version: 66.08
glider: 183
mission: 3
dive: 204
start: 10 19 110 2 43 57
data:
$ID,183
$MISSION,3
$DIVE,204
$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,-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,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,-7989.6045
$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,22
$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
$GPS1,191010,023800,6646.316,-6003.705,33,1.6,39,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.0
$GPS2,191010,024325,6646.290,-6003.657,9,1.5,14,-38.1
$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,291.1,16886,-17.5,-10.000
$D_GRID,624
$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,-85.72,0.000,2,0.000,0.000,285,2779,3260,0,0,0,0,0,0
$GC,105,-0.57,-146.0,5.7,-13.4,14,126,8.50,2.03,-5.30,0.000,4,0.265,0.088,2277,3929,3522,0,0,0,0,0,0
$GC,349,-0.57,-146.0,60.1,-14.5,57,356,0.00,1.88,0.00,0.000,6,0.000,0.050,2277,2783,3524,0,0,0,0,0,0
$GC,690,-0.57,-146.0,103.0,-12.2,116,694,0.00,1.95,0.00,0.000,4,0.000,0.078,2272,3929,3524,0,0,0,0,0,0
$GC,723,-0.57,-146.0,107.6,-14.9,119,726,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2777,3524,0,0,0,0,0,0
$GC,1053,-0.57,-146.0,149.2,-12.5,150,1057,0.00,2.22,0.00,0.000,4,0.000,0.053,2272,1371,3524,0,0,0,0,0,0
$GC,1085,-0.57,-146.0,153.4,-12.2,152,1094,0.00,2.38,0.00,0.000,6,0.000,0.066,2272,2780,3524,0,0,0,0,0,0
$GC,1410,-0.57,-146.0,192.5,-12.1,183,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2780,3523,0,0,0,0,0,0
$GC,1730,-0.57,-146.0,230.6,-11.7,213,1734,0.00,1.95,0.00,0.000,4,0.000,0.078,2272,3929,3523,0,0,0,0,0,0
$GC,1763,-0.57,-146.0,234.7,-12.1,216,1767,0.00,1.88,0.00,0.000,6,0.000,0.051,2272,2771,3522,0,0,0,0,0,0
$GC,2093,-0.57,-146.0,270.8,-10.5,247,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2770,3522,0,0,0,0,0,0
$GC,2414,-0.57,-146.0,304.2,-10.1,277,2417,0.00,2.22,0.00,0.000,4,0.000,0.054,2272,1371,3521,0,0,0,0,0,0
$GC,2448,-0.57,-146.0,307.8,-10.4,280,2452,0.00,2.35,0.00,0.000,6,0.000,0.067,2272,2785,3521,0,0,0,0,0,0
$GC,2772,-0.57,-146.0,340.3,-9.9,310,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2786,3521,0,0,0,0,0,0
$GC,3092,-0.57,-146.0,369.3,-8.5,340,3096,0.00,2.25,0.00,0.000,4,0.000,0.054,2272,1371,3521,0,0,0,0,0,0
$GC,3119,-0.57,-146.0,371.8,-8.4,342,3126,0.00,2.35,0.00,0.000,6,0.000,0.066,2272,2779,3522,0,0,0,0,0,0
$GC,3445,-0.57,-146.0,398.2,-8.3,373,3449,0.00,1.95,0.00,0.000,4,0.000,0.077,2272,3936,3522,0,0,0,0,0,0
$GC,3501,-0.57,-146.0,403.0,-8.8,378,3505,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2786,3521,0,0,0,0,0,0
$GC,3832,-0.57,-146.0,429.5,-8.0,409,3836,0.00,2.22,0.00,0.000,4,0.000,0.052,2272,1366,3521,0,0,0,0,0,0
$GC,3871,-0.57,-146.0,432.7,-8.1,412,3875,0.00,2.35,0.00,0.000,6,0.000,0.066,2272,2787,3521,0,0,0,0,0,0
$GC,4196,-0.57,-146.0,457.8,-8.0,442,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2787,3522,0,0,0,0,0,0
$GC,4517,-0.57,-146.0,482.1,-7.4,472,4521,0.00,2.25,0.00,0.000,4,0.000,0.052,2272,1358,3522,0,0,0,0,0,0
$GC,4557,-0.57,-146.0,485.4,-7.5,475,4561,0.00,2.33,0.00,0.000,6,0.000,0.066,2272,2781,3522,0,0,0,0,0,0
$GC,4882,-0.57,-146.0,510.0,-8.2,505,4885,0.00,1.92,0.00,0.000,4,0.000,0.075,2270,3931,3523,0,0,0,0,0,0
$GC,4920,-0.57,-146.0,513.5,-9.5,508,4928,0.00,1.88,0.00,0.000,6,0.000,0.048,2270,2775,3523,0,0,0,0,0,0
$GC,5245,-0.57,-146.0,540.1,-8.2,539,5249,0.00,2.20,0.00,0.000,4,0.000,0.051,2270,1365,3523,0,0,0,0,0,0
$GC,5269,-0.57,-146.0,542.2,-8.6,541,5273,0.00,2.30,0.00,0.000,6,0.000,0.064,2266,2778,3523,0,0,0,0,0,0
$GC,5597,-0.57,-146.0,570.4,-8.7,571,5601,0.00,1.92,0.00,0.000,4,0.000,0.076,2264,3928,3523,0,0,0,0,0,0
$GC,5658,-0.57,-146.0,576.3,-9.6,576,5666,0.00,1.85,0.00,0.000,6,0.000,0.050,2264,2787,3523,0,0,0,0,0,0
$GC,6002,-0.57,-146.0,605.6,-8.7,605,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2787,3523,0,0,0,0,0,0
$STATE,6245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6245,begin apogee
$GC,6250,-0.14,0.0,626.2,8.5,613,6377,0.47,0.00,119.85,1.004,4,0.140,0.000,2420,2595,2922,0,0,0,0,0,0
$STATE,6378,end apogee,CONTROL_FINISHED_OK
$STATE,6378,begin climb
$GC,6379,0.57,146.0,629.6,0.0,617,6512,0.70,2.40,124.85,0.982,4,0.083,0.051,2660,1175,2327,0,0,0,0,0,0
$GC,6704,0.57,146.0,599.5,11.3,627,6708,0.00,2.45,0.00,0.000,6,0.000,0.058,2660,2603,2318,0,0,0,0,0,0
$GC,7032,0.57,146.0,559.4,12.5,657,7036,0.00,2.33,0.00,0.000,4,0.000,0.055,2663,1187,2315,0,0,0,0,0,0
$GC,7250,0.57,146.0,533.8,11.5,676,7254,0.00,2.38,0.00,0.000,6,0.000,0.058,2663,2611,2314,0,0,0,0,0,0
$GC,7581,0.57,146.0,494.6,11.8,707,7585,0.00,2.20,0.00,0.000,4,0.000,0.070,2663,3926,2313,0,0,0,0,0,0
$GC,7610,0.57,146.0,490.7,14.0,709,7614,0.00,2.17,0.00,0.000,6,0.000,0.047,2666,2588,2312,0,0,0,0,0,0
$GC,7940,0.57,146.0,449.8,12.5,740,7944,0.00,2.28,0.00,0.000,4,0.000,0.071,2666,3931,2313,0,0,0,0,0,0
$GC,7979,0.57,146.0,444.2,14.9,743,7986,0.00,2.15,0.00,0.000,6,0.000,0.047,2667,2601,2311,0,0,0,0,0,0
$GC,8303,0.57,146.0,403.3,12.2,774,8307,0.00,2.25,0.00,0.000,4,0.000,0.055,2667,1194,2311,0,0,0,0,0,0
$GC,8352,0.57,146.0,397.6,10.6,778,8359,0.00,2.30,0.00,0.000,6,0.000,0.058,2667,2589,2312,0,0,0,0,0,0
$GC,8678,0.57,146.0,359.3,11.7,809,8682,0.00,2.25,0.00,0.000,4,0.000,0.070,2666,3935,2312,0,0,0,0,0,0
$GC,8717,0.57,146.0,354.0,14.0,812,8721,0.00,2.15,0.00,0.000,6,0.000,0.047,2671,2598,2311,0,0,0,0,0,0
$GC,9047,0.57,146.0,313.6,11.9,843,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2597,2311,0,0,0,0,0,0
$GC,9368,0.57,146.0,276.3,11.2,873,9372,0.00,2.25,0.00,0.000,4,0.000,0.055,2674,1184,2311,0,0,0,0,0,0
$GC,9396,0.57,146.0,273.2,10.5,875,9400,0.00,2.30,0.00,0.000,6,0.000,0.057,2675,2613,2312,0,0,0,0,0,0
$GC,9721,0.57,146.0,239.9,10.6,905,9725,0.00,2.17,0.00,0.000,4,0.000,0.071,2674,3932,2311,0,0,0,0,0,0
$GC,9783,0.57,146.0,232.2,12.8,910,9787,0.00,2.12,0.00,0.000,6,0.000,0.047,2680,2604,2311,0,0,0,0,0,0
$GC,10114,0.57,146.0,196.5,10.5,941,10118,0.00,2.25,0.00,0.000,4,0.000,0.056,2680,1186,2311,0,0,0,0,0,0
$GC,10153,0.57,154.1,192.5,9.6,944,10167,0.00,2.28,5.50,0.656,6,0.000,0.059,2680,2600,2294,0,0,0,0,0,0
$GC,10483,0.57,154.1,156.5,11.1,975,10486,0.00,2.22,0.00,0.000,4,0.000,0.072,2680,3932,2293,0,0,0,0,0,0
$GC,10551,0.57,154.1,147.9,13.3,981,10555,0.00,2.12,0.00,0.000,6,0.000,0.047,2686,2605,2292,0,0,0,0,0,0
$GC,10882,0.60,191.3,115.8,8.3,1012,10916,0.00,0.00,31.92,0.711,6,0.000,0.000,2686,2604,2142,0,0,0,0,0,0
$GC,11240,0.62,218.4,83.1,8.7,1061,11272,0.00,2.33,22.88,0.691,4,0.000,0.073,2686,3921,2030,0,0,0,0,0,0
$GC,11363,0.62,218.4,70.0,11.4,1082,11370,0.00,2.15,0.00,0.000,6,0.000,0.048,2693,2610,2026,0,0,0,0,0,0
$GC,11706,0.65,277.3,38.0,7.3,1143,11761,0.00,0.00,48.47,0.666,6,0.000,0.000,2693,2609,1790,0,0,0,0,0,0
$GC,12092,0.69,331.8,8.5,7.5,1212,12143,0.00,2.33,44.10,0.651,4,0.000,0.071,2693,3926,1568,0,0,0,0,0,0
$STATE,12165,end climb,SURFACE_DEPTH_REACHED
$STATE,12165,begin surface coast
$FINISH,0.7,1.024508
$STATE,12198,end surface coast,CONTROL_FINISHED_OK
$STATE,12199,begin surface
$SM_CCo,12214,19.55,0.386,1,0,1495,350.04
$SM_GC,1.72,0.00,0.00,19.55,0.000,0.000,0.386,302,2782,1495,-6.79,0.06,350.04
$RAFOS_CLK,656
$RAFOS,6,1287463742,4.833333,4.817222,86,55,45,43,43,41,824,1371,257,751,1723,760
$RAFOS,5,1287463264,4.700000,4.684444,57,46,44,43,39,39,938,1696,517,447,491,1829
$RAFOS,4,1287462786,4.566667,4.551667,55,45,41,40,39,39,684,949,693,386,1421,1107
$RAFOS,3,1287462329,4.433333,4.424722,55,52,44,44,43,43,626,1363,1661,637,1389,1734
$RAFOS,2,1287461829,4.300000,4.285833,53,48,47,46,41,39,607,1342,1540,621,1419,1634
$RAFOS,1,1287461343,4.166667,4.150833,127,116,48,46,44,40,545,546,1892,294,196,659
$RAFOS,0,1287460862,4.033333,4.017222,63,43,43,43,43,40,652,463,1002,1423,26,1342
$RAFOS_FIX,6647.651367,-6005.997070,191010,040441,3,92,0.52
$IRIDIUM_FIX,6620.33,-6005.83,181010,222206
$TT8_MAMPS,0.028462
$HUMID,49.21
$INTERNAL_PRESSURE,8.50466
$TCM_TEMP,14.40
$XPDR_PINGS,1
$24V_AH,22.7,26.448
$10V_AH,10.1,20.683
$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,16.375,104.450,397.575,19.550,0.000,31.279,41.151,126.345,0.250,0.000,17.284,3137.310,6516.709,505.453,2255.536,162.772,0.000,1578.301,0.000,2011.937,2520.000,0.535,0.000
$DEVICE_MAMPS,265.455,87.975,1004.445,386.325,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189616
$DATA_FILE_SIZE,43345,1230
$CAP_FILE_SIZE,133707,0
$CFSIZE,260165632,235675648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.5
$CURRENT,0.185,170.2,1
$GPS,191010,060936,6644.700,-6006.480,37,1.1,48,-38.0