version: 66.08
glider: 184
mission: 3
dive: 16
start: 9 17 110 15 13 52
data:
$ID,184
$MISSION,3
$DIVE,16
$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,-33825.184
$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,40
$R_STBD_OVSHOOT,19
$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
$GPS1,170910,150837,6643.896,-5947.465,27,1.6,27,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.5
$GPS2,170910,151319,6643.860,-5947.303,13,1.6,13,-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,87.4,134248,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.66,-146.0,0.0,0.0,0,100,0.00,0.00,-82.38,0.000,2,0.000,0.000,154,2811,3184,0,0,0,0,0,0
$GC,102,-0.66,-146.0,6.8,-15.9,14,128,10.90,2.45,-5.68,0.000,4,0.291,0.086,2454,1404,3514,0,0,0,0,0,0
$GC,312,-0.66,-146.0,46.2,-10.9,51,319,0.00,2.30,0.00,0.000,6,0.000,0.058,2446,2803,3517,0,0,0,0,0,0
$GC,654,-0.66,-146.0,83.6,-11.5,112,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2803,3517,0,0,0,0,0,0
$GC,987,-0.66,-146.0,121.2,-11.2,156,991,0.00,2.28,0.00,0.000,4,0.000,0.061,2446,1395,3518,0,0,0,0,0,0
$GC,1018,-0.66,-146.0,125.1,-11.4,158,1026,0.00,2.33,0.00,0.000,6,0.000,0.059,2437,2797,3517,0,0,0,0,0,0
$GC,1344,-0.66,-146.0,159.9,-10.6,189,1348,0.00,2.28,0.00,0.000,4,0.000,0.061,2437,1397,3517,0,0,0,0,0,0
$GC,1372,-0.66,-146.0,162.7,-9.9,191,1377,0.12,2.28,0.00,0.000,6,0.189,0.059,2458,2807,3517,0,0,0,0,0,0
$GC,1697,-0.66,-146.0,191.7,-8.6,221,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2808,3517,0,0,0,0,0,0
$GC,2017,-0.66,-146.0,218.9,-8.7,251,2020,0.00,1.62,0.00,0.000,4,0.000,0.080,2452,3807,3516,0,0,0,0,0,0
$GC,2095,-0.66,-146.0,225.6,-8.2,258,2099,0.00,1.60,0.00,0.000,6,0.000,0.048,2452,2796,3516,0,0,0,0,0,0
$GC,2426,-0.66,-146.0,252.3,-7.7,289,2430,0.00,2.25,0.00,0.000,4,0.000,0.062,2452,1391,3515,0,0,0,0,0,0
$GC,2510,-0.66,-146.0,259.3,-8.7,296,2514,0.00,2.28,0.00,0.000,6,0.000,0.060,2444,2793,3515,0,0,0,0,0,0
$GC,2837,-0.66,-146.0,284.7,-7.5,326,2841,0.00,1.62,0.00,0.000,4,0.000,0.078,2437,3803,3515,0,0,0,0,0,0
$GC,2950,-0.66,-146.0,293.5,-7.7,336,2953,0.00,1.58,0.00,0.000,6,0.000,0.048,2436,2802,3516,0,0,0,0,0,0
$GC,3280,-0.66,-146.0,318.3,-7.7,367,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2802,3515,0,0,0,0,0,0
$GC,3600,-0.66,-146.0,344.2,-7.8,397,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2802,3515,0,0,0,0,0,0
$GC,3917,-0.66,-146.0,369.4,-7.8,427,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2802,3515,0,0,0,0,0,0
$GC,4238,-0.66,-146.0,394.1,-7.6,457,4241,0.00,1.62,0.00,0.000,4,0.000,0.077,2430,3806,3516,0,0,0,0,0,0
$GC,4305,-0.66,-146.0,399.8,-8.1,463,4308,0.00,1.58,0.00,0.000,6,0.000,0.047,2429,2802,3515,0,0,0,0,0,0
$GC,4635,-0.66,-146.0,425.8,-7.9,494,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2802,3515,0,0,0,0,0,0
$GC,4954,-0.66,-146.0,450.2,-7.9,524,4957,0.00,1.62,0.00,0.000,4,0.000,0.076,2423,3810,3515,0,0,0,0,0,0
$GC,5021,-0.66,-146.0,455.7,-7.7,530,5026,0.10,1.58,0.00,0.000,6,0.160,0.048,2452,2804,3516,0,0,0,0,0,0
$GC,5352,-0.66,-146.0,477.1,-6.7,561,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2804,3516,0,0,0,0,0,0
$GC,5671,-0.66,-146.0,499.1,-6.6,591,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2804,3516,0,0,0,0,0,0
$GC,5989,-0.66,-146.0,520.7,-7.0,621,5993,0.00,2.20,0.00,0.000,4,0.000,0.060,2453,1399,3517,0,0,0,0,0,0
$GC,6021,-0.66,-146.0,523.1,-7.1,623,6029,0.00,2.28,0.00,0.000,6,0.000,0.059,2447,2800,3516,0,0,0,0,0,0
$GC,6347,-0.66,-146.0,545.0,-6.5,654,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2800,3517,0,0,0,0,0,0
$GC,6666,-0.66,-146.0,565.4,-6.6,684,6670,0.00,2.28,0.00,0.000,4,0.000,0.062,2447,1394,3517,0,0,0,0,0,0
$GC,6686,-0.66,-146.0,567.0,-7.1,685,6694,0.00,2.28,0.00,0.000,6,0.000,0.060,2438,2795,3517,0,0,0,0,0,0
$GC,7012,-0.66,-146.0,590.0,-7.1,716,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2795,3517,0,0,0,0,0,0
$GC,7344,-0.66,-146.0,612.7,-6.8,736,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2795,3517,0,0,0,0,0,0
$GC,7651,-0.66,-146.0,632.9,-6.5,746,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2795,3517,0,0,0,0,0,0
$GC,7957,-0.66,-146.0,653.9,-6.8,756,7961,0.00,2.25,0.00,0.000,4,0.000,0.065,2438,1389,3517,0,0,0,0,0,0
$GC,8002,-0.66,-146.0,657.0,-7.9,757,8006,0.00,2.28,0.00,0.000,6,0.000,0.061,2429,2803,3518,0,0,0,0,0,0
$GC,8324,-0.66,-146.0,681.6,-7.8,768,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2802,3518,0,0,0,0,0,0
$GC,8630,-0.66,-146.0,705.4,-7.5,778,8634,0.00,1.65,0.00,0.000,4,0.000,0.080,2421,3803,3518,0,0,0,0,0,0
$GC,8657,-0.66,-146.0,707.6,-7.2,778,8665,0.10,1.58,0.00,0.000,6,0.164,0.047,2451,2793,3518,0,0,0,0,0,0
$GC,8970,-0.66,-146.0,727.5,-6.2,789,8974,0.00,2.20,0.00,0.000,4,0.000,0.066,2451,1404,3518,0,0,0,0,0,0
$GC,9020,-0.66,-146.0,730.9,-6.8,790,9024,0.00,2.28,0.00,0.000,6,0.000,0.064,2444,2791,3518,0,0,0,0,0,0
$GC,9345,-0.66,-146.0,751.2,-6.4,801,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2791,3518,0,0,0,0,0,0
$GC,9650,-0.66,-146.0,770.8,-6.5,811,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2791,3518,0,0,0,0,0,0
$STATE,9771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9771,begin apogee
$GC,9774,-0.14,0.0,779.2,6.7,815,9910,0.57,0.00,130.27,1.235,4,0.167,0.000,2620,2791,2914,0,0,0,0,0,0
$STATE,9911,end apogee,CONTROL_FINISHED_OK
$STATE,9911,begin climb
$GC,9912,0.66,146.0,784.8,0.0,819,10051,0.85,2.58,131.40,1.201,4,0.121,0.067,2873,1353,2318,0,0,0,0,0,0
$GC,10206,0.66,146.0,762.0,11.7,828,10212,0.00,2.45,0.00,0.000,6,0.000,0.067,2873,2742,2310,0,0,0,0,0,0
$GC,10531,0.66,146.0,722.4,12.4,839,10535,0.00,2.35,0.00,0.000,4,0.000,0.071,2883,1356,2306,0,0,0,0,0,0
$GC,10727,0.66,146.0,699.1,12.1,845,10731,0.00,2.38,0.00,0.000,6,0.000,0.063,2883,2764,2306,0,0,0,0,0,0
$GC,11060,0.66,146.0,657.4,12.5,856,11064,0.00,1.75,0.00,0.000,4,0.000,0.079,2879,3810,2305,0,0,0,0,0,0
$GC,11094,0.66,146.0,652.8,14.3,857,11098,0.00,1.65,0.00,0.000,6,0.000,0.050,2885,2769,2304,0,0,0,0,0,0
$GC,11434,0.66,146.0,609.5,12.6,868,11438,0.00,1.77,0.00,0.000,4,0.000,0.076,2885,3812,2304,0,0,0,0,0,0
$GC,11488,0.66,146.0,601.8,14.5,869,11493,0.00,1.70,0.00,0.000,6,0.000,0.049,2893,2759,2303,0,0,0,0,0,0
$GC,11818,0.66,146.0,560.7,12.8,898,11822,0.00,2.30,0.00,0.000,4,0.000,0.070,2903,1344,2303,0,0,0,0,0,0
$GC,11839,0.66,146.0,557.9,12.6,899,11846,0.00,2.33,0.00,0.000,6,0.000,0.058,2903,2770,2303,0,0,0,0,0,0
$GC,12163,0.66,146.0,516.4,12.7,930,12167,0.00,1.70,0.00,0.000,4,0.000,0.076,2903,3809,2303,0,0,0,0,0,0
$GC,12245,0.66,146.0,504.3,15.1,937,12253,0.00,1.67,0.00,0.000,6,0.000,0.048,2909,2768,2302,0,0,0,0,0,0
$GC,12571,0.66,146.0,460.9,12.8,968,12575,0.00,1.73,0.00,0.000,4,0.000,0.075,2910,3802,2302,0,0,0,0,0,0
$GC,12687,0.66,146.0,443.6,14.2,978,12696,0.10,1.62,0.00,0.000,6,0.206,0.048,2889,2777,2302,0,0,0,0,0,0
$GC,13012,0.66,146.0,403.5,12.5,1009,13016,0.00,1.73,0.00,0.000,4,0.000,0.074,2890,3807,2302,0,0,0,0,0,0
$GC,13125,0.66,146.0,387.9,13.8,1019,13128,0.00,1.60,0.00,0.000,6,0.000,0.047,2895,2792,2301,0,0,0,0,0,0
$GC,13454,0.66,146.0,344.6,13.4,1050,13458,0.00,1.67,0.00,0.000,4,0.000,0.073,2895,3813,2302,0,0,0,0,0,0
$GC,13503,0.66,146.0,337.3,14.1,1054,13511,0.00,1.60,0.00,0.000,6,0.000,0.047,2903,2797,2302,0,0,0,0,0,0
$GC,13829,0.66,146.0,293.0,13.2,1085,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2797,2302,0,0,0,0,0,0
$GC,14148,0.66,146.0,253.4,12.1,1115,14151,0.00,1.67,0.00,0.000,4,0.000,0.073,2902,3822,2302,0,0,0,0,0,0
$GC,14274,0.66,146.0,235.2,14.3,1126,14283,0.00,1.65,0.00,0.000,6,0.000,0.048,2910,2784,2302,0,0,0,0,0,0
$GC,14600,0.66,146.0,196.8,11.0,1157,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2784,2302,0,0,0,0,0,0
$GC,14919,0.66,146.0,162.1,10.4,1187,14923,0.00,1.65,0.00,0.000,4,0.000,0.073,2910,3809,2301,0,0,0,0,0,0
$GC,15070,0.66,146.0,144.9,11.4,1200,15078,0.10,1.60,0.00,0.000,6,0.206,0.049,2890,2792,2302,0,0,0,0,0,0
$GC,15396,0.72,199.7,116.7,7.5,1231,15444,0.00,2.40,43.33,0.842,4,0.000,0.067,2899,1350,2099,0,0,0,0,0,0
$GC,15485,0.74,211.2,108.7,9.5,1239,15501,0.00,2.38,10.62,0.780,6,0.000,0.056,2898,2798,2053,0,0,0,0,0,0
$GC,15833,0.76,226.3,75.6,9.3,1293,15853,0.00,1.67,13.50,0.801,4,0.000,0.073,2898,3805,1991,0,0,0,0,0,0
$GC,15983,0.76,226.3,60.7,10.1,1319,15990,0.00,1.62,0.00,0.000,6,0.000,0.050,2906,2801,1990,0,0,0,0,0,0
$GC,16325,0.80,262.0,26.6,8.4,1380,16362,0.00,1.77,30.98,0.805,4,0.000,0.073,2906,3807,1844,0,0,0,0,0,0
$GC,16391,0.82,279.0,21.1,9.2,1391,16416,0.00,1.62,15.70,0.773,6,0.000,0.050,2913,2816,1774,0,0,0,0,0,0
$STATE,16655,end climb,SURFACE_DEPTH_REACHED
$STATE,16656,begin surface coast
$FINISH,0.6,1.016989
$STATE,16719,end surface coast,CONTROL_FINISHED_OK
$STATE,16719,begin surface
$SM_CCo,16732,59.92,0.687,1,0,1486,350.04
$SM_GC,1.51,0.00,0.00,59.92,0.000,0.000,0.687,147,2815,1486,-7.89,0.42,350.04
$RAFOS_CLK,538
$RAFOS,6,1284742143,16.833334,16.817499,99,95,73,64,63,60,768,771,188,174,214,213
$RAFOS,5,1284741665,16.700001,16.684723,147,145,63,63,61,60,864,865,166,200,144,224
$RAFOS,4,1284741182,16.566668,16.550556,160,150,65,60,60,59,649,650,163,219,186,145
$RAFOS,3,1284740702,16.433332,16.417223,142,118,79,63,57,57,728,729,210,145,130,164
$RAFOS,2,1284740231,16.299999,16.286388,122,104,69,61,61,58,587,588,174,214,206,198
$RAFOS,1,1284739742,16.166666,16.150555,155,148,62,62,61,57,582,583,208,162,192,177
$RAFOS,0,1284739265,16.033333,16.018055,80,69,62,59,56,56,692,691,206,194,139,181
$RAFOS_FIX,6644.480957,-5944.615234,170910,161607,7,129,0.51
$IRIDIUM_FIX,6614.97,-5930.14,170910,101032
$TT8_MAMPS,0.027713
$HUMID,47.32
$INTERNAL_PRESSURE,8.85767
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.9,4.183
$10V_AH,10.2,3.046
$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,20.825,105.125,375.800,59.925,0.000,27.033,35.763,115.116,0.000,0.000,14.061,3728.261,10017.489,552.943,2674.195,133.000,0.000,1845.798,0.000,2458.441,2520.000,0.528,0.000
$DEVICE_MAMPS,290.700,86.445,1235.475,686.970,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.094,1060.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151704
$DATA_FILE_SIZE,56584,1449
$CAP_FILE_SIZE,164594,0
$CFSIZE,260165632,249917440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.0
$CURRENT,0.024, 64.4,1
$GPS,170910,195530,6645.189,-5943.303,38,1.9,38,-38.0