version: 66.08
glider: 183
mission: 3
dive: 167
start: 10 10 110 17 43 5
data:
$ID,183
$MISSION,3
$DIVE,167
$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,-7934.9062
$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,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,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
$GPS1,101010,173716,6701.650,-5742.092,63,99.0,82,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.6
$GPS2,101010,174231,6701.657,-5742.144,34,99.0,53,-37.8
$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,247.5,124251,-17.5,-10.000
$D_GRID,869
$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,-146.0,0.0,0.0,0,108,0.00,0.00,-90.68,0.000,2,0.000,0.000,274,2788,3452,0,0,0,0,0,0
$GC,109,-0.57,-146.0,6.6,-17.4,15,130,8.43,1.98,-1.38,0.000,4,0.262,0.080,2276,3935,3522,0,0,0,0,0,0
$GC,302,-0.57,-146.0,49.8,-11.8,49,309,0.00,1.88,0.00,0.000,6,0.000,0.049,2276,2780,3525,0,0,0,0,0,0
$GC,644,-0.57,-146.0,89.9,-10.8,110,651,0.00,2.28,0.00,0.000,4,0.000,0.053,2276,1370,3525,0,0,0,0,0,0
$GC,740,-0.57,-146.0,100.2,-10.2,127,747,0.00,2.33,0.00,0.000,6,0.000,0.064,2275,2772,3525,0,0,0,0,0,0
$GC,1066,-0.57,-146.0,137.6,-11.7,158,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2772,3525,0,0,0,0,0,0
$GC,1384,-0.57,-146.0,173.4,-11.1,188,1387,0.00,1.92,0.00,0.000,4,0.000,0.075,2269,3931,3525,0,0,0,0,0,0
$GC,1418,-0.57,-146.0,177.4,-12.4,191,1421,0.00,1.88,0.00,0.000,6,0.000,0.050,2269,2761,3525,0,0,0,0,0,0
$GC,1748,-0.57,-146.0,212.8,-9.8,222,1752,0.00,2.20,0.00,0.000,4,0.000,0.053,2269,1371,3524,0,0,0,0,0,0
$GC,1770,-0.57,-146.0,215.2,-10.5,223,1777,0.00,2.33,0.00,0.000,6,0.000,0.065,2263,2763,3525,0,0,0,0,0,0
$GC,2095,-0.57,-146.0,247.4,-10.2,254,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2764,3524,0,0,0,0,0,0
$GC,2415,-0.57,-146.0,280.2,-10.0,284,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2764,3523,0,0,0,0,0,0
$GC,2733,-0.57,-146.0,312.5,-10.1,314,2737,0.00,2.22,0.00,0.000,4,0.000,0.053,2263,1365,3523,0,0,0,0,0,0
$GC,2753,-0.57,-146.0,314.9,-10.1,315,2761,0.08,2.33,0.00,0.000,6,0.158,0.064,2283,2762,3523,0,0,0,0,0,0
$GC,3080,-0.57,-146.0,340.5,-7.5,346,3083,0.00,1.95,0.00,0.000,4,0.000,0.075,2280,3931,3523,0,0,0,0,0,0
$GC,3141,-0.57,-146.0,345.7,-8.4,351,3148,0.00,1.88,0.00,0.000,6,0.000,0.050,2280,2760,3523,0,0,0,0,0,0
$GC,3466,-0.57,-146.0,372.2,-8.1,382,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2759,3523,0,0,0,0,0,0
$GC,3786,-0.57,-146.0,399.2,-8.8,412,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2759,3523,0,0,0,0,0,0
$GC,4105,-0.57,-146.0,424.6,-7.7,442,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2759,3523,0,0,0,0,0,0
$GC,4423,-0.57,-146.0,451.1,-8.4,472,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2759,3524,0,0,0,0,0,0
$GC,4742,-0.57,-146.0,478.0,-8.3,502,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2759,3524,0,0,0,0,0,0
$GC,5060,-0.57,-146.0,504.8,-8.7,532,5064,0.00,2.20,0.00,0.000,4,0.000,0.052,2280,1358,3523,0,0,0,0,0,0
$GC,5100,-0.57,-146.0,508.5,-8.6,535,5104,0.00,2.33,0.00,0.000,6,0.000,0.064,2279,2778,3524,0,0,0,0,0,0
$GC,5425,-0.57,-146.0,536.1,-8.6,565,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2778,3523,0,0,0,0,0,0
$GC,5744,-0.57,-146.0,560.8,-7.6,595,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2778,3524,0,0,0,0,0,0
$GC,6065,-0.57,-146.0,586.4,-8.4,625,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2778,3523,0,0,0,0,0,0
$GC,6385,-0.57,-146.0,613.3,-8.0,646,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2778,3523,0,0,0,0,0,0
$GC,6691,-0.57,-146.0,637.3,-7.7,656,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2778,3523,0,0,0,0,0,0
$GC,6997,-0.57,-146.0,661.8,-8.1,666,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2778,3524,0,0,0,0,0,0
$GC,7303,-0.57,-146.0,685.9,-7.7,676,7307,0.00,2.22,0.00,0.000,4,0.000,0.052,2279,1368,3523,0,0,0,0,0,0
$GC,7332,-0.57,-146.0,688.0,-7.6,677,7336,0.00,2.30,0.00,0.000,6,0.000,0.063,2280,2776,3523,0,0,0,0,0,0
$GC,7666,-0.57,-146.0,714.2,-7.9,688,7670,0.00,1.90,0.00,0.000,4,0.000,0.074,2273,3935,3523,0,0,0,0,0,0
$GC,7700,-0.57,-146.0,717.0,-9.2,689,7704,0.00,1.88,0.00,0.000,6,0.000,0.049,2273,2770,3524,0,0,0,0,0,0
$GC,8041,-0.57,-146.0,744.4,-8.3,700,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3524,0,0,0,0,0,0
$GC,8347,-0.57,-146.0,768.5,-7.9,710,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3524,0,0,0,0,0,0
$GC,8655,-0.57,-146.0,793.2,-8.2,720,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3524,0,0,0,0,0,0
$GC,8960,-0.57,-146.0,819.1,-8.4,730,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3524,0,0,0,0,0,0
$GC,9269,-0.57,-146.0,844.3,-8.0,740,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3523,0,0,0,0,0,0
$GC,9572,-0.57,-146.0,868.7,-8.2,750,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3523,0,0,0,0,0,0
$STATE,9600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9601,begin apogee
$GC,9605,-0.14,0.0,871.0,8.1,751,9733,0.45,0.00,122.43,1.150,4,0.137,0.000,2422,2592,2923,0,0,0,0,0,0
$STATE,9734,end apogee,CONTROL_FINISHED_OK
$STATE,9734,begin climb
$GC,9735,0.57,146.0,873.9,0.0,755,9871,0.70,2.40,128.70,1.130,4,0.081,0.052,2661,1182,2327,0,0,0,0,0,0
$GC,10055,0.57,146.0,842.2,12.3,764,10063,0.00,2.47,0.00,0.000,6,0.000,0.059,2661,2594,2316,0,0,0,0,0,0
$GC,10368,0.57,146.0,801.5,12.8,775,10372,0.00,2.33,0.00,0.000,4,0.000,0.056,2666,1188,2314,0,0,0,0,0,0
$GC,10556,0.57,146.0,778.7,12.0,780,10561,0.00,2.40,0.00,0.000,6,0.000,0.059,2666,2605,2313,0,0,0,0,0,0
$GC,10875,0.57,146.0,736.4,13.6,791,10879,0.00,2.25,0.00,0.000,4,0.000,0.070,2666,3933,2312,0,0,0,0,0,0
$GC,10917,0.57,146.0,729.5,16.4,792,10922,0.00,2.17,0.00,0.000,6,0.000,0.047,2670,2606,2311,0,0,0,0,0,0
$GC,11242,0.57,146.0,683.6,14.3,803,11246,0.00,2.22,0.00,0.000,4,0.000,0.070,2670,3933,2311,0,0,0,0,0,0
$GC,11270,0.57,146.0,679.2,16.4,804,11274,0.00,2.12,0.00,0.000,6,0.000,0.047,2678,2616,2310,0,0,0,0,0,0
$GC,11605,0.57,146.0,631.0,14.0,815,11609,0.00,2.22,0.00,0.000,4,0.000,0.070,2678,3944,2310,0,0,0,0,0,0
$GC,11633,0.57,146.0,626.5,16.8,816,11637,0.00,2.12,0.00,0.000,6,0.000,0.047,2687,2622,2309,0,0,0,0,0,0
$GC,11955,0.57,146.0,579.7,14.1,835,11959,0.00,2.22,0.00,0.000,4,0.000,0.070,2686,3941,2309,0,0,0,0,0,0
$GC,11988,0.57,146.0,574.1,17.0,837,11996,0.15,2.08,0.00,0.000,6,0.213,0.047,2659,2631,2309,0,0,0,0,0,0
$GC,12312,0.57,146.0,533.2,12.5,868,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2631,2309,0,0,0,0,0,0
$GC,12632,0.57,146.0,492.5,12.8,898,12636,0.00,2.17,0.00,0.000,4,0.000,0.071,2659,3943,2309,0,0,0,0,0,0
$GC,12655,0.57,146.0,489.2,14.1,899,12661,0.00,2.08,0.00,0.000,6,0.000,0.047,2664,2629,2308,0,0,0,0,0,0
$GC,12980,0.57,146.0,447.2,12.3,930,12984,0.00,2.17,0.00,0.000,4,0.000,0.071,2663,3937,2309,0,0,0,0,0,0
$GC,13000,0.57,146.0,443.9,13.7,931,13008,0.00,2.08,0.00,0.000,6,0.000,0.047,2666,2649,2308,0,0,0,0,0,0
$GC,13326,0.57,146.0,402.4,12.8,962,13328,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2649,2308,0,0,0,0,0,0
$GC,13647,0.57,146.0,361.2,13.0,992,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2649,2309,0,0,0,0,0,0
$GC,13964,0.57,146.0,319.1,13.6,1022,13968,0.00,2.12,0.00,0.000,4,0.000,0.071,2667,3933,2308,0,0,0,0,0,0
$GC,14002,0.57,146.0,312.7,16.6,1025,14011,0.00,2.08,0.00,0.000,6,0.000,0.047,2668,2641,2308,0,0,0,0,0,0
$GC,14328,0.57,146.0,268.4,12.7,1056,14332,0.00,2.15,0.00,0.000,4,0.000,0.071,2668,3940,2308,0,0,0,0,0,0
$GC,14348,0.57,146.0,265.1,14.3,1057,14357,0.00,2.08,0.00,0.000,6,0.000,0.046,2674,2648,2309,0,0,0,0,0,0
$GC,14674,0.57,146.0,222.4,12.7,1088,14678,0.00,2.15,0.00,0.000,4,0.000,0.070,2674,3943,2308,0,0,0,0,0,0
$GC,14708,0.57,146.0,217.6,14.8,1091,14712,0.00,2.08,0.00,0.000,6,0.000,0.047,2681,2652,2309,0,0,0,0,0,0
$GC,15038,0.57,146.0,174.6,12.5,1122,15042,0.00,2.33,0.00,0.000,4,0.000,0.055,2684,1183,2308,0,0,0,0,0,0
$GC,15089,0.57,146.0,168.6,11.5,1126,15093,0.00,2.35,0.00,0.000,6,0.000,0.058,2684,2648,2309,0,0,0,0,0,0
$GC,15418,0.57,146.0,130.5,10.7,1157,15419,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2647,2309,0,0,0,0,0,0
$GC,15738,0.57,146.0,97.3,10.4,1189,15745,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2648,2309,0,0,0,0,0,0
$GC,16081,0.59,181.0,65.2,8.4,1250,16113,0.00,2.40,26.38,0.670,4,0.000,0.055,2688,1193,2184,0,0,0,0,0,0
$GC,16259,0.63,242.3,47.5,7.2,1281,16316,0.00,2.35,50.30,0.656,6,0.000,0.060,2688,2631,1934,0,0,0,0,0,0
$GC,16651,0.72,387.2,18.4,3.3,1350,16774,0.00,2.50,115.10,0.630,4,0.000,0.055,2688,1198,1342,0,0,0,0,0,0
$STATE,16800,end climb,SURFACE_DEPTH_REACHED
$STATE,16801,begin surface coast
$FINISH,2.5,1.025546
$STATE,16807,end surface coast,CONTROL_FINISHED_OK
$STATE,16807,begin surface
$SM_CCo,16884,0.00,0.000,0,0,1332,390.27
$SM_GC,1.49,7.05,0.00,0.00,0.091,0.000,0.000,302,2782,1332,-6.74,0.06,390.27
$RAFOS_CLK,905
$RAFOS,6,1286743764,20.833334,20.823334,100,45,43,42,40,39,601,1800,1673,26,516,1566
$RAFOS,5,1286743275,20.700001,20.687500,99,54,48,46,41,39,473,474,307,1868,1768,314
$RAFOS,4,1286742798,20.566668,20.555000,47,47,45,44,42,42,1576,135,153,910,783,671
$RAFOS,3,1286742303,20.433332,20.417500,47,44,44,39,39,39,642,832,1913,752,1250,1531
$RAFOS,2,1286741849,20.299999,20.291389,47,42,41,41,41,40,1252,945,407,945,539,1175
$RAFOS,1,1286741359,20.166666,20.155277,47,45,43,43,42,42,516,1402,823,1596,656,1520
$RAFOS,0,1286740869,20.033333,20.019167,45,44,44,41,40,40,1805,1043,393,1726,201,364
$RAFOS_FIX,6731.222656,-5659.270508,101010,202000,2,100,5.63
$IRIDIUM_FIX,6625.71,-5746.88,101010,121241
$TT8_MAMPS,0.028462
$HUMID,49.40
$INTERNAL_PRESSURE,8.55349
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.6,22.436
$10V_AH,10.1,17.255
$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,16.850,101.075,442.900,0.000,0.000,29.362,16.432,114.914,0.000,0.000,57.603,3475.978,10583.199,530.026,2467.879,177.006,0.000,1727.720,0.000,2234.246,2520.000,0.535,0.000
$DEVICE_MAMPS,262.395,80.325,1149.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189544
$DATA_FILE_SIZE,49957,1376
$CAP_FILE_SIZE,152990,0
$CFSIZE,260165632,238612480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.9
$CURRENT,0.089,140.4,1
$GPS,101010,222608,6659.310,-5743.513,27,1.4,27,-37.7