version: 66.08
glider: 183
mission: 3
dive: 524
start: 12 17 110 18 16 29
data:
$ID,183
$MISSION,3
$DIVE,524
$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,-3
$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,-9810.5195
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,171210,180130,6701.209,-5710.459,37,1.5,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.8
$GPS2,171210,181558,6701.283,-5710.508,14,2.5,33,-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,116.5,16562,-17.5,-10.000
$D_GRID,735
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,155,0.00,0.00,-134.50,0.000,2,0.000,0.000,284,2786,3271,0,0,0,0,0,0
$GC,159,-0.57,-146.0,5.5,-12.4,24,179,8.43,2.38,-5.28,0.000,4,0.247,0.065,2286,1363,3523,0,0,0,0,0,0
$GC,261,-0.60,-146.0,28.1,-10.7,41,268,0.00,2.38,0.00,0.000,6,0.000,0.063,2286,2775,3526,0,0,0,0,0,0
$GC,607,-0.60,-146.0,65.0,-9.4,102,614,0.00,1.95,0.00,0.000,4,0.000,0.074,2279,3930,3525,0,0,0,0,0,0
$GC,661,-0.60,-146.0,70.9,-11.7,111,667,0.00,1.83,0.00,0.000,6,0.000,0.050,2279,2796,3525,0,0,0,0,0,0
$GC,1008,-0.60,-146.0,108.2,-10.6,166,1012,0.00,2.30,0.00,0.000,4,0.000,0.053,2279,1364,3525,0,0,0,0,0,0
$GC,1048,-0.64,-146.0,112.6,-10.2,169,1052,0.00,2.35,0.00,0.000,6,0.000,0.063,2278,2781,3525,0,0,0,0,0,0
$GC,1374,-0.66,-146.0,144.1,-9.7,199,1377,0.00,1.95,0.00,0.000,4,0.000,0.075,2271,3936,3525,0,0,0,0,0,0
$GC,1424,-0.69,-146.0,149.5,-10.1,203,1430,0.00,1.88,0.00,0.000,6,0.000,0.050,2272,2773,3524,0,0,0,0,0,0
$GC,1750,-0.71,-146.0,179.9,-8.6,234,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2773,3524,0,0,0,0,0,0
$GC,2070,-0.74,-146.0,208.4,-9.2,264,2072,0.10,0.00,0.00,0.000,6,0.119,0.000,2226,2773,3524,0,0,0,0,0,0
$GC,2387,-0.68,-146.0,247.2,-11.7,294,2391,0.10,2.00,0.00,0.000,4,0.184,0.075,2244,3932,3524,0,0,0,0,0,0
$GC,2414,-0.65,-146.0,250.4,-11.5,296,2421,0.00,1.88,0.00,0.000,6,0.000,0.050,2244,2763,3524,0,0,0,0,0,0
$GC,2739,-0.65,-146.0,281.7,-9.3,327,2743,0.00,2.20,0.00,0.000,4,0.000,0.050,2244,1371,3523,0,0,0,0,0,0
$GC,2772,-0.65,-146.0,285.1,-10.0,329,2779,0.00,2.33,0.00,0.000,6,0.000,0.063,2243,2771,3523,0,0,0,0,0,0
$GC,3098,-0.65,-146.0,314.9,-9.2,360,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2772,3524,0,0,0,0,0,0
$GC,3418,-0.65,-146.0,345.9,-9.6,390,3422,0.00,2.25,0.00,0.000,4,0.000,0.051,2243,1367,3525,0,0,0,0,0,0
$GC,3442,-0.65,-146.0,348.3,-9.6,392,3446,0.00,2.33,0.00,0.000,6,0.000,0.063,2243,2772,3524,0,0,0,0,0,0
$GC,3767,-0.65,-146.0,379.2,-9.4,422,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2772,3525,0,0,0,0,0,0
$GC,4083,-0.65,-146.0,409.8,-9.6,446,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2772,3527,0,0,0,0,0,0
$GC,4388,-0.65,-146.0,438.1,-9.0,456,4392,0.00,1.95,0.00,0.000,4,0.000,0.073,2237,3930,3526,0,0,0,0,0,0
$GC,4410,-0.65,-146.0,440.4,-9.8,456,4414,0.00,1.88,0.00,0.000,6,0.000,0.047,2237,2756,3526,0,0,0,0,0,0
$GC,4730,-0.65,-146.0,470.8,-9.5,467,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2756,3527,0,0,0,0,0,0
$GC,5038,-0.65,-146.0,500.2,-9.5,477,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2756,3527,0,0,0,0,0,0
$GC,5342,-0.65,-146.0,528.3,-9.0,487,5345,0.00,2.00,0.00,0.000,4,0.000,0.073,2230,3934,3527,0,0,0,0,0,0
$GC,5379,-0.63,-146.0,531.7,-9.5,488,5384,0.15,1.88,0.00,0.000,6,0.159,0.047,2271,2760,3527,0,0,0,0,0,0
$GC,5722,-0.69,-146.0,553.4,-6.0,499,5726,0.00,2.22,0.00,0.000,4,0.000,0.050,2272,1367,3528,0,0,0,0,0,0
$GC,5757,-0.78,-146.0,555.8,-6.6,500,5762,0.15,2.33,0.00,0.000,6,0.089,0.061,2204,2760,3528,0,0,0,0,0,0
$GC,6087,-0.72,-146.0,589.7,-10.7,511,6091,0.15,2.00,0.00,0.000,4,0.174,0.071,2237,3935,3528,0,0,0,0,0,0
$GC,6125,-0.72,-146.0,593.5,-9.4,512,6129,0.00,1.92,0.00,0.000,6,0.000,0.048,2238,2745,3528,0,0,0,0,0,0
$GC,6461,-0.72,-146.0,621.5,-8.5,523,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2238,2745,3528,0,0,0,0,0,0
$GC,6770,-0.72,-146.0,647.8,-8.6,533,6774,0.00,2.03,0.00,0.000,4,0.000,0.073,2235,3933,3529,0,0,0,0,0,0
$GC,6799,-0.72,-146.0,650.8,-8.9,533,6806,0.00,1.90,0.00,0.000,6,0.000,0.048,2235,2758,3528,0,0,0,0,0,0
$GC,7113,-0.72,-146.0,677.9,-8.8,544,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2758,3528,0,0,0,0,0,0
$GC,7418,-0.72,-146.0,704.3,-8.6,554,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2758,3529,0,0,0,0,0,0
$GC,7729,-0.72,-146.0,730.7,-8.7,564,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2758,3528,0,0,0,0,0,0
$STATE,7783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7783,begin apogee
$GC,7789,-0.14,0.0,736.0,8.8,566,7923,0.57,0.00,126.10,1.056,4,0.131,0.000,2423,2596,2922,0,0,0,0,0,0
$STATE,7924,end apogee,CONTROL_FINISHED_OK
$STATE,7924,begin climb
$GC,7927,0.57,146.0,740.1,0.0,570,8067,0.68,2.42,131.90,1.037,4,0.065,0.051,2661,1188,2326,0,0,0,0,0,0
$GC,8185,0.55,146.0,719.5,11.3,578,8189,0.00,2.47,0.00,0.000,6,0.000,0.056,2661,2603,2319,0,0,0,0,0,0
$GC,8509,0.49,146.0,680.2,12.3,589,8513,0.00,2.33,0.00,0.000,4,0.000,0.055,2662,1181,2314,0,0,0,0,0,0
$GC,8743,0.49,146.0,652.9,11.5,596,8747,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2603,2315,0,0,0,0,0,0
$GC,9079,0.42,146.0,611.5,12.6,607,9084,0.17,2.22,0.00,0.000,4,0.190,0.069,2616,3932,2313,0,0,0,0,0,0
$GC,9107,0.39,146.0,607.9,12.3,607,9114,0.00,2.12,0.00,0.000,6,0.000,0.046,2616,2598,2311,0,0,0,0,0,0
$GC,9420,0.42,157.2,578.4,9.5,618,9431,0.00,0.00,8.35,0.869,6,0.000,0.000,2616,2598,2282,0,0,0,0,0,0
$GC,9756,0.46,174.9,547.7,9.2,629,9780,0.00,2.33,17.30,0.916,4,0.000,0.054,2616,1194,2209,0,0,0,0,0,0
$GC,9815,0.56,189.7,542.2,9.3,630,9836,0.12,2.35,13.88,0.889,6,0.101,0.057,2671,2613,2151,0,0,0,0,0,0
$GC,10163,0.51,189.7,498.7,12.7,642,10165,0.12,0.00,0.00,0.000,6,0.193,0.000,2640,2614,2146,0,0,0,0,0,0
$GC,10466,0.51,189.7,467.3,10.1,652,10471,0.00,2.28,0.00,0.000,4,0.000,0.055,2641,1195,2145,0,0,0,0,0,0
$GC,10496,0.55,189.7,464.2,10.4,653,10500,0.00,2.30,0.00,0.000,6,0.000,0.057,2640,2597,2145,0,0,0,0,0,0
$GC,10831,0.55,189.7,429.2,10.5,664,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2598,2144,0,0,0,0,0,0
$GC,11138,0.55,189.7,396.6,10.4,676,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2598,2143,0,0,0,0,0,0
$GC,11458,0.55,189.7,364.0,10.1,706,11460,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2597,2143,0,0,0,0,0,0
$GC,11776,0.58,189.7,331.8,10.4,736,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2598,2143,0,0,0,0,0,0
$GC,12097,0.60,189.7,297.0,10.7,766,12101,0.00,2.25,0.00,0.000,4,0.000,0.055,2642,1189,2142,0,0,0,0,0,0
$GC,12118,0.64,189.7,294.1,10.8,767,12125,0.12,2.30,0.00,0.000,6,0.103,0.057,2694,2594,2143,0,0,0,0,0,0
$GC,12444,0.56,189.7,249.8,13.2,798,12448,0.15,2.25,0.00,0.000,4,0.190,0.067,2655,3933,2142,0,0,0,0,0,0
$GC,12488,0.53,189.7,243.6,12.5,801,12494,0.00,2.15,0.00,0.000,6,0.000,0.046,2655,2596,2142,0,0,0,0,0,0
$GC,12813,0.53,190.4,211.3,10.0,832,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2596,2142,0,0,0,0,0,0
$GC,13133,0.53,190.4,177.4,11.3,862,13137,0.00,2.25,0.00,0.000,4,0.000,0.068,2655,3930,2142,0,0,0,0,0,0
$GC,13161,0.51,190.4,173.8,12.1,864,13167,0.00,2.10,0.00,0.000,6,0.000,0.045,2655,2608,2141,0,0,0,0,0,0
$GC,13486,0.51,190.4,139.3,10.3,895,13490,0.00,2.25,0.00,0.000,4,0.000,0.054,2655,1186,2141,0,0,0,0,0,0
$GC,13519,0.56,196.1,136.1,9.7,897,13530,0.00,2.33,5.88,0.623,6,0.000,0.056,2655,2611,2122,0,0,0,0,0,0
$GC,13851,0.59,208.8,103.7,9.4,928,13874,0.00,2.28,12.73,0.669,4,0.000,0.068,2655,3927,2070,0,0,0,0,0,0
$GC,13904,0.59,208.8,98.4,11.2,933,13910,0.00,2.08,0.00,0.000,6,0.000,0.046,2655,2627,2068,0,0,0,0,0,0
$GC,14251,0.64,221.7,65.9,9.4,994,14270,0.00,2.30,11.62,0.644,4,0.000,0.052,2655,1189,2020,0,0,0,0,0,0
$GC,14358,0.77,262.6,56.8,8.1,1012,14400,0.20,2.35,35.88,0.639,6,0.085,0.056,2738,2622,1852,0,0,0,0,0,0
$FREEZE,8.52,3.127,-1.824,0,1,0
$FREEZE,7.67,3.131,-1.823,0,1,0
$FREEZE,6.90,3.135,-1.823,0,1,0
$FREEZE,6.03,3.124,-1.822,0,1,0
$FREEZE,5.06,3.124,-1.821,0,1,0
$FREEZE,4.10,3.124,-1.821,0,1,0
$FREEZE,3.20,3.125,-1.820,0,1,0
$FREEZE,2.43,3.139,-1.820,0,1,0
$STATE,14727,end climb,SURFACE_DEPTH_REACHED
$STATE,14727,begin surface coast
$FREEZE,1.38,3.140,-1.818,0,1,0
$FREEZE,1.17,3.111,-0.156,0,1,0
$FREEZE,1.41,2.949,-1.592,0,1,0
$FINISH,1.4,1.023232
$STATE,14744,end surface coast,CONTROL_FINISHED_OK
$STATE,14744,begin surface
$SM_CCo,14761,214.85,0.081,0,0,440,609.08
$SM_GC,2.03,0.00,0.00,214.85,0.000,0.000,0.081,297,2783,440,-6.80,0.08,609.08
$RAFOS_CLK,795
$RAFOS,6,1292618962,20.833334,20.822779,109,48,46,43,42,40,703,841,1621,777,1446,461
$RAFOS,5,1292618464,20.700001,20.684444,120,50,50,47,45,42,627,292,628,342,210,1564
$RAFOS,4,1292617983,20.566668,20.550833,93,44,44,43,43,40,849,1937,1780,1126,654,1574
$RAFOS,3,1292617511,20.433332,20.419722,49,48,44,42,42,38,1508,1393,259,149,1113,90
$RAFOS,2,1292617021,20.299999,20.283611,72,45,44,42,41,41,1048,1874,1237,1076,1380,430
$RAFOS,1,1292616553,20.166666,20.153610,48,46,43,40,38,37,972,1151,531,1854,1322,1616
$RAFOS,0,1292616063,20.033333,20.017500,47,45,44,43,41,41,950,1154,708,232,104,1119
$RAFOS_FIX,6704.397949,-5712.284668,171210,202052,4,98,0.69
$IRIDIUM_FIX,6636.54,-5721.54,171210,131345
$TT8_MAMPS,0.029211
$HUMID,47.08
$INTERNAL_PRESSURE,8.52419
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.5
$24V_AH,21.6,63.652
$10V_AH,9.8,45.548
$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,17.800,100.625,363.625,214.850,0.000,27.428,17.660,480.056,2.750,0.000,36.729,2686.247,9580.683,699.579,2372.229,522.125,0.000,1724.423,0.000,1847.257,2520.000,21.436,0.000
$DEVICE_MAMPS,247.095,74.970,1055.700,81.090,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,40061,1081
$CAP_FILE_SIZE,150907,0
$CFSIZE,260165632,212881408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.0
$GPS,171210,222737,6702.320,-5704.959,28,1.4,28,-37.6