version: 66.08
glider: 183
mission: 3
dive: 298
start: 11 7 110 5 38 59
data:
$ID,183
$MISSION,3
$DIVE,298
$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,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,8
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8141.9644
$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
$PITCH_ADJ_DBAND,0
$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,34
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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,49
$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
$GPS1,071110,053301,6649.357,-5952.353,71,0.8,71,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.8
$GPS2,071110,053825,6649.309,-5952.362,12,1.1,29,-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,268.0,26499,-17.5,-10.000
$D_GRID,778
$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,15,-0.57,-146.0,0.0,0.0,0,102,0.00,0.00,-85.32,0.000,2,0.000,0.000,296,2786,3270,0,0,0,0,0,0
$GC,104,-0.57,-146.0,6.5,-13.5,14,126,8.45,1.95,-4.93,0.000,4,0.258,0.086,2276,3925,3521,0,0,0,0,0,0
$GC,304,-0.57,-146.0,51.0,-14.5,49,311,0.00,1.88,0.00,0.000,6,0.000,0.050,2276,2783,3523,0,0,0,0,0,0
$GC,647,-0.57,-146.0,98.5,-13.7,110,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2783,3523,0,0,0,0,0,0
$GC,980,-0.57,-146.0,138.9,-10.6,142,984,0.00,2.30,0.00,0.000,4,0.000,0.053,2276,1366,3523,0,0,0,0,0,0
$GC,1031,-0.57,-146.0,144.3,-9.9,146,1036,0.00,2.38,0.00,0.000,6,0.000,0.065,2276,2786,3523,0,0,0,0,0,0
$GC,1356,-0.57,-146.0,178.9,-11.2,176,1360,0.00,2.30,0.00,0.000,4,0.000,0.054,2276,1362,3523,0,0,0,0,0,0
$GC,1385,-0.57,-146.0,182.0,-10.6,178,1389,0.00,2.40,0.00,0.000,6,0.000,0.065,2275,2786,3523,0,0,0,0,0,0
$GC,1709,-0.57,-146.0,217.8,-10.7,208,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2786,3522,0,0,0,0,0,0
$GC,2030,-0.57,-146.0,249.3,-9.4,238,2034,0.00,2.30,0.00,0.000,4,0.000,0.053,2274,1371,3522,0,0,0,0,0,0
$GC,2085,-0.57,-146.0,254.4,-8.5,242,2092,0.00,2.38,0.00,0.000,6,0.000,0.065,2275,2778,3522,0,0,0,0,0,0
$GC,2410,-0.57,-146.0,283.7,-9.0,273,2415,0.00,2.28,0.00,0.000,4,0.000,0.054,2275,1366,3521,0,0,0,0,0,0
$GC,2450,-0.57,-146.0,287.5,-8.7,276,2455,0.00,2.38,0.00,0.000,6,0.000,0.064,2275,2778,3521,0,0,0,0,0,0
$GC,2775,-0.57,-146.0,313.9,-7.8,306,2779,0.00,1.95,0.00,0.000,4,0.000,0.075,2272,3929,3521,0,0,0,0,0,0
$GC,2802,-0.57,-146.0,316.2,-8.0,308,2810,0.00,1.92,0.00,0.000,6,0.000,0.049,2272,2766,3521,0,0,0,0,0,0
$GC,3128,-0.57,-146.0,341.5,-8.3,339,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2766,3521,0,0,0,0,0,0
$GC,3448,-0.57,-146.0,367.5,-8.2,369,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2766,3521,0,0,0,0,0,0
$GC,3768,-0.57,-146.0,394.0,-7.7,399,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2766,3521,0,0,0,0,0,0
$GC,4095,-0.57,-146.0,419.7,-7.6,430,4099,0.00,2.22,0.00,0.000,4,0.000,0.051,2272,1362,3522,0,0,0,0,0,0
$GC,4146,-0.57,-146.0,423.7,-8.1,434,4151,0.00,2.33,0.00,0.000,6,0.000,0.063,2272,2764,3522,0,0,0,0,0,0
$GC,4477,-0.57,-146.0,449.2,-8.0,465,4482,0.00,2.25,0.00,0.000,4,0.000,0.051,2272,1366,3522,0,0,0,0,0,0
$GC,4527,-0.57,-146.0,453.3,-7.8,469,4534,0.00,2.30,0.00,0.000,6,0.000,0.062,2272,2758,3522,0,0,0,0,0,0
$GC,4852,-0.57,-146.0,479.8,-8.0,500,4856,0.00,2.00,0.00,0.000,4,0.000,0.073,2271,3929,3523,0,0,0,0,0,0
$GC,4879,-0.57,-146.0,482.3,-8.2,502,4886,0.00,1.90,0.00,0.000,6,0.000,0.047,2271,2735,3523,0,0,0,0,0,0
$GC,5222,-0.57,-146.0,509.9,-8.0,527,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2736,3523,0,0,0,0,0,0
$GC,5527,-0.57,-146.0,533.8,-7.9,537,5531,0.00,2.03,0.00,0.000,4,0.000,0.075,2272,3926,3523,0,0,0,0,0,0
$GC,5555,-0.57,-146.0,536.1,-8.1,537,5562,0.00,1.90,0.00,0.000,6,0.000,0.047,2272,2753,3523,0,0,0,0,0,0
$GC,5868,-0.57,-146.0,560.3,-7.7,548,5872,0.00,2.20,0.00,0.000,4,0.000,0.051,2272,1361,3523,0,0,0,0,0,0
$GC,5900,-0.57,-146.0,563.1,-8.5,549,5905,0.00,2.30,0.00,0.000,6,0.000,0.062,2272,2753,3524,0,0,0,0,0,0
$GC,6237,-0.57,-146.0,588.8,-7.7,560,6240,0.00,2.00,0.00,0.000,4,0.000,0.073,2272,3926,3524,0,0,0,0,0,0
$GC,6275,-0.57,-146.0,592.0,-8.6,561,6279,0.00,1.90,0.00,0.000,6,0.000,0.048,2271,2737,3524,0,0,0,0,0,0
$GC,6611,-0.57,-146.0,615.8,-7.1,572,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2737,3524,0,0,0,0,0,0
$GC,6917,-0.57,-146.0,638.2,-7.5,582,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2737,3524,0,0,0,0,0,0
$GC,7223,-0.57,-146.0,661.3,-7.4,592,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2737,3524,0,0,0,0,0,0
$GC,7529,-0.57,-146.0,683.6,-7.3,602,7533,0.00,2.03,0.00,0.000,4,0.000,0.074,2271,3926,3524,0,0,0,0,0,0
$GC,7563,-0.57,-146.0,686.3,-8.5,603,7567,0.00,1.90,0.00,0.000,6,0.000,0.047,2271,2752,3524,0,0,0,0,0,0
$GC,7904,-0.57,-146.0,712.1,-7.6,614,7908,0.00,2.20,0.00,0.000,4,0.000,0.051,2271,1362,3524,0,0,0,0,0,0
$GC,7932,-0.57,-146.0,714.5,-8.5,615,7936,0.00,2.30,0.00,0.000,6,0.000,0.061,2266,2756,3524,0,0,0,0,0,0
$GC,8267,-0.57,-146.0,741.3,-8.0,626,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2756,3524,0,0,0,0,0,0
$GC,8574,-0.57,-146.0,765.0,-7.5,636,8577,0.00,1.98,0.00,0.000,4,0.000,0.072,2259,3929,3524,0,0,0,0,0,0
$GC,8612,-0.57,-146.0,768.1,-8.2,637,8617,0.12,1.92,0.00,0.000,6,0.163,0.047,2293,2754,3525,0,0,0,0,0,0
$STATE,8792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8792,begin apogee
$GC,8798,-0.14,0.0,779.7,6.0,643,8925,0.38,0.00,122.78,1.096,4,0.123,0.000,2424,2590,2922,0,0,0,0,0,0
$STATE,8926,end apogee,CONTROL_FINISHED_OK
$STATE,8926,begin climb
$GC,8928,0.57,146.0,783.6,0.0,647,9065,0.70,2.40,129.27,1.075,4,0.073,0.050,2665,1186,2327,0,0,0,0,0,0
$GC,9266,0.57,146.0,752.5,11.5,657,9271,0.00,2.47,0.00,0.000,6,0.000,0.054,2665,2593,2318,0,0,0,0,0,0
$GC,9591,0.57,146.0,710.1,13.2,668,9595,0.00,2.33,0.00,0.000,4,0.000,0.054,2666,1181,2315,0,0,0,0,0,0
$GC,9768,0.57,146.0,688.3,12.7,673,9773,0.00,2.42,0.00,0.000,6,0.000,0.056,2667,2618,2315,0,0,0,0,0,0
$GC,10093,0.57,146.0,646.5,12.9,684,10097,0.00,2.20,0.00,0.000,4,0.000,0.067,2666,3926,2314,0,0,0,0,0,0
$GC,10147,0.57,146.0,638.4,14.7,685,10155,0.00,2.15,0.00,0.000,6,0.000,0.045,2666,2617,2313,0,0,0,0,0,0
$GC,10463,0.57,146.0,598.1,12.9,696,10467,0.00,2.25,0.00,0.000,4,0.000,0.068,2666,3929,2313,0,0,0,0,0,0
$GC,10495,0.57,146.0,592.6,15.4,697,10500,0.00,2.15,0.00,0.000,6,0.000,0.044,2666,2619,2312,0,0,0,0,0,0
$GC,10833,0.57,146.0,549.3,12.9,708,10837,0.00,2.22,0.00,0.000,4,0.000,0.069,2666,3930,2312,0,0,0,0,0,0
$GC,10881,0.57,146.0,542.0,14.6,709,10885,0.00,2.12,0.00,0.000,6,0.000,0.044,2666,2626,2311,0,0,0,0,0,0
$GC,11200,0.57,146.0,502.8,12.2,720,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2625,2311,0,0,0,0,0,0
$GC,11517,0.57,146.0,462.9,12.6,748,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2625,2311,0,0,0,0,0,0
$GC,11836,0.57,146.0,423.8,12.1,778,11840,0.00,2.20,0.00,0.000,4,0.000,0.069,2666,3926,2311,0,0,0,0,0,0
$GC,11870,0.57,146.0,419.2,14.4,781,11874,0.00,2.10,0.00,0.000,6,0.000,0.045,2667,2618,2311,0,0,0,0,0,0
$GC,12199,0.57,146.0,379.9,11.5,812,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2618,2311,0,0,0,0,0,0
$GC,12519,0.57,146.0,344.2,11.4,842,12520,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2618,2311,0,0,0,0,0,0
$GC,12838,0.57,146.0,306.4,11.4,872,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2618,2311,0,0,0,0,0,0
$GC,13156,0.57,146.0,271.6,11.2,902,13160,0.00,2.25,0.00,0.000,4,0.000,0.054,2667,1195,2311,0,0,0,0,0,0
$GC,13207,0.57,146.0,266.3,10.1,906,13211,0.00,2.33,0.00,0.000,6,0.000,0.057,2667,2627,2311,0,0,0,0,0,0
$GC,13532,0.57,146.0,230.8,10.8,936,13536,0.00,2.20,0.00,0.000,4,0.000,0.069,2666,3930,2311,0,0,0,0,0,0
$GC,13698,0.57,146.0,209.5,13.3,950,13706,0.00,2.10,0.00,0.000,6,0.000,0.044,2666,2638,2310,0,0,0,0,0,0
$GC,14025,0.58,168.1,176.1,9.0,981,14048,0.00,2.15,16.95,0.737,4,0.000,0.068,2666,3925,2236,0,0,0,0,0,0
$GC,14087,0.58,168.1,169.3,11.5,986,14094,0.00,2.10,0.00,0.000,6,0.000,0.045,2667,2642,2234,0,0,0,0,0,0
$GC,14414,0.60,189.6,139.8,9.0,1017,14437,0.00,2.25,18.73,0.718,4,0.000,0.070,2666,3929,2149,0,0,0,0,0,0
$GC,14521,0.60,189.6,127.4,12.5,1026,14528,0.00,2.05,0.00,0.000,6,0.000,0.044,2667,2652,2145,0,0,0,0,0,0
$GC,14848,0.61,214.3,96.7,8.9,1060,14880,0.00,2.42,21.27,0.698,4,0.000,0.054,2667,1193,2048,0,0,0,0,0,0
$GC,14915,0.64,254.0,91.1,8.2,1071,14955,0.00,2.40,34.05,0.685,6,0.000,0.057,2667,2639,1887,0,0,0,0,0,0
$GC,15291,0.65,277.6,58.1,8.9,1137,15317,0.00,2.28,19.27,0.677,4,0.000,0.070,2667,3936,1790,0,0,0,0,0,0
$GC,15351,0.65,277.6,52.5,10.3,1147,15358,0.00,2.12,0.00,0.000,6,0.000,0.047,2667,2629,1787,0,0,0,0,0,0
$GC,15693,0.72,376.1,26.3,5.5,1208,15782,0.12,2.28,80.35,0.653,4,0.114,0.070,2717,3925,1387,0,0,0,0,0,0
$GC,15839,0.72,382.7,13.9,9.7,1232,15854,0.00,2.08,5.40,0.556,6,0.000,0.047,2718,2662,1364,0,0,0,0,0,0
$STATE,15971,end climb,SURFACE_DEPTH_REACHED
$STATE,15971,begin surface coast
$FINISH,0.8,1.004431
$STATE,16010,end surface coast,CONTROL_FINISHED_OK
$STATE,16010,begin surface
$SM_CCo,16085,0.00,0.000,0,0,1355,384.63
$SM_GC,1.92,6.57,0.00,0.00,0.056,0.000,0.000,301,2780,1355,-6.73,0.00,384.63
$RAFOS_CLK,875
$RAFOS,6,1289119748,8.833333,8.818889,100,48,44,44,41,40,754,1273,782,145,1638,1936
$RAFOS,5,1289119262,8.700000,8.683888,57,56,45,38,37,36,918,928,1645,732,1414,900
$RAFOS,4,1289118797,8.566667,8.554722,95,43,42,39,39,39,601,154,1662,462,1141,1693
$RAFOS,3,1289118308,8.433333,8.418889,69,43,43,40,39,38,731,396,1636,223,534,1379
$RAFOS,2,1289117836,8.300000,8.287778,80,45,43,41,41,41,584,145,392,1031,1827,953
$RAFOS,1,1289117344,8.166667,8.151111,84,51,49,47,46,46,549,1474,182,1137,265,1206
$RAFOS,0,1289116879,8.033334,8.021944,53,43,42,41,40,40,1101,1644,590,1861,359,1559
$RAFOS_FIX,6648.062988,-5952.872559,071110,080800,5,86,0.23
$IRIDIUM_FIX,6620.33,-5936.77,071110,000054
$TT8_MAMPS,0.028462
$HUMID,48.89
$INTERNAL_PRESSURE,8.49489
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.3,36.635
$10V_AH,10.0,28.830
$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,16.350,122.525,448.075,0.000,0.000,25.758,19.217,130.235,0.000,0.000,33.184,3266.235,9991.794,545.043,2394.115,222.040,0.000,1730.738,0.000,2174.003,2520.000,0.535,0.000
$DEVICE_MAMPS,257.805,87.975,1096.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,189560
$DATA_FILE_SIZE,46694,1262
$CAP_FILE_SIZE,155359,0
$CFSIZE,260165632,228474880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$CURRENT,0.161,177.8,1
$GPS,071110,100836,6646.625,-5955.745,35,1.5,35,-38.1