version: 66.06
glider: 172
mission: 3
dive: 14
start: 10 22 109 10 11 26
data:
$ID,172
$MISSION,3
$DIVE,14
$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,-4430.3843
$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,18
$R_STBD_OVSHOOT,23
$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
$GPS1,100607,6656.388,-5738.353,31,1.4,31,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.0
$GPS2,101120,6656.380,-5738.266,14,1.4,14,-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,342.0,124832,-17.5,-10.000
$D_GRID,818
$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,-146.0,0.0,0.0,0,76,0.00,0.00,-62.05,0.000,2,0.000,0.000,143,1948,2600,0,0,0,0,0,0
$GC,77,-0.64,-146.0,3.1,-2.1,12,120,10.80,2.33,-25.67,0.000,4,0.257,0.093,2800,3346,3538,0,0,0,0,0,0
$GC,331,-0.64,-146.0,46.8,-15.4,70,337,0.00,2.33,0.00,0.000,6,0.000,0.067,2800,1937,3539,0,0,0,0,0,0
$GC,656,-0.55,-146.0,100.2,-17.1,131,660,0.15,2.30,0.00,0.000,4,0.182,0.079,2842,526,3539,0,0,0,0,0,0
$GC,742,-0.59,-146.0,111.9,-11.9,141,747,0.00,2.28,0.00,0.000,6,0.000,0.061,2834,1935,3539,0,0,0,0,0,0
$GC,1061,-0.59,-146.0,149.8,-12.0,172,1065,0.00,2.33,0.00,0.000,4,0.000,0.077,2834,526,3539,0,0,0,0,0,0
$GC,1113,-0.65,-146.0,156.0,-11.8,178,1117,0.00,2.28,0.00,0.000,6,0.000,0.062,2834,1938,3539,0,0,0,0,0,0
$GC,1432,-0.69,-146.0,192.9,-11.8,209,1436,0.00,2.33,0.00,0.000,4,0.000,0.080,2834,525,3538,0,0,0,0,0,0
$GC,1475,-0.76,-146.0,198.2,-12.5,214,1479,0.12,2.25,0.00,0.000,6,0.067,0.062,2770,1931,3538,0,0,0,0,0,0
$GC,1793,-0.64,-146.0,252.3,-16.1,245,1795,0.15,0.00,0.00,0.000,6,0.175,0.000,2811,1931,3538,0,0,0,0,0,0
$GC,2104,-0.64,-146.0,292.2,-12.3,275,2108,0.00,2.30,0.00,0.000,4,0.000,0.080,2811,526,3538,0,0,0,0,0,0
$GC,2147,-0.64,-146.0,297.8,-13.0,280,2151,0.00,2.25,0.00,0.000,6,0.000,0.062,2807,1939,3538,0,0,0,0,0,0
$GC,2466,-0.64,-146.0,338.3,-12.1,311,2470,0.00,2.30,0.00,0.000,4,0.000,0.078,2806,529,3537,0,0,0,0,0,0
$GC,2544,-0.64,-146.0,348.6,-12.8,320,2548,0.00,2.25,0.00,0.000,6,0.000,0.063,2807,1939,3537,0,0,0,0,0,0
$GC,2862,-0.64,-146.0,387.1,-12.0,351,2866,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,524,3537,0,0,0,0,0,0
$GC,2901,-0.64,-146.0,391.9,-13.0,355,2908,0.00,2.25,0.00,0.000,6,0.000,0.062,2807,1937,3538,0,0,0,0,0,0
$GC,3216,-0.64,-146.0,430.3,-11.8,386,3220,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,530,3538,0,0,0,0,0,0
$GC,3259,-0.64,-146.0,435.8,-12.4,391,3263,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1933,3538,0,0,0,0,0,0
$GC,3578,-0.64,-146.0,473.6,-11.3,422,3582,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,526,3538,0,0,0,0,0,0
$GC,3616,-0.64,-146.0,478.5,-12.5,426,3622,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1932,3538,0,0,0,0,0,0
$GC,3931,-0.64,-146.0,515.0,-11.4,457,3935,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,529,3538,0,0,0,0,0,0
$GC,3992,-0.64,-146.0,522.1,-12.0,464,3995,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1933,3538,0,0,0,0,0,0
$GC,4310,-0.64,-146.0,557.1,-10.8,495,4314,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,526,3539,0,0,0,0,0,0
$GC,4358,-0.68,-146.0,562.5,-10.5,500,4363,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1939,3539,0,0,0,0,0,0
$GC,4672,-0.72,-146.0,595.7,-10.4,531,4676,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,529,3539,0,0,0,0,0,0
$GC,4724,-0.76,-146.0,601.3,-10.3,536,4728,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1935,3539,0,0,0,0,0,0
$GC,5036,-0.80,-146.0,633.1,-10.1,547,5040,0.12,2.30,0.00,0.000,4,0.107,0.076,2749,523,3539,0,0,0,0,0,0
$GC,5083,-0.67,-146.0,639.6,-15.3,548,5087,0.20,2.22,0.00,0.000,6,0.146,0.061,2807,1935,3539,0,0,0,0,0,0
$GC,5400,-0.71,-146.0,671.8,-10.0,559,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1935,3539,0,0,0,0,0,0
$GC,5704,-0.76,-146.0,702.0,-10.0,569,5707,0.00,2.25,0.00,0.000,4,0.000,0.076,2807,514,3539,0,0,0,0,0,0
$GC,5781,-0.80,-146.0,710.4,-10.2,571,5785,0.10,2.25,0.00,0.000,6,0.071,0.061,2753,1938,3539,0,0,0,0,0,0
$GC,6093,-0.70,-146.0,755.3,-14.8,582,6097,0.15,2.30,0.00,0.000,4,0.169,0.077,2796,525,3539,0,0,0,0,0,0
$GC,6131,-0.70,-146.0,760.5,-12.7,583,6136,0.00,2.22,0.00,0.000,6,0.000,0.061,2795,1932,3540,0,0,0,0,0,0
$GC,6456,-0.70,-146.0,796.7,-10.8,594,6460,0.00,2.28,0.00,0.000,4,0.000,0.077,2796,523,3539,0,0,0,0,0,0
$GC,6499,-0.70,-146.0,801.8,-12.6,595,6503,0.00,2.25,0.00,0.000,6,0.000,0.060,2796,1949,3539,0,0,0,0,0,0
$STATE,6667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6667,begin apogee
$GC,6669,-0.13,0.0,820.2,10.9,601,6795,0.55,0.00,123.97,1.152,6,0.137,0.000,2976,1950,2940,0,0,0,0,0,0
$STATE,6796,end apogee,CONTROL_FINISHED_OK
$STATE,6796,begin climb
$GC,6797,0.64,146.0,824.8,0.0,605,6934,0.75,2.53,129.18,1.114,4,0.088,0.072,3240,520,2342,0,0,0,0,0,0
$GC,7016,0.47,151.8,819.7,9.7,612,7025,0.20,2.38,5.05,0.785,6,0.153,0.054,3181,1938,2321,0,0,0,0,0,0
$GC,7328,0.55,216.9,797.8,7.0,622,7393,0.00,2.47,58.78,1.095,4,0.000,0.075,3192,523,2053,0,0,0,0,0,0
$GC,7432,0.61,219.9,788.8,9.9,625,7436,0.00,2.38,0.00,0.000,6,0.000,0.054,3191,1935,2049,0,0,0,0,0,0
$GC,7749,0.68,233.2,759.5,9.4,636,7769,0.15,2.42,14.25,1.012,4,0.097,0.075,3259,527,1988,0,0,0,0,0,0
$GC,7886,0.56,233.2,740.9,13.9,640,7890,0.15,2.30,0.00,0.000,6,0.153,0.054,3212,1932,1985,0,0,0,0,0,0
$GC,8202,0.56,233.2,706.7,10.6,651,8206,0.00,2.35,0.00,0.000,4,0.000,0.077,3222,527,1983,0,0,0,0,0,0
$GC,8310,0.56,233.2,694.7,11.9,654,8314,0.00,2.28,0.00,0.000,6,0.000,0.055,3222,1937,1982,0,0,0,0,0,0
$GC,8626,0.56,233.2,661.9,10.2,665,8630,0.00,2.38,0.00,0.000,4,0.000,0.077,3231,520,1980,0,0,0,0,0,0
$GC,8739,0.51,233.2,649.7,11.9,668,8743,0.15,2.25,0.00,0.000,6,0.170,0.055,3189,1950,1981,0,0,0,0,0,0
$GC,9051,0.62,267.7,623.4,8.4,679,9088,0.10,2.38,31.05,1.009,4,0.117,0.074,3244,525,1846,0,0,0,0,0,0
$GC,9214,0.58,267.7,603.2,13.8,684,9218,0.08,2.28,0.00,0.000,6,0.150,0.054,3219,1927,1841,0,0,0,0,0,0
$GC,9530,0.58,267.7,567.4,11.4,712,9534,0.00,2.33,0.00,0.000,4,0.000,0.076,3229,530,1838,0,0,0,0,0,0
$GC,9634,0.58,267.7,555.1,12.2,724,9638,0.00,2.25,0.00,0.000,6,0.000,0.056,3229,1935,1837,0,0,0,0,0,0
$GC,9953,0.58,267.7,517.8,12.1,755,9957,0.00,2.33,0.00,0.000,4,0.000,0.076,3239,526,1837,0,0,0,0,0,0
$GC,10075,0.58,267.7,502.4,13.2,769,10078,0.00,2.25,0.00,0.000,6,0.000,0.057,3239,1934,1837,0,0,0,0,0,0
$GC,10393,0.55,267.7,463.0,12.4,800,10397,0.12,2.30,0.00,0.000,4,0.178,0.077,3215,533,1836,0,0,0,0,0,0
$GC,10497,0.60,274.6,451.8,9.7,812,10507,0.00,2.20,5.70,0.755,6,0.000,0.058,3214,1941,1820,0,0,0,0,0,0
$GC,10815,0.65,274.6,418.0,10.4,843,10819,0.00,2.33,0.00,0.000,4,0.000,0.077,3225,523,1818,0,0,0,0,0,0
$GC,10932,0.69,274.6,405.2,10.8,856,10938,0.00,2.25,0.00,0.000,6,0.000,0.058,3225,1938,1818,0,0,0,0,0,0
$GC,11246,0.69,274.6,372.0,10.5,887,11250,0.00,2.30,0.00,0.000,4,0.000,0.077,3234,530,1817,0,0,0,0,0,0
$GC,11342,0.69,274.6,361.1,11.7,898,11346,0.00,2.22,0.00,0.000,6,0.000,0.057,3234,1934,1817,0,0,0,0,0,0
$GC,11660,0.69,274.6,325.3,10.9,929,11664,0.00,2.30,0.00,0.000,4,0.000,0.077,3244,526,1817,0,0,0,0,0,0
$GC,11808,0.69,274.6,308.2,11.5,946,11812,0.00,2.22,0.00,0.000,6,0.000,0.058,3244,1933,1817,0,0,0,0,0,0
$GC,12127,0.69,274.6,271.5,11.3,977,12131,0.00,2.30,0.00,0.000,4,0.000,0.077,3254,522,1817,0,0,0,0,0,0
$GC,12209,0.64,274.6,261.6,11.4,986,12215,0.00,2.22,0.00,0.000,6,0.000,0.058,3255,1935,1817,0,0,0,0,0,0
$GC,12524,0.61,274.6,224.6,12.0,1017,12528,0.12,2.30,0.00,0.000,4,0.180,0.076,3230,527,1817,0,0,0,0,0,0
$GC,12636,0.65,274.6,212.2,11.1,1030,12640,0.00,2.22,0.00,0.000,6,0.000,0.058,3229,1938,1817,0,0,0,0,0,0
$GC,12955,0.71,280.3,180.0,9.7,1061,12965,0.00,2.35,6.20,0.665,4,0.000,0.077,3239,516,1797,0,0,0,0,0,0
$GC,13043,0.77,293.7,170.8,9.4,1071,13062,0.00,2.25,13.52,0.732,6,0.000,0.058,3239,1937,1742,0,0,0,0,0,0
$GC,13371,0.83,296.8,137.3,9.9,1103,13375,0.15,2.30,0.00,0.000,4,0.100,0.077,3314,521,1738,0,0,0,0,0,0
$GC,13466,0.70,296.8,124.2,15.4,1114,13470,0.15,2.25,0.00,0.000,6,0.156,0.058,3251,1936,1738,0,0,0,0,0,0
$GC,13787,0.78,314.8,92.3,9.2,1152,13811,0.00,2.30,19.23,0.709,4,0.000,0.076,3261,524,1655,0,0,0,0,0,0
$GC,13885,0.82,314.8,82.2,10.8,1174,13889,0.00,2.22,0.00,0.000,6,0.000,0.058,3261,1939,1652,0,0,0,0,0,0
$GC,14209,0.90,337.8,49.6,8.9,1235,14235,0.15,2.40,20.92,0.686,4,0.100,0.078,3334,523,1561,0,0,0,0,0,0
$GC,14382,0.80,337.8,24.9,14.4,1274,14387,0.10,2.28,0.00,0.000,6,0.147,0.058,3287,1933,1555,0,0,0,0,0,0
$STATE,14598,end climb,SURFACE_DEPTH_REACHED
$STATE,14598,begin surface coast
$FINISH,1.2,1.005293
$STATE,14636,end surface coast,CONTROL_FINISHED_OK
$STATE,14636,begin surface
$SM_CCo,14708,0.00,0.000,0,0,1550,340.97
$SM_GC,2.64,8.45,0.00,0.00,0.067,0.000,0.000,146,1936,1550,-8.95,-0.06,340.97
$RAFOS_CLK,746
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5736.37,160199,050552
$TT8_MAMPS,0.051389
$HUMID,40.31
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.8,100.9
$24V_AH,23.3,5.787
$10V_AH,10.3,2.238
$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,23.175,155.675,427.850,0.000,0.000,29.062,32.990,160.890,2.250,0.000,14.219,0.000,11051.574,568.140,3043.958,330.149,0.000,1839.575,0.000,2476.746,2520.000,20.063,0.000
$DEVICE_MAMPS,256.945,92.807,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.360,987.464,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,53544,1322
$CAP_FILE_SIZE,173594,0
$CFSIZE,260165632,251363328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.8
$CURRENT,0.065,210.7,1
$GPS,221009,141757,6657.427,-5743.103,42,2.1,61,-37.7