version: 66.08
glider: 183
mission: 3
dive: 310
start: 11 9 110 2 33 30
data:
$ID,183
$MISSION,3
$DIVE,310
$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,-8160.4429
$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,23
$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
$GPS1,091110,022800,6644.357,-6002.454,35,1.0,35,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.4
$GPS2,091110,023256,6644.305,-6002.550,13,1.3,13,-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,112.6,144697,-17.5,-10.000
$D_GRID,641
$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,13,begin dive
$GC,15,-0.57,-146.0,0.0,0.0,0,118,0.00,0.00,-100.97,0.000,2,0.000,0.000,298,2780,3168,0,0,0,0,0,0
$GC,120,-0.57,-146.0,5.7,-12.3,17,142,8.50,2.35,-7.12,0.000,4,0.262,0.063,2285,1361,3522,0,0,0,0,0,0
$GC,194,-0.57,-146.0,28.1,-17.6,29,201,0.00,2.38,0.00,0.000,6,0.000,0.063,2279,2781,3525,0,0,0,0,0,0
$GC,536,-0.57,-146.0,78.1,-14.2,90,544,0.00,2.30,0.00,0.000,4,0.000,0.052,2279,1353,3524,0,0,0,0,0,0
$GC,584,-0.57,-146.0,84.7,-13.8,98,592,0.00,2.38,0.00,0.000,6,0.000,0.064,2276,2769,3524,0,0,0,0,0,0
$GC,917,-0.57,-146.0,128.0,-12.4,139,922,0.00,2.28,0.00,0.000,4,0.000,0.053,2276,1359,3524,0,0,0,0,0,0
$GC,977,-0.57,-146.0,135.7,-11.4,144,985,0.00,2.38,0.00,0.000,6,0.000,0.064,2275,2761,3524,0,0,0,0,0,0
$GC,1304,-0.57,-146.0,173.0,-11.2,175,1308,0.00,1.98,0.00,0.000,4,0.000,0.075,2272,3935,3524,0,0,0,0,0,0
$GC,1363,-0.57,-146.0,180.0,-11.3,180,1371,0.00,1.92,0.00,0.000,6,0.000,0.050,2272,2768,3524,0,0,0,0,0,0
$GC,1690,-0.57,-146.0,214.9,-10.6,211,1694,0.00,2.25,0.00,0.000,4,0.000,0.054,2272,1366,3523,0,0,0,0,0,0
$GC,1718,-0.57,-146.0,217.8,-10.3,213,1722,0.00,2.35,0.00,0.000,6,0.000,0.064,2272,2784,3523,0,0,0,0,0,0
$GC,2044,-0.57,-146.0,250.2,-9.8,243,2048,0.00,2.28,0.00,0.000,4,0.000,0.053,2272,1361,3522,0,0,0,0,0,0
$GC,2084,-0.57,-146.0,254.2,-9.9,246,2088,0.00,2.35,0.00,0.000,6,0.000,0.064,2272,2782,3523,0,0,0,0,0,0
$GC,2409,-0.57,-146.0,287.1,-9.8,276,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2782,3522,0,0,0,0,0,0
$GC,2731,-0.57,-146.0,319.0,-9.9,306,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2782,3522,0,0,0,0,0,0
$GC,3057,-0.57,-146.0,350.8,-9.2,337,3061,0.00,2.25,0.00,0.000,4,0.000,0.053,2272,1369,3522,0,0,0,0,0,0
$GC,3109,-0.57,-146.0,355.7,-9.1,341,3113,0.00,2.33,0.00,0.000,6,0.000,0.064,2272,2773,3522,0,0,0,0,0,0
$GC,3439,-0.57,-146.0,385.3,-9.0,372,3443,0.00,1.95,0.00,0.000,4,0.000,0.076,2272,3936,3522,0,0,0,0,0,0
$GC,3474,-0.57,-146.0,388.5,-9.5,375,3478,0.00,1.90,0.00,0.000,6,0.000,0.050,2272,2763,3522,0,0,0,0,0,0
$GC,3804,-0.57,-146.0,416.9,-8.9,406,3808,0.00,2.20,0.00,0.000,4,0.000,0.051,2271,1370,3522,0,0,0,0,0,0
$GC,3894,-0.57,-146.0,424.9,-8.8,413,3900,0.00,2.30,0.00,0.000,6,0.000,0.063,2272,2764,3523,0,0,0,0,0,0
$GC,4219,-0.57,-146.0,451.0,-7.6,444,4222,0.00,1.95,0.00,0.000,4,0.000,0.074,2272,3929,3522,0,0,0,0,0,0
$GC,4246,-0.57,-146.0,453.2,-7.4,446,4254,0.00,1.90,0.00,0.000,6,0.000,0.048,2272,2751,3522,0,0,0,0,0,0
$GC,4571,-0.57,-146.0,477.4,-7.3,477,4575,0.00,2.17,0.00,0.000,4,0.000,0.052,2272,1370,3523,0,0,0,0,0,0
$GC,4633,-0.57,-146.0,482.2,-7.9,482,4640,0.00,2.28,0.00,0.000,6,0.000,0.063,2272,2751,3523,0,0,0,0,0,0
$GC,4966,-0.57,-146.0,508.3,-8.1,508,4969,0.00,1.98,0.00,0.000,4,0.000,0.073,2272,3931,3523,0,0,0,0,0,0
$GC,5004,-0.57,-146.0,511.7,-8.5,509,5008,0.00,1.95,0.00,0.000,6,0.000,0.048,2272,2737,3523,0,0,0,0,0,0
$GC,5340,-0.57,-146.0,537.5,-7.6,520,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2737,3524,0,0,0,0,0,0
$GC,5647,-0.57,-146.0,562.4,-8.2,530,5651,0.00,2.03,0.00,0.000,4,0.000,0.075,2272,3933,3524,0,0,0,0,0,0
$GC,5674,-0.57,-146.0,564.9,-8.4,530,5682,0.00,1.92,0.00,0.000,6,0.000,0.048,2272,2735,3524,0,0,0,0,0,0
$GC,5987,-0.57,-146.0,590.0,-7.7,541,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2735,3524,0,0,0,0,0,0
$GC,6293,-0.57,-146.0,616.1,-8.7,551,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2735,3524,0,0,0,0,0,0
$GC,6601,-0.57,-146.0,640.0,-7.4,561,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2734,3524,0,0,0,0,0,0
$STATE,6628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6628,begin apogee
$GC,6632,-0.14,0.0,642.4,7.5,562,6761,0.47,0.00,119.82,1.024,4,0.135,0.000,2427,2601,2926,0,0,0,0,0,0
$STATE,6762,end apogee,CONTROL_FINISHED_OK
$STATE,6762,begin climb
$GC,6764,0.57,146.0,648.1,0.0,566,6900,0.68,2.42,127.22,1.000,4,0.074,0.051,2661,1183,2326,0,0,0,0,0,0
$GC,7030,0.57,146.0,626.5,11.1,574,7034,0.00,2.47,0.00,0.000,6,0.000,0.054,2661,2604,2318,0,0,0,0,0,0
$GC,7358,0.57,146.0,586.9,12.0,585,7362,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1191,2314,0,0,0,0,0,0
$GC,7588,0.57,146.0,560.8,11.1,592,7592,0.00,2.38,0.00,0.000,6,0.000,0.057,2663,2616,2314,0,0,0,0,0,0
$GC,7922,0.57,146.0,522.2,11.7,603,7926,0.00,2.20,0.00,0.000,4,0.000,0.067,2662,3932,2312,0,0,0,0,0,0
$GC,7978,0.57,146.0,514.5,14.5,604,7985,0.00,2.15,0.00,0.000,6,0.000,0.044,2664,2602,2311,0,0,0,0,0,0
$GC,8299,0.57,146.0,476.0,12.0,627,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2602,2311,0,0,0,0,0,0
$GC,8616,0.57,146.0,436.6,12.4,657,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2602,2311,0,0,0,0,0,0
$GC,8937,0.57,146.0,398.3,11.7,687,8941,0.00,2.22,0.00,0.000,4,0.000,0.053,2666,1194,2311,0,0,0,0,0,0
$GC,8965,0.57,146.0,395.0,11.1,689,8969,0.00,2.30,0.00,0.000,6,0.000,0.056,2666,2616,2311,0,0,0,0,0,0
$GC,9290,0.57,146.0,358.8,11.0,719,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2615,2311,0,0,0,0,0,0
$GC,9610,0.57,146.0,325.2,10.4,749,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2616,2311,0,0,0,0,0,0
$GC,9929,0.57,146.0,291.7,10.6,779,9933,0.00,2.17,0.00,0.000,4,0.000,0.067,2666,3932,2311,0,0,0,0,0,0
$GC,9946,0.57,146.0,289.7,11.0,780,9949,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2619,2310,0,0,0,0,0,0
$GC,10276,0.57,146.0,255.4,10.5,811,10281,0.00,2.25,0.00,0.000,4,0.000,0.053,2666,1191,2310,0,0,0,0,0,0
$GC,10331,0.57,146.0,249.2,10.9,815,10339,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2614,2311,0,0,0,0,0,0
$GC,10657,0.57,146.0,214.4,10.4,846,10660,0.00,2.17,0.00,0.000,4,0.000,0.068,2666,3926,2311,0,0,0,0,0,0
$GC,10773,0.57,146.0,200.0,12.6,856,10781,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2625,2311,0,0,0,0,0,0
$GC,11100,0.61,206.7,171.2,7.2,887,11150,0.00,0.00,47.95,0.740,6,0.000,0.000,2666,2625,2079,0,0,0,0,0,0
$GC,11468,0.62,222.4,138.6,9.3,922,11486,0.00,2.25,13.12,0.713,4,0.000,0.068,2666,3930,2015,0,0,0,0,0,0
$GC,11543,0.62,222.4,130.6,11.0,928,11547,0.00,2.12,0.00,0.000,6,0.000,0.045,2666,2615,2013,0,0,0,0,0,0
$GC,11869,0.62,225.4,99.2,9.9,959,11876,0.00,2.28,0.00,0.000,4,0.000,0.054,2666,1189,2010,0,0,0,0,0,0
$GC,11932,0.65,266.4,93.8,8.1,970,11977,0.00,2.38,36.95,0.702,6,0.000,0.057,2666,2629,1835,0,0,0,0,0,0
$GC,12312,0.67,296.3,61.2,8.6,1037,12343,0.00,2.38,24.62,0.693,4,0.000,0.054,2666,1182,1713,0,0,0,0,0,0
$GC,12361,0.70,353.8,57.6,7.3,1045,12418,0.10,2.38,48.10,0.676,6,0.125,0.056,2705,2603,1479,0,0,0,0,0,0
$GC,12753,0.73,396.9,19.8,8.0,1114,12798,0.00,2.35,34.22,0.662,4,0.000,0.070,2705,3927,1302,0,0,0,0,0,0
$GC,12850,0.78,466.0,12.3,6.8,1130,12913,0.00,2.12,56.20,0.644,6,0.000,0.047,2705,2645,1021,0,0,0,0,0,0
$STATE,12973,end climb,SURFACE_DEPTH_REACHED
$STATE,12973,begin surface coast
$FINISH,0.7,1.013358
$STATE,13018,end surface coast,CONTROL_FINISHED_OK
$STATE,13018,begin surface
$SM_CCo,13093,0.00,0.000,0,0,1011,468.77
$SM_GC,1.61,6.53,0.00,0.00,0.050,0.000,0.000,302,2788,1011,-6.73,0.23,468.77
$RAFOS_CLK,709
$RAFOS,6,1289278147,4.833333,4.818611,74,54,50,44,43,42,768,730,471,754,1547,1011
$RAFOS,5,1289277685,4.700000,4.690278,103,46,42,42,41,39,794,499,195,1185,813,1283
$RAFOS,4,1289277183,4.566667,4.550833,81,46,44,44,40,39,701,1431,1068,483,1223,1329
$RAFOS,3,1289276705,4.433333,4.418056,46,44,42,40,40,39,148,1783,1159,204,326,1382
$RAFOS,2,1289276240,4.300000,4.288889,80,64,44,43,41,41,547,556,1482,511,916,1477
$RAFOS,1,1289275750,4.166667,4.152778,72,71,44,43,40,38,511,510,635,1289,1418,233
$RAFOS,0,1289275286,4.033333,4.023889,52,48,48,48,44,44,529,1221,1498,1416,996,558
$RAFOS_FIX,6645.179199,-5959.223145,091110,040438,5,82,0.41
$IRIDIUM_FIX,6620.33,-6013.28,081110,222246
$TT8_MAMPS,0.028462
$HUMID,48.62
$INTERNAL_PRESSURE,8.45583
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,38.127
$10V_AH,10.0,29.709
$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,16.275,106.600,508.225,0.000,0.000,25.696,42.766,106.366,0.000,0.000,15.801,2936.618,7515.022,604.736,2151.326,204.386,0.000,1678.268,0.000,1949.875,2520.000,0.535,0.000
$DEVICE_MAMPS,261.630,76.500,1023.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189560
$DATA_FILE_SIZE,39998,1159
$CAP_FILE_SIZE,135553,0
$CFSIZE,260165632,227700736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$CURRENT,0.009, 10.5,1
$GPS,091110,061307,6644.877,-5958.829,24,1.0,24,-38.0