version: 66.08
glider: 183
mission: 3
dive: 828
start: 1 25 111 18 7 55
data:
$ID,183
$MISSION,3
$DIVE,828
$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,-13324.667
$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,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
$GPS1,250111,175136,6642.492,-5839.451,39,1.1,45,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-52.8
$GPS2,250111,180630,6642.441,-5839.397,33,1.7,37,-37.6
$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,102.3,89001,-17.5,-10.000
$D_GRID,746
$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,-146.0,0.0,0.0,0,179,0.00,0.00,-157.10,0.000,2,0.000,0.000,266,2791,3466,0,0,0,0,0,0
$GC,182,-0.57,-146.0,5.5,-15.3,28,202,8.60,2.38,-1.15,0.000,4,0.245,0.063,2285,1367,3522,0,0,0,0,0,0
$GC,379,-0.52,-146.0,44.3,-8.7,62,386,0.00,2.38,0.00,0.000,6,0.000,0.063,2278,2782,3524,0,0,0,0,0,0
$GC,727,-0.50,-146.0,91.4,-10.7,123,734,0.12,2.03,0.00,0.000,4,0.182,0.076,2306,3932,3523,0,0,0,0,0,0
$GC,823,-0.57,-146.0,101.3,-11.1,139,826,0.00,1.85,0.00,0.000,6,0.000,0.051,2306,2818,3522,0,0,0,0,0,0
$GC,1155,-0.63,-146.0,129.3,-7.7,170,1160,0.10,2.38,0.00,0.000,4,0.109,0.054,2254,1367,3522,0,0,0,0,0,0
$GC,1233,-0.63,-146.0,137.7,-10.7,176,1240,0.00,2.45,0.00,0.000,6,0.000,0.065,2250,2802,3522,0,0,0,0,0,0
$GC,1560,-0.60,-146.0,175.0,-11.1,207,1565,0.10,2.38,0.00,0.000,4,0.195,0.053,2275,1363,3522,0,0,0,0,0,0
$GC,1595,-0.63,-146.0,178.7,-9.7,209,1602,0.00,2.42,0.00,0.000,6,0.000,0.065,2274,2784,3522,0,0,0,0,0,0
$GC,1921,-0.66,-146.0,210.4,-9.4,240,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2784,3522,0,0,0,0,0,0
$GC,2243,-0.70,-146.0,239.7,-10.0,270,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2784,3522,0,0,0,0,0,0
$GC,2571,-0.74,-146.0,270.5,-9.7,301,2578,0.12,0.00,0.00,0.000,6,0.100,0.000,2218,2784,3522,0,0,0,0,0,0
$GC,2898,-0.67,-146.0,312.6,-12.0,332,2903,0.15,2.35,0.00,0.000,4,0.171,0.052,2259,1362,3522,0,0,0,0,0,0
$GC,2927,-0.67,-146.0,315.8,-10.3,334,2931,0.00,2.42,0.00,0.000,6,0.000,0.064,2259,2790,3522,0,0,0,0,0,0
$GC,3253,-0.69,-146.0,343.7,-8.2,364,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2790,3522,0,0,0,0,0,0
$GC,3575,-0.72,-146.0,368.8,-7.5,394,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2790,3523,0,0,0,0,0,0
$GC,3905,-0.75,-146.0,392.5,-6.8,425,3909,0.00,2.33,0.00,0.000,4,0.000,0.051,2259,1362,3523,0,0,0,0,0,0
$GC,3962,-0.80,-146.0,397.1,-7.1,429,3969,0.12,2.42,0.00,0.000,6,0.096,0.063,2204,2781,3523,0,0,0,0,0,0
$GC,4277,-0.72,-146.0,431.9,-11.5,442,4281,0.15,2.00,0.00,0.000,4,0.176,0.073,2237,3929,3523,0,0,0,0,0,0
$GC,4332,-0.72,-146.0,437.8,-10.0,443,4336,0.00,1.88,0.00,0.000,6,0.000,0.049,2237,2779,3524,0,0,0,0,0,0
$GC,4652,-0.72,-146.0,467.9,-9.7,454,4656,0.00,2.30,0.00,0.000,4,0.000,0.050,2237,1367,3524,0,0,0,0,0,0
$GC,4681,-0.72,-146.0,470.8,-9.4,455,4686,0.00,2.40,0.00,0.000,6,0.000,0.063,2235,2786,3524,0,0,0,0,0,0
$GC,5021,-0.72,-146.0,502.8,-9.6,466,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3524,0,0,0,0,0,0
$GC,5323,-0.72,-146.0,534.8,-10.8,476,5327,0.00,2.33,0.00,0.000,4,0.000,0.050,2235,1368,3524,0,0,0,0,0,0
$GC,5352,-0.72,-146.0,538.0,-11.0,477,5356,0.00,2.40,0.00,0.000,6,0.000,0.063,2235,2786,3524,0,0,0,0,0,0
$GC,5688,-0.72,-146.0,575.0,-11.1,488,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3524,0,0,0,0,0,0
$GC,5993,-0.72,-146.0,607.4,-10.5,498,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3524,0,0,0,0,0,0
$GC,6300,-0.72,-146.0,639.2,-10.3,508,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3524,0,0,0,0,0,0
$GC,6606,-0.72,-146.0,671.2,-10.6,518,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3525,0,0,0,0,0,0
$GC,6914,-0.72,-146.0,701.7,-9.8,528,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2786,3525,0,0,0,0,0,0
$GC,7219,-0.72,-146.0,729.7,-8.9,538,7223,0.00,2.33,0.00,0.000,4,0.000,0.050,2235,1367,3525,0,0,0,0,0,0
$GC,7241,-0.72,-146.0,732.0,-9.8,538,7245,0.00,2.40,0.00,0.000,6,0.000,0.063,2235,2786,3525,0,0,0,0,0,0
$STATE,7398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7398,begin apogee
$GC,7406,-0.14,0.0,746.3,9.0,543,7542,0.60,0.00,127.68,1.064,4,0.132,0.000,2426,2602,2923,0,0,0,0,0,0
$STATE,7542,end apogee,CONTROL_FINISHED_OK
$STATE,7543,begin climb
$GC,7546,0.57,146.0,750.8,0.0,547,7692,0.62,0.00,136.30,1.035,6,0.068,0.000,2659,2602,2325,0,0,0,0,0,0
$GC,8000,0.52,146.0,705.2,12.0,562,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2602,2316,0,0,0,0,0,0
$GC,8305,0.48,146.0,667.9,12.2,572,8309,0.00,2.25,0.00,0.000,4,0.000,0.068,2659,3931,2315,0,0,0,0,0,0
$GC,8334,0.40,146.0,664.1,13.7,573,8339,0.20,2.15,0.00,0.000,6,0.188,0.046,2611,2598,2314,0,0,0,0,0,0
$GC,8673,0.45,153.7,631.6,9.6,584,8681,0.00,0.00,6.00,0.822,6,0.000,0.000,2610,2597,2296,0,0,0,0,0,0
$GC,8976,0.52,173.3,603.7,9.1,594,9001,0.00,2.35,18.75,0.950,4,0.000,0.054,2610,1195,2216,0,0,0,0,0,0
$GC,9026,0.63,195.5,599.2,9.0,595,9053,0.20,2.33,21.38,0.935,6,0.075,0.057,2693,2606,2124,0,0,0,0,0,0
$GC,9378,0.56,195.5,547.0,15.1,607,9383,0.12,2.35,0.00,0.000,4,0.190,0.054,2662,1183,2118,0,0,0,0,0,0
$GC,9396,0.52,195.5,544.4,14.8,607,9400,0.00,2.33,0.00,0.000,6,0.000,0.056,2662,2604,2118,0,0,0,0,0,0
$GC,9709,0.52,195.5,504.1,12.8,617,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2603,2117,0,0,0,0,0,0
$GC,10015,0.52,195.5,467.5,11.7,627,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2603,2116,0,0,0,0,0,0
$GC,10323,0.52,195.5,432.9,11.3,637,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2604,2116,0,0,0,0,0,0
$GC,10628,0.52,195.5,397.4,11.4,647,10632,0.00,2.25,0.00,0.000,4,0.000,0.067,2662,3925,2116,0,0,0,0,0,0
$GC,10650,0.49,195.5,394.5,12.7,648,10657,0.00,2.20,0.00,0.000,6,0.000,0.045,2662,2580,2114,0,0,0,0,0,0
$GC,10976,0.49,195.5,358.4,11.1,679,10980,0.00,2.25,0.00,0.000,4,0.000,0.053,2663,1193,2114,0,0,0,0,0,0
$GC,11023,0.53,197.1,353.6,9.9,683,11027,0.00,2.30,0.00,0.000,6,0.000,0.056,2663,2580,2114,0,0,0,0,0,0
$GC,11352,0.53,197.1,315.3,12.5,713,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2580,2114,0,0,0,0,0,0
$GC,11679,0.53,197.1,275.3,11.3,744,11683,0.00,2.28,0.00,0.000,4,0.000,0.067,2663,3926,2114,0,0,0,0,0,0
$GC,11738,0.49,197.1,267.6,13.6,749,11743,0.12,2.20,0.00,0.000,6,0.197,0.045,2634,2571,2113,0,0,0,0,0,0
$GC,12064,0.55,197.1,235.6,10.1,779,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2570,2113,0,0,0,0,0,0
$GC,12388,0.61,200.0,203.3,9.9,809,12393,0.12,2.25,0.00,0.000,4,0.098,0.054,2691,1190,2113,0,0,0,0,0,0
$GC,12429,0.61,200.0,197.9,12.3,812,12433,0.00,2.25,0.00,0.000,6,0.000,0.056,2691,2561,2114,0,0,0,0,0,0
$GC,12755,0.58,200.0,157.0,11.6,842,12759,0.00,2.33,0.00,0.000,4,0.000,0.068,2691,3931,2114,0,0,0,0,0,0
$GC,12821,0.51,200.0,147.7,13.1,847,12829,0.20,2.25,0.00,0.000,6,0.177,0.045,2640,2555,2113,0,0,0,0,0,0
$GC,13148,0.61,241.5,121.1,8.1,878,13193,0.00,2.45,38.75,0.687,4,0.000,0.068,2640,3925,1937,0,0,0,0,0,0
$GC,13232,0.70,262.1,114.3,9.1,885,13258,0.17,2.20,18.77,0.667,6,0.086,0.045,2711,2572,1854,0,0,0,0,0,0
$GC,13596,0.70,262.1,68.9,11.4,939,13602,0.00,2.25,0.00,0.000,4,0.000,0.054,2711,1192,1846,0,0,0,0,0,0
$GC,13655,0.75,262.1,61.4,12.2,949,13662,0.00,2.30,0.00,0.000,6,0.000,0.057,2711,2593,1845,0,0,0,0,0,0
$GC,14002,0.75,262.1,21.4,10.1,1010,14009,0.00,2.28,0.00,0.000,4,0.000,0.056,2711,1195,1844,0,0,0,0,0,0
$GC,14081,0.81,290.3,13.8,8.7,1023,14111,0.00,2.28,23.80,0.637,6,0.000,0.056,2711,2567,1739,0,0,0,0,0,0
$FREEZE,8.23,-1.629,-1.813,3,6,0
$STATE,14128,end climb,FINISH_DEPTH_REACHED
$STATE,14128,begin subsurface finish
$FINISH1,8.2,1.026534,47
$GC,14136,0.03,47.4,8.2,-11.9,1031,14178,0.73,2.30,-32.55,0.000,4,0.151,0.087,2488,3928,2731,0,0,0,0,0,0
$FINISH2,6.8
$STATE,14179,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14179,begin surface
$RAFOS_CLK,772
$RAFOS,6,1295988551,20.833334,20.819723,68,48,44,41,39,38,697,1838,1124,1534,908,336
$RAFOS,5,1295988067,20.700001,20.685278,50,47,45,44,43,41,1436,690,922,1400,242,440
$RAFOS,4,1295987603,20.566668,20.556389,87,41,41,40,40,38,521,200,1377,684,1938,918
$RAFOS,3,1295987115,20.433332,20.420834,47,46,43,42,40,37,1068,145,152,1441,1857,1890
$RAFOS,2,1295986625,20.299999,20.284721,47,44,41,41,41,40,746,1938,248,828,154,297
$RAFOS,1,1295986151,20.166666,20.153055,50,46,45,42,41,40,1888,1103,650,911,1922,566
$RAFOS,0,1295985662,20.033333,20.017221,45,45,43,42,40,39,313,716,1311,1594,258,1779
$RAFOS_FIX,6644.870605,-5835.006348,250111,202044,2,78,0.59
$IRIDIUM_FIX,6614.97,-5826.75,250111,171751
$TT8_MAMPS,0.028462
$HUMID,49.44
$INTERNAL_PRESSURE,8.63162
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,999.0
$24V_AH,20.8,93.622
$10V_AH,9.7,63.654
$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,12.575,98.500,391.425,0.000,0.000,87.257,97.333,76.254,2.750,0.000,40.467,2526.340,9308.571,548.758,2060.619,688.583,0.000,1530.968,0.000,1714.903,2520.000,21.567,0.000
$DEVICE_MAMPS,244.800,159.885,1064.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,152548
$DATA_FILE_SIZE,36700,1038
$CAP_FILE_SIZE,139582,0
$CFSIZE,260165632,195383296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.1
$GPS,250111,204344,6644.871,-5835.006,0,2077.5,0,-37.6