version: 66.06
glider: 172
mission: 3
dive: 6
start: 10 21 109 1 27 50
data:
$ID,172
$MISSION,3
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,500
$D_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,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-3
$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,51891
$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,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,275
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4288.728
$T_RSLEEP,15
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3025
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.032000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2940
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-55.981045
$PRESSURE_SLOPE,0.0001168426
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,011613,6659.851,-5709.214,31,1.5,48,-37.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.6
$GPS2,012744,6659.834,-5709.310,14,1.4,14,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$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,320.7,146849,-17.5,-10.000
$D_GRID,741
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,76,0.00,0.00,-61.97,0.000,2,0.000,0.000,119,1936,2976,0,0,0,0,0,0
$GC,77,-0.64,-146.0,3.7,-7.9,12,107,10.88,2.40,-11.93,0.000,4,0.252,0.093,2797,3349,3539,0,0,0,0,0,0
$GC,223,-0.64,-146.0,33.4,-17.0,45,228,0.00,2.30,0.00,0.000,6,0.000,0.064,2797,1943,3540,0,0,0,0,0,0
$GC,547,-0.64,-146.0,83.4,-13.7,106,553,0.00,2.33,0.00,0.000,4,0.000,0.076,2797,525,3540,0,0,0,0,0,0
$GC,691,-0.64,-146.0,103.5,-13.8,136,697,0.00,2.28,0.00,0.000,6,0.000,0.061,2788,1943,3540,0,0,0,0,0,0
$GC,1005,-0.64,-146.0,149.5,-15.0,167,1006,0.10,0.00,0.00,0.000,6,0.196,0.000,2813,1943,3541,0,0,0,0,0,0
$GC,1316,-0.68,-146.0,187.8,-12.1,197,1320,0.00,2.30,0.00,0.000,4,0.000,0.077,2813,529,3539,0,0,0,0,0,0
$GC,1403,-0.73,-146.0,198.5,-11.6,207,1406,0.00,2.25,0.00,0.000,6,0.000,0.062,2806,1941,3539,0,0,0,0,0,0
$GC,1721,-0.77,-146.0,235.7,-11.8,238,1725,0.00,2.30,0.00,0.000,4,0.000,0.077,2806,527,3539,0,0,0,0,0,0
$GC,1795,-0.77,-146.0,245.0,-12.9,246,1800,0.00,2.25,0.00,0.000,6,0.000,0.062,2806,1939,3539,0,0,0,0,0,0
$GC,2109,-0.81,-146.0,282.2,-12.0,277,2113,0.12,2.30,0.00,0.000,4,0.107,0.076,2750,533,3539,0,0,0,0,0,0
$GC,2196,-0.72,-146.0,296.4,-16.9,287,2200,0.15,2.22,0.00,0.000,6,0.150,0.062,2789,1935,3539,0,0,0,0,0,0
$GC,2514,-0.72,-146.0,339.0,-13.1,318,2518,0.00,2.28,0.00,0.000,4,0.000,0.074,2790,525,3539,0,0,0,0,0,0
$GC,2553,-0.72,-146.0,344.3,-13.3,322,2559,0.00,2.22,0.00,0.000,6,0.000,0.060,2781,1930,3539,0,0,0,0,0,0
$GC,2867,-0.72,-146.0,386.2,-12.8,353,2871,0.00,2.25,0.00,0.000,4,0.000,0.074,2781,529,3539,0,0,0,0,0,0
$GC,2945,-0.72,-146.0,396.6,-13.3,362,2949,0.00,2.22,0.00,0.000,6,0.000,0.061,2773,1935,3539,0,0,0,0,0,0
$GC,3264,-0.72,-146.0,437.9,-13.2,393,3268,0.00,2.25,0.00,0.000,4,0.000,0.074,2773,529,3539,0,0,0,0,0,0
$GC,3324,-0.72,-146.0,446.1,-13.3,400,3328,0.00,2.22,0.00,0.000,6,0.000,0.061,2766,1936,3539,0,0,0,0,0,0
$GC,3643,-0.67,-146.0,488.6,-13.0,431,3647,0.15,2.28,0.00,0.000,4,0.175,0.074,2809,529,3540,0,0,0,0,0,0
$GC,3712,-0.74,-146.0,496.3,-10.7,439,3716,0.00,2.22,0.00,0.000,6,0.000,0.060,2803,1938,3540,0,0,0,0,0,0
$GC,4031,-0.81,-146.0,528.6,-9.9,470,4035,0.12,2.25,0.00,0.000,4,0.104,0.074,2743,522,3540,0,0,0,0,0,0
$GC,4109,-0.71,-146.0,539.4,-14.4,479,4113,0.15,2.22,0.00,0.000,6,0.150,0.060,2790,1936,3540,0,0,0,0,0,0
$GC,4427,-0.74,-146.0,573.6,-10.6,510,4431,0.00,2.25,0.00,0.000,4,0.000,0.073,2790,532,3541,0,0,0,0,0,0
$GC,4488,-0.74,-146.0,580.5,-11.4,517,4492,0.00,2.22,0.00,0.000,6,0.000,0.059,2784,1945,3541,0,0,0,0,0,0
$GC,4813,-0.74,-146.0,616.9,-11.1,539,4817,0.00,2.28,0.00,0.000,4,0.000,0.074,2783,522,3541,0,0,0,0,0,0
$GC,4882,-0.74,-146.0,625.1,-11.7,541,4886,0.00,2.22,0.00,0.000,6,0.000,0.060,2783,1938,3541,0,0,0,0,0,0
$GC,5207,-0.74,-146.0,661.4,-11.2,552,5211,0.00,2.25,0.00,0.000,4,0.000,0.074,2784,532,3541,0,0,0,0,0,0
$GC,5276,-0.74,-146.0,669.5,-11.5,554,5281,0.00,2.22,0.00,0.000,6,0.000,0.060,2784,1943,3541,0,0,0,0,0,0
$GC,5602,-0.74,-146.0,706.0,-11.1,565,5605,0.00,2.25,0.00,0.000,4,0.000,0.074,2784,532,3542,0,0,0,0,0,0
$GC,5675,-0.74,-146.0,715.0,-12.0,567,5679,0.00,2.20,0.00,0.000,6,0.000,0.061,2784,1929,3541,0,0,0,0,0,0
$STATE,5934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5934,begin apogee
$GC,5936,-0.13,0.0,743.6,10.9,576,6061,0.60,0.00,122.57,1.076,6,0.137,0.000,2980,1929,2939,0,0,0,0,0,0
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6063,0.64,146.0,747.7,0.0,580,6197,0.73,2.47,127.38,1.045,4,0.081,0.069,3244,527,2343,0,0,0,0,0,0
$GC,6314,0.46,146.0,736.3,10.5,588,6318,0.20,2.33,0.00,0.000,6,0.153,0.055,3183,1935,2335,0,0,0,0,0,0
$GC,6625,0.53,197.7,711.9,7.6,599,6674,0.00,2.40,44.35,1.016,4,0.000,0.072,3193,526,2133,0,0,0,0,0,0
$GC,6756,0.55,214.3,700.2,9.2,603,6777,0.00,2.33,15.27,0.949,6,0.000,0.055,3194,1937,2065,0,0,0,0,0,0
$GC,7107,0.62,232.5,666.9,9.2,615,7127,0.00,2.35,16.40,0.953,4,0.000,0.074,3202,523,1992,0,0,0,0,0,0
$GC,7213,0.71,259.8,656.8,8.7,618,7243,0.12,2.30,25.35,0.970,6,0.067,0.055,3263,1941,1880,0,0,0,0,0,0
$GC,7550,0.61,259.8,609.0,14.6,630,7554,0.15,2.35,0.00,0.000,4,0.166,0.074,3232,528,1872,0,0,0,0,0,0
$GC,7632,0.61,259.8,598.4,12.5,632,7636,0.00,2.28,0.00,0.000,6,0.000,0.056,3232,1942,1871,0,0,0,0,0,0
$GC,7950,0.61,259.8,558.2,12.7,663,7955,0.00,2.33,0.00,0.000,4,0.000,0.074,3241,530,1870,0,0,0,0,0,0
$GC,8055,0.61,259.8,544.8,13.3,675,8059,0.00,2.25,0.00,0.000,6,0.000,0.056,3242,1939,1869,0,0,0,0,0,0
$GC,8373,0.61,259.8,502.7,13.0,706,8377,0.00,2.30,0.00,0.000,4,0.000,0.074,3252,529,1869,0,0,0,0,0,0
$GC,8478,0.58,259.8,488.5,13.0,718,8482,0.10,2.22,0.00,0.000,6,0.150,0.055,3218,1929,1868,0,0,0,0,0,0
$GC,8796,0.62,259.8,452.3,11.2,749,8800,0.00,2.28,0.00,0.000,4,0.000,0.074,3228,531,1868,0,0,0,0,0,0
$GC,8895,0.62,259.8,440.6,11.8,760,8902,0.00,2.22,0.00,0.000,6,0.000,0.056,3228,1940,1868,0,0,0,0,0,0
$GC,9210,0.62,259.8,404.7,11.2,791,9214,0.00,2.30,0.00,0.000,4,0.000,0.074,3238,523,1868,0,0,0,0,0,0
$GC,9305,0.62,259.8,393.6,11.3,802,9309,0.00,2.22,0.00,0.000,6,0.000,0.057,3238,1932,1868,0,0,0,0,0,0
$GC,9624,0.62,259.8,356.8,11.3,833,9628,0.00,2.28,0.00,0.000,4,0.000,0.074,3247,527,1868,0,0,0,0,0,0
$GC,9719,0.62,259.8,345.8,11.7,844,9723,0.00,2.22,0.00,0.000,6,0.000,0.057,3247,1941,1867,0,0,0,0,0,0
$GC,10041,0.62,259.8,310.3,11.0,875,10044,0.00,2.25,0.00,0.000,4,0.000,0.075,3257,521,1867,0,0,0,0,0,0
$GC,10161,0.58,259.8,296.0,11.9,888,10168,0.12,2.22,0.00,0.000,6,0.149,0.058,3215,1936,1868,0,0,0,0,0,0
$GC,10476,0.68,279.3,267.0,9.1,919,10497,0.00,2.33,15.85,0.770,4,0.000,0.074,3225,524,1800,0,0,0,0,0,0
$GC,10579,0.74,279.3,256.5,10.9,931,10584,0.08,2.25,0.00,0.000,6,0.084,0.057,3268,1940,1798,0,0,0,0,0,0
$GC,10898,0.70,279.3,215.7,12.8,962,10902,0.00,2.28,0.00,0.000,4,0.000,0.074,3279,534,1797,0,0,0,0,0,0
$GC,11009,0.66,279.3,201.2,13.0,974,11015,0.15,2.20,0.00,0.000,6,0.169,0.058,3235,1949,1796,0,0,0,0,0,0
$GC,11323,0.71,279.3,165.9,11.1,1005,11326,0.00,2.30,0.00,0.000,4,0.000,0.074,3246,527,1795,0,0,0,0,0,0
$GC,11418,0.75,279.3,154.9,11.6,1016,11422,0.00,2.22,0.00,0.000,6,0.000,0.058,3246,1936,1795,0,0,0,0,0,0
$GC,11737,0.79,279.3,120.7,10.5,1047,11741,0.00,2.28,0.00,0.000,4,0.000,0.074,3256,528,1795,0,0,0,0,0,0
$GC,11815,0.79,280.5,112.3,9.9,1056,11819,0.00,2.22,0.00,0.000,6,0.000,0.058,3256,1939,1795,0,0,0,0,0,0
$GC,12140,0.79,280.5,79.5,10.4,1106,12146,0.00,2.28,0.00,0.000,4,0.000,0.076,3266,529,1794,0,0,0,0,0,0
$GC,12232,0.82,308.4,70.2,8.7,1127,12261,0.00,2.22,25.35,0.682,6,0.000,0.058,3266,1942,1682,0,0,0,0,0,0
$GC,12580,0.88,312.5,35.2,9.8,1193,12590,0.12,2.33,3.72,0.471,4,0.107,0.077,3331,535,1666,0,0,0,0,0,0
$GC,12732,0.78,312.5,15.0,11.8,1228,12739,0.15,2.22,0.00,0.000,6,0.156,0.059,3282,1937,1665,0,0,0,0,0,0
$STATE,12838,end climb,SURFACE_DEPTH_REACHED
$STATE,12838,begin surface coast
$FINISH,0.9,1.014464
$STATE,12875,end surface coast,CONTROL_FINISHED_OK
$STATE,12875,begin surface
$SM_CCo,12947,0.00,0.000,0,0,1659,313.98
$SM_GC,2.22,8.32,0.00,0.00,0.064,0.000,0.000,142,1938,1659,-8.95,0.00,313.98
$RAFOS_CLK,631
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5603.38,150199,010120
$TT8_MAMPS,0.049855
$HUMID,40.94
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,702.7,63.6
$24V_AH,23.6,4.622
$10V_AH,10.2,1.630
$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,22.525,136.275,396.250,0.000,0.000,56.555,70.669,415.694,2.250,0.000,14.280,0.000,9603.038,518.489,2852.541,652.139,0.000,1704.809,0.000,2319.632,2520.000,20.764,0.000
$DEVICE_MAMPS,252.343,92.807,1076.101,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.860,928.279,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,50497,1255
$CAP_FILE_SIZE,165845,0
$CFSIZE,260165632,252051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$CURRENT,0.072,199.3,1
$GPS,211009,050501,6659.933,-5714.319,64,1.8,64,-37.6