version: 66.08
glider: 183
mission: 3
dive: 816
start: 1 23 111 17 18 18
data:
$ID,183
$MISSION,3
$DIVE,816
$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,-13322.154
$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,21
$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,5
$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
$GPS1,230111,162707,6643.123,-5938.033,0,7115.1,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,10.56
$_SM_ANGLEo,-4.2
$GPS2,230111,162707,6643.123,-5938.033,0,7115.1,0,-38.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,5000.000
$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,111.5,128189,-17.5,-10.000
$D_GRID,851
$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,17,-0.57,-146.0,0.0,0.0,0,24,0.00,0.00,-5.53,0.000,2,0.000,0.000,2500,1185,2869,0,0,0,0,0,0
$GC,28,-0.57,-146.0,12.8,-0.0,1,53,0.57,4.78,-13.52,0.000,4,0.093,0.072,2286,3928,3522,0,0,0,0,0,0
$GC,213,-0.54,-146.0,37.3,-13.7,33,220,0.00,1.90,0.00,0.000,6,0.000,0.047,2286,2772,3523,0,0,0,0,0,0
$GC,560,-0.54,-146.0,83.4,-10.7,94,566,0.00,2.03,0.00,0.000,4,0.000,0.076,2283,3928,3523,0,0,0,0,0,0
$GC,620,-0.54,-146.0,90.3,-12.1,104,626,0.00,1.83,0.00,0.000,6,0.000,0.050,2283,2822,3522,0,0,0,0,0,0
$GC,952,-0.54,-146.0,125.5,-8.5,142,957,0.00,2.38,0.00,0.000,4,0.000,0.052,2283,1369,3521,0,0,0,0,0,0
$GC,994,-0.58,-146.0,129.0,-8.1,145,998,0.00,2.45,0.00,0.000,6,0.000,0.063,2277,2822,3521,0,0,0,0,0,0
$GC,1321,-0.60,-146.0,166.7,-11.1,175,1325,0.00,2.38,0.00,0.000,4,0.000,0.052,2277,1369,3521,0,0,0,0,0,0
$GC,1396,-0.65,-146.0,174.8,-10.5,181,1401,0.00,2.45,0.00,0.000,6,0.000,0.064,2275,2813,3521,0,0,0,0,0,0
$GC,1723,-0.68,-146.0,210.7,-10.8,211,1727,0.00,2.38,0.00,0.000,4,0.000,0.052,2275,1370,3521,0,0,0,0,0,0
$GC,1764,-0.73,-146.0,215.3,-10.6,214,1769,0.10,2.40,0.00,0.000,6,0.112,0.064,2232,2789,3521,0,0,0,0,0,0
$GC,2091,-0.69,-146.0,254.1,-11.5,244,2095,0.00,1.98,0.00,0.000,4,0.000,0.074,2224,3928,3520,0,0,0,0,0,0
$GC,2119,-0.64,-146.0,257.8,-12.8,246,2127,0.15,1.90,0.00,0.000,6,0.163,0.050,2265,2767,3520,0,0,0,0,0,0
$GC,2446,-0.67,-146.0,290.8,-10.4,277,2451,0.00,2.28,0.00,0.000,4,0.000,0.053,2265,1364,3520,0,0,0,0,0,0
$GC,2510,-0.72,-146.0,297.2,-10.0,282,2515,0.00,2.38,0.00,0.000,6,0.000,0.063,2262,2769,3520,0,0,0,0,0,0
$GC,2838,-0.75,-146.0,327.3,-8.9,312,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2768,3520,0,0,0,0,0,0
$GC,3158,-0.79,-146.0,353.7,-7.9,342,3163,0.12,2.30,0.00,0.000,4,0.103,0.052,2204,1368,3520,0,0,0,0,0,0
$GC,3189,-0.75,-146.0,356.8,-10.1,344,3193,0.00,2.38,0.00,0.000,6,0.000,0.063,2204,2767,3520,0,0,0,0,0,0
$GC,3520,-0.68,-146.0,393.8,-11.3,375,3522,0.17,0.00,0.00,0.000,6,0.177,0.000,2252,2767,3520,0,0,0,0,0,0
$GC,3841,-0.70,-146.0,421.2,-9.0,390,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2767,3520,0,0,0,0,0,0
$GC,4146,-0.73,-146.0,448.6,-8.7,400,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,2767,3521,0,0,0,0,0,0
$GC,4452,-0.76,-146.0,474.3,-8.2,410,4456,0.00,2.30,0.00,0.000,4,0.000,0.050,2252,1362,3521,0,0,0,0,0,0
$GC,4492,-0.81,-146.0,477.8,-8.7,411,4496,0.00,2.35,0.00,0.000,6,0.000,0.062,2248,2756,3521,0,0,0,0,0,0
$GC,4828,-0.83,-146.0,507.0,-8.7,422,4832,0.12,2.05,0.00,0.000,4,0.100,0.072,2180,3928,3521,0,0,0,0,0,0
$GC,4851,-0.77,-146.0,509.6,-10.6,422,4855,0.17,1.95,0.00,0.000,6,0.166,0.047,2224,2743,3521,0,0,0,0,0,0
$GC,5169,-0.75,-146.0,544.1,-10.9,433,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2743,3521,0,0,0,0,0,0
$GC,5475,-0.75,-146.0,577.7,-10.9,443,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,2743,3522,0,0,0,0,0,0
$GC,5782,-0.75,-146.0,609.3,-10.2,453,5786,0.00,2.22,0.00,0.000,4,0.000,0.050,2224,1373,3522,0,0,0,0,0,0
$GC,5815,-0.75,-146.0,612.8,-10.2,454,5819,0.00,2.33,0.00,0.000,6,0.000,0.062,2222,2754,3522,0,0,0,0,0,0
$GC,6145,-0.73,-146.0,645.2,-9.7,465,6149,0.00,2.03,0.00,0.000,4,0.000,0.072,2219,3935,3523,0,0,0,0,0,0
$GC,6192,-0.73,-146.0,650.3,-11.3,466,6196,0.00,1.98,0.00,0.000,6,0.000,0.047,2219,2753,3523,0,0,0,0,0,0
$GC,6522,-0.70,-146.0,684.4,-10.4,477,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2753,3522,0,0,0,0,0,0
$GC,6829,-0.68,-146.0,715.5,-10.1,487,6833,0.12,2.28,0.00,0.000,4,0.180,0.050,2253,1359,3522,0,0,0,0,0,0
$GC,6863,-0.73,-146.0,718.6,-8.7,488,6867,0.00,2.35,0.00,0.000,6,0.000,0.062,2248,2755,3523,0,0,0,0,0,0
$GC,7193,-0.77,-146.0,745.4,-8.3,499,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2754,3523,0,0,0,0,0,0
$GC,7500,-0.80,-146.0,770.1,-8.1,509,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2755,3523,0,0,0,0,0,0
$GC,7806,-0.83,-146.0,794.6,-8.2,519,7810,0.12,2.08,0.00,0.000,4,0.100,0.072,2179,3936,3523,0,0,0,0,0,0
$GC,7828,-0.79,-146.0,797.1,-9.7,519,7832,0.15,1.98,0.00,0.000,6,0.168,0.047,2216,2735,3523,0,0,0,0,0,0
$GC,8147,-0.79,-146.0,827.8,-9.3,530,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2735,3523,0,0,0,0,0,0
$STATE,8419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8419,begin apogee
$GC,8426,-0.14,0.0,853.6,9.1,539,8562,0.65,0.00,128.88,1.134,4,0.134,0.000,2425,2603,2922,0,0,0,0,0,0
$STATE,8563,end apogee,CONTROL_FINISHED_OK
$STATE,8563,begin climb
$GC,8565,0.57,146.0,856.8,0.0,543,8715,0.68,2.47,139.90,1.104,4,0.059,0.050,2665,1190,2326,0,0,0,0,0,0
$GC,8899,0.57,146.0,827.2,11.4,553,8904,0.00,2.47,0.00,0.000,6,0.000,0.056,2665,2600,2319,0,0,0,0,0,0
$GC,9213,0.52,146.0,790.3,12.0,563,9217,0.00,2.33,0.00,0.000,4,0.000,0.054,2666,1185,2315,0,0,0,0,0,0
$GC,9460,0.52,146.0,763.0,10.5,570,9464,0.00,2.35,0.00,0.000,6,0.000,0.057,2666,2605,2314,0,0,0,0,0,0
$GC,9784,0.47,146.0,726.3,11.6,581,9786,0.15,0.00,0.00,0.000,6,0.191,0.000,2627,2604,2314,0,0,0,0,0,0
$GC,10086,0.51,164.7,697.5,9.1,591,10106,0.00,2.35,15.43,0.995,4,0.000,0.053,2627,1182,2251,0,0,0,0,0,0
$GC,10129,0.58,194.3,693.6,8.6,592,10163,0.10,2.33,27.67,1.004,6,0.111,0.056,2673,2597,2131,0,0,0,0,0,0
$GC,10482,0.55,194.3,651.4,12.0,604,10487,0.00,2.25,0.00,0.000,4,0.000,0.067,2673,3926,2124,0,0,0,0,0,0
$GC,10516,0.48,194.3,646.6,14.6,605,10521,0.17,2.17,0.00,0.000,6,0.190,0.046,2633,2592,2123,0,0,0,0,0,0
$GC,10849,0.53,207.1,615.2,9.4,616,10866,0.00,2.28,11.43,0.930,4,0.000,0.052,2633,1189,2081,0,0,0,0,0,0
$GC,10883,0.62,240.0,611.7,8.5,617,10920,0.12,2.33,31.42,0.961,6,0.098,0.055,2687,2596,1944,0,0,0,0,0,0
$GC,11246,0.60,240.0,562.4,14.1,629,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2596,1936,0,0,0,0,0,0
$GC,11552,0.58,240.0,519.1,14.0,639,11553,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2596,1935,0,0,0,0,0,0
$GC,11859,0.58,240.0,475.4,14.4,649,11863,0.00,2.30,0.00,0.000,4,0.000,0.054,2690,1188,1934,0,0,0,0,0,0
$GC,11893,0.58,240.0,470.6,13.8,650,11898,0.00,2.33,0.00,0.000,6,0.000,0.056,2690,2598,1934,0,0,0,0,0,0
$GC,12230,0.58,240.0,422.1,14.7,661,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2598,1933,0,0,0,0,0,0
$GC,12542,0.58,240.0,378.3,14.0,679,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2597,1933,0,0,0,0,0,0
$GC,12862,0.58,240.0,334.9,14.0,709,12866,0.00,2.30,0.00,0.000,4,0.000,0.055,2690,1192,1932,0,0,0,0,0,0
$GC,12877,0.58,240.0,332.0,14.2,710,12886,0.00,2.28,0.00,0.000,6,0.000,0.054,2690,2583,1932,0,0,0,0,0,0
$GC,13203,0.58,240.0,287.2,13.7,741,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2583,1932,0,0,0,0,0,0
$GC,13526,0.58,240.0,245.5,12.0,771,13530,0.00,2.30,0.00,0.000,4,0.000,0.068,2690,3927,1933,0,0,0,0,0,0
$GC,13549,0.56,240.0,242.0,12.4,772,13556,0.12,2.20,0.00,0.000,6,0.188,0.045,2660,2569,1931,0,0,0,0,0,0
$GC,13875,0.62,243.6,210.1,9.8,803,13879,0.00,2.22,0.00,0.000,4,0.000,0.054,2660,1191,1930,0,0,0,0,0,0
$GC,13899,0.70,258.5,207.9,9.3,805,13922,0.12,2.28,15.38,0.738,6,0.099,0.056,2711,2578,1869,0,0,0,0,0,0
$GC,14240,0.70,258.5,160.8,13.4,837,14244,0.00,2.25,0.00,0.000,4,0.000,0.054,2712,1190,1865,0,0,0,0,0,0
$GC,14263,0.70,258.5,157.8,12.6,838,14270,0.00,2.30,0.00,0.000,6,0.000,0.056,2711,2579,1865,0,0,0,0,0,0
$GC,14590,0.70,258.5,118.2,11.3,869,14594,0.00,2.28,0.00,0.000,4,0.000,0.069,2711,3926,1864,0,0,0,0,0,0
$GC,14654,0.67,258.5,109.8,14.1,874,14658,0.00,2.17,0.00,0.000,6,0.000,0.046,2714,2596,1863,0,0,0,0,0,0
$GC,14994,0.69,283.3,73.8,8.9,926,15024,0.00,2.30,22.30,0.681,4,0.000,0.054,2715,1191,1766,0,0,0,0,0,0
$GC,15061,0.82,376.0,69.4,5.7,937,15148,0.00,2.33,79.50,0.660,6,0.000,0.056,2715,2592,1388,0,0,0,0,0,0
$GC,15489,0.91,376.0,27.6,13.3,1012,15496,0.15,2.33,0.00,0.000,4,0.093,0.059,2778,1197,1375,0,0,0,0,0,0
$GC,15548,0.91,376.0,20.4,10.5,1022,15556,0.00,2.28,0.00,0.000,6,0.000,0.057,2779,2582,1373,0,0,0,0,0,0
$FREEZE,8.81,-1.766,-1.774,2,34,0
$STATE,15624,end climb,FINISH_DEPTH_REACHED
$STATE,15624,begin subsurface finish
$FINISH1,8.8,1.025978,75
$GC,15632,0.05,74.7,8.8,-12.5,1035,15684,0.95,0.00,-44.62,0.000,6,0.157,0.000,2494,2583,2619,0,0,0,0,0,0
$FINISH2,5.2
$STATE,15685,end subsurface finish,CONTROL_FINISHED_OK
$STATE,15685,begin surface
$RAFOS_CLK,905
$RAFOS,6,1295815742,20.833334,20.817223,93,51,45,43,41,41,774,345,1881,426,244,1762
$RAFOS,5,1295815263,20.700001,20.684166,72,44,42,42,42,41,850,1785,1759,26,976,704
$RAFOS,4,1295814800,20.566668,20.555555,131,45,43,42,42,41,539,154,1505,180,362,1920
$RAFOS,3,1295814310,20.433332,20.419445,113,49,49,47,41,41,656,672,1787,1881,241,354
$RAFOS,2,1295813849,20.299999,20.291389,122,47,47,45,44,43,485,1820,1884,1396,1647,1301
$RAFOS,1,1295813363,20.166666,20.156389,111,46,46,45,44,44,508,1083,1824,750,471,1801
$RAFOS,0,1295812874,20.033333,20.020555,45,44,43,43,43,42,1825,1086,691,1433,1790,1444
$RAFOS_FIX,6642.895020,-5933.625488,230111,202017,6,107,0.22
$IRIDIUM_FIX,6636.54,-5836.58,180111,000051
$TT8_MAMPS,0.029211
$HUMID,50.39
$INTERNAL_PRESSURE,8.61208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.7
$24V_AH,20.5,92.245
$10V_AH,9.7,62.849
$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,5.050,123.975,471.900,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2623.309,10467.859,500.848,1875.417,292.360,0.000,1552.032,0.000,1851.711,2520.000,23.842,0.000
$DEVICE_MAMPS,191.250,75.735,1134.495,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151708
$DATA_FILE_SIZE,36756,1044
$CAP_FILE_SIZE,147185,0
$CFSIZE,260165632,196276224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.9
$GPS,230111,203117,6642.895,-5933.625,0,6107.0,0,-38.2