version: 66.08
glider: 184
mission: 3
dive: 12
start: 9 16 110 22 15 46
data:
$ID,184
$MISSION,3
$DIVE,12
$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,-33819.781
$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,25
$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
$GPS1,160910,221036,6643.678,-6002.299,36,2.0,48,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.9
$GPS2,160910,221514,6643.712,-6002.324,14,1.4,14,-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,113.7,144805,-17.5,-10.000
$D_GRID,641
$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,14,-0.66,-146.0,0.0,0.0,0,97,0.00,0.00,-80.07,0.000,2,0.000,0.000,153,2796,3171,0,0,0,0,0,0
$GC,99,-0.66,-146.0,6.6,-15.7,14,120,10.82,1.77,-5.97,0.000,4,0.288,0.089,2444,3816,3513,0,0,0,0,0,0
$GC,367,-0.66,-146.0,54.5,-10.8,61,374,0.00,1.65,0.00,0.000,6,0.000,0.048,2444,2796,3515,0,0,0,0,0,0
$GC,710,-0.66,-146.0,91.4,-11.3,122,716,0.00,2.28,0.00,0.000,4,0.000,0.063,2444,1388,3516,0,0,0,0,0,0
$GC,845,-0.66,-146.0,106.8,-11.8,141,849,0.00,2.30,0.00,0.000,6,0.000,0.060,2434,2800,3516,0,0,0,0,0,0
$GC,1170,-0.66,-146.0,141.7,-9.4,171,1173,0.00,1.67,0.00,0.000,4,0.000,0.080,2427,3809,3516,0,0,0,0,0,0
$GC,1259,-0.66,-146.0,150.7,-10.1,179,1264,0.12,1.62,0.00,0.000,6,0.186,0.050,2456,2793,3516,0,0,0,0,0,0
$GC,1589,-0.66,-146.0,179.0,-9.0,210,1593,0.00,2.25,0.00,0.000,4,0.000,0.064,2456,1389,3516,0,0,0,0,0,0
$GC,1629,-0.66,-146.0,182.8,-9.2,213,1634,0.00,2.28,0.00,0.000,6,0.000,0.060,2450,2795,3515,0,0,0,0,0,0
$GC,1954,-0.66,-146.0,212.8,-8.6,243,1957,0.00,1.65,0.00,0.000,4,0.000,0.081,2442,3809,3515,0,0,0,0,0,0
$GC,1999,-0.66,-146.0,216.7,-9.0,247,2003,0.00,1.60,0.00,0.000,6,0.000,0.050,2442,2799,3516,0,0,0,0,0,0
$GC,2329,-0.66,-146.0,245.3,-8.5,278,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2799,3515,0,0,0,0,0,0
$GC,2648,-0.66,-146.0,271.3,-7.5,308,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2799,3514,0,0,0,0,0,0
$GC,2967,-0.66,-146.0,293.5,-6.6,338,2971,0.00,2.22,0.00,0.000,4,0.000,0.065,2442,1399,3515,0,0,0,0,0,0
$GC,2998,-0.66,-146.0,295.9,-7.6,340,3007,0.00,2.28,0.00,0.000,6,0.000,0.063,2433,2781,3514,0,0,0,0,0,0
$GC,3324,-0.66,-146.0,320.4,-8.2,371,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2781,3514,0,0,0,0,0,0
$GC,3645,-0.66,-146.0,346.0,-7.8,401,3649,0.00,1.67,0.00,0.000,4,0.000,0.080,2426,3818,3514,0,0,0,0,0,0
$GC,3683,-0.66,-146.0,349.5,-8.0,404,3692,0.08,1.62,0.00,0.000,6,0.169,0.048,2449,2782,3515,0,0,0,0,0,0
$GC,4009,-0.66,-146.0,372.6,-6.8,435,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2782,3515,0,0,0,0,0,0
$GC,4328,-0.66,-146.0,393.8,-6.6,465,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2781,3515,0,0,0,0,0,0
$GC,4646,-0.66,-146.0,415.8,-7.2,495,4650,0.00,2.17,0.00,0.000,4,0.000,0.063,2448,1401,3515,0,0,0,0,0,0
$GC,4678,-0.66,-146.0,418.4,-7.5,497,4686,0.00,2.25,0.00,0.000,6,0.000,0.061,2443,2782,3514,0,0,0,0,0,0
$GC,5004,-0.66,-146.0,444.0,-8.0,528,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2782,3515,0,0,0,0,0,0
$GC,5324,-0.66,-146.0,468.3,-7.5,558,5328,0.00,1.65,0.00,0.000,4,0.000,0.079,2435,3810,3515,0,0,0,0,0,0
$GC,5362,-0.66,-146.0,471.4,-8.0,561,5370,0.00,1.60,0.00,0.000,6,0.000,0.048,2436,2789,3515,0,0,0,0,0,0
$GC,5688,-0.66,-146.0,495.3,-7.0,592,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2789,3515,0,0,0,0,0,0
$GC,6007,-0.66,-146.0,517.9,-7.3,622,6010,0.00,1.65,0.00,0.000,4,0.000,0.079,2429,3809,3515,0,0,0,0,0,0
$GC,6044,-0.66,-146.0,520.7,-7.5,625,6052,0.00,1.60,0.00,0.000,6,0.000,0.047,2428,2785,3515,0,0,0,0,0,0
$GC,6370,-0.66,-146.0,545.5,-7.4,656,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2785,3516,0,0,0,0,0,0
$GC,6692,-0.66,-146.0,569.3,-7.6,686,6697,0.12,1.67,0.00,0.000,4,0.187,0.080,2453,3807,3515,0,0,0,0,0,0
$GC,6736,-0.66,-146.0,572.4,-6.6,690,6740,0.00,1.60,0.00,0.000,6,0.000,0.049,2453,2786,3516,0,0,0,0,0,0
$GC,7067,-0.66,-146.0,593.6,-6.5,721,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2786,3516,0,0,0,0,0,0
$GC,7387,-0.66,-146.0,614.3,-6.4,738,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2786,3517,0,0,0,0,0,0
$GC,7693,-0.66,-146.0,633.4,-6.2,748,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2786,3517,0,0,0,0,0,0
$STATE,7814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7814,begin apogee
$GC,7817,-0.14,0.0,641.0,6.3,752,7951,0.52,0.00,128.25,1.157,4,0.150,0.000,2619,2785,2913,0,0,0,0,0,0
$STATE,7952,end apogee,CONTROL_FINISHED_OK
$STATE,7952,begin climb
$GC,7953,0.66,146.0,645.7,0.0,756,8091,0.82,2.53,129.38,1.117,4,0.098,0.068,2880,1355,2318,0,0,0,0,0,0
$GC,8291,0.66,146.0,615.1,11.6,766,8299,0.00,2.42,0.00,0.000,6,0.000,0.065,2879,2746,2309,0,0,0,0,0,0
$GC,8615,0.66,146.0,574.4,12.7,789,8619,0.00,2.38,0.00,0.000,4,0.000,0.073,2886,1351,2307,0,0,0,0,0,0
$GC,8844,0.66,146.0,545.8,12.1,809,8849,0.00,2.33,0.00,0.000,6,0.000,0.063,2887,2753,2307,0,0,0,0,0,0
$GC,9169,0.66,146.0,502.8,13.1,839,9173,0.00,1.77,0.00,0.000,4,0.000,0.079,2887,3800,2306,0,0,0,0,0,0
$GC,9236,0.66,146.0,492.8,15.3,845,9240,0.00,1.67,0.00,0.000,6,0.000,0.051,2894,2762,2304,0,0,0,0,0,0
$GC,9566,0.66,146.0,446.7,13.3,876,9570,0.00,1.75,0.00,0.000,4,0.000,0.077,2894,3818,2304,0,0,0,0,0,0
$GC,9622,0.66,146.0,438.3,15.5,881,9626,0.00,1.67,0.00,0.000,6,0.000,0.052,2902,2756,2304,0,0,0,0,0,0
$GC,9952,0.66,146.0,391.3,13.9,912,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2756,2304,0,0,0,0,0,0
$GC,10271,0.66,146.0,347.5,13.4,942,10275,0.00,1.73,0.00,0.000,4,0.000,0.077,2902,3807,2303,0,0,0,0,0,0
$GC,10338,0.66,146.0,337.4,15.6,948,10342,0.00,1.67,0.00,0.000,6,0.000,0.052,2910,2767,2303,0,0,0,0,0,0
$GC,10667,0.66,146.0,291.0,13.3,979,10671,0.00,1.70,0.00,0.000,4,0.000,0.076,2910,3807,2303,0,0,0,0,0,0
$GC,10705,0.66,146.0,285.3,14.6,982,10713,0.10,1.67,0.00,0.000,6,0.207,0.051,2890,2768,2303,0,0,0,0,0,0
$GC,11031,0.66,146.0,244.2,11.2,1013,11035,0.00,1.70,0.00,0.000,4,0.000,0.076,2890,3809,2303,0,0,0,0,0,0
$GC,11131,0.66,146.0,231.6,13.3,1022,11135,0.00,1.62,0.00,0.000,6,0.000,0.051,2896,2787,2303,0,0,0,0,0,0
$GC,11461,0.66,146.0,194.7,10.8,1053,11465,0.00,1.70,0.00,0.000,4,0.000,0.076,2896,3817,2303,0,0,0,0,0,0
$GC,11550,0.66,146.0,183.9,11.8,1061,11554,0.00,1.62,0.00,0.000,6,0.000,0.052,2903,2794,2303,0,0,0,0,0,0
$GC,11880,0.66,146.0,146.0,11.7,1092,11884,0.00,1.65,0.00,0.000,4,0.000,0.076,2903,3813,2303,0,0,0,0,0,0
$GC,11985,0.66,146.0,133.1,12.0,1101,11993,0.00,1.62,0.00,0.000,6,0.000,0.052,2911,2790,2303,0,0,0,0,0,0
$GC,12312,0.72,195.8,103.6,7.7,1132,12358,0.00,1.77,40.45,0.842,4,0.000,0.076,2910,3806,2114,0,0,0,0,0,0
$GC,12486,0.72,195.8,84.3,13.2,1159,12493,0.00,1.62,0.00,0.000,6,0.000,0.054,2918,2810,2110,0,0,0,0,0,0
$GC,12830,0.72,201.5,47.6,9.7,1220,12838,0.00,0.00,4.85,0.674,6,0.000,0.000,2918,2810,2092,0,0,0,0,0,0
$GC,13172,0.86,312.9,20.4,4.9,1281,13272,0.00,1.83,93.80,0.800,4,0.000,0.074,2918,3810,1637,0,0,0,0,0,0
$GC,13301,0.92,360.0,12.6,7.8,1302,13347,0.12,1.62,39.25,0.760,6,0.110,0.051,2966,2844,1446,0,0,0,0,0,0
$STATE,13396,end climb,SURFACE_DEPTH_REACHED
$STATE,13396,begin surface coast
$FINISH,0.5,1.024415
$STATE,13419,end surface coast,CONTROL_FINISHED_OK
$STATE,13419,begin surface
$SM_CCo,13494,0.00,0.000,0,0,1435,362.80
$SM_GC,1.63,8.25,0.00,0.00,0.074,0.000,0.000,157,2810,1435,-7.81,0.28,362.80
$RAFOS_CLK,435
$RAFOS,6,1284684547,0.833333,0.818611,108,92,62,61,61,59,774,774,189,205,196,211
$RAFOS,5,1284684066,0.700000,0.685000,126,107,68,66,64,63,891,892,196,224,205,204
$RAFOS,4,1284683586,0.566667,0.551667,112,98,64,61,60,59,676,677,193,213,136,156
$RAFOS,3,1284683130,0.433333,0.425000,65,62,61,58,56,55,144,186,219,177,196,135
$RAFOS,2,1284682640,0.300000,0.288889,72,70,65,59,59,59,526,201,525,183,210,166
$RAFOS,1,1284682145,0.166667,0.151389,199,166,62,59,59,56,539,538,197,191,137,216
$RAFOS,0,1284681661,0.033333,0.016944,101,99,71,60,60,59,673,674,215,147,166,193
$RAFOS_FIX,6644.260254,-5958.151855,170910,000001,6,120,0.41
$IRIDIUM_FIX,6614.97,-6047.73,160910,181842
$TT8_MAMPS,0.027713
$HUMID,47.91
$INTERNAL_PRESSURE,8.83813
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,23.0,3.639
$10V_AH,10.2,2.682
$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,20.975,81.200,435.975,0.000,0.000,27.697,35.157,112.650,0.000,0.000,15.450,3354.221,7441.544,501.817,2384.386,114.007,0.000,1650.837,0.000,2175.217,2520.000,0.529,0.000
$DEVICE_MAMPS,287.640,149.175,1156.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,3.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.683,960.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151696
$DATA_FILE_SIZE,50062,1322
$CAP_FILE_SIZE,141847,0
$CFSIZE,260165632,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$CURRENT,0.181,159.3,1
$GPS,170910,020207,6642.837,-5957.731,29,1.5,29,-38.0