version: 66.06
glider: 172
mission: 3
dive: 8
start: 10 21 109 9 12 8
data:
$ID,172
$MISSION,3
$DIVE,8
$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,-4319.855
$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,18
$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
$GPS1,090337,6657.815,-5717.588,28,1.3,28,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.9
$GPS2,091202,6657.705,-5717.501,13,1.3,13,-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,342.2,140215,-17.5,-10.000
$D_GRID,781
$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,-146.0,0.0,0.0,0,70,0.00,0.00,-56.28,0.000,2,0.000,0.000,141,1941,2757,0,0,0,0,0,0
$GC,71,-0.64,-146.0,3.1,-3.3,11,109,10.80,2.35,-20.62,0.000,4,0.255,0.092,2802,3350,3534,0,0,0,0,0,0
$GC,312,-0.67,-146.0,39.6,-14.4,66,319,0.00,2.33,0.00,0.000,6,0.000,0.065,2801,1937,3535,0,0,0,0,0,0
$GC,637,-0.67,-146.0,87.2,-14.5,127,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1937,3535,0,0,0,0,0,0
$GC,956,-0.67,-146.0,132.4,-14.2,166,960,0.00,2.30,0.00,0.000,4,0.000,0.078,2801,531,3535,0,0,0,0,0,0
$GC,1055,-0.67,-146.0,146.6,-13.0,177,1061,0.00,2.25,0.00,0.000,6,0.000,0.062,2794,1930,3535,0,0,0,0,0,0
$GC,1370,-0.67,-146.0,187.6,-13.1,208,1374,0.00,2.30,0.00,0.000,4,0.000,0.077,2794,523,3535,0,0,0,0,0,0
$GC,1457,-0.67,-146.0,200.0,-14.5,218,1461,0.00,2.28,0.00,0.000,6,0.000,0.063,2793,1939,3535,0,0,0,0,0,0
$GC,1775,-0.67,-146.0,242.1,-12.5,249,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1939,3534,0,0,0,0,0,0
$GC,2086,-0.67,-146.0,280.1,-12.1,279,2090,0.00,2.25,0.00,0.000,4,0.000,0.077,2794,526,3534,0,0,0,0,0,0
$GC,2151,-0.67,-146.0,288.6,-12.5,286,2157,0.00,2.25,0.00,0.000,6,0.000,0.062,2794,1939,3534,0,0,0,0,0,0
$GC,2465,-0.67,-146.0,328.0,-12.2,317,2469,0.00,2.30,0.00,0.000,4,0.000,0.076,2794,520,3534,0,0,0,0,0,0
$GC,2517,-0.67,-146.0,334.4,-12.3,323,2521,0.00,2.25,0.00,0.000,6,0.000,0.062,2793,1940,3534,0,0,0,0,0,0
$GC,2835,-0.67,-146.0,370.6,-10.9,354,2839,0.00,2.28,0.00,0.000,4,0.000,0.075,2793,532,3534,0,0,0,0,0,0
$GC,2861,-0.67,-146.0,373.6,-12.3,357,2865,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1933,3535,0,0,0,0,0,0
$GC,3180,-0.67,-146.0,410.2,-11.5,388,3184,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,522,3535,0,0,0,0,0,0
$GC,3219,-0.67,-146.0,415.1,-12.9,392,3225,0.00,2.22,0.00,0.000,6,0.000,0.060,2793,1930,3535,0,0,0,0,0,0
$GC,3533,-0.67,-146.0,449.6,-11.0,423,3541,0.00,2.25,0.00,0.000,4,0.000,0.074,2794,529,3536,0,0,0,0,0,0
$GC,3592,-0.67,-146.0,456.4,-11.0,429,3598,0.00,2.22,0.00,0.000,6,0.000,0.060,2793,1938,3536,0,0,0,0,0,0
$GC,3906,-0.71,-146.0,492.1,-11.7,460,3910,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,522,3536,0,0,0,0,0,0
$GC,3945,-0.71,-146.0,496.8,-12.2,464,3951,0.00,2.22,0.00,0.000,6,0.000,0.060,2793,1934,3536,0,0,0,0,0,0
$GC,4260,-0.71,-146.0,533.2,-11.8,495,4264,0.00,2.25,0.00,0.000,4,0.000,0.074,2793,529,3537,0,0,0,0,0,0
$GC,4311,-0.71,-146.0,539.8,-12.6,501,4315,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1939,3536,0,0,0,0,0,0
$GC,4630,-0.71,-146.0,577.6,-11.8,532,4634,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,523,3537,0,0,0,0,0,0
$GC,4678,-0.74,-146.0,583.4,-10.8,537,4683,0.00,2.22,0.00,0.000,6,0.000,0.060,2793,1937,3537,0,0,0,0,0,0
$GC,5009,-0.74,-146.0,621.4,-11.4,558,5013,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,522,3537,0,0,0,0,0,0
$GC,5052,-0.78,-146.0,626.6,-12.1,559,5056,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1932,3537,0,0,0,0,0,0
$GC,5372,-0.78,-146.0,663.2,-11.4,570,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1932,3537,0,0,0,0,0,0
$GC,5676,-0.78,-146.0,698.6,-11.8,580,5680,0.00,2.28,0.00,0.000,4,0.000,0.075,2793,520,3537,0,0,0,0,0,0
$GC,5706,-0.78,-146.0,702.3,-11.9,581,5710,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1935,3536,0,0,0,0,0,0
$GC,6040,-0.78,-146.0,741.5,-11.8,592,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1935,3537,0,0,0,0,0,0
$GC,6343,-0.78,-146.0,777.2,-11.7,602,6347,0.00,2.28,0.00,0.000,4,0.000,0.076,2793,520,3537,0,0,0,0,0,0
$STATE,6376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6377,begin apogee
$GC,6381,-0.13,0.0,781.4,11.9,603,6506,0.55,0.00,122.03,1.122,6,0.142,0.000,2976,1940,2940,0,0,0,0,0,0
$STATE,6506,end apogee,CONTROL_FINISHED_OK
$STATE,6506,begin climb
$GC,6507,0.64,146.0,786.5,0.0,607,6642,0.73,2.53,127.40,1.090,4,0.087,0.074,3238,527,2343,0,0,0,0,0,0
$GC,6702,0.51,172.5,784.3,8.8,613,6731,0.15,2.38,23.98,1.037,6,0.157,0.055,3194,1943,2235,0,0,0,0,0,0
$GC,7043,0.58,227.7,758.8,7.5,625,7096,0.00,2.45,48.50,1.065,4,0.000,0.075,3204,527,2011,0,0,0,0,0,0
$GC,7160,0.61,227.7,748.6,10.2,628,7164,0.00,2.35,0.00,0.000,6,0.000,0.056,3204,1935,2004,0,0,0,0,0,0
$GC,7489,0.61,230.5,716.4,9.9,639,7493,0.00,2.35,0.00,0.000,4,0.000,0.076,3213,531,2000,0,0,0,0,0,0
$GC,7602,0.61,230.5,704.8,10.6,642,7606,0.00,2.28,0.00,0.000,6,0.000,0.057,3213,1934,2000,0,0,0,0,0,0
$GC,7914,0.62,234.7,673.4,9.8,653,7923,0.00,2.33,5.32,0.802,4,0.000,0.075,3223,519,1983,0,0,0,0,0,0
$GC,8004,0.62,234.7,664.0,10.5,656,8008,0.00,2.30,0.00,0.000,6,0.000,0.057,3222,1943,1982,0,0,0,0,0,0
$GC,8333,0.62,234.7,629.8,10.3,667,8338,0.00,2.35,0.00,0.000,4,0.000,0.077,3232,522,1982,0,0,0,0,0,0
$GC,8407,0.58,234.7,621.6,11.5,669,8411,0.00,2.28,0.00,0.000,6,0.000,0.058,3232,1940,1981,0,0,0,0,0,0
$GC,8720,0.54,234.7,586.8,11.7,687,8724,0.12,2.33,0.00,0.000,4,0.187,0.077,3209,533,1981,0,0,0,0,0,0
$GC,8802,0.58,234.7,578.4,10.3,696,8808,0.00,2.25,0.00,0.000,6,0.000,0.058,3209,1942,1981,0,0,0,0,0,0
$GC,9116,0.58,234.7,546.3,10.0,727,9120,0.00,2.33,0.00,0.000,4,0.000,0.077,3220,526,1980,0,0,0,0,0,0
$GC,9229,0.58,234.7,534.5,11.6,740,9233,0.00,2.25,0.00,0.000,6,0.000,0.059,3220,1939,1980,0,0,0,0,0,0
$GC,9548,0.58,234.7,501.0,10.5,771,9552,0.00,2.30,0.00,0.000,4,0.000,0.077,3230,526,1980,0,0,0,0,0,0
$GC,9634,0.58,234.7,491.4,11.5,781,9639,0.00,2.25,0.00,0.000,6,0.000,0.060,3230,1943,1980,0,0,0,0,0,0
$GC,9953,0.54,234.7,454.0,12.4,812,9957,0.00,2.30,0.00,0.000,4,0.000,0.077,3241,527,1980,0,0,0,0,0,0
$GC,10040,0.50,234.7,442.7,13.5,822,10044,0.15,2.22,0.00,0.000,6,0.157,0.059,3191,1929,1979,0,0,0,0,0,0
$GC,10359,0.58,241.4,410.1,9.7,853,10371,0.00,2.30,7.07,0.787,4,0.000,0.077,3201,531,1955,0,0,0,0,0,0
$GC,10479,0.65,241.4,397.4,10.6,867,10483,0.00,2.22,0.00,0.000,6,0.000,0.058,3201,1930,1953,0,0,0,0,0,0
$GC,10798,0.72,241.4,364.7,10.9,898,10802,0.15,2.30,0.00,0.000,4,0.097,0.076,3275,527,1953,0,0,0,0,0,0
$GC,10885,0.59,241.4,352.3,15.1,908,10889,0.20,2.20,0.00,0.000,6,0.169,0.058,3217,1946,1952,0,0,0,0,0,0
$GC,11203,0.59,241.4,317.8,10.0,939,11207,0.00,2.30,0.00,0.000,4,0.000,0.076,3227,527,1952,0,0,0,0,0,0
$GC,11298,0.59,241.4,307.9,11.6,950,11302,0.00,2.22,0.00,0.000,6,0.000,0.058,3227,1936,1953,0,0,0,0,0,0
$GC,11617,0.59,241.4,275.3,10.6,981,11621,0.00,2.28,0.00,0.000,4,0.000,0.076,3237,527,1952,0,0,0,0,0,0
$GC,11686,0.59,241.4,267.6,11.4,989,11690,0.00,2.22,0.00,0.000,6,0.000,0.058,3237,1939,1952,0,0,0,0,0,0
$GC,12005,0.59,241.4,233.1,11.2,1020,12009,0.00,2.28,0.00,0.000,4,0.000,0.076,3248,527,1953,0,0,0,0,0,0
$GC,12092,0.55,241.4,222.8,11.0,1030,12096,0.12,2.22,0.00,0.000,6,0.155,0.058,3206,1944,1952,0,0,0,0,0,0
$GC,12411,0.69,276.1,193.7,8.4,1061,12448,0.12,2.35,30.67,0.754,4,0.110,0.077,3271,531,1813,0,0,0,0,0,0
$GC,12547,0.66,276.1,177.5,11.6,1076,12553,0.10,2.25,0.00,0.000,6,0.153,0.058,3237,1935,1808,0,0,0,0,0,0
$GC,12862,0.71,280.0,146.6,9.8,1107,12865,0.00,2.30,0.00,0.000,4,0.000,0.075,3248,530,1805,0,0,0,0,0,0
$GC,12949,0.75,280.0,137.4,10.3,1117,12952,0.00,2.22,0.00,0.000,6,0.000,0.057,3248,1953,1805,0,0,0,0,0,0
$GC,13267,0.75,280.0,103.2,11.3,1148,13271,0.00,2.33,0.00,0.000,4,0.000,0.076,3258,527,1804,0,0,0,0,0,0
$GC,13397,0.75,280.0,87.3,11.5,1174,13404,0.00,2.22,0.00,0.000,6,0.000,0.058,3258,1934,1804,0,0,0,0,0,0
$GC,13723,0.82,307.4,51.5,8.7,1235,13755,0.00,2.33,26.55,0.680,4,0.000,0.077,3269,517,1686,0,0,0,0,0,0
$GC,13802,0.86,338.7,44.9,8.6,1253,13836,0.00,2.28,28.02,0.662,6,0.000,0.058,3269,1930,1558,0,0,0,0,0,0
$GC,14155,0.98,358.3,11.4,9.1,1320,14173,0.20,0.00,16.45,0.644,6,0.088,0.000,3348,1931,1478,0,0,0,0,0,0
$STATE,14213,end climb,SURFACE_DEPTH_REACHED
$STATE,14213,begin surface coast
$FINISH,1.1,1.013828
$STATE,14240,end surface coast,CONTROL_FINISHED_OK
$STATE,14240,begin surface
$SM_CCo,14312,0.00,0.000,0,0,1470,360.59
$SM_GC,2.04,8.68,0.00,0.00,0.064,0.000,0.000,147,1932,1470,-8.94,-0.17,360.59
$RAFOS_CLK,714
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5724.14,150199,050547
$TT8_MAMPS,0.051389
$HUMID,39.52
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,752.3,60.7
$24V_AH,23.4,4.910
$10V_AH,10.3,1.780
$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,22.075,145.950,436.000,0.000,0.000,30.396,30.814,333.709,2.250,0.000,14.525,0.000,10748.683,533.859,2987.732,508.781,0.000,1804.368,0.000,2431.639,2520.000,19.706,0.000
$DEVICE_MAMPS,254.644,92.040,1122.121,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.019,993.231,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150292
$DATA_FILE_SIZE,53593,1336
$CAP_FILE_SIZE,172085,0
$CFSIZE,260165632,251871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.5
$CURRENT,0.202,167.2,1
$GPS,211009,131137,6657.578,-5720.701,35,1.1,35,-37.6