version: 66.06
glider: 172
mission: 3
dive: 10
start: 10 21 109 17 18 20
data:
$ID,172
$MISSION,3
$DIVE,10
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4350.7852
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,171307,6658.808,-5726.417,41,1.0,41,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.5
$GPS2,171814,6658.825,-5726.507,15,1.3,15,-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,294.0,134150,-17.5,-10.000
$D_GRID,825
$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,-56.28,0.000,2,0.000,0.000,144,1939,2695,0,0,0,0,0,0
$GC,71,-0.64,-146.0,3.4,-4.6,11,109,10.73,2.35,-21.20,0.000,4,0.256,0.095,2800,3347,3538,0,0,0,0,0,0
$GC,338,-0.64,-146.0,47.4,-14.2,72,344,0.00,2.30,0.00,0.000,6,0.000,0.066,2799,1940,3538,0,0,0,0,0,0
$GC,663,-0.57,-146.0,98.2,-16.5,133,669,0.15,2.33,0.00,0.000,4,0.180,0.078,2842,508,3539,0,0,0,0,0,0
$GC,751,-0.64,-146.0,109.7,-12.2,145,755,0.00,2.30,0.00,0.000,6,0.000,0.061,2835,1936,3539,0,0,0,0,0,0
$GC,1070,-0.69,-146.0,147.6,-11.9,176,1074,0.00,2.33,0.00,0.000,4,0.000,0.078,2835,522,3538,0,0,0,0,0,0
$GC,1109,-0.74,-146.0,152.5,-12.1,180,1114,0.10,2.28,0.00,0.000,6,0.069,0.062,2777,1942,3538,0,0,0,0,0,0
$GC,1423,-0.63,-146.0,204.9,-16.7,211,1427,0.15,2.33,0.00,0.000,4,0.175,0.078,2818,531,3538,0,0,0,0,0,0
$GC,1505,-0.67,-146.0,216.1,-12.1,220,1511,0.00,2.25,0.00,0.000,6,0.000,0.062,2809,1937,3538,0,0,0,0,0,0
$GC,1819,-0.67,-146.0,255.4,-11.7,251,1823,0.00,2.33,0.00,0.000,4,0.000,0.077,2809,526,3538,0,0,0,0,0,0
$GC,1875,-0.67,-146.0,262.5,-12.8,257,1882,0.00,2.25,0.00,0.000,6,0.000,0.061,2803,1934,3538,0,0,0,0,0,0
$GC,2190,-0.67,-146.0,301.5,-12.2,288,2194,0.00,2.28,0.00,0.000,4,0.000,0.077,2803,533,3538,0,0,0,0,0,0
$GC,2237,-0.67,-146.0,307.6,-12.4,293,2244,0.00,2.22,0.00,0.000,6,0.000,0.061,2803,1930,3538,0,0,0,0,0,0
$GC,2552,-0.67,-146.0,344.7,-11.4,324,2556,0.00,2.28,0.00,0.000,4,0.000,0.076,2804,526,3538,0,0,0,0,0,0
$GC,2599,-0.67,-146.0,350.4,-11.0,329,2606,0.00,2.25,0.00,0.000,6,0.000,0.060,2803,1942,3538,0,0,0,0,0,0
$GC,2914,-0.67,-146.0,387.8,-12.4,360,2918,0.00,2.30,0.00,0.000,4,0.000,0.076,2803,519,3539,0,0,0,0,0,0
$GC,2983,-0.67,-146.0,396.7,-13.0,368,2988,0.00,2.25,0.00,0.000,6,0.000,0.061,2803,1939,3539,0,0,0,0,0,0
$GC,3302,-0.67,-146.0,435.6,-12.2,399,3306,0.00,2.28,0.00,0.000,4,0.000,0.075,2803,530,3539,0,0,0,0,0,0
$GC,3371,-0.67,-146.0,444.0,-12.0,407,3375,0.00,2.22,0.00,0.000,6,0.000,0.060,2803,1940,3539,0,0,0,0,0,0
$GC,3690,-0.67,-146.0,481.1,-11.8,438,3694,0.00,2.28,0.00,0.000,4,0.000,0.075,2803,526,3539,0,0,0,0,0,0
$GC,3759,-0.67,-146.0,489.6,-12.1,446,3763,0.00,2.22,0.00,0.000,6,0.000,0.060,2803,1936,3539,0,0,0,0,0,0
$GC,4078,-0.67,-146.0,525.9,-11.2,477,4082,0.00,2.28,0.00,0.000,4,0.000,0.075,2803,526,3540,0,0,0,0,0,0
$GC,4147,-0.67,-146.0,534.1,-11.9,485,4152,0.00,2.22,0.00,0.000,6,0.000,0.060,2801,1937,3539,0,0,0,0,0,0
$GC,4466,-0.67,-146.0,571.4,-11.5,516,4470,0.00,2.28,0.00,0.000,4,0.000,0.075,2801,523,3539,0,0,0,0,0,0
$GC,4548,-0.67,-146.0,581.1,-11.8,525,4555,0.00,2.22,0.00,0.000,6,0.000,0.059,2795,1934,3539,0,0,0,0,0,0
$GC,4870,-0.67,-146.0,617.9,-11.4,547,4874,0.00,2.28,0.00,0.000,4,0.000,0.076,2795,525,3539,0,0,0,0,0,0
$GC,4934,-0.67,-146.0,625.6,-11.6,549,4939,0.00,2.22,0.00,0.000,6,0.000,0.061,2795,1934,3540,0,0,0,0,0,0
$GC,5264,-0.67,-146.0,661.4,-10.9,560,5268,0.00,2.28,0.00,0.000,4,0.000,0.077,2795,522,3540,0,0,0,0,0,0
$GC,5333,-0.67,-146.0,669.1,-11.1,562,5337,0.00,2.22,0.00,0.000,6,0.000,0.060,2794,1933,3540,0,0,0,0,0,0
$GC,5658,-0.67,-146.0,704.0,-10.9,573,5662,0.00,2.28,0.00,0.000,4,0.000,0.077,2795,522,3540,0,0,0,0,0,0
$GC,5718,-0.67,-146.0,710.8,-11.8,575,5722,0.00,2.22,0.00,0.000,6,0.000,0.061,2795,1936,3540,0,0,0,0,0,0
$GC,6052,-0.67,-146.0,746.8,-11.0,586,6056,0.00,2.28,0.00,0.000,4,0.000,0.076,2794,525,3540,0,0,0,0,0,0
$GC,6121,-0.67,-146.0,754.7,-11.5,588,6125,0.00,2.22,0.00,0.000,6,0.000,0.061,2795,1937,3540,0,0,0,0,0,0
$GC,6446,-0.67,-146.0,789.9,-10.9,599,6450,0.00,2.28,0.00,0.000,4,0.000,0.076,2795,526,3540,0,0,0,0,0,0
$GC,6497,-0.67,-146.0,795.7,-11.3,600,6501,0.00,2.22,0.00,0.000,6,0.000,0.060,2795,1941,3540,0,0,0,0,0,0
$STATE,6778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6778,begin apogee
$GC,6781,-0.13,0.0,827.7,11.9,610,6907,0.57,0.00,123.70,1.159,6,0.140,0.000,2981,1942,2940,0,0,0,0,0,0
$STATE,6907,end apogee,CONTROL_FINISHED_OK
$STATE,6907,begin climb
$GC,6908,0.64,146.0,833.9,0.0,614,7046,0.73,2.47,128.50,1.126,4,0.082,0.071,3229,3346,2342,0,0,0,0,0,0
$GC,7098,0.53,211.9,834.0,7.0,620,7165,0.12,2.42,58.78,1.105,6,0.171,0.061,3204,1934,2075,0,0,0,0,0,0
$GC,7466,0.56,236.3,802.6,8.9,633,7496,0.00,2.40,21.60,1.063,4,0.000,0.075,3214,527,1974,0,0,0,0,0,0
$GC,7634,0.56,236.3,785.4,10.5,638,7638,0.00,2.33,0.00,0.000,6,0.000,0.056,3214,1934,1970,0,0,0,0,0,0
$GC,7950,0.56,236.3,752.2,10.5,649,7954,0.00,2.38,0.00,0.000,4,0.000,0.077,3222,522,1968,0,0,0,0,0,0
$GC,8041,0.56,236.3,741.9,11.4,652,8045,0.00,2.30,0.00,0.000,6,0.000,0.057,3223,1940,1968,0,0,0,0,0,0
$GC,8375,0.56,236.3,703.4,11.7,663,8379,0.00,2.35,0.00,0.000,4,0.000,0.077,3232,526,1967,0,0,0,0,0,0
$GC,8483,0.53,236.3,689.6,12.7,666,8488,0.10,2.28,0.00,0.000,6,0.154,0.057,3200,1936,1967,0,0,0,0,0,0
$GC,8800,0.58,236.3,654.4,11.0,677,8803,0.00,2.33,0.00,0.000,4,0.000,0.077,3209,522,1967,0,0,0,0,0,0
$GC,8912,0.58,236.3,641.6,11.6,680,8916,0.00,2.25,0.00,0.000,6,0.000,0.058,3209,1931,1967,0,0,0,0,0,0
$GC,9224,0.58,236.3,607.8,10.5,691,9228,0.00,2.33,0.00,0.000,4,0.000,0.078,3219,521,1967,0,0,0,0,0,0
$GC,9328,0.58,236.3,596.6,10.9,696,9332,0.00,2.25,0.00,0.000,6,0.000,0.058,3219,1930,1967,0,0,0,0,0,0
$GC,9647,0.58,236.3,563.6,10.2,727,9651,0.00,2.30,0.00,0.000,4,0.000,0.078,3229,527,1966,0,0,0,0,0,0
$GC,9746,0.58,236.3,553.1,10.3,738,9752,0.00,2.25,0.00,0.000,6,0.000,0.058,3229,1942,1966,0,0,0,0,0,0
$GC,10061,0.53,236.3,520.0,11.0,769,10065,0.12,2.33,0.00,0.000,4,0.186,0.078,3206,524,1966,0,0,0,0,0,0
$GC,10217,0.57,244.8,504.8,9.6,787,10230,0.00,2.22,7.10,0.838,6,0.000,0.058,3206,1931,1942,0,0,0,0,0,0
$GC,10544,0.61,246.4,473.3,9.9,819,10548,0.00,2.30,0.00,0.000,4,0.000,0.079,3215,527,1939,0,0,0,0,0,0
$GC,10678,0.61,246.4,459.0,11.0,834,10684,0.00,2.25,0.00,0.000,6,0.000,0.058,3216,1942,1939,0,0,0,0,0,0
$GC,10993,0.61,246.4,425.6,10.5,865,10997,0.00,2.30,0.00,0.000,4,0.000,0.078,3226,531,1939,0,0,0,0,0,0
$GC,11106,0.61,246.4,413.2,11.6,878,11109,0.00,2.22,0.00,0.000,6,0.000,0.058,3226,1938,1939,0,0,0,0,0,0
$GC,11424,0.61,246.4,377.0,11.4,909,11428,0.00,2.33,0.00,0.000,4,0.000,0.078,3236,523,1939,0,0,0,0,0,0
$GC,11550,0.57,246.4,362.3,12.1,923,11556,0.00,2.22,0.00,0.000,6,0.000,0.058,3236,1930,1939,0,0,0,0,0,0
$GC,11864,0.54,246.4,328.6,10.7,954,11868,0.12,2.30,0.00,0.000,4,0.186,0.077,3212,523,1938,0,0,0,0,0,0
$GC,11960,0.59,252.1,319.4,9.7,965,11974,0.00,2.20,7.88,0.772,6,0.000,0.058,3212,1945,1911,0,0,0,0,0,0
$GC,12288,0.66,275.8,290.5,8.9,997,12315,0.00,2.35,22.08,0.821,4,0.000,0.079,3222,517,1814,0,0,0,0,0,0
$GC,12405,0.72,275.8,279.4,10.9,1010,12411,0.00,2.28,0.00,0.000,6,0.000,0.058,3222,1932,1811,0,0,0,0,0,0
$GC,12720,0.77,275.8,247.1,10.7,1041,12724,0.15,2.33,0.00,0.000,4,0.097,0.079,3297,524,1808,0,0,0,0,0,0
$GC,12824,0.61,275.8,231.0,16.0,1053,12828,0.17,2.25,0.00,0.000,6,0.161,0.058,3225,1939,1807,0,0,0,0,0,0
$GC,13143,0.66,275.8,195.9,10.3,1084,13146,0.00,2.33,0.00,0.000,4,0.000,0.077,3235,521,1806,0,0,0,0,0,0
$GC,13224,0.66,275.8,186.7,11.1,1093,13231,0.00,2.25,0.00,0.000,6,0.000,0.058,3235,1938,1806,0,0,0,0,0,0
$GC,13539,0.70,275.8,154.8,10.2,1124,13543,0.00,2.30,0.00,0.000,4,0.000,0.077,3244,530,1806,0,0,0,0,0,0
$GC,13652,0.70,275.9,143.3,10.0,1137,13656,0.00,2.22,0.00,0.000,6,0.000,0.058,3245,1936,1806,0,0,0,0,0,0
$GC,13971,0.79,309.1,114.6,8.5,1168,14007,0.10,2.35,28.88,0.723,4,0.122,0.078,3301,532,1679,0,0,0,0,0,0
$GC,14136,0.72,309.1,94.5,12.0,1192,14142,0.12,2.25,0.00,0.000,6,0.156,0.058,3260,1932,1673,0,0,0,0,0,0
$GC,14461,0.76,309.1,62.3,10.1,1253,14467,0.00,2.33,0.00,0.000,4,0.000,0.079,3271,528,1670,0,0,0,0,0,0
$GC,14544,0.76,309.1,53.4,10.2,1272,14550,0.00,2.28,0.00,0.000,6,0.000,0.059,3271,1946,1670,0,0,0,0,0,0
$GC,14870,0.92,381.2,23.8,6.7,1333,14939,0.12,2.45,61.10,0.675,4,0.108,0.080,3335,524,1383,0,0,0,0,0,0
$STATE,15025,end climb,SURFACE_DEPTH_REACHED
$STATE,15025,begin surface coast
$FINISH,2.2,1.024930
$STATE,15038,end surface coast,CONTROL_FINISHED_OK
$STATE,15038,begin surface
$SM_CCo,15113,0.00,0.000,0,0,1371,384.88
$SM_GC,2.05,8.82,0.00,0.00,0.071,0.000,0.000,145,1945,1371,-8.94,0.20,384.88
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5716.55,150199,131318
$TT8_MAMPS,0.050622
$HUMID,39.56
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,91.7
$24V_AH,23.3,5.204
$10V_AH,10.3,1.933
$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,22.400,164.675,459.600,0.000,0.000,30.187,32.539,155.496,2.250,0.000,15.301,0.000,11240.928,601.311,3231.005,325.666,0.000,1970.157,0.000,2647.470,2520.000,19.754,0.000
$DEVICE_MAMPS,256.178,95.108,1158.937,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.788,1019.906,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,53671,1371
$CAP_FILE_SIZE,178030,0
$CFSIZE,260165632,251703296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$CURRENT,0.277,151.1,1
$GPS,211009,213107,6656.610,-5728.644,31,1.4,31,-37.6