version: 66.08
glider: 183
mission: 3
dive: 578
start: 12 25 110 3 54 33
data:
$ID,183
$MISSION,3
$DIVE,578
$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,-9857.2705
$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,25
$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
$GPS1,251210,034837,6700.893,-5903.927,38,1.2,38,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-65.6
$GPS2,251210,035402,6700.923,-5904.087,11,1.1,11,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,280.5,67626,-17.5,-10.000
$D_GRID,1165
$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,15,begin dive
$GC,17,-0.57,-146.0,0.0,0.0,0,157,0.00,0.00,-136.98,0.000,2,0.000,0.000,296,2792,3416,0,0,0,0,0,0
$GC,161,-0.57,-146.0,6.6,-16.2,24,181,8.35,2.33,-2.05,0.000,4,0.246,0.060,2286,1373,3521,0,0,0,0,0,0
$GC,280,-0.57,-146.0,34.6,-12.6,44,287,0.00,2.33,0.00,0.000,6,0.000,0.063,2278,2775,3523,0,0,0,0,0,0
$GC,625,-0.57,-146.0,72.6,-10.0,105,632,0.00,2.25,0.00,0.000,4,0.000,0.051,2278,1371,3521,0,0,0,0,0,0
$GC,715,-0.61,-146.0,81.2,-9.2,120,721,0.00,2.35,0.00,0.000,6,0.000,0.063,2275,2778,3521,0,0,0,0,0,0
$GC,1060,-0.61,-146.0,113.7,-9.6,169,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2777,3521,0,0,0,0,0,0
$GC,1377,-0.63,-146.0,143.0,-9.1,199,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2777,3521,0,0,0,0,0,0
$GC,1698,-0.67,-146.0,171.2,-8.8,229,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2777,3521,0,0,0,0,0,0
$GC,2024,-0.71,-146.0,199.9,-8.7,260,2027,0.00,1.92,0.00,0.000,4,0.000,0.073,2272,3928,3521,0,0,0,0,0,0
$GC,2052,-0.75,-146.0,202.7,-8.9,262,2061,0.12,1.88,0.00,0.000,6,0.103,0.048,2218,2756,3521,0,0,0,0,0,0
$GC,2378,-0.68,-146.0,242.2,-12.2,293,2380,0.12,0.00,0.00,0.000,6,0.180,0.000,2250,2756,3521,0,0,0,0,0,0
$GC,2697,-0.68,-146.0,273.6,-9.5,323,2701,0.00,2.20,0.00,0.000,4,0.000,0.050,2250,1364,3522,0,0,0,0,0,0
$GC,2730,-0.71,-146.0,277.0,-9.4,325,2737,0.00,2.35,0.00,0.000,6,0.000,0.061,2247,2773,3522,0,0,0,0,0,0
$GC,3056,-0.71,-146.0,307.8,-8.7,356,3060,0.00,2.25,0.00,0.000,4,0.000,0.049,2247,1371,3522,0,0,0,0,0,0
$GC,3085,-0.71,-146.0,310.7,-9.2,358,3089,0.00,2.30,0.00,0.000,6,0.000,0.061,2247,2763,3522,0,0,0,0,0,0
$GC,3412,-0.71,-146.0,339.9,-8.7,388,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2763,3523,0,0,0,0,0,0
$GC,3729,-0.71,-146.0,367.1,-8.4,418,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2764,3523,0,0,0,0,0,0
$GC,4048,-0.71,-146.0,395.3,-9.2,448,4053,0.00,2.25,0.00,0.000,4,0.000,0.050,2247,1363,3523,0,0,0,0,0,0
$GC,4078,-0.71,-146.0,398.3,-9.7,450,4082,0.00,2.30,0.00,0.000,6,0.000,0.060,2247,2761,3523,0,0,0,0,0,0
$GC,4413,-0.71,-146.0,429.3,-9.2,462,4417,0.00,1.98,0.00,0.000,4,0.000,0.071,2245,3928,3524,0,0,0,0,0,0
$GC,4435,-0.71,-146.0,431.6,-9.5,462,4438,0.00,1.88,0.00,0.000,6,0.000,0.046,2245,2750,3524,0,0,0,0,0,0
$GC,4754,-0.71,-146.0,460.8,-9.1,473,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2749,3524,0,0,0,0,0,0
$GC,5060,-0.71,-146.0,489.2,-9.1,483,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2749,3524,0,0,0,0,0,0
$GC,5366,-0.71,-146.0,517.3,-9.1,493,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2749,3524,0,0,0,0,0,0
$GC,5673,-0.71,-146.0,546.0,-9.5,503,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2749,3524,0,0,0,0,0,0
$GC,5978,-0.71,-146.0,575.1,-9.4,513,5982,0.00,2.03,0.00,0.000,4,0.000,0.072,2236,3931,3524,0,0,0,0,0,0
$GC,6015,-0.71,-146.0,578.7,-10.6,514,6018,0.00,1.90,0.00,0.000,6,0.000,0.047,2236,2743,3524,0,0,0,0,0,0
$GC,6356,-0.71,-146.0,613.3,-10.2,525,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2742,3525,0,0,0,0,0,0
$GC,6662,-0.71,-146.0,644.5,-10.2,535,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2742,3524,0,0,0,0,0,0
$GC,6968,-0.71,-146.0,674.4,-9.7,545,6972,0.00,2.03,0.00,0.000,4,0.000,0.073,2235,3931,3524,0,0,0,0,0,0
$GC,6996,-0.71,-146.0,677.3,-9.8,545,7002,0.00,1.90,0.00,0.000,6,0.000,0.047,2235,2756,3524,0,0,0,0,0,0
$GC,7310,-0.71,-146.0,706.7,-9.5,556,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2756,3524,0,0,0,0,0,0
$GC,7615,-0.71,-146.0,735.5,-9.1,566,7616,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2756,3524,0,0,0,0,0,0
$GC,7921,-0.71,-146.0,762.9,-9.0,576,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2756,3524,0,0,0,0,0,0
$GC,8228,-0.71,-146.0,789.6,-8.4,586,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2756,3524,0,0,0,0,0,0
$STATE,8409,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8409,begin apogee
$GC,8415,-0.14,0.0,804.3,8.1,592,8551,0.57,0.00,126.95,1.106,4,0.132,0.000,2423,2593,2923,0,0,0,0,0,0
$STATE,8551,end apogee,CONTROL_FINISHED_OK
$STATE,8552,begin climb
$GC,8554,0.57,146.0,807.2,0.0,596,8701,0.68,2.45,134.90,1.078,4,0.064,0.050,2660,1184,2326,0,0,0,0,0,0
$GC,8863,0.57,146.0,778.4,11.9,605,8870,0.00,2.47,0.00,0.000,6,0.000,0.057,2660,2600,2318,0,0,0,0,0,0
$GC,9177,0.52,146.0,740.5,11.9,616,9181,0.00,2.33,0.00,0.000,4,0.000,0.054,2662,1182,2315,0,0,0,0,0,0
$GC,9400,0.52,146.0,714.8,11.2,622,9408,0.00,2.35,0.00,0.000,6,0.000,0.057,2662,2610,2314,0,0,0,0,0,0
$GC,9715,0.47,146.0,678.5,12.0,633,9720,0.12,2.20,0.00,0.000,4,0.199,0.068,2630,3925,2313,0,0,0,0,0,0
$GC,9753,0.43,146.0,673.8,12.3,634,9757,0.00,2.15,0.00,0.000,6,0.000,0.046,2634,2593,2312,0,0,0,0,0,0
$GC,10089,0.44,151.9,641.0,9.7,645,10094,0.00,0.00,3.83,0.672,6,0.000,0.000,2635,2591,2303,0,0,0,0,0,0
$GC,10395,0.44,161.8,611.1,9.5,655,10411,0.00,2.28,10.30,0.921,4,0.000,0.068,2635,3932,2263,0,0,0,0,0,0
$GC,10433,0.41,161.8,607.0,11.4,656,10437,0.00,2.15,0.00,0.000,6,0.000,0.045,2635,2592,2262,0,0,0,0,0,0
$GC,10763,0.41,164.2,574.6,9.9,667,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2592,2261,0,0,0,0,0,0
$GC,11069,0.41,164.2,543.8,10.1,677,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2592,2261,0,0,0,0,0,0
$GC,11375,0.42,177.5,514.4,9.4,687,11394,0.00,2.28,15.05,0.906,4,0.000,0.068,2635,3926,2200,0,0,0,0,0,0
$GC,11422,0.40,177.5,509.3,11.2,688,11427,0.12,2.15,0.00,0.000,6,0.194,0.045,2606,2602,2198,0,0,0,0,0,0
$GC,11742,0.51,240.1,486.1,7.1,699,11806,0.10,2.35,55.33,0.905,4,0.117,0.054,2652,1187,1942,0,0,0,0,0,0
$GC,11830,0.58,244.8,477.6,9.8,701,11842,0.00,2.35,5.30,0.704,6,0.000,0.055,2652,2604,1924,0,0,0,0,0,0
$GC,12148,0.61,244.8,444.3,10.7,712,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2604,1918,0,0,0,0,0,0
$GC,12454,0.65,244.8,411.3,10.7,722,12455,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2604,1916,0,0,0,0,0,0
$GC,12769,0.68,244.8,376.0,12.1,744,12773,0.12,2.28,0.00,0.000,4,0.106,0.055,2705,1192,1915,0,0,0,0,0,0
$GC,12797,0.68,244.8,371.9,14.6,746,12801,0.00,2.33,0.00,0.000,6,0.000,0.057,2706,2610,1915,0,0,0,0,0,0
$GC,13123,0.63,244.8,315.2,17.5,776,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2610,1914,0,0,0,0,0,0
$GC,13443,0.57,244.8,263.0,15.4,806,13445,0.17,0.00,0.00,0.000,6,0.179,0.000,2658,2610,1914,0,0,0,0,0,0
$GC,13760,0.61,244.8,228.2,10.4,836,13764,0.00,2.28,0.00,0.000,4,0.000,0.054,2658,1187,1914,0,0,0,0,0,0
$GC,13815,0.71,260.3,222.6,9.3,840,13835,0.12,2.30,13.25,0.741,6,0.106,0.056,2709,2592,1861,0,0,0,0,0,0
$GC,14152,0.66,260.3,174.8,14.7,872,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2592,1857,0,0,0,0,0,0
$GC,14475,0.64,260.3,127.5,15.0,902,14479,0.00,2.25,0.00,0.000,4,0.000,0.054,2710,1188,1856,0,0,0,0,0,0
$GC,14518,0.64,260.3,120.6,13.0,905,14526,0.12,2.30,0.00,0.000,6,0.172,0.056,2678,2593,1857,0,0,0,0,0,0
$GC,14852,0.69,260.3,83.2,11.1,949,14859,0.00,2.25,0.00,0.000,4,0.000,0.068,2678,3929,1856,0,0,0,0,0,0
$GC,14911,0.69,260.3,76.3,11.8,959,14918,0.00,2.20,0.00,0.000,6,0.000,0.045,2678,2565,1855,0,0,0,0,0,0
$GC,15259,0.77,266.2,41.5,9.7,1020,15274,0.12,2.20,6.10,0.607,4,0.107,0.053,2731,1190,1837,0,0,0,0,0,0
$GC,15299,0.80,266.2,36.9,11.9,1026,15306,0.00,2.28,0.00,0.000,6,0.000,0.058,2731,2587,1836,0,0,0,0,0,0
$FREEZE,8.82,-1.182,-1.788,2,1,0
$FREEZE,8.28,-1.185,-1.787,2,1,0
$FREEZE,7.70,-1.184,-1.787,2,1,0
$FREEZE,7.25,-1.187,-1.786,2,1,0
$FREEZE,6.53,-1.190,-1.786,2,1,0
$FREEZE,5.95,-1.199,-1.786,2,1,0
$FREEZE,5.52,-1.196,-1.785,2,1,0
$FREEZE,4.96,-1.193,-1.784,2,1,0
$FREEZE,4.35,-1.192,-1.784,2,1,0
$FREEZE,3.63,-1.187,-1.784,2,1,0
$FREEZE,2.98,-1.179,-1.783,2,1,0
$STATE,15608,end climb,SURFACE_DEPTH_REACHED
$STATE,15608,begin surface coast
$FREEZE,2.32,-1.181,-1.782,2,1,0
$FREEZE,1.76,-1.197,-1.782,2,1,0
$FREEZE,1.21,-1.194,-1.782,2,1,0
$FREEZE,0.99,-1.154,-0.944,2,1,0
$FINISH,1.0,1.013923
$STATE,15631,end surface coast,FINISH_DEPTH_REACHED
$STATE,15631,begin surface
$SM_CCo,15647,220.48,0.086,0,0,440,609.08
$SM_GC,1.86,0.00,0.00,220.48,0.000,0.000,0.086,295,2793,440,-6.81,0.37,609.08
$RAFOS_CLK,845
$RAFOS,0,1293264067,8.033334,8.018611,56,47,46,44,41,41,799,426,1605,1283,781,1384
$RAFOS,6,1293252543,4.833333,4.817500,73,45,42,42,41,39,624,615,432,1833,979,1905
$RAFOS,5,1293252071,4.700000,4.686389,57,55,48,40,40,38,716,727,1748,318,542,1832
$RAFOS,4,1293251584,4.566667,4.551111,59,50,41,41,41,41,587,1855,501,1101,1876,1581
$RAFOS,3,1293251103,4.433333,4.417500,65,44,44,42,42,41,823,1445,1342,1578,1678,1674
$RAFOS,2,1293250626,4.300000,4.285000,55,50,46,40,37,37,766,756,1439,722,980,1580
$RAFOS,1,1293250146,4.166667,4.151667,60,47,44,42,38,37,701,1042,1118,1569,156,1555
$RAFOS,0,1293249665,4.033333,4.018055,49,46,44,42,41,40,837,1698,1293,1738,1008,1391
$RAFOS_FIX,6701.992676,-5905.785156,251210,040430,3,66,1.10
$IRIDIUM_FIX,6631.12,-5900.29,251210,000019
$TT8_MAMPS,0.029211
$HUMID,46.53
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,801.9,15.1
$24V_AH,21.4,69.017
$10V_AH,9.8,48.944
$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,17.525,89.125,371.000,220.475,0.000,27.254,19.191,130.780,3.750,0.000,13.785,2714.106,10428.699,717.005,2032.921,312.875,0.000,1734.569,0.000,1832.767,3240.000,30.166,0.000
$DEVICE_MAMPS,245.565,73.440,1106.190,85.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,40033,1085
$CAP_FILE_SIZE,144287,0
$CFSIZE,260165632,209625088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$GPS,251210,082037,6700.150,-5908.495,37,1.2,37,-38.1