version: 66.06
glider: 172
mission: 3
dive: 11
start: 10 21 109 21 36 38
data:
$ID,172
$MISSION,3
$DIVE,11
$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,-4364.3818
$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,22
$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
$GPS1,213107,6656.610,-5728.644,31,1.4,31,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-77.1
$GPS2,213632,6656.571,-5728.566,12,1.1,12,-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,342.4,131875,-17.5,-10.000
$D_GRID,777
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,82,0.00,0.00,-68.07,0.000,2,0.000,0.000,121,1945,2708,0,0,0,0,0,0
$GC,84,-0.64,-146.0,3.3,-3.0,13,121,10.88,2.35,-20.80,0.000,4,0.254,0.094,2804,3350,3538,0,0,0,0,0,0
$GC,311,-0.64,-146.0,43.4,-15.0,65,317,0.00,2.33,0.00,0.000,6,0.000,0.067,2804,1940,3539,0,0,0,0,0,0
$GC,636,-0.59,-146.0,94.3,-16.1,126,642,0.00,2.33,0.00,0.000,4,0.000,0.077,2804,528,3539,0,0,0,0,0,0
$GC,706,-0.55,-146.0,105.1,-14.4,139,710,0.15,2.28,0.00,0.000,6,0.153,0.061,2845,1934,3539,0,0,0,0,0,0
$GC,1025,-0.62,-146.0,143.8,-11.8,170,1028,0.00,2.33,0.00,0.000,4,0.000,0.078,2845,525,3539,0,0,0,0,0,0
$GC,1115,-0.70,-146.0,154.8,-11.7,180,1121,0.08,2.28,0.00,0.000,6,0.078,0.062,2794,1939,3539,0,0,0,0,0,0
$GC,1430,-0.65,-146.0,202.9,-14.8,211,1434,0.00,2.33,0.00,0.000,4,0.000,0.079,2793,522,3538,0,0,0,0,0,0
$GC,1473,-0.61,-146.0,209.6,-15.1,216,1478,0.12,2.28,0.00,0.000,6,0.157,0.064,2826,1937,3538,0,0,0,0,0,0
$GC,1791,-0.67,-146.0,244.7,-10.3,247,1795,0.00,2.33,0.00,0.000,4,0.000,0.079,2827,522,3538,0,0,0,0,0,0
$GC,1822,-0.73,-146.0,248.0,-10.8,250,1828,0.08,2.25,0.00,0.000,6,0.077,0.062,2781,1927,3538,0,0,0,0,0,0
$GC,2136,-0.68,-146.0,291.5,-13.8,281,2140,0.00,2.30,0.00,0.000,4,0.000,0.078,2781,519,3538,0,0,0,0,0,0
$GC,2179,-0.62,-146.0,297.6,-14.1,286,2183,0.12,2.28,0.00,0.000,6,0.157,0.062,2816,1939,3538,0,0,0,0,0,0
$GC,2498,-0.67,-146.0,332.0,-10.4,317,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1939,3538,0,0,0,0,0,0
$GC,2809,-0.71,-146.0,365.3,-10.5,347,2812,0.00,2.28,0.00,0.000,4,0.000,0.078,2816,515,3538,0,0,0,0,0,0
$GC,2882,-0.76,-146.0,373.3,-10.7,355,2888,0.00,2.25,0.00,0.000,6,0.000,0.061,2810,1932,3539,0,0,0,0,0,0
$GC,3196,-0.79,-146.0,408.2,-11.2,386,3201,0.12,2.30,0.00,0.000,4,0.106,0.077,2754,528,3539,0,0,0,0,0,0
$GC,3252,-0.68,-146.0,416.6,-15.7,392,3258,0.15,2.22,0.00,0.000,6,0.153,0.061,2804,1929,3538,0,0,0,0,0,0
$GC,3566,-0.68,-146.0,453.4,-11.7,423,3570,0.00,2.28,0.00,0.000,4,0.000,0.077,2804,524,3539,0,0,0,0,0,0
$GC,3618,-0.68,-146.0,459.6,-12.2,429,3622,0.00,2.22,0.00,0.000,6,0.000,0.060,2800,1934,3539,0,0,0,0,0,0
$GC,3937,-0.68,-146.0,496.1,-11.6,460,3941,0.00,2.30,0.00,0.000,4,0.000,0.077,2800,515,3539,0,0,0,0,0,0
$GC,3989,-0.68,-146.0,502.5,-11.8,466,3993,0.00,2.25,0.00,0.000,6,0.000,0.061,2796,1935,3539,0,0,0,0,0,0
$GC,4308,-0.68,-146.0,540.0,-11.7,497,4312,0.00,2.28,0.00,0.000,4,0.000,0.076,2796,525,3539,0,0,0,0,0,0
$GC,4364,-0.68,-146.0,547.1,-13.0,503,4370,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1933,3539,0,0,0,0,0,0
$GC,4678,-0.68,-146.0,583.7,-11.7,534,4682,0.00,2.28,0.00,0.000,4,0.000,0.077,2795,525,3539,0,0,0,0,0,0
$GC,4747,-0.68,-146.0,592.3,-12.3,542,4751,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1932,3539,0,0,0,0,0,0
$GC,5061,-0.68,-146.0,629.9,-12.0,557,5065,0.00,2.28,0.00,0.000,4,0.000,0.077,2796,524,3539,0,0,0,0,0,0
$GC,5112,-0.68,-146.0,636.3,-12.6,558,5116,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1934,3539,0,0,0,0,0,0
$GC,5424,-0.68,-146.0,672.3,-11.3,569,5428,0.00,2.28,0.00,0.000,4,0.000,0.077,2796,523,3539,0,0,0,0,0,0
$GC,5485,-0.68,-146.0,679.6,-11.8,571,5489,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1932,3539,0,0,0,0,0,0
$GC,5818,-0.68,-146.0,716.9,-11.3,582,5822,0.00,2.28,0.00,0.000,4,0.000,0.077,2796,522,3540,0,0,0,0,0,0
$GC,5870,-0.68,-146.0,723.0,-11.4,583,5874,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1931,3539,0,0,0,0,0,0
$GC,6182,-0.68,-146.0,756.9,-10.9,594,6185,0.00,2.28,0.00,0.000,4,0.000,0.077,2796,522,3540,0,0,0,0,0,0
$GC,6238,-0.68,-146.0,763.3,-10.9,595,6244,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1931,3540,0,0,0,0,0,0
$STATE,6362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6362,begin apogee
$GC,6365,-0.13,0.0,777.0,11.0,600,6490,0.57,0.00,123.38,1.127,6,0.145,0.000,2980,1932,2940,0,0,0,0,0,0
$STATE,6491,end apogee,CONTROL_FINISHED_OK
$STATE,6491,begin climb
$GC,6492,0.64,146.0,781.7,0.0,604,6626,0.73,2.55,127.38,1.091,4,0.085,0.073,3232,3350,2343,0,0,0,0,0,0
$GC,6704,0.47,151.2,778.0,9.8,611,6713,0.20,2.42,4.53,0.726,6,0.162,0.063,3184,1934,2323,0,0,0,0,0,0
$GC,7024,0.55,221.7,755.6,6.7,622,7093,0.00,2.45,62.60,1.073,4,0.000,0.074,3195,525,2037,0,0,0,0,0,0
$GC,7162,0.60,229.1,743.9,9.7,626,7175,0.00,2.38,7.95,0.898,6,0.000,0.056,3195,1941,2004,0,0,0,0,0,0
$GC,7505,0.66,237.5,710.8,9.6,638,7517,0.12,2.40,7.97,0.911,4,0.106,0.077,3255,516,1971,0,0,0,0,0,0
$GC,7646,0.56,237.5,693.1,13.0,642,7652,0.12,2.33,0.00,0.000,6,0.156,0.057,3215,1938,1968,0,0,0,0,0,0
$GC,7954,0.57,243.5,662.0,9.7,653,7966,0.00,2.35,6.53,0.861,4,0.000,0.075,3225,517,1946,0,0,0,0,0,0
$GC,8053,0.57,243.5,651.9,10.6,656,8057,0.00,2.30,0.00,0.000,6,0.000,0.057,3224,1933,1944,0,0,0,0,0,0
$GC,8377,0.57,243.5,618.7,10.4,667,8382,0.00,2.33,0.00,0.000,4,0.000,0.077,3235,531,1943,0,0,0,0,0,0
$GC,8477,0.53,243.5,607.6,11.7,670,8481,0.10,2.28,0.00,0.000,6,0.157,0.058,3202,1942,1943,0,0,0,0,0,0
$GC,8797,0.59,258.9,578.1,9.3,696,8816,0.00,2.35,14.65,0.956,4,0.000,0.077,3212,520,1883,0,0,0,0,0,0
$GC,8923,0.62,258.9,565.9,10.2,710,8929,0.00,2.30,0.00,0.000,6,0.000,0.058,3212,1939,1881,0,0,0,0,0,0
$GC,9238,0.66,258.9,534.4,10.5,741,9242,0.00,2.33,0.00,0.000,4,0.000,0.077,3222,531,1880,0,0,0,0,0,0
$GC,9346,0.66,258.9,522.9,10.6,753,9352,0.00,2.25,0.00,0.000,6,0.000,0.058,3221,1932,1880,0,0,0,0,0,0
$GC,9661,0.66,258.9,489.2,10.8,784,9664,0.00,2.33,0.00,0.000,4,0.000,0.079,3231,522,1879,0,0,0,0,0,0
$GC,9743,0.66,258.9,480.0,11.5,793,9749,0.00,2.25,0.00,0.000,6,0.000,0.058,3231,1932,1879,0,0,0,0,0,0
$GC,10057,0.66,258.9,444.9,11.1,824,10061,0.00,2.30,0.00,0.000,4,0.000,0.078,3241,527,1879,0,0,0,0,0,0
$GC,10148,0.62,258.9,434.0,12.0,834,10154,0.00,2.25,0.00,0.000,6,0.000,0.058,3241,1939,1879,0,0,0,0,0,0
$GC,10463,0.58,258.9,397.1,11.6,865,10467,0.00,2.30,0.00,0.000,4,0.000,0.078,3252,531,1878,0,0,0,0,0,0
$GC,10585,0.53,258.9,381.9,13.5,879,10589,0.20,2.20,0.00,0.000,6,0.167,0.058,3194,1943,1878,0,0,0,0,0,0
$GC,10899,0.66,272.2,352.3,9.4,909,10917,0.12,2.33,12.45,0.828,4,0.110,0.079,3257,519,1829,0,0,0,0,0,0
$GC,11029,0.61,272.2,335.1,13.8,924,11033,0.10,2.25,0.00,0.000,6,0.156,0.058,3223,1930,1827,0,0,0,0,0,0
$GC,11347,0.65,272.2,299.8,10.6,955,11351,0.00,2.30,0.00,0.000,4,0.000,0.077,3234,525,1826,0,0,0,0,0,0
$GC,11438,0.65,272.2,289.3,12.6,965,11444,0.00,2.25,0.00,0.000,6,0.000,0.058,3233,1942,1826,0,0,0,0,0,0
$GC,11753,0.65,272.2,251.8,12.0,996,11757,0.00,2.33,0.00,0.000,4,0.000,0.078,3244,520,1825,0,0,0,0,0,0
$GC,11826,0.65,272.2,242.6,12.3,1004,11832,0.00,2.25,0.00,0.000,6,0.000,0.058,3244,1936,1825,0,0,0,0,0,0
$GC,12141,0.65,272.2,205.9,11.5,1035,12145,0.00,2.30,0.00,0.000,4,0.000,0.077,3254,524,1825,0,0,0,0,0,0
$GC,12249,0.65,272.2,193.0,11.4,1047,12256,0.00,2.25,0.00,0.000,6,0.000,0.057,3254,1949,1825,0,0,0,0,0,0
$GC,12563,0.65,272.2,157.9,11.0,1078,12568,0.00,2.33,0.00,0.000,4,0.000,0.077,3265,523,1825,0,0,0,0,0,0
$GC,12637,0.65,272.2,149.1,12.1,1086,12643,0.08,2.22,0.00,0.000,6,0.159,0.057,3238,1932,1825,0,0,0,0,0,0
$GC,12952,0.72,290.0,118.7,9.2,1117,12973,0.00,2.33,16.40,0.720,4,0.000,0.077,3249,527,1756,0,0,0,0,0,0
$GC,13094,0.79,294.4,104.8,9.8,1133,13103,0.00,2.25,4.95,0.580,6,0.000,0.058,3248,1943,1740,0,0,0,0,0,0
$GC,13427,0.85,297.5,73.2,9.9,1191,13438,0.15,2.35,4.10,0.533,4,0.101,0.079,3321,525,1727,0,0,0,0,0,0
$GC,13545,0.73,297.5,57.6,13.3,1218,13551,0.17,2.25,0.00,0.000,6,0.160,0.059,3265,1935,1726,0,0,0,0,0,0
$GC,13871,0.80,320.9,28.4,8.9,1279,13900,0.00,2.35,22.08,0.682,4,0.000,0.077,3265,3345,1629,0,0,0,0,0,0
$GC,13947,0.93,340.8,21.1,9.1,1296,13972,0.15,2.28,18.67,0.659,6,0.098,0.065,3336,1930,1549,0,0,0,0,0,0
$STATE,14086,end climb,SURFACE_DEPTH_REACHED
$STATE,14086,begin surface coast
$FINISH,1.2,1.017284
$STATE,14113,end surface coast,CONTROL_FINISHED_OK
$STATE,14113,begin surface
$SM_CCo,14186,0.00,0.000,0,0,1537,343.91
$SM_GC,2.31,8.73,0.00,0.00,0.071,0.000,0.000,143,1929,1537,-8.95,-0.28,343.91
$RAFOS_CLK,715
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5725.81,150199,171724
$TT8_MAMPS,0.050622
$HUMID,39.40
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,86.5
$24V_AH,23.3,5.342
$10V_AH,10.3,2.007
$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,23.250,155.950,433.625,0.000,0.000,31.044,30.267,174.509,2.250,0.000,12.967,0.000,10527.283,571.718,3052.245,333.214,0.000,1864.812,0.000,2483.907,2520.000,19.739,0.000
$DEVICE_MAMPS,253.877,93.574,1126.723,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.637,983.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150352
$DATA_FILE_SIZE,53668,1328
$CAP_FILE_SIZE,174147,0
$CFSIZE,260165632,251621376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$CURRENT,0.194,144.7,1
$GPS,221009,013407,6656.716,-5730.486,43,1.0,43,-37.6