,188,1405,0.00,1.95,0.00,0.000,4,0.000,0.078,2259,3927,3525,0,0,0,0,0,0
$GC,1427,-0.57,-146.0,187.4,-11.6,190,1435,0.08,1.83,0.00,0.000,6,0.154,0.050,2283,2808,3525,0,0,0,0,0,0
$GC,1754,-0.57,-146.0,219.0,-9.5,221,1758,0.00,2.28,0.00,0.000,4,0.000,0.054,2284,1366,3524,0,0,0,0,0,0
$GC,1793,-0.57,-146.0,222.9,-9.7,224,1797,0.00,2.38,0.00,0.000,6,0.000,0.067,2284,2800,3524,0,0,0,0,0,0
$GC,2118,-0.57,-146.0,251.7,-8.9,254,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,2801,3523,0,0,0,0,0,0
$GC,2437,-0.57,-146.0,280.0,-8.7,284,2441,0.00,2.28,0.00,0.000,4,0.000,0.054,2284,1369,3523,0,0,0,0,0,0
$GC,2482,-0.57,-146.0,284.0,-8.7,288,2486,0.00,2.35,0.00,0.000,6,0.000,0.066,2284,2794,3523,0,0,0,0,0,0
$GC,2807,-0.57,-146.0,311.4,-8.2,318,2811,0.00,1.92,0.00,0.000,4,0.000,0.078,2281,3927,3523,0,0,0,0,0,0
$GC,2844,-0.57,-146.0,314.9,-9.1,321,2852,0.00,1.85,0.00,0.000,6,0.000,0.050,2281,2795,3522,0,0,0,0,0,0
$GC,3170,-0.57,-146.0,342.1,-7.9,352,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2796,3522,0,0,0,0,0,0
$GC,3489,-0.57,-146.0,369.1,-8.4,382,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2796,3522,0,0,0,0,0,0
$GC,3808,-0.57,-146.0,396.0,-8.6,412,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2796,3522,0,0,0,0,0,0
$GC,4126,-0.57,-146.0,423.3,-8.5,442,4130,0.00,2.25,0.00,0.000,4,0.000,0.053,2280,1356,3522,0,0,0,0,0,0
$GC,4176,-0.57,-146.0,427.5,-8.4,446,4180,0.00,2.35,0.00,0.000,6,0.000,0.067,2279,2797,3522,0,0,0,0,0,0
$GC,4504,-0.57,-146.0,453.4,-8.2,476,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2797,3522,0,0,0,0,0,0
$GC,4829,-0.57,-146.0,478.6,-7.4,507,4833,0.00,2.25,0.00,0.000,4,0.000,0.053,2279,1364,3522,0,0,0,0,0,0
$GC,4858,-0.57,-146.0,480.8,-7.8,509,4862,0.00,2.35,0.00,0.000,6,0.000,0.065,2279,2794,3522,0,0,0,0,0,0
$GC,5183,-0.57,-146.0,505.6,-7.8,539,5186,0.00,1.88,0.00,0.000,4,0.000,0.076,2272,3932,3522,0,0,0,0,0,0
$GC,5217,-0.57,-146.0,508.5,-8.5,542,5221,0.00,1.83,0.00,0.000,6,0.000,0.050,2272,2775,3522,0,0,0,0,0,0
$GC,5548,-0.57,-146.0,536.4,-8.5,573,5552,0.00,2.22,0.00,0.000,4,0.000,0.053,2272,1359,3522,0,0,0,0,0,0
$GC,5576,-0.57,-146.0,538.9,-9.1,575,5581,0.00,2.35,0.00,0.000,6,0.000,0.065,2272,2792,3522,0,0,0,0,0,0
$GC,5902,-0.57,-146.0,567.5,-8.9,605,5906,0.00,1.92,0.00,0.000,4,0.000,0.076,2272,3931,3522,0,0,0,0,0,0
$GC,5924,-0.57,-146.0,569.5,-8.7,607,5928,0.00,1.83,0.00,0.000,6,0.000,0.050,2272,2773,3522,0,0,0,0,0,0
$GC,6255,-0.57,-146.0,597.4,-8.0,638,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$GC,6562,-0.57,-146.0,621.9,-7.9,650,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$GC,6869,-0.57,-146.0,646.5,-7.9,660,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$GC,7175,-0.57,-146.0,671.6,-7.9,670,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$GC,7481,-0.57,-146.0,696.5,-8.1,680,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2773,3523,0,0,0,0,0,0
$GC,7787,-0.57,-146.0,721.6,-8.3,690,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2773,3523,0,0,0,0,0,0
$GC,8093,-0.57,-146.0,746.6,-8.1,700,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2773,3523,0,0,0,0,0,0
$GC,8399,-0.57,-146.0,771.2,-8.0,710,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3522,0,0,0,0,0,0
$STATE,8704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8704,begin apogee
$GC,8709,-0.14,0.0,795.1,7.7,720,8836,0.45,0.00,121.28,1.109,4,0.138,0.000,2422,2595,2923,0,0,0,0,0,0
$STATE,8837,end apogee,CONTROL_FINISHED_OK
$STATE,8837,begin climb
$GC,8839,0.57,146.0,798.4,0.0,724,8975,0.70,2.40,127.28,1.090,4,0.083,0.053,2660,1181,2326,0,0,0,0,0,0
$GC,9101,0.57,146.0,776.0,10.5,732,9105,0.00,2.50,0.00,0.000,6,0.000,0.059,2659,2607,2318,0,0,0,0,0,0
$GC,9435,0.57,146.0,733.7,13.1,743,9439,0.00,2.35,0.00,0.000,4,0.000,0.057,2666,1183,2314,0,0,0,0,0,0
$GC,9635,0.57,146.0,708.3,12.5,749,9640,0.00,2.38,0.00,0.000,6,0.000,0.060,2667,2602,2313,0,0,0,0,0,0
$GC,9970,0.57,146.0,661.9,14.0,760,9974,0.00,2.25,0.00,0.000,4,0.000,0.072,2667,3930,2311,0,0,0,0,0,0
$GC,10005,0.57,146.0,656.8,15.9,761,10009,0.00,2.15,0.00,0.000,6,0.000,0.047,2675,2596,2310,0,0,0,0,0,0
$GC,10345,0.57,146.0,606.1,14.9,772,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2595,2311,0,0,0,0,0,0
$GC,10661,0.57,146.0,560.5,14.0,798,10665,0.00,2.25,0.00,0.000,4,0.000,0.072,2674,3926,2310,0,0,0,0,0,0
$GC,10710,0.57,146.0,552.6,16.2,802,10714,0.00,2.12,0.00,0.000,6,0.000,0.048,2683,2596,2309,0,0,0,0,0,0
$GC,11041,0.57,146.0,504.4,14.6,833,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2595,2310,0,0,0,0,0,0
$GC,11361,0.57,146.0,460.0,13.7,863,11366,0.00,2.25,0.00,0.000,4,0.000,0.072,2682,3932,2310,0,0,0,0,0,0
$GC,11411,0.57,146.0,451.8,16.1,867,11416,0.12,2.12,0.00,0.000,6,0.218,0.048,2663,2608,2308,0,0,0,0,0,0
$GC,11737,0.57,146.0,411.1,12.4,897,11741,0.00,2.25,0.00,0.000,4,0.000,0.057,2666,1191,2309,0,0,0,0,0,0
$GC,11769,0.57,146.0,406.9,12.7,899,11776,0.00,2.33,0.00,0.000,6,0.000,0.059,2666,2604,2309,0,0,0,0,0,0
$GC,12094,0.57,146.0,365.7,12.9,930,12097,0.00,2.20,0.00,0.000,4,0.000,0.072,2666,3928,2309,0,0,0,0,0,0
$GC,12154,0.57,146.0,356.7,15.0,935,12161,0.00,2.12,0.00,0.000,6,0.000,0.048,2666,2617,2309,0,0,0,0,0,0
$GC,12479,0.57,146.0,315.4,12.1,966,12483,0.00,2.20,0.00,0.000,4,0.000,0.072,2666,3926,2308,0,0,0,0,0,0
$GC,12524,0.57,146.0,309.3,13.7,970,12527,0.00,2.05,0.00,0.000,6,0.000,0.047,2667,2628,2308,0,0,0,0,0,0
$GC,12854,0.57,146.0,270.2,11.7,1001,12858,0.00,2.15,0.00,0.000,4,0.000,0.071,2667,3927,2309,0,0,0,0,0,0
$GC,12911,0.57,146.0,262.3,14.3,1006,12915,0.00,2.05,0.00,0.000,6,0.000,0.047,2671,2629,2309,0,0,0,0,0,0
$GC,13241,0.57,146.0,221.5,12.5,1037,13245,0.00,2.28,0.00,0.000,4,0.000,0.056,2671,1190,2308,0,0,0,0,0,0
$GC,13313,0.57,146.0,213.1,11.1,1043,13320,0.00,2.38,0.00,0.000,6,0.000,0.059,2671,2637,2309,0,0,0,0,0,0
$GC,13638,0.57,146.0,176.2,10.8,1074,13642,0.00,2.12,0.00,0.000,4,0.000,0.071,2671,3930,2309,0,0,0,0,0,0
$GC,13687,0.57,146.0,169.8,13.2,1078,13696,0.00,2.10,0.00,0.000,6,0.000,0.047,2678,2627,2309,0,0,0,0,0,0
$GC,14013,0.57,146.0,133.3,11.4,1109,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2627,2309,0,0,0,0,0,0
$GC,14333,0.59,172.6,100.7,8.8,1139,14358,0.00,2.25,19.85,0.701,4,0.000,0.072,2678,3926,2218,0,0,0,0,0,0
$GC,14381,0.59,172.6,95.6,11.7,1146,14388,0.00,2.08,0.00,0.000,6,0.000,0.047,2684,2639,2217,0,0,0,0,0,0
$GC,14721,0.59,172.6,61.2,10.3,1207,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2639,2215,0,0,0,0,0,0
$GC,15059,0.66,288.6,32.3,4.6,1268,15159,0.00,2.47,93.20,0.656,4,0.000,0.056,2684,1193,1745,0,0,0,0,0,0
$GC,15282,0.66,295.0,14.8,9.7,1306,15296,0.00,2.45,5.07,0.548,6,0.000,0.060,2684,2647,1719,0,0,0,0,0,0
$STATE,15465,end climb,SURFACE_DEPTH_REACHED
$STATE,15465,begin surface coast
$FINISH,0.7,1.025456
$STATE,15494,end surface coast,CONTROL_FINISHED_OK
$STATE,15494,begin surface
$SM_CCo,15508,33.67,0.493,1,0,1496,350.04
$SM_GC,1.57,0.00,0.00,33.67,0.000,0.000,0.493,305,2779,1496,-6.78,-0.03,350.04
$RAFOS_CLK,825
$RAFOS,6,1286671743,0.833333,0.817500,158,42,42,40,40,39,758,131,166,547,1796,1915
$RAFOS,5,1286671269,0.700000,0.685833,66,54,46,43,41,41,548,561,1888,1819,439,577
$RAFOS,4,1286670787,0.566667,0.551944,83,49,49,47,42,40,789,1773,463,1819,1785,609
$RAFOS,3,1286670307,0.433333,0.418611,46,46,42,42,41,39,593,900,1253,1654,791,182
$RAFOS,2,1286669826,0.300000,0.285000,46,42,41,40,40,39,980,476,26,976,1867,327
$RAFOS,1,1286669348,0.166667,0.152222,50,46,45,45,43,42,941,954,587,568,307,1613
$RAFOS,0,1286668870,0.033333,0.019444,51,43,41,41,41,40,1077,891,507,787,519,1039
$RAFOS_FIX,6703.661133,-5726.484863,101010,000022,3,102,1.18
$IRIDIUM_FIX,6636.54,-5710.59,091010,181816
$TT8_MAMPS,0.028462
$HUMID,52.00
$INTERNAL_PRESSURE,8.57302
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.6,21.973
$10V_AH,10.2,16.919
$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,16.250,109.075,366.675,33.675,0.000,31.295,16.792,105.542,0.000,0.000,28.263,3447.610,9316.695,509.684,2398.915,168.944,0.000,1681.710,0.000,2204.234,2520.000,0.535,0.000
$DEVICE_MAMPS,262.395,94.095,1109.250,492.660,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,937.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46650,1344
$CAP_FILE_SIZE,150228,0
$CFSIZE,260165632,238915584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.8
$CURRENT,0.170,347.2,1
$GPS,101010,033040,6702.347,-5727.062,29,1.2,29,-37.7