version: 66.08
glider: 184
mission: 3
dive: 6
start: 9 16 110 1 51 57
data:
$ID,184
$MISSION,3
$DIVE,6
$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,0
$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,400
$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,-33812.152
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,223
$ROLL_MAX,3813
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,6
$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
$GPS1,160910,014646,6643.197,-6008.568,12,4.1,31,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.6
$GPS2,160910,015128,6643.130,-6008.461,16,4.3,35,-38.0
$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,315.2,12932,-17.5,-10.000
$D_GRID,570
$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,-146.0,0.0,0.0,0,110,0.00,0.00,-93.07,0.000,2,0.000,0.000,151,2612,3139,0,0,0,0,0,0
$GC,112,-0.66,-146.0,5.4,-14.9,16,138,10.70,2.03,-6.93,0.000,4,0.284,0.093,2444,3812,3514,0,0,0,0,0,0
$GC,217,-0.64,-146.0,31.0,-12.7,34,224,0.00,1.98,0.00,0.000,6,0.000,0.054,2444,2598,3515,0,0,0,0,0,0
$GC,562,-0.65,-146.0,71.4,-9.3,95,569,0.00,2.03,0.00,0.000,4,0.000,0.080,2435,3804,3516,0,0,0,0,0,0
$GC,738,-0.65,-146.0,89.4,-10.7,126,745,0.00,1.95,0.00,0.000,6,0.000,0.053,2435,2591,3515,0,0,0,0,0,0
$GC,1074,-0.65,-146.0,125.3,-10.3,166,1078,0.00,2.03,0.00,0.000,4,0.000,0.082,2425,3805,3516,0,0,0,0,0,0
$GC,1191,-0.66,-146.0,137.3,-9.9,176,1198,0.00,1.95,0.00,0.000,6,0.000,0.053,2426,2594,3515,0,0,0,0,0,0
$GC,1515,-0.66,-146.0,173.2,-11.6,207,1520,0.12,2.05,0.00,0.000,4,0.194,0.082,2448,3804,3515,0,0,0,0,0,0
$GC,1565,-0.70,-146.0,178.4,-9.9,211,1572,0.00,1.92,0.00,0.000,6,0.000,0.052,2448,2592,3515,0,0,0,0,0,0
$GC,1890,-0.73,-146.0,208.6,-9.3,242,1894,0.00,2.03,0.00,0.000,4,0.000,0.083,2439,3813,3515,0,0,0,0,0,0
$GC,2014,-0.77,-146.0,220.7,-9.5,253,2018,0.00,1.92,0.00,0.000,6,0.000,0.052,2439,2596,3514,0,0,0,0,0,0
$GC,2345,-0.80,-146.0,250.6,-8.6,284,2349,0.00,2.03,0.00,0.000,4,0.000,0.083,2431,3811,3514,0,0,0,0,0,0
$GC,2424,-0.82,-146.0,257.5,-9.1,291,2428,0.00,1.92,0.00,0.000,6,0.000,0.053,2430,2606,3514,0,0,0,0,0,0
$GC,2754,-0.85,-146.0,284.3,-7.7,322,2758,0.10,2.00,0.00,0.000,4,0.134,0.082,2389,3807,3513,0,0,0,0,0,0
$GC,2888,-0.85,-146.0,297.3,-9.3,334,2892,0.00,1.90,0.00,0.000,6,0.000,0.052,2389,2598,3513,0,0,0,0,0,0
$GC,3217,-0.85,-146.0,329.8,-9.8,365,3221,0.00,2.00,0.00,0.000,4,0.000,0.081,2380,3813,3513,0,0,0,0,0,0
$GC,3274,-0.85,-146.0,336.1,-11.5,370,3277,0.00,1.92,0.00,0.000,6,0.000,0.052,2380,2592,3513,0,0,0,0,0,0
$GC,3604,-0.84,-146.0,373.1,-11.2,401,3607,0.00,2.00,0.00,0.000,4,0.000,0.080,2371,3812,3513,0,0,0,0,0,0
$GC,3717,-0.82,-146.0,386.5,-11.9,411,3722,0.08,1.92,0.00,0.000,6,0.181,0.052,2403,2600,3514,0,0,0,0,0,0
$GC,4047,-0.82,-146.0,416.6,-8.4,442,4050,0.00,1.98,0.00,0.000,4,0.000,0.080,2397,3806,3514,0,0,0,0,0,0
$GC,4148,-0.83,-146.0,425.8,-9.0,451,4152,0.00,1.90,0.00,0.000,6,0.000,0.051,2397,2593,3514,0,0,0,0,0,0
$GC,4478,-0.83,-146.0,455.6,-8.7,482,4482,0.00,1.98,0.00,0.000,4,0.000,0.080,2388,3805,3514,0,0,0,0,0,0
$GC,4583,-0.83,-146.0,465.7,-9.4,491,4591,0.00,1.90,0.00,0.000,6,0.000,0.050,2388,2602,3514,0,0,0,0,0,0
$GC,4909,-0.83,-146.0,497.7,-10.3,522,4913,0.00,2.00,0.00,0.000,4,0.000,0.080,2379,3813,3515,0,0,0,0,0,0
$GC,4979,-0.83,-146.0,505.4,-10.8,528,4987,0.00,1.92,0.00,0.000,6,0.000,0.050,2379,2599,3514,0,0,0,0,0,0
$GC,5305,-0.83,-146.0,539.8,-11.1,559,5309,0.00,1.98,0.00,0.000,4,0.000,0.080,2371,3807,3515,0,0,0,0,0,0
$GC,5440,-0.82,-146.0,555.0,-11.4,571,5444,0.12,1.90,0.00,0.000,6,0.194,0.053,2400,2596,3515,0,0,0,0,0,0
$STATE,5598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5598,begin apogee
$GC,5602,-0.14,0.0,570.6,9.4,586,5736,0.70,0.00,127.82,1.113,6,0.153,0.000,2621,2492,2913,0,0,0,0,0,0
$STATE,5737,end apogee,CONTROL_FINISHED_OK
$STATE,5737,begin climb
$GC,5738,0.66,146.0,575.5,0.0,598,5876,0.77,2.55,127.70,1.066,4,0.090,0.078,2886,1096,2318,0,0,0,0,0,0
$GC,5888,0.61,146.0,566.9,10.9,612,5892,0.00,2.47,0.00,0.000,6,0.000,0.063,2886,2495,2316,0,0,0,0,0,0
$GC,6212,0.56,146.0,527.2,12.3,642,6217,0.12,2.30,0.00,0.000,4,0.195,0.081,2858,3817,2311,0,0,0,0,0,0
$GC,6432,0.51,146.0,499.3,12.6,661,6436,0.12,2.17,0.00,0.000,6,0.243,0.057,2842,2499,2309,0,0,0,0,0,0
$GC,6756,0.50,146.0,465.8,10.5,691,6760,0.00,2.22,0.00,0.000,4,0.000,0.078,2842,3813,2308,0,0,0,0,0,0
$GC,6925,0.46,146.0,446.3,12.2,706,6929,0.00,2.12,0.00,0.000,6,0.000,0.056,2848,2500,2308,0,0,0,0,0,0
$GC,7255,0.44,146.0,410.2,10.9,737,7260,0.15,2.22,0.00,0.000,4,0.223,0.078,2816,3822,2308,0,0,0,0,0,0
$GC,7388,0.43,146.0,396.0,10.3,748,7396,0.00,2.15,0.00,0.000,6,0.000,0.055,2822,2502,2307,0,0,0,0,0,0
$GC,7713,0.46,173.1,366.4,8.7,779,7740,0.00,2.25,22.27,0.974,4,0.000,0.075,2822,3821,2210,0,0,0,0,0,0
$GC,7845,0.47,180.2,352.7,9.7,790,7858,0.00,2.20,7.82,0.871,6,0.000,0.054,2832,2494,2179,0,0,0,0,0,0
$GC,8176,0.50,200.7,322.1,9.1,821,8202,0.00,2.35,19.27,0.942,4,0.000,0.076,2832,3822,2095,0,0,0,0,0,0
$GC,8381,0.50,200.7,299.4,11.5,839,8389,0.00,2.17,0.00,0.000,6,0.000,0.054,2841,2508,2091,0,0,0,0,0,0
$GC,8709,0.50,200.7,264.7,11.2,870,8713,0.00,2.17,0.00,0.000,4,0.000,0.075,2840,3813,2090,0,0,0,0,0,0
$GC,8842,0.49,200.7,247.7,11.8,881,8849,0.00,2.15,0.00,0.000,6,0.000,0.056,2849,2488,2089,0,0,0,0,0,0
$GC,9167,0.49,206.0,213.7,9.8,912,9180,0.00,2.25,4.97,0.733,4,0.000,0.075,2849,3816,2074,0,0,0,0,0,0
$GC,9420,0.48,206.0,185.1,12.3,934,9428,0.10,2.15,0.00,0.000,6,0.206,0.055,2833,2500,2074,0,0,0,0,0,0
$GC,9746,0.54,227.4,156.4,9.0,965,9772,0.00,2.28,19.92,0.869,4,0.000,0.075,2833,3815,1987,0,0,0,0,0,0
$GC,9883,0.55,227.4,142.7,10.4,977,9891,0.00,2.17,0.00,0.000,6,0.000,0.055,2839,2499,1984,0,0,0,0,0,0
$GC,10209,0.62,256.9,115.2,8.6,1008,10243,0.00,2.28,25.98,0.855,4,0.000,0.076,2839,3815,1866,0,0,0,0,0,0
$GC,10300,0.64,256.9,106.8,10.2,1016,10304,0.00,2.17,0.00,0.000,6,0.000,0.056,2848,2494,1862,0,0,0,0,0,0
$GC,10640,0.74,306.9,79.2,7.7,1069,10693,0.17,2.35,42.53,0.836,4,0.108,0.075,2910,3812,1661,0,0,0,0,0,0
$GC,10851,0.73,306.9,52.8,12.9,1106,10858,0.00,2.17,0.00,0.000,6,0.000,0.057,2919,2502,1655,0,0,0,0,0,0
$GC,11198,0.79,349.0,18.9,8.1,1167,11240,0.00,2.28,34.55,0.806,4,0.000,0.073,2919,3822,1490,0,0,0,0,0,0
$STATE,11369,end climb,SURFACE_DEPTH_REACHED
$STATE,11369,begin surface coast
$FINISH,0.1,1.016090
$STATE,11404,end surface coast,CONTROL_FINISHED_OK
$STATE,11404,begin surface
$SM_CCo,11420,44.60,0.631,3,0,1282,400.08
$SM_GC,1.16,0.00,0.00,44.60,0.000,0.000,0.631,150,2588,1282,-7.88,-0.34,400.08
$RAFOS_CLK,361
$RAFOS,6,1284612544,4.833333,4.817778,133,117,79,64,61,58,829,828,213,195,141,168
$RAFOS,5,1284612071,4.700000,4.686389,79,69,69,66,62,61,914,210,914,192,213,198
$RAFOS,4,1284611587,4.566667,4.551944,77,63,63,61,59,59,705,203,701,174,216,146
$RAFOS,3,1284611101,4.433333,4.416945,86,79,68,63,61,61,766,765,182,199,224,160
$RAFOS,2,1284610622,4.300000,4.283889,100,89,65,63,63,60,629,628,154,214,142,214
$RAFOS,1,1284610147,4.166667,4.151945,127,106,70,62,59,58,537,538,199,213,174,140
$RAFOS,0,1284609662,4.033333,4.017222,59,59,58,57,56,55,198,634,215,217,148,190
$RAFOS_FIX,6642.505371,-6005.817871,160910,040417,6,100,0.24
$IRIDIUM_FIX,6620.33,-6013.28,150910,232357
$TT8_MAMPS,0.027713
$HUMID,51.96
$INTERNAL_PRESSURE,8.83813
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.1,2.861
$10V_AH,10.2,2.208
$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,21.175,104.950,432.850,44.600,0.000,30.937,37.758,97.260,0.000,0.000,37.157,2922.712,5840.888,590.740,2331.465,105.589,0.000,1710.619,0.000,2108.041,2520.000,0.528,0.000
$DEVICE_MAMPS,283.815,94.860,1113.075,631.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.723,869.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151692
$DATA_FILE_SIZE,46768,1203
$CAP_FILE_SIZE,138337,0
$CFSIZE,260165632,250707968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$SOUNDSPEED,1453.1
$GPS,160910,050500,6642.293,-6011.466,39,1.5,45,-38.0