version: 66.08
glider: 183
mission: 3
dive: 498
start: 12 12 110 13 44 39
data:
$ID,183
$MISSION,3
$DIVE,498
$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,9
$D_PITCH,3
$D_SAFE,500
$D_CALL,4
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,609.0799
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9060.1611
$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,0.02
$PITCH_ADJ_DBAND,1
$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,23
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.4000001
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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,48
$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
$GPS1,121210,122734,6644.094,-5949.706,0,7128.0,0,-38.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,8.62
$_SM_ANGLEo,-3.1
$GPS2,121210,122734,6644.094,-5949.706,0,7128.0,0,-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,113.1,135810,-17.5,-10.000
$D_GRID,754
$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,16,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.85,0.000,2,0.000,0.000,2501,2601,2790,0,0,0,0,0,0
$GC,26,-0.57,-146.0,9.8,-0.0,1,51,0.57,1.98,-17.60,0.000,4,0.086,0.068,2288,1370,3522,0,0,0,0,0,0
$GC,70,-0.57,-146.0,13.2,-8.7,8,77,0.00,2.33,0.00,0.000,6,0.000,0.063,2287,2780,3523,0,0,0,0,0,0
$GC,415,-0.57,-146.0,58.7,-10.2,69,422,0.00,1.98,0.00,0.000,4,0.000,0.073,2280,3929,3523,0,0,0,0,0,0
$GC,589,-0.57,-146.0,78.4,-12.0,99,595,0.00,1.77,0.00,0.000,6,0.000,0.048,2280,2821,3523,0,0,0,0,0,0
$GC,931,-0.57,-146.0,118.4,-11.3,146,935,0.00,2.33,0.00,0.000,4,0.000,0.052,2280,1372,3523,0,0,0,0,0,0
$GC,993,-0.61,-146.0,125.1,-10.8,151,998,0.00,2.40,0.00,0.000,6,0.000,0.064,2279,2819,3523,0,0,0,0,0,0
$GC,1320,-0.64,-146.0,156.0,-8.7,181,1324,0.00,2.33,0.00,0.000,4,0.000,0.052,2279,1373,3522,0,0,0,0,0,0
$GC,1358,-0.68,-146.0,159.7,-9.1,184,1365,0.00,2.35,0.00,0.000,6,0.000,0.063,2278,2789,3522,0,0,0,0,0,0
$GC,1684,-0.71,-146.0,189.6,-9.6,215,1688,0.00,2.28,0.00,0.000,4,0.000,0.052,2279,1370,3521,0,0,0,0,0,0
$GC,1718,-0.75,-146.0,193.0,-9.9,217,1725,0.12,2.38,0.00,0.000,6,0.105,0.063,2224,2801,3521,0,0,0,0,0,0
$GC,2044,-0.69,-146.0,235.4,-12.4,248,2048,0.00,1.90,0.00,0.000,4,0.000,0.074,2220,3929,3521,0,0,0,0,0,0
$GC,2101,-0.63,-146.0,243.1,-12.9,253,2106,0.12,1.85,0.00,0.000,6,0.146,0.048,2276,2804,3521,0,0,0,0,0,0
$GC,2433,-0.68,-146.0,271.6,-8.0,284,2437,0.00,2.30,0.00,0.000,4,0.000,0.053,2277,1364,3521,0,0,0,0,0,0
$GC,2467,-0.75,-146.0,274.5,-8.3,287,2472,0.12,2.40,0.00,0.000,6,0.103,0.063,2219,2813,3521,0,0,0,0,0,0
$GC,2794,-0.69,-146.0,311.5,-11.2,317,2798,0.12,2.33,0.00,0.000,4,0.184,0.051,2251,1373,3520,0,0,0,0,0,0
$GC,2838,-0.73,-146.0,315.8,-8.2,320,2845,0.00,2.38,0.00,0.000,6,0.000,0.064,2252,2801,3520,0,0,0,0,0,0
$GC,3163,-0.73,-146.0,342.3,-7.8,351,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2800,3520,0,0,0,0,0,0
$GC,3485,-0.73,-146.0,367.2,-7.8,381,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2801,3520,0,0,0,0,0,0
$GC,3812,-0.73,-146.0,393.2,-7.9,412,3816,0.00,2.30,0.00,0.000,4,0.000,0.050,2251,1362,3521,0,0,0,0,0,0
$GC,3869,-0.77,-146.0,398.0,-8.1,416,3876,0.00,2.35,0.00,0.000,6,0.000,0.063,2251,2782,3520,0,0,0,0,0,0
$GC,4205,-0.79,-146.0,425.7,-8.2,429,4209,0.00,2.25,0.00,0.000,4,0.000,0.050,2251,1371,3521,0,0,0,0,0,0
$GC,4234,-0.82,-146.0,428.3,-8.6,430,4239,0.12,2.35,0.00,0.000,6,0.103,0.062,2196,2780,3521,0,0,0,0,0,0
$GC,4575,-0.74,-146.0,467.5,-11.6,441,4577,0.15,0.00,0.00,0.000,6,0.184,0.000,2235,2781,3521,0,0,0,0,0,0
$GC,4882,-0.74,-146.0,494.7,-8.6,451,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2781,3522,0,0,0,0,0,0
$GC,5187,-0.74,-146.0,521.3,-9.0,461,5191,0.00,2.25,0.00,0.000,4,0.000,0.050,2235,1368,3522,0,0,0,0,0,0
$GC,5216,-0.74,-146.0,523.9,-8.9,462,5220,0.00,2.35,0.00,0.000,6,0.000,0.061,2235,2779,3522,0,0,0,0,0,0
$GC,5557,-0.74,-146.0,554.3,-9.0,473,5561,0.00,1.98,0.00,0.000,4,0.000,0.072,2230,3928,3522,0,0,0,0,0,0
$GC,5596,-0.74,-146.0,558.3,-9.8,474,5600,0.00,1.88,0.00,0.000,6,0.000,0.047,2230,2781,3522,0,0,0,0,0,0
$GC,5932,-0.74,-146.0,589.1,-9.1,485,5936,0.00,2.28,0.00,0.000,4,0.000,0.051,2229,1362,3523,0,0,0,0,0,0
$GC,5981,-0.74,-146.0,594.1,-9.6,486,5985,0.00,2.35,0.00,0.000,6,0.000,0.061,2230,2782,3523,0,0,0,0,0,0
$GC,6300,-0.74,-146.0,623.5,-9.3,497,6304,0.00,1.92,0.00,0.000,4,0.000,0.070,2225,3932,3523,0,0,0,0,0,0
$GC,6335,-0.72,-146.0,626.8,-10.1,498,6339,0.00,1.88,0.00,0.000,6,0.000,0.047,2225,2774,3523,0,0,0,0,0,0
$GC,6677,-0.70,-146.0,659.7,-9.5,509,6681,0.00,2.22,0.00,0.000,4,0.000,0.050,2224,1368,3523,0,0,0,0,0,0
$GC,6698,-0.70,-146.0,662.0,-9.6,509,6705,0.00,2.35,0.00,0.000,6,0.000,0.061,2224,2782,3523,0,0,0,0,0,0
$GC,7012,-0.68,-146.0,692.2,-9.8,520,7014,0.12,0.00,0.00,0.000,6,0.187,0.000,2258,2782,3523,0,0,0,0,0,0
$GC,7318,-0.73,-146.0,716.4,-7.9,530,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2782,3523,0,0,0,0,0,0
$GC,7625,-0.78,-146.0,739.5,-7.5,540,7629,0.10,2.30,0.00,0.000,4,0.121,0.050,2214,1367,3523,0,0,0,0,0,0
$GC,7646,-0.78,-146.0,741.6,-8.7,540,7653,0.00,2.33,0.00,0.000,6,0.000,0.061,2205,2782,3523,0,0,0,0,0,0
$STATE,7773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7773,begin apogee
$GC,7779,-0.14,0.0,755.4,10.9,545,7911,0.70,0.00,125.15,1.074,4,0.142,0.000,2425,2597,2922,0,0,0,0,0,0
$STATE,7911,end apogee,CONTROL_FINISHED_OK
$STATE,7911,begin climb
$GC,7914,0.57,146.0,759.6,0.0,549,8054,0.68,2.45,132.90,1.048,4,0.070,0.050,2659,1185,2326,0,0,0,0,0,0
$GC,8188,0.57,146.0,737.8,10.8,557,8195,0.00,2.50,0.00,0.000,6,0.000,0.054,2659,2608,2318,0,0,0,0,0,0
$GC,8502,0.51,146.0,701.9,11.3,568,8507,0.00,2.35,0.00,0.000,4,0.000,0.053,2662,1187,2314,0,0,0,0,0,0
$GC,8737,0.49,146.0,676.7,10.7,575,8742,0.00,2.35,0.00,0.000,6,0.000,0.056,2662,2613,2314,0,0,0,0,0,0
$GC,9068,0.42,146.0,640.3,11.0,586,9073,0.17,2.20,0.00,0.000,4,0.197,0.067,2616,3925,2313,0,0,0,0,0,0
$GC,9106,0.42,146.0,636.0,11.0,587,9110,0.00,2.15,0.00,0.000,6,0.000,0.044,2616,2611,2312,0,0,0,0,0,0
$GC,9443,0.47,190.2,608.7,8.0,598,9482,0.00,0.00,37.12,0.972,6,0.000,0.000,2617,2609,2147,0,0,0,0,0,0
$GC,9778,0.53,209.0,578.7,9.1,609,9798,0.00,0.00,17.52,0.934,6,0.000,0.000,2616,2609,2070,0,0,0,0,0,0
$GC,10085,0.60,223.5,550.2,9.3,619,10107,0.15,2.35,13.35,0.907,4,0.093,0.054,2680,1184,2011,0,0,0,0,0,0
$GC,10119,0.57,223.5,546.4,12.6,620,10124,0.00,2.38,0.00,0.000,6,0.000,0.055,2680,2624,2011,0,0,0,0,0,0
$GC,10455,0.52,223.5,498.5,14.4,631,10460,0.15,2.33,0.00,0.000,4,0.193,0.054,2642,1186,2007,0,0,0,0,0,0
$GC,10478,0.52,223.5,495.4,13.2,631,10482,0.00,2.35,0.00,0.000,6,0.000,0.055,2641,2622,2007,0,0,0,0,0,0
$GC,10791,0.55,223.5,459.6,11.6,641,10795,0.00,2.20,0.00,0.000,4,0.000,0.067,2642,3935,2007,0,0,0,0,0,0
$GC,10812,0.55,223.5,456.6,13.1,641,10819,0.00,2.15,0.00,0.000,6,0.000,0.044,2643,2614,2005,0,0,0,0,0,0
$GC,11126,0.57,223.5,419.4,11.8,652,11130,0.00,2.25,0.00,0.000,4,0.000,0.054,2643,1193,2005,0,0,0,0,0,0
$GC,11164,0.65,223.5,415.1,10.4,653,11169,0.12,2.30,0.00,0.000,6,0.103,0.055,2695,2616,2005,0,0,0,0,0,0
$GC,11486,0.58,223.5,368.2,14.6,677,11491,0.12,2.30,0.00,0.000,4,0.197,0.054,2664,1190,2004,0,0,0,0,0,0
$GC,11507,0.58,223.5,365.1,13.5,678,11514,0.00,2.30,0.00,0.000,6,0.000,0.055,2664,2600,2004,0,0,0,0,0,0
$GC,11833,0.58,223.5,326.8,11.5,709,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2601,2004,0,0,0,0,0,0
$GC,12153,0.58,223.5,289.2,11.5,739,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2600,2004,0,0,0,0,0,0
$GC,12471,0.58,223.5,252.1,11.4,769,12475,0.00,2.28,0.00,0.000,4,0.000,0.054,2664,1192,2004,0,0,0,0,0,0
$GC,12515,0.64,223.5,246.9,10.9,772,12522,0.00,2.25,0.00,0.000,6,0.000,0.055,2664,2593,2004,0,0,0,0,0,0
$GC,12841,0.64,223.5,212.0,10.5,803,12845,0.00,2.25,0.00,0.000,4,0.000,0.054,2664,1181,2004,0,0,0,0,0,0
$GC,12893,0.71,233.8,206.7,9.5,807,12908,0.10,2.25,9.70,0.721,6,0.118,0.055,2707,2579,1969,0,0,0,0,0,0
$GC,13234,0.67,233.8,161.2,13.7,839,13239,0.00,2.28,0.00,0.000,4,0.000,0.067,2707,3934,1966,0,0,0,0,0,0
$GC,13267,0.59,233.8,156.2,15.4,841,13275,0.17,2.20,0.00,0.000,6,0.190,0.044,2666,2565,1965,0,0,0,0,0,0
$GC,13593,0.65,261.0,124.0,8.7,872,13623,0.00,0.00,24.42,0.701,6,0.000,0.000,2665,2565,1856,0,0,0,0,0,0
$GC,13946,0.74,290.4,93.2,8.6,911,13977,0.15,2.40,25.35,0.684,4,0.099,0.069,2723,3928,1738,0,0,0,0,0,0
$GC,13990,0.71,290.4,87.9,12.9,918,13997,0.00,2.20,0.00,0.000,6,0.000,0.046,2725,2584,1736,0,0,0,0,0,0
$GC,14335,0.71,290.4,44.9,10.3,979,14342,0.00,2.25,0.00,0.000,4,0.000,0.055,2724,1189,1731,0,0,0,0,0,0
$GC,14418,0.76,298.9,36.9,9.6,993,14431,0.00,2.25,7.88,0.637,6,0.000,0.056,2725,2560,1704,0,0,0,0,0,0
$FREEZE,8.65,-1.715,-1.753,2,16,0
$STATE,14706,end climb,FINISH_DEPTH_REACHED
$STATE,14706,begin subsurface finish
$FINISH1,8.7,1.025673,90
$GC,14713,0.06,89.6,8.7,-11.6,1044,14750,0.73,2.28,-26.52,0.000,4,0.148,0.086,2499,3919,2560,0,0,0,0,0,0
$FINISH2,7.1
$STATE,14750,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14750,begin surface
$RAFOS_CLK,854
$RAFOS,6,1292172571,16.833334,16.825277,113,44,43,39,39,39,607,1027,1858,247,337,789
$RAFOS,5,1292172084,16.700001,16.690001,120,47,44,43,43,42,759,148,676,487,1696,1495
$RAFOS,4,1292171583,16.566668,16.550833,89,45,43,42,42,40,642,792,1756,747,938,399
$RAFOS,3,1292171102,16.433332,16.417223,146,47,47,45,40,40,738,244,1365,661,1021,1937
$RAFOS,2,1292170643,16.299999,16.289722,109,48,46,45,43,43,531,1513,638,1567,1478,1685
$RAFOS,1,1292170143,16.166666,16.150833,122,43,42,41,40,39,588,916,1882,508,1942,1377
$RAFOS,0,1292169663,16.033333,16.017500,96,47,46,44,43,41,701,550,1889,962,434,173
$RAFOS_FIX,6644.779297,-5944.590332,121210,161649,7,114,0.28
$IRIDIUM_FIX,6614.97,-6003.82,101210,131352
$TT8_MAMPS,0.028462
$HUMID,49.76
$INTERNAL_PRESSURE,8.60232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,21.6,60.048
$10V_AH,9.9,43.506
$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,4.825,132.725,393.400,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2678.464,9593.392,474.505,1871.809,212.134,0.000,1500.634,0.000,1853.046,2520.000,21.648,0.000
$DEVICE_MAMPS,197.370,134.640,1074.060,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151648
$DATA_FILE_SIZE,36759,1050
$CAP_FILE_SIZE,146700,0
$CFSIZE,260165632,214740992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,121210,162649,6644.779,-5944.590,0,7113.6,0,-38.0