version: 66.08
glider: 183
mission: 3
dive: 844
start: 1 27 111 23 20 27
data:
$ID,183
$MISSION,3
$DIVE,844
$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,-13516.591
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,270111,230336,6644.181,-5749.725,39,1.0,39,-37.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-50.4
$GPS2,270111,230336,6644.181,-5749.725,181,99.0,181,-37.4
$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,89.4,56583,-17.5,-10.000
$D_GRID,632
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.57,-146.0,0.0,0.0,0,178,0.00,0.00,-154.45,0.000,6,0.000,0.000,269,2785,3520,0,0,0,0,0,0
$GC,181,-0.57,-146.0,6.6,-15.3,28,195,8.52,2.38,0.00,0.000,4,0.244,0.047,2282,1369,3522,0,0,0,0,0,0
$GC,208,0.37,-146.0,22.5,-46.6,32,216,1.10,2.38,0.00,0.000,6,0.158,0.060,2589,2776,3523,0,0,0,0,0,0
$GC,557,-0.14,-146.0,46.8,-6.2,93,564,0.47,2.00,0.00,0.000,4,0.120,0.069,2431,3933,3524,0,0,0,0,0,0
$GC,575,-0.57,-146.0,48.0,-6.7,95,582,0.40,2.33,0.00,0.000,6,0.074,0.047,2280,2513,3523,0,0,0,0,0,0
$GC,923,-0.59,-146.0,80.2,-10.2,156,930,0.00,2.45,0.00,0.000,4,0.000,0.071,2273,3928,3522,0,0,0,0,0,0
$GC,1068,-0.63,-146.0,95.1,-10.1,181,1075,0.00,2.22,0.00,0.000,6,0.000,0.046,2273,2565,3523,0,0,0,0,0,0
$GC,1404,-0.66,-146.0,128.8,-9.3,216,1408,0.00,2.40,0.00,0.000,4,0.000,0.071,2272,3933,3522,0,0,0,0,0,0
$GC,1518,-0.71,-146.0,139.1,-8.5,225,1525,0.00,2.22,0.00,0.000,6,0.000,0.047,2273,2586,3522,0,0,0,0,0,0
$GC,1845,-0.74,-146.0,166.7,-8.5,256,1849,0.10,2.38,0.00,0.000,4,0.116,0.072,2222,3927,3521,0,0,0,0,0,0
$GC,1978,-0.69,-146.0,182.1,-12.5,267,1982,0.00,2.15,0.00,0.000,6,0.000,0.046,2222,2622,3521,0,0,0,0,0,0
$GC,2304,-0.63,-146.0,222.2,-11.7,297,2309,0.17,2.30,0.00,0.000,4,0.164,0.070,2264,3928,3521,0,0,0,0,0,0
$GC,2350,-0.67,-146.0,226.7,-8.7,300,2357,0.00,2.12,0.00,0.000,6,0.000,0.046,2264,2639,3522,0,0,0,0,0,0
$GC,2677,-0.70,-146.0,253.2,-8.1,331,2681,0.00,2.25,0.00,0.000,4,0.000,0.072,2261,3934,3522,0,0,0,0,0,0
$GC,2734,-0.74,-146.0,258.1,-8.2,335,2741,0.00,2.12,0.00,0.000,6,0.000,0.046,2261,2642,3522,0,0,0,0,0,0
$GC,3060,-0.77,-146.0,286.0,-8.8,366,3065,0.10,2.28,0.00,0.000,4,0.118,0.071,2206,3936,3522,0,0,0,0,0,0
$GC,3112,-0.69,-146.0,292.2,-12.2,370,3119,0.17,2.10,0.00,0.000,6,0.162,0.045,2252,2658,3522,0,0,0,0,0,0
$GC,3439,-0.69,-146.0,322.6,-9.0,401,3443,0.00,2.20,0.00,0.000,4,0.000,0.070,2247,3929,3523,0,0,0,0,0,0
$GC,3495,-0.69,-146.0,328.3,-9.7,405,3501,0.00,2.08,0.00,0.000,6,0.000,0.046,2247,2667,3523,0,0,0,0,0,0
$GC,3822,-0.69,-146.0,358.6,-9.3,436,3826,0.00,2.20,0.00,0.000,4,0.000,0.071,2247,3928,3523,0,0,0,0,0,0
$GC,3913,-0.71,-146.0,367.1,-9.4,444,3916,0.00,2.00,0.00,0.000,6,0.000,0.046,2247,2701,3523,0,0,0,0,0,0
$GC,4244,-0.71,-146.0,397.1,-9.2,475,4249,0.00,2.15,0.00,0.000,4,0.000,0.070,2247,3938,3523,0,0,0,0,0,0
$GC,4272,-0.71,-146.0,399.8,-9.0,477,4280,0.00,2.00,0.00,0.000,6,0.000,0.045,2247,2709,3523,0,0,0,0,0,0
$GC,4586,-0.71,-146.0,427.4,-9.0,488,4590,0.00,2.12,0.00,0.000,4,0.000,0.071,2247,3934,3524,0,0,0,0,0,0
$GC,4621,-0.71,-146.0,430.7,-9.6,489,4624,0.00,2.00,0.00,0.000,6,0.000,0.046,2247,2709,3524,0,0,0,0,0,0
$GC,4957,-0.71,-146.0,461.1,-9.1,500,4961,0.00,2.12,0.00,0.000,4,0.000,0.071,2247,3935,3524,0,0,0,0,0,0
$GC,4986,-0.71,-146.0,463.8,-9.3,501,4990,0.00,2.00,0.00,0.000,6,0.000,0.046,2247,2716,3524,0,0,0,0,0,0
$GC,5332,-0.71,-146.0,494.9,-9.1,512,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2716,3524,0,0,0,0,0,0
$GC,5634,-0.71,-146.0,522.6,-8.9,522,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2716,3524,0,0,0,0,0,0
$GC,5942,-0.71,-146.0,549.3,-8.7,532,5949,0.00,2.10,0.00,0.000,4,0.000,0.071,2247,3928,3524,0,0,0,0,0,0
$GC,5972,-0.73,-146.0,552.3,-8.8,532,5979,0.00,2.00,0.00,0.000,6,0.000,0.045,2247,2715,3524,0,0,0,0,0,0
$GC,6286,-0.73,-146.0,579.9,-8.8,543,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2714,3524,0,0,0,0,0,0
$GC,6593,-0.73,-146.0,606.0,-8.5,553,6597,0.00,2.12,0.00,0.000,4,0.000,0.072,2247,3937,3524,0,0,0,0,0,0
$GC,6629,-0.77,-146.0,609.1,-9.1,554,6633,0.00,1.98,0.00,0.000,6,0.000,0.046,2247,2726,3524,0,0,0,0,0,0
$STATE,6906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6906,begin apogee
$GC,6914,-0.14,0.0,632.5,8.4,563,7046,0.55,0.00,124.95,0.993,4,0.130,0.000,2424,2606,2923,0,0,0,0,0,0
$STATE,7047,end apogee,CONTROL_FINISHED_OK
$STATE,7047,begin climb
$GC,7050,0.57,146.0,636.4,0.0,567,7192,0.68,2.42,132.68,0.964,4,0.070,0.048,2658,1182,2326,0,0,0,0,0,0
$GC,7361,0.57,146.0,611.9,10.6,576,7367,0.00,2.45,0.00,0.000,6,0.000,0.054,2659,2601,2318,0,0,0,0,0,0
$GC,7675,0.53,146.0,576.5,11.2,587,7679,0.00,2.30,0.00,0.000,4,0.000,0.051,2661,1188,2315,0,0,0,0,0,0
$GC,7877,0.53,146.0,554.6,10.5,593,7882,0.00,2.33,0.00,0.000,6,0.000,0.054,2661,2611,2315,0,0,0,0,0,0
$GC,8209,0.49,146.0,517.0,11.9,604,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2611,2313,0,0,0,0,0,0
$GC,8514,0.45,146.0,480.5,12.0,614,8519,0.15,2.22,0.00,0.000,4,0.189,0.066,2623,3930,2313,0,0,0,0,0,0
$GC,8547,0.45,146.0,476.4,11.7,615,8551,0.00,2.17,0.00,0.000,6,0.000,0.043,2623,2591,2312,0,0,0,0,0,0
$GC,8884,0.48,158.8,444.8,9.4,626,8896,0.00,0.00,9.90,0.828,6,0.000,0.000,2622,2590,2274,0,0,0,0,0,0
$GC,9189,0.53,170.6,415.8,9.5,636,9203,0.00,0.00,12.00,0.829,6,0.000,0.000,2623,2590,2227,0,0,0,0,0,0
$GC,9502,0.59,202.8,387.7,8.5,654,9533,0.12,0.00,29.10,0.838,6,0.096,0.000,2680,2590,2096,0,0,0,0,0,0
$GC,9849,0.56,202.8,344.5,12.2,687,9853,0.00,2.28,0.00,0.000,4,0.000,0.067,2680,3934,2089,0,0,0,0,0,0
$GC,9880,0.49,202.8,340.4,14.5,689,9885,0.17,2.15,0.00,0.000,6,0.183,0.043,2634,2606,2087,0,0,0,0,0,0
$GC,10207,0.56,227.8,309.8,8.8,719,10234,0.00,2.30,21.85,0.790,4,0.000,0.049,2635,1184,1993,0,0,0,0,0,0
$GC,10264,0.68,248.2,304.7,9.1,723,10293,0.17,2.33,19.12,0.771,6,0.080,0.054,2709,2607,1909,0,0,0,0,0,0
$GC,10613,0.62,248.2,254.2,14.6,756,10617,0.12,2.30,0.00,0.000,4,0.185,0.051,2678,1184,1903,0,0,0,0,0,0
$GC,10657,0.67,248.2,248.3,11.5,759,10664,0.00,2.30,0.00,0.000,6,0.000,0.053,2678,2585,1903,0,0,0,0,0,0
$GC,10983,0.67,248.2,208.8,11.8,790,10987,0.00,2.25,0.00,0.000,4,0.000,0.065,2678,3926,1901,0,0,0,0,0,0
$GC,11016,0.64,248.2,204.1,13.6,792,11023,0.00,2.17,0.00,0.000,6,0.000,0.043,2679,2575,1900,0,0,0,0,0,0
$GC,11342,0.64,248.2,166.7,11.5,823,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2575,1900,0,0,0,0,0,0
$GC,11663,0.64,248.2,126.9,12.6,853,11667,0.00,2.22,0.00,0.000,4,0.000,0.053,2679,1195,1900,0,0,0,0,0,0
$GC,11687,0.68,248.2,123.8,11.7,855,11691,0.00,2.30,0.00,0.000,6,0.000,0.054,2679,2587,1900,0,0,0,0,0,0
$GC,12021,0.71,248.2,85.9,10.8,896,12028,0.00,2.25,0.00,0.000,4,0.000,0.051,2679,1194,1900,0,0,0,0,0,0
$GC,12061,0.78,248.2,82.0,10.3,902,12068,0.12,2.28,0.00,0.000,6,0.103,0.054,2733,2570,1900,0,0,0,0,0,0
$GC,12411,0.73,248.2,35.5,13.1,963,12418,0.00,2.30,0.00,0.000,4,0.000,0.067,2733,3928,1899,0,0,0,0,0,0
$GC,12482,0.64,248.2,24.6,14.2,975,12490,0.20,2.17,0.00,0.000,6,0.184,0.044,2684,2582,1898,0,0,0,0,0,0
$FREEZE,8.62,-0.890,-1.831,3,3,0
$FREEZE,8.09,-0.892,-1.830,3,3,0
$FREEZE,7.57,-0.890,-1.830,3,3,0
$FREEZE,7.04,-0.892,-1.829,3,3,0
$FREEZE,6.53,-0.907,-1.829,3,3,0
$FREEZE,6.11,-0.915,-1.829,3,3,0
$FREEZE,5.64,-0.918,-1.828,3,3,0
$FREEZE,5.24,-0.917,-1.828,3,3,0
$FREEZE,4.73,-0.927,-1.828,3,3,0
$FREEZE,4.31,-0.926,-1.827,3,3,0
$FREEZE,3.64,-0.926,-1.827,3,3,0
$FREEZE,3.15,-0.927,-1.826,3,3,0
$FREEZE,2.78,-0.934,-1.826,3,3,0
$STATE,12671,end climb,SURFACE_DEPTH_REACHED
$STATE,12671,begin surface coast
$FREEZE,2.50,-0.930,-1.826,3,3,0
$FREEZE,2.05,-0.932,-1.825,3,3,0
$FREEZE,1.37,-0.932,-1.825,3,3,0
$FREEZE,0.71,-0.920,-1.824,3,3,0
$FREEZE,0.68,-0.941,-1.775,3,3,0
$FREEZE,0.65,-1.049,-1.745,3,3,0
$FINISH,0.7,1.025625
$STATE,12705,end surface coast,CONTROL_FINISHED_OK
$STATE,12705,begin surface
$SM_CCo,12723,210.32,0.086,0,0,440,609.08
$SM_GC,1.27,0.00,0.00,210.32,0.000,0.000,0.086,296,2781,440,-6.80,0.03,609.08
$RAFOS_CLK,739
$RAFOS,6,1296175752,0.833333,0.820000,78,54,44,39,39,39,736,1475,375,912,1782,1879
$RAFOS,5,1296175290,0.700000,0.691667,105,44,44,44,43,41,493,426,642,1431,135,1911
$RAFOS,4,1296174796,0.566667,0.554444,75,44,43,43,42,39,679,1801,145,1001,1451,935
$RAFOS,3,1296174303,0.433333,0.417500,46,45,43,42,41,41,145,1683,524,856,1373,1819
$RAFOS,2,1296173830,0.300000,0.286111,49,47,44,43,42,41,1100,1420,1672,1371,1935,1586
$RAFOS,1,1296173346,0.166667,0.151667,49,46,44,42,41,40,455,1878,1401,785,799,196
$RAFOS,0,1296172867,0.033333,0.018611,47,44,42,42,41,39,877,535,1027,162,1908,1047
$RAFOS_FIX,6645.414062,-5749.919434,280111,000022,3,86,0.38
$IRIDIUM_FIX,6614.97,-5747.57,270111,151521
$TT8_MAMPS,0.029211
$HUMID,46.96
$INTERNAL_PRESSURE,8.4363
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.4
$24V_AH,21.2,95.239
$10V_AH,9.6,64.674
$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,19.825,111.175,349.600,210.325,0.000,96.754,29.545,0.000,2.000,0.000,183.565,2538.134,7791.389,724.590,2098.697,769.371,0.000,1715.079,0.000,1773.701,2520.000,14.991,0.000
$DEVICE_MAMPS,244.035,80.325,992.970,85.680,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,706.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36654,1015
$CAP_FILE_SIZE,140574,0
$CFSIZE,260165632,194486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.7
$GPS,280111,025801,6643.458,-5746.208,60,1.1,60,-37.4