version: 66.08
glider: 184
mission: 3
dive: 15
start: 9 17 110 10 38 24
data:
$ID,184
$MISSION,3
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1070
$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,720
$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,51696
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4708
$TGT_DEFAULT_LON,-12223
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-33823.832
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,223
$ROLL_MAX,3813
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2914
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00125
$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,-54.061352
$PRESSURE_SLOPE,0.0001157311
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5
$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,80
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043635513
$SEABIRD_T_H,0.0006292222
$SEABIRD_T_I,2.4569574e-05
$SEABIRD_T_J,2.6955906e-06
$SEABIRD_C_G,-10.09016
$SEABIRD_C_H,1.1251791
$SEABIRD_C_I,-0.0014842621
$SEABIRD_C_J,0.00019950744
$GPS1,170910,103306,6644.134,-5952.458,38,1.1,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.8
$GPS2,170910,103750,6644.169,-5952.566,15,1.2,15,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,109.5,137770,-17.5,-10.000
$D_GRID,729
$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,13,begin dive
$GC,14,-0.66,-146.0,0.0,0.0,0,95,0.00,0.00,-78.20,0.000,2,0.000,0.000,149,2790,2963,0,0,0,0,0,0
$GC,96,-0.66,-146.0,5.0,-12.5,13,124,10.93,2.38,-10.57,0.000,4,0.290,0.075,2451,1388,3514,0,0,0,0,0,0
$GC,164,-0.66,-146.0,25.6,-16.6,24,171,0.00,2.38,0.00,0.000,6,0.000,0.060,2444,2809,3516,0,0,0,0,0,0
$GC,504,-0.66,-146.0,68.6,-12.3,85,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2809,3516,0,0,0,0,0,0
$GC,847,-0.66,-146.0,111.4,-11.4,138,851,0.00,2.33,0.00,0.000,4,0.000,0.060,2444,1386,3517,0,0,0,0,0,0
$GC,889,-0.66,-146.0,116.0,-10.5,141,897,0.00,2.33,0.00,0.000,6,0.000,0.059,2435,2791,3517,0,0,0,0,0,0
$GC,1216,-0.66,-146.0,150.8,-10.9,172,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2791,3517,0,0,0,0,0,0
$GC,1534,-0.66,-146.0,185.0,-10.3,202,1537,0.00,1.65,0.00,0.000,4,0.000,0.078,2427,3807,3516,0,0,0,0,0,0
$GC,1571,-0.66,-146.0,189.2,-10.6,205,1580,0.12,1.62,0.00,0.000,6,0.184,0.048,2457,2793,3516,0,0,0,0,0,0
$GC,1897,-0.66,-146.0,213.8,-6.6,236,1901,0.00,2.25,0.00,0.000,4,0.000,0.063,2457,1394,3516,0,0,0,0,0,0
$GC,1940,-0.66,-146.0,217.0,-7.0,239,1949,0.00,2.30,0.00,0.000,6,0.000,0.060,2450,2791,3516,0,0,0,0,0,0
$GC,2265,-0.66,-146.0,240.5,-8.0,270,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2791,3515,0,0,0,0,0,0
$GC,2587,-0.66,-146.0,267.9,-8.3,300,2590,0.00,1.65,0.00,0.000,4,0.000,0.080,2443,3812,3515,0,0,0,0,0,0
$GC,2680,-0.66,-146.0,276.5,-9.4,308,2688,0.00,1.58,0.00,0.000,6,0.000,0.048,2443,2813,3514,0,0,0,0,0,0
$GC,3006,-0.66,-146.0,304.4,-8.4,339,3010,0.00,2.25,0.00,0.000,4,0.000,0.062,2443,1392,3515,0,0,0,0,0,0
$GC,3049,-0.66,-146.0,308.3,-8.4,342,3056,0.00,2.30,0.00,0.000,6,0.000,0.059,2434,2801,3514,0,0,0,0,0,0
$GC,3374,-0.66,-146.0,335.4,-8.2,373,3378,0.00,2.25,0.00,0.000,4,0.000,0.061,2434,1395,3514,0,0,0,0,0,0
$GC,3413,-0.66,-146.0,338.6,-8.0,376,3421,0.12,2.28,0.00,0.000,6,0.187,0.060,2456,2803,3514,0,0,0,0,0,0
$GC,3738,-0.66,-146.0,359.1,-5.7,407,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2803,3514,0,0,0,0,0,0
$GC,4057,-0.66,-146.0,377.7,-6.4,437,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2803,3514,0,0,0,0,0,0
$GC,4376,-0.66,-146.0,399.6,-7.6,467,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2803,3514,0,0,0,0,0,0
$GC,4696,-0.66,-146.0,421.9,-6.6,497,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2802,3514,0,0,0,0,0,0
$GC,5012,-0.66,-146.0,443.4,-6.9,527,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2803,3515,0,0,0,0,0,0
$GC,5335,-0.66,-146.0,464.9,-6.9,557,5339,0.00,2.25,0.00,0.000,4,0.000,0.061,2456,1395,3515,0,0,0,0,0,0
$GC,5378,-0.66,-146.0,468.2,-6.8,560,5386,0.00,2.28,0.00,0.000,6,0.000,0.058,2449,2795,3515,0,0,0,0,0,0
$GC,5705,-0.66,-146.0,490.3,-6.8,591,5709,0.00,1.65,0.00,0.000,4,0.000,0.077,2441,3813,3515,0,0,0,0,0,0
$GC,5788,-0.66,-146.0,496.4,-7.1,598,5795,0.00,1.60,0.00,0.000,6,0.000,0.047,2442,2791,3515,0,0,0,0,0,0
$GC,6113,-0.66,-146.0,517.3,-5.9,629,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2791,3515,0,0,0,0,0,0
$GC,6432,-0.66,-146.0,537.2,-6.1,659,6436,0.00,1.65,0.00,0.000,4,0.000,0.077,2434,3813,3515,0,0,0,0,0,0
$GC,6470,-0.66,-146.0,539.9,-7.0,662,6477,0.00,1.58,0.00,0.000,6,0.000,0.047,2434,2803,3516,0,0,0,0,0,0
$GC,6797,-0.66,-146.0,560.0,-6.0,693,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2803,3516,0,0,0,0,0,0
$GC,7114,-0.66,-146.0,580.6,-6.8,723,7118,0.00,1.62,0.00,0.000,4,0.000,0.077,2427,3809,3516,0,0,0,0,0,0
$GC,7165,-0.66,-146.0,584.4,-7.3,727,7173,0.08,1.58,0.00,0.000,6,0.158,0.047,2459,2797,3516,0,0,0,0,0,0
$GC,7497,-0.66,-146.0,603.9,-6.0,755,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2798,3516,0,0,0,0,0,0
$GC,7804,-0.66,-146.0,621.6,-5.4,765,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2798,3516,0,0,0,0,0,0
$GC,8110,-0.66,-146.0,638.4,-5.6,775,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2797,3516,0,0,0,0,0,0
$GC,8416,-0.66,-146.0,656.5,-5.9,785,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2798,3516,0,0,0,0,0,0
$GC,8723,-0.66,-146.0,674.0,-5.6,795,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2798,3516,0,0,0,0,0,0
$GC,9028,-0.66,-146.0,691.1,-5.4,805,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2798,3516,0,0,0,0,0,0
$GC,9335,-0.66,-146.0,707.7,-5.4,815,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2798,3516,0,0,0,0,0,0
$GC,9641,-0.66,-146.0,723.9,-5.2,825,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2798,3516,0,0,0,0,0,0
$STATE,9762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9762,begin apogee
$GC,9765,-0.14,0.0,730.3,5.2,829,9900,0.50,0.00,129.18,1.208,4,0.156,0.000,2618,2797,2914,0,0,0,0,0,0
$STATE,9900,end apogee,CONTROL_FINISHED_OK
$STATE,9900,begin climb
$GC,9902,0.66,146.0,734.3,0.0,833,10041,0.80,1.88,130.52,1.171,4,0.105,0.081,2878,3805,2318,0,0,0,0,0,0
$GC,10293,0.66,146.0,688.2,14.9,845,10298,0.00,1.77,0.00,0.000,6,0.000,0.050,2885,2764,2309,0,0,0,0,0,0
$GC,10624,0.66,146.0,643.8,13.5,856,10628,0.00,2.38,0.00,0.000,4,0.000,0.072,2896,1340,2307,0,0,0,0,0,0
$GC,10801,0.66,146.0,619.0,14.3,861,10806,0.00,2.38,0.00,0.000,6,0.000,0.060,2896,2747,2306,0,0,0,0,0,0
$GC,11123,0.66,146.0,573.7,14.2,883,11126,0.00,1.75,0.00,0.000,4,0.000,0.077,2897,3809,2305,0,0,0,0,0,0
$GC,11239,0.66,146.0,555.8,15.6,893,11246,0.00,1.67,0.00,0.000,6,0.000,0.050,2904,2754,2305,0,0,0,0,0,0
$GC,11564,0.66,146.0,510.6,13.6,924,11568,0.00,1.77,0.00,0.000,4,0.000,0.077,2904,3809,2305,0,0,0,0,0,0
$GC,11655,0.66,146.0,496.9,15.1,932,11659,0.00,1.67,0.00,0.000,6,0.000,0.050,2911,2748,2304,0,0,0,0,0,0
$GC,11985,0.66,146.0,451.7,14.0,963,11988,0.00,1.77,0.00,0.000,4,0.000,0.075,2911,3814,2304,0,0,0,0,0,0
$GC,12052,0.66,146.0,441.4,16.3,969,12057,0.12,1.65,0.00,0.000,6,0.209,0.050,2886,2780,2303,0,0,0,0,0,0
$GC,12383,0.66,146.0,400.4,12.8,1000,12386,0.00,1.70,0.00,0.000,4,0.000,0.075,2886,3819,2304,0,0,0,0,0,0
$GC,12565,0.66,146.0,374.0,14.0,1016,12574,0.00,1.65,0.00,0.000,6,0.000,0.048,2892,2790,2304,0,0,0,0,0,0
$GC,12891,0.66,146.0,330.7,13.2,1047,12895,0.00,1.70,0.00,0.000,4,0.000,0.075,2892,3806,2304,0,0,0,0,0,0
$GC,13007,0.66,146.0,314.1,13.8,1057,13015,0.00,1.60,0.00,0.000,6,0.000,0.047,2899,2800,2304,0,0,0,0,0,0
$GC,13333,0.66,146.0,272.6,13.0,1088,13337,0.00,1.70,0.00,0.000,4,0.000,0.075,2899,3815,2304,0,0,0,0,0,0
$GC,13417,0.66,146.0,260.8,14.3,1095,13424,0.00,1.58,0.00,0.000,6,0.000,0.048,2906,2811,2304,0,0,0,0,0,0
$GC,13741,0.66,146.0,221.3,11.4,1126,13745,0.00,1.65,0.00,0.000,4,0.000,0.074,2906,3827,2304,0,0,0,0,0,0
$GC,13902,0.66,146.0,200.2,11.8,1140,13910,0.10,1.55,0.00,0.000,6,0.201,0.048,2887,2844,2303,0,0,0,0,0,0
$GC,14227,0.66,146.0,167.9,10.1,1171,14231,0.00,1.60,0.00,0.000,4,0.000,0.075,2887,3806,2304,0,0,0,0,0,0
$GC,14294,0.66,146.0,160.6,11.1,1177,14297,0.00,1.50,0.00,0.000,6,0.000,0.048,2892,2850,2303,0,0,0,0,0,0
$GC,14624,0.66,146.0,125.2,10.5,1208,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2850,2304,0,0,0,0,0,0
$GC,14946,0.70,181.2,94.2,8.4,1244,14983,0.00,1.65,28.10,0.831,4,0.000,0.075,2892,3810,2175,0,0,0,0,0,0
$GC,15016,0.70,181.2,87.9,10.2,1256,15023,0.00,1.52,0.00,0.000,6,0.000,0.048,2899,2859,2173,0,0,0,0,0,0
$GC,15357,0.74,211.0,57.8,8.6,1317,15389,0.00,2.58,26.00,0.818,4,0.000,0.069,2910,1356,2052,0,0,0,0,0,0
$GC,15467,0.74,211.0,47.5,10.1,1336,15474,0.00,2.45,0.00,0.000,6,0.000,0.057,2910,2843,2050,0,0,0,0,0,0
$GC,15809,0.90,338.6,20.3,4.1,1397,15927,0.15,2.67,105.40,0.793,4,0.108,0.069,2973,1351,1532,0,0,0,0,0,0
$GC,15961,0.92,359.6,9.7,9.0,1422,15987,0.00,2.47,18.12,0.734,6,0.000,0.055,2972,2808,1446,0,0,0,0,0,0
$STATE,16024,end climb,SURFACE_DEPTH_REACHED
$STATE,16024,begin surface coast
$FINISH,0.5,1.024401
$STATE,16048,end surface coast,CONTROL_FINISHED_OK
$STATE,16049,begin surface
$SM_CCo,16123,0.00,0.000,0,0,1437,362.31
$SM_GC,1.76,8.25,0.00,0.00,0.073,0.000,0.000,154,2810,1437,-7.82,0.31,362.31
$RAFOS_CLK,517
$RAFOS,6,1284727767,12.833333,12.824166,73,67,64,62,61,60,642,643,161,216,194,169
$RAFOS,5,1284727264,12.700000,12.684444,138,127,67,66,60,59,876,877,222,216,143,172
$RAFOS,4,1284726783,12.566667,12.550834,123,118,62,60,60,58,657,658,205,174,196,216
$RAFOS,3,1284726303,12.433333,12.417500,73,72,69,63,61,57,730,732,195,209,158,137
$RAFOS,2,1284725825,12.300000,12.284722,130,123,65,62,57,55,618,617,162,200,137,181
$RAFOS,1,1284725351,12.166667,12.153055,127,114,62,57,57,57,526,525,202,226,212,203
$RAFOS,0,1284724861,12.033333,12.016945,114,93,67,65,59,57,701,700,219,209,198,195
$RAFOS_FIX,6644.372070,-5948.038574,170910,121234,7,111,0.51
$IRIDIUM_FIX,6609.62,-6038.83,170910,060643
$TT8_MAMPS,0.027713
$HUMID,47.79
$INTERNAL_PRESSURE,8.8479
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.0,4.045
$10V_AH,10.2,2.953
$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,21.175,92.000,437.325,0.000,0.000,26.748,36.421,112.740,0.000,0.000,16.800,3658.532,9470.227,551.906,2629.733,126.475,0.000,1818.053,0.000,2407.095,2520.000,0.528,0.000
$DEVICE_MAMPS,289.935,81.090,1207.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.459,1048.340,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151680
$DATA_FILE_SIZE,56639,1437
$CAP_FILE_SIZE,158381,0
$CFSIZE,260165632,250007552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$CURRENT,0.112,156.2,1
$GPS,170910,150837,6643.896,-5947.465,27,1.6,27,-38.0