version: 66.08
glider: 183
mission: 3
dive: 336
start: 11 14 110 18 1 36
data:
$ID,183
$MISSION,3
$DIVE,336
$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,-8203.0469
$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,40
$R_STBD_OVSHOOT,28
$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
$GPS1,141110,175555,6658.204,-5723.239,39,1.3,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.9
$GPS2,141110,180102,6658.209,-5723.199,36,1.8,36,-37.6
$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,101.7,26923,-17.5,-10.000
$D_GRID,795
$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,15,-0.57,-146.0,0.0,0.0,0,112,0.00,0.00,-93.30,0.000,6,0.000,0.000,283,2789,3520,0,0,0,0,0,0
$GC,114,-0.57,-146.0,6.1,-14.8,16,129,8.45,2.30,0.00,0.000,4,0.253,0.040,2282,1359,3522,0,0,0,0,0,0
$GC,247,-0.57,-146.0,34.5,-12.1,39,254,0.00,2.35,0.00,0.000,6,0.000,0.056,2278,2782,3524,0,0,0,0,0,0
$GC,589,-0.57,-146.0,75.6,-10.1,100,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2782,3523,0,0,0,0,0,0
$GC,926,-0.57,-146.0,110.7,-10.6,152,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2782,3523,0,0,0,0,0,0
$GC,1248,-0.57,-146.0,141.4,-8.9,182,1252,0.00,2.20,0.00,0.000,4,0.000,0.044,2278,1374,3523,0,0,0,0,0,0
$GC,1288,-0.57,-146.0,145.5,-9.8,185,1292,0.00,2.30,0.00,0.000,6,0.000,0.057,2275,2773,3522,0,0,0,0,0,0
$GC,1613,-0.57,-146.0,172.1,-8.2,215,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2773,3522,0,0,0,0,0,0
$GC,1932,-0.57,-146.0,198.3,-8.6,245,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2773,3523,0,0,0,0,0,0
$GC,2251,-0.57,-146.0,225.7,-8.1,275,2255,0.00,2.17,0.00,0.000,4,0.000,0.044,2274,1374,3523,0,0,0,0,0,0
$GC,2317,-0.57,-146.0,231.6,-8.6,280,2324,0.00,2.28,0.00,0.000,6,0.000,0.055,2274,2772,3523,0,0,0,0,0,0
$GC,2642,-0.57,-146.0,255.6,-6.8,311,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2772,3523,0,0,0,0,0,0
$GC,2963,-0.57,-146.0,276.5,-6.7,341,2966,0.00,1.90,0.00,0.000,4,0.000,0.064,2273,3929,3524,0,0,0,0,0,0
$GC,3001,-0.57,-146.0,279.6,-7.8,344,3008,0.00,1.85,0.00,0.000,6,0.000,0.041,2272,2768,3524,0,0,0,0,0,0
$GC,3327,-0.57,-146.0,304.6,-7.7,375,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2767,3525,0,0,0,0,0,0
$GC,3648,-0.57,-146.0,327.9,-7.1,405,3652,0.00,2.15,0.00,0.000,4,0.000,0.044,2272,1373,3525,0,0,0,0,0,0
$GC,3677,-0.57,-146.0,330.3,-7.6,407,3681,0.00,2.25,0.00,0.000,6,0.000,0.055,2272,2765,3525,0,0,0,0,0,0
$GC,4008,-0.57,-146.0,354.5,-7.2,438,4012,0.00,2.17,0.00,0.000,4,0.000,0.043,2272,1366,3526,0,0,0,0,0,0
$GC,4036,-0.57,-146.0,356.7,-7.8,440,4041,0.00,2.28,0.00,0.000,6,0.000,0.055,2272,2760,3525,0,0,0,0,0,0
$GC,4362,-0.57,-146.0,382.8,-8.8,470,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2760,3525,0,0,0,0,0,0
$GC,4681,-0.57,-146.0,410.3,-8.4,500,4685,0.00,2.17,0.00,0.000,4,0.000,0.045,2272,1370,3525,0,0,0,0,0,0
$GC,4708,-0.57,-146.0,413.1,-9.4,502,4715,0.00,2.22,0.00,0.000,6,0.000,0.056,2272,2743,3525,0,0,0,0,0,0
$GC,5033,-0.57,-146.0,440.6,-8.2,533,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2742,3525,0,0,0,0,0,0
$GC,5356,-0.57,-146.0,466.8,-7.5,563,5359,0.00,1.98,0.00,0.000,4,0.000,0.068,2272,3934,3525,0,0,0,0,0,0
$GC,5394,-0.57,-146.0,470.1,-7.8,566,5401,0.00,1.90,0.00,0.000,6,0.000,0.043,2272,2734,3524,0,0,0,0,0,0
$GC,5719,-0.57,-146.0,491.9,-6.7,597,5723,0.00,2.12,0.00,0.000,4,0.000,0.047,2272,1374,3523,0,0,0,0,0,0
$GC,5746,-0.57,-146.0,493.7,-7.0,599,5753,0.00,2.25,0.00,0.000,6,0.000,0.057,2272,2744,3524,0,0,0,0,0,0
$GC,6063,-0.57,-146.0,514.6,-6.6,616,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3523,0,0,0,0,0,0
$GC,6370,-0.57,-146.0,535.5,-7.0,626,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3523,0,0,0,0,0,0
$GC,6675,-0.57,-146.0,557.4,-7.4,636,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3523,0,0,0,0,0,0
$GC,6982,-0.57,-146.0,580.3,-7.5,646,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3522,0,0,0,0,0,0
$GC,7288,-0.57,-146.0,603.3,-7.5,656,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3522,0,0,0,0,0,0
$GC,7594,-0.57,-146.0,624.9,-6.9,666,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3522,0,0,0,0,0,0
$GC,7900,-0.57,-146.0,645.4,-6.8,676,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3521,0,0,0,0,0,0
$GC,8207,-0.57,-146.0,666.5,-6.8,686,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2744,3520,0,0,0,0,0,0
$GC,8514,-0.57,-146.0,687.8,-6.8,696,8518,0.00,2.17,0.00,0.000,4,0.000,0.049,2271,1368,3520,0,0,0,0,0,0
$GC,8546,-0.57,-146.0,690.4,-7.5,697,8550,0.00,2.25,0.00,0.000,6,0.000,0.059,2272,2728,3520,0,0,0,0,0,0
$GC,8882,-0.57,-146.0,714.9,-7.0,708,8886,0.00,2.00,0.00,0.000,4,0.000,0.070,2272,3924,3519,0,0,0,0,0,0
$GC,8920,-0.57,-146.0,717.9,-7.5,709,8924,0.00,1.92,0.00,0.000,6,0.000,0.045,2272,2736,3519,0,0,0,0,0,0
$GC,9256,-0.57,-146.0,742.9,-7.4,720,9260,0.00,2.15,0.00,0.000,4,0.000,0.049,2272,1370,3519,0,0,0,0,0,0
$GC,9283,-0.57,-146.0,745.0,-7.5,720,9290,0.00,2.25,0.00,0.000,6,0.000,0.059,2272,2728,3519,0,0,0,0,0,0
$GC,9600,-0.57,-146.0,767.7,-7.3,731,9603,0.00,2.00,0.00,0.000,4,0.000,0.070,2271,3924,3518,0,0,0,0,0,0
$GC,9637,-0.57,-146.0,770.5,-7.8,732,9641,0.00,1.92,0.00,0.000,6,0.000,0.046,2272,2722,3518,0,0,0,0,0,0
$GC,9979,-0.57,-146.0,793.5,-6.5,743,9983,0.00,2.12,0.00,0.000,4,0.000,0.048,2272,1371,3518,0,0,0,0,0,0
$STATE,10004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10004,begin apogee
$GC,10011,-0.14,0.0,795.4,6.8,743,10139,0.47,0.00,121.62,1.095,4,0.131,0.000,2428,2604,2923,0,0,0,0,0,0
$STATE,10140,end apogee,CONTROL_FINISHED_OK
$STATE,10140,begin climb
$GC,10142,0.57,146.0,797.9,0.0,747,10278,0.65,2.40,128.80,1.073,4,0.063,0.048,2661,1191,2327,0,0,0,0,0,0
$GC,10403,0.57,146.0,773.2,12.9,755,10407,0.00,2.47,0.00,0.000,6,0.000,0.055,2661,2607,2319,0,0,0,0,0,0
$GC,10738,0.57,146.0,729.6,12.6,766,10742,0.00,2.33,0.00,0.000,4,0.000,0.052,2662,1195,2315,0,0,0,0,0,0
$GC,10983,0.57,146.0,700.3,11.4,773,10987,0.00,2.35,0.00,0.000,6,0.000,0.056,2663,2599,2315,0,0,0,0,0,0
$GC,11313,0.57,146.0,659.8,12.3,784,11317,0.00,2.25,0.00,0.000,4,0.000,0.067,2662,3928,2312,0,0,0,0,0,0
$GC,11351,0.57,146.0,654.2,14.1,785,11356,0.00,2.15,0.00,0.000,6,0.000,0.044,2665,2606,2311,0,0,0,0,0,0
$GC,11682,0.57,146.0,612.2,12.9,796,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2606,2311,0,0,0,0,0,0
$GC,11988,0.57,146.0,571.8,13.1,806,11992,0.00,2.22,0.00,0.000,4,0.000,0.067,2665,3927,2312,0,0,0,0,0,0
$GC,12016,0.57,146.0,567.6,14.6,807,12020,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2606,2310,0,0,0,0,0,0
$GC,12351,0.57,146.0,524.7,12.6,818,12355,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3929,2310,0,0,0,0,0,0
$GC,12372,0.57,146.0,521.9,12.5,818,12379,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2613,2310,0,0,0,0,0,0
$GC,12690,0.57,146.0,482.0,12.4,837,12694,0.00,2.22,0.00,0.000,4,0.000,0.067,2666,3928,2309,0,0,0,0,0,0
$GC,12716,0.57,146.0,478.2,13.9,839,12724,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2629,2309,0,0,0,0,0,0
$GC,13042,0.57,146.0,439.1,12.2,870,13046,0.00,2.30,0.00,0.000,4,0.000,0.053,2666,1188,2309,0,0,0,0,0,0
$GC,13064,0.57,146.0,436.3,12.0,871,13071,0.00,2.33,0.00,0.000,6,0.000,0.054,2666,2629,2310,0,0,0,0,0,0
$GC,13389,0.57,146.0,396.4,12.2,902,13393,0.00,2.17,0.00,0.000,4,0.000,0.067,2666,3928,2309,0,0,0,0,0,0
$GC,13427,0.57,146.0,390.8,14.0,905,13436,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2629,2309,0,0,0,0,0,0
$GC,13753,0.57,146.0,350.3,12.3,936,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2309,0,0,0,0,0,0
$GC,14073,0.57,146.0,310.0,12.0,966,14074,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2308,0,0,0,0,0,0
$GC,14392,0.57,146.0,272.5,11.4,996,14393,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2308,0,0,0,0,0,0
$GC,14712,0.57,146.0,233.1,12.8,1026,14718,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2308,0,0,0,0,0,0
$GC,15038,0.57,146.0,190.9,12.7,1057,15039,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2308,0,0,0,0,0,0
$GC,15357,0.57,146.0,150.8,12.5,1087,15358,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2629,2309,0,0,0,0,0,0
$GC,15675,0.57,146.0,113.0,11.8,1117,15679,0.00,2.15,0.00,0.000,4,0.000,0.064,2666,3928,2310,0,0,0,0,0,0
$GC,15753,0.57,146.0,102.1,13.5,1123,15760,0.00,2.05,0.00,0.000,6,0.000,0.041,2666,2627,2309,0,0,0,0,0,0
$GC,16094,0.57,146.0,65.2,10.3,1182,16100,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2627,2310,0,0,0,0,0,0
$GC,16438,0.59,176.7,31.8,8.6,1243,16469,0.00,2.28,23.58,0.599,4,0.000,0.047,2666,1192,2201,0,0,0,0,0,0
$GC,16571,0.59,185.8,19.4,9.6,1266,16585,0.00,2.38,8.57,0.564,6,0.000,0.050,2666,2653,2164,0,0,0,0,0,0
$STATE,16758,end climb,SURFACE_DEPTH_REACHED
$STATE,16758,begin surface coast
$FINISH,0.9,1.013955
$STATE,16793,end surface coast,CONTROL_FINISHED_OK
$STATE,16793,begin surface
$SM_CCo,16808,74.00,0.077,0,0,1496,350.04
$SM_GC,1.87,0.00,0.00,74.00,0.000,0.000,0.077,293,2785,1496,-6.82,0.14,350.04
$RAFOS_CLK,825
$RAFOS,6,1289767744,20.833334,20.817778,46,44,42,42,42,41,1816,1378,1582,26,1679,1905
$RAFOS,5,1289767290,20.700001,20.691668,76,49,42,41,41,40,447,154,1729,1787,1269,272
$RAFOS,4,1289766796,20.566668,20.554445,93,44,44,43,42,42,750,1460,255,715,277,1122
$RAFOS,3,1289766331,20.433332,20.425278,65,49,47,42,42,41,782,1149,393,90,660,1442
$RAFOS,2,1289765839,20.299999,20.288610,44,44,43,43,42,40,698,921,529,1213,1418,1152
$RAFOS,1,1289765349,20.166666,20.152500,55,55,43,42,41,41,1166,961,356,443,197,1393
$RAFOS,0,1289764890,20.033333,20.025000,46,46,44,43,43,43,1300,972,1186,1875,1764,1931
$RAFOS_FIX,1578500.000000,1579100.000000,180607,141432,18038,15797,-2423051026984659077562368.00
$IRIDIUM_FIX,6631.12,-5733.42,141110,131303
$TT8_MAMPS,0.029211
$HUMID,46.53
$INTERNAL_PRESSURE,8.65115
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,22.3,41.151
$10V_AH,10.0,32.024
$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,15.975,104.600,282.575,74.000,0.000,30.072,16.697,108.136,0.000,0.000,39.799,3419.465,10766.460,480.604,2373.653,236.119,0.000,1635.819,0.000,2169.837,2520.000,0.537,0.000
$DEVICE_MAMPS,253.215,77.265,1095.480,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189584
$DATA_FILE_SIZE,46603,1305
$CAP_FILE_SIZE,151067,0
$CFSIZE,260165632,225656832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$CURRENT,0.076, 33.9,1
$GPS,141110,224536,6659.662,-5717.862,31,1.1,31,-37.6