version: 66.08
glider: 183
mission: 3
dive: 309
start: 11 8 110 22 53 23
data:
$ID,183
$MISSION,3
$DIVE,309
$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,-8159.0908
$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,34
$R_STBD_OVSHOOT,16
$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
$GPS1,081110,224807,6643.363,-6004.017,27,1.1,27,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.0
$GPS2,081110,225250,6643.291,-6003.854,13,1.1,13,-38.0
$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,68.5,146069,-17.5,-10.000
$D_GRID,625
$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,-146.0,0.0,0.0,0,124,0.00,0.00,-105.88,0.000,2,0.000,0.000,297,2780,3213,0,0,0,0,0,0
$GC,126,-0.57,-146.0,6.2,-14.4,18,147,8.48,2.03,-5.95,0.000,4,0.261,0.083,2276,3939,3521,0,0,0,0,0,0
$GC,397,-0.57,-146.0,70.3,-15.1,66,404,0.00,1.88,0.00,0.000,6,0.000,0.049,2276,2781,3524,0,0,0,0,0,0
$GC,734,-0.57,-146.0,116.7,-12.3,115,738,0.00,2.28,0.00,0.000,4,0.000,0.053,2276,1371,3524,0,0,0,0,0,0
$GC,818,-0.57,-146.0,126.7,-11.6,122,822,0.00,2.35,0.00,0.000,6,0.000,0.064,2274,2774,3524,0,0,0,0,0,0
$GC,1142,-0.57,-146.0,164.6,-11.7,152,1147,0.00,2.25,0.00,0.000,4,0.000,0.052,2275,1369,3524,0,0,0,0,0,0
$GC,1182,-0.57,-146.0,169.1,-11.4,155,1186,0.00,2.30,0.00,0.000,6,0.000,0.063,2275,2747,3524,0,0,0,0,0,0
$GC,1507,-0.57,-146.0,205.0,-10.4,185,1511,0.00,2.20,0.00,0.000,4,0.000,0.052,2274,1368,3523,0,0,0,0,0,0
$GC,1524,-0.57,-146.0,206.9,-10.2,186,1528,0.00,2.28,0.00,0.000,6,0.000,0.063,2274,2748,3523,0,0,0,0,0,0
$GC,1849,-0.57,-146.0,241.6,-10.7,216,1853,0.00,2.20,0.00,0.000,4,0.000,0.053,2274,1370,3523,0,0,0,0,0,0
$GC,1870,-0.57,-146.0,244.1,-10.6,217,1877,0.00,2.30,0.00,0.000,6,0.000,0.063,2275,2735,3523,0,0,0,0,0,0
$GC,2196,-0.57,-146.0,278.3,-10.5,248,2199,0.00,2.00,0.00,0.000,4,0.000,0.074,2272,3928,3522,0,0,0,0,0,0
$GC,2234,-0.57,-146.0,282.4,-10.6,251,2241,0.00,1.92,0.00,0.000,6,0.000,0.050,2272,2757,3522,0,0,0,0,0,0
$GC,2560,-0.57,-146.0,312.8,-8.5,282,2564,0.00,2.20,0.00,0.000,4,0.000,0.053,2272,1368,3522,0,0,0,0,0,0
$GC,2593,-0.57,-146.0,315.9,-8.8,284,2600,0.00,2.28,0.00,0.000,6,0.000,0.063,2272,2748,3522,0,0,0,0,0,0
$GC,2918,-0.57,-146.0,345.1,-9.0,315,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2748,3522,0,0,0,0,0,0
$GC,3238,-0.57,-146.0,372.1,-8.2,345,3242,0.00,2.00,0.00,0.000,4,0.000,0.074,2265,3929,3522,0,0,0,0,0,0
$GC,3288,-0.57,-146.0,376.9,-9.6,349,3295,0.00,1.92,0.00,0.000,6,0.000,0.049,2266,2758,3522,0,0,0,0,0,0
$GC,3614,-0.57,-146.0,404.2,-8.7,380,3617,0.00,2.00,0.00,0.000,4,0.000,0.074,2259,3928,3522,0,0,0,0,0,0
$GC,3662,-0.57,-146.0,408.9,-9.3,384,3671,0.08,1.90,0.00,0.000,6,0.145,0.049,2285,2766,3522,0,0,0,0,0,0
$GC,3988,-0.57,-146.0,435.8,-7.6,415,3992,0.00,2.22,0.00,0.000,4,0.000,0.051,2285,1368,3522,0,0,0,0,0,0
$GC,4065,-0.57,-146.0,441.9,-7.5,421,4072,0.00,2.33,0.00,0.000,6,0.000,0.063,2285,2765,3522,0,0,0,0,0,0
$GC,4390,-0.57,-146.0,465.8,-7.5,452,4394,0.00,2.22,0.00,0.000,4,0.000,0.051,2285,1362,3522,0,0,0,0,0,0
$GC,4418,-0.57,-146.0,468.0,-7.8,454,4422,0.00,2.30,0.00,0.000,6,0.000,0.063,2285,2754,3522,0,0,0,0,0,0
$GC,4749,-0.57,-146.0,492.3,-7.5,485,4753,0.00,2.00,0.00,0.000,4,0.000,0.074,2280,3947,3523,0,0,0,0,0,0
$GC,4783,-0.57,-146.0,495.0,-8.3,488,4787,0.00,1.90,0.00,0.000,6,0.000,0.050,2280,2758,3523,0,0,0,0,0,0
$GC,5124,-0.57,-146.0,521.7,-7.9,503,5128,0.00,2.20,0.00,0.000,4,0.000,0.052,2280,1364,3523,0,0,0,0,0,0
$GC,5153,-0.57,-146.0,524.1,-8.5,504,5157,0.00,2.33,0.00,0.000,6,0.000,0.063,2279,2765,3523,0,0,0,0,0,0
$GC,5488,-0.57,-146.0,549.9,-7.6,515,5491,0.00,1.95,0.00,0.000,4,0.000,0.073,2274,3932,3524,0,0,0,0,0,0
$GC,5515,-0.57,-146.0,552.3,-8.3,515,5522,0.00,1.88,0.00,0.000,6,0.000,0.048,2275,2754,3523,0,0,0,0,0,0
$GC,5828,-0.57,-146.0,577.0,-8.0,526,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2755,3524,0,0,0,0,0,0
$GC,6134,-0.57,-146.0,600.4,-7.8,536,6138,0.00,2.03,0.00,0.000,4,0.000,0.074,2274,3925,3524,0,0,0,0,0,0
$GC,6172,-0.57,-146.0,603.5,-8.0,537,6176,0.00,1.90,0.00,0.000,6,0.000,0.048,2275,2763,3524,0,0,0,0,0,0
$STATE,6444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6444,begin apogee
$GC,6449,-0.14,0.0,626.0,8.7,546,6576,0.45,0.00,120.10,1.015,4,0.135,0.000,2423,2598,2922,0,0,0,0,0,0
$STATE,6577,end apogee,CONTROL_FINISHED_OK
$STATE,6577,begin climb
$GC,6579,0.57,146.0,629.5,0.0,550,6715,0.70,2.42,125.38,0.991,4,0.077,0.051,2663,1183,2329,0,0,0,0,0,0
$GC,6882,0.57,146.0,604.5,11.1,559,6887,0.00,2.47,0.00,0.000,6,0.000,0.055,2663,2601,2321,0,0,0,0,0,0
$GC,7212,0.57,146.0,565.3,12.1,570,7216,0.00,2.35,0.00,0.000,4,0.000,0.054,2665,1183,2318,0,0,0,0,0,0
$GC,7469,0.57,146.0,536.8,11.4,577,7476,0.00,2.38,0.00,0.000,6,0.000,0.056,2665,2597,2317,0,0,0,0,0,0
$GC,7782,0.57,146.0,499.8,12.1,588,7786,0.00,2.28,0.00,0.000,4,0.000,0.068,2665,3938,2316,0,0,0,0,0,0
$GC,7838,0.57,146.0,492.1,15.0,593,7842,0.00,2.15,0.00,0.000,6,0.000,0.045,2666,2599,2314,0,0,0,0,0,0
$GC,8169,0.57,146.0,450.7,12.2,624,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2598,2315,0,0,0,0,0,0
$GC,8489,0.57,146.0,411.9,11.7,654,8493,0.00,2.22,0.00,0.000,4,0.000,0.054,2666,1192,2315,0,0,0,0,0,0
$GC,8520,0.57,146.0,408.0,11.0,656,8529,0.00,2.33,0.00,0.000,6,0.000,0.056,2666,2599,2315,0,0,0,0,0,0
$GC,8846,0.57,146.0,371.4,11.2,687,8850,0.00,2.22,0.00,0.000,4,0.000,0.068,2667,3937,2315,0,0,0,0,0,0
$GC,8878,0.57,146.0,367.2,12.9,689,8886,0.00,2.17,0.00,0.000,6,0.000,0.045,2666,2600,2314,0,0,0,0,0,0
$GC,9204,0.57,146.0,329.7,11.2,720,9208,0.00,2.22,0.00,0.000,4,0.000,0.068,2666,3929,2314,0,0,0,0,0,0
$GC,9243,0.57,146.0,324.7,13.4,723,9247,0.00,2.10,0.00,0.000,6,0.000,0.044,2667,2606,2314,0,0,0,0,0,0
$GC,9573,0.57,146.0,286.1,11.4,754,9577,0.00,2.25,0.00,0.000,4,0.000,0.054,2667,1195,2314,0,0,0,0,0,0
$GC,9602,0.57,146.0,282.7,11.8,756,9606,0.00,2.33,0.00,0.000,6,0.000,0.056,2667,2624,2315,0,0,0,0,0,0
$GC,9931,0.57,146.0,246.5,10.5,787,9935,0.00,2.15,0.00,0.000,4,0.000,0.068,2667,3925,2315,0,0,0,0,0,0
$GC,9958,0.57,146.0,243.2,12.1,789,9966,0.00,2.12,0.00,0.000,6,0.000,0.045,2667,2616,2314,0,0,0,0,0,0
$GC,10284,0.57,146.0,210.9,10.0,820,10288,0.00,2.28,0.00,0.000,4,0.000,0.054,2667,1189,2314,0,0,0,0,0,0
$GC,10350,0.57,147.1,204.4,9.9,825,10357,0.00,2.30,0.00,0.000,6,0.000,0.057,2667,2615,2314,0,0,0,0,0,0
$GC,10675,0.57,156.7,173.1,9.6,856,10689,0.00,2.25,8.12,0.711,4,0.000,0.069,2667,3929,2284,0,0,0,0,0,0
$GC,10780,0.57,156.7,161.2,11.0,865,10785,0.00,2.10,0.00,0.000,6,0.000,0.045,2670,2607,2281,0,0,0,0,0,0
$GC,11111,0.58,166.9,129.7,9.5,896,11127,0.00,2.28,9.90,0.714,4,0.000,0.070,2670,3930,2242,0,0,0,0,0,0
$GC,11317,0.58,166.9,105.7,11.5,914,11325,0.00,2.08,0.00,0.000,6,0.000,0.045,2670,2656,2239,0,0,0,0,0,0
$GC,11658,0.63,243.6,78.5,6.5,969,11732,0.00,2.45,63.42,0.693,4,0.000,0.054,2670,1200,1926,0,0,0,0,0,0
$GC,11774,0.67,305.0,70.4,7.2,988,11831,0.00,2.40,50.28,0.674,6,0.000,0.056,2670,2630,1678,0,0,0,0,0,0
$GC,12169,0.70,342.1,37.8,8.3,1057,12206,0.00,2.22,29.38,0.664,4,0.000,0.071,2670,3925,1527,0,0,0,0,0,0
$GC,12225,0.71,363.1,33.1,9.0,1066,12251,0.00,2.12,18.35,0.649,6,0.000,0.047,2670,2627,1441,0,0,0,0,0,0
$GC,12585,0.76,442.3,10.0,6.3,1130,12656,0.15,2.38,63.47,0.649,4,0.105,0.072,2729,3933,1118,0,0,0,0,0,0
$STATE,12674,end climb,SURFACE_DEPTH_REACHED
$STATE,12674,begin surface coast
$FINISH,0.6,1.016613
$STATE,12707,end surface coast,CONTROL_FINISHED_OK
$STATE,12707,begin surface
$SM_CCo,12784,0.00,0.000,0,0,1109,444.73
$SM_GC,1.54,6.72,0.00,0.00,0.063,0.000,0.000,303,2780,1109,-6.71,0.00,444.73
$RAFOS_CLK,688
$RAFOS,6,1289263769,0.833333,0.824722,67,45,43,41,41,40,672,275,634,1330,1521,1467
$RAFOS,5,1289263266,0.700000,0.685000,43,42,41,41,40,40,964,458,1045,1846,892,327
$RAFOS,4,1289262782,0.566667,0.550556,56,54,50,43,41,41,707,696,1752,222,1746,1856
$RAFOS,3,1289262305,0.433333,0.418056,61,59,47,45,44,40,744,756,1927,274,1372,548
$RAFOS,2,1289261833,0.300000,0.286944,92,48,46,43,40,40,581,1936,1719,582,539,1222
$RAFOS,1,1289261347,0.166667,0.151944,67,52,43,42,41,39,520,529,1622,623,1660,530
$RAFOS,0,1289260862,0.033333,0.017222,84,58,54,41,41,41,664,1235,987,250,691,26
$RAFOS_FIX,6644.256348,-6001.309570,091110,000011,5,74,0.48
$IRIDIUM_FIX,6620.33,-6013.28,081110,191951
$TT8_MAMPS,0.028462
$HUMID,48.54
$INTERNAL_PRESSURE,8.47536
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,37.996
$10V_AH,10.0,29.635
$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,16.575,126.775,488.400,0.000,0.000,23.576,37.395,101.175,0.000,0.000,15.645,2910.614,7191.928,596.714,2182.646,204.762,0.000,1701.041,0.000,1995.729,2520.000,0.536,0.000
$DEVICE_MAMPS,260.865,82.620,1015.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.617,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40024,1150
$CAP_FILE_SIZE,138695,0
$CFSIZE,260165632,227762176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$CURRENT,0.017,230.2,1
$GPS,091110,022800,6644.357,-6002.454,35,1.0,35,-38.0