version: 66.06
glider: 172
mission: 3
dive: 25
start: 10 24 109 14 34 19
data:
$ID,172
$MISSION,3
$DIVE,25
$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,-4613.0669
$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,1850
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,27
$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
$GPS1,142255,6653.500,-5834.558,56,1.5,56,-37.8
$_CALLS,2
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-74.4
$GPS2,143413,6653.539,-5834.221,12,1.6,17,-37.8
$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,330.4,83659,-17.5,-10.000
$D_GRID,957
$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,-146.0,0.0,0.0,0,41,0.00,0.00,-27.10,0.000,2,0.000,0.000,120,1858,2129,0,0,0,0,0,0
$GC,42,-0.64,-146.0,3.0,-2.2,5,113,10.57,2.35,-53.20,0.000,4,0.242,0.089,2811,440,3537,0,0,0,0,0,0
$GC,190,-0.50,-146.0,22.1,-17.8,38,196,0.15,2.30,0.00,0.000,6,0.153,0.061,2864,1843,3538,0,0,0,0,0,0
$GC,514,-0.59,-146.0,62.0,-11.2,99,521,0.00,2.33,0.00,0.000,4,0.000,0.078,2864,444,3538,0,0,0,0,0,0
$GC,542,-0.68,-146.0,65.1,-12.1,105,547,0.10,2.28,0.00,0.000,6,0.070,0.060,2793,1850,3538,0,0,0,0,0,0
$GC,868,-0.56,-146.0,117.8,-16.7,157,869,0.17,0.00,0.00,0.000,6,0.173,0.000,2843,1850,3537,0,0,0,0,0,0
$GC,1179,-0.61,-146.0,152.5,-11.1,187,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1850,3538,0,0,0,0,0,0
$GC,1490,-0.67,-146.0,188.6,-11.6,217,1491,0.10,0.00,0.00,0.000,6,0.117,0.000,2797,1850,3537,0,0,0,0,0,0
$GC,1799,-0.61,-146.0,236.4,-15.6,247,1804,0.10,2.35,0.00,0.000,4,0.184,0.081,2822,438,3537,0,0,0,0,0,0
$GC,1856,-0.61,-146.0,244.7,-13.8,253,1861,0.00,2.25,0.00,0.000,6,0.000,0.061,2813,1843,3537,0,0,0,0,0,0
$GC,2170,-0.61,-146.0,287.8,-13.7,284,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1843,3537,0,0,0,0,0,0
$GC,2481,-0.61,-146.0,327.5,-12.3,314,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1843,3537,0,0,0,0,0,0
$GC,2791,-0.61,-146.0,362.4,-11.1,344,2795,0.00,2.25,0.00,0.000,4,0.000,0.079,2813,439,3537,0,0,0,0,0,0
$GC,2878,-0.61,-146.0,372.6,-12.3,354,2881,0.00,2.25,0.00,0.000,6,0.000,0.061,2807,1853,3537,0,0,0,0,0,0
$GC,3196,-0.61,-146.0,409.2,-11.8,385,3200,0.00,2.30,0.00,0.000,4,0.000,0.078,2807,442,3537,0,0,0,0,0,0
$GC,3226,-0.61,-146.0,412.9,-12.0,388,3232,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1845,3537,0,0,0,0,0,0
$GC,3541,-0.61,-146.0,448.8,-11.1,419,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1846,3537,0,0,0,0,0,0
$GC,3851,-0.61,-146.0,483.3,-10.9,449,3855,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,441,3537,0,0,0,0,0,0
$GC,3877,-0.61,-146.0,486.1,-11.6,452,3881,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1845,3537,0,0,0,0,0,0
$GC,4196,-0.61,-146.0,520.7,-10.9,483,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1846,3537,0,0,0,0,0,0
$GC,4506,-0.61,-146.0,555.0,-11.1,513,4510,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,442,3538,0,0,0,0,0,0
$GC,4563,-0.61,-146.0,561.7,-12.0,519,4569,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1852,3538,0,0,0,0,0,0
$GC,4877,-0.61,-146.0,596.2,-11.3,550,4881,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,435,3538,0,0,0,0,0,0
$GC,4913,-0.61,-146.0,600.2,-12.1,554,4916,0.00,2.20,0.00,0.000,6,0.000,0.059,2807,1856,3538,0,0,0,0,0,0
$GC,5236,-0.61,-146.0,636.3,-11.2,565,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1857,3538,0,0,0,0,0,0
$GC,5540,-0.61,-146.0,669.4,-10.9,575,5544,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,439,3538,0,0,0,0,0,0
$GC,5596,-0.64,-146.0,675.7,-11.2,576,5602,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,5903,-0.64,-146.0,707.2,-10.4,587,5907,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,442,3539,0,0,0,0,0,0
$GC,5938,-0.64,-146.0,711.0,-10.9,588,5942,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1855,3539,0,0,0,0,0,0
$GC,6268,-0.68,-146.0,745.1,-10.4,599,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1855,3539,0,0,0,0,0,0
$GC,6573,-0.71,-146.0,776.4,-10.3,609,6577,0.00,2.25,0.00,0.000,4,0.000,0.077,2807,438,3539,0,0,0,0,0,0
$GC,6620,-0.75,-146.0,781.8,-10.9,610,6624,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,6932,-0.78,-146.0,814.7,-10.7,621,6935,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,441,3539,0,0,0,0,0,0
$GC,6962,-0.78,-146.0,818.2,-11.7,622,6966,0.08,2.22,0.00,0.000,6,0.076,0.058,2760,1852,3539,0,0,0,0,0,0
$GC,7296,-0.68,-146.0,866.9,-14.7,633,7299,0.15,2.28,0.00,0.000,4,0.170,0.077,2803,436,3539,0,0,0,0,0,0
$GC,7321,-0.68,-146.0,870.6,-13.5,633,7327,0.00,2.22,0.00,0.000,6,0.000,0.058,2795,1851,3539,0,0,0,0,0,0
$GC,7630,-0.68,-146.0,906.2,-11.7,644,7633,0.00,2.25,0.00,0.000,4,0.000,0.077,2795,436,3539,0,0,0,0,0,0
$GC,7659,-0.68,-146.0,909.8,-12.2,645,7663,0.00,2.22,0.00,0.000,6,0.000,0.058,2795,1847,3539,0,0,0,0,0,0
$GC,7988,-0.68,-146.0,946.2,-11.0,656,7992,0.00,2.28,0.00,0.000,4,0.000,0.077,2795,438,3539,0,0,0,0,0,0
$GC,8027,-0.68,-146.0,950.5,-12.3,657,8030,0.00,2.22,0.00,0.000,6,0.000,0.059,2795,1852,3539,0,0,0,0,0,0
$STATE,8109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8109,begin apogee
$GC,8111,-0.13,0.0,958.9,10.2,660,8239,0.57,0.00,124.88,1.239,6,0.143,0.000,2981,1695,2941,0,0,0,0,0,0
$STATE,8239,end apogee,CONTROL_FINISHED_OK
$STATE,8239,begin climb
$GC,8240,0.64,146.0,963.2,0.0,664,8378,0.75,2.50,130.70,1.204,4,0.086,0.074,3246,290,2343,0,0,0,0,0,0
$GC,8446,0.47,176.1,958.5,8.6,671,8479,0.22,2.38,27.70,1.151,6,0.156,0.051,3181,1703,2221,0,0,0,0,0,0
$GC,8804,0.56,211.8,929.6,8.4,683,8837,0.00,0.00,32.35,1.161,6,0.000,0.000,3181,1703,2076,0,0,0,0,0,0
$GC,9136,0.64,229.9,899.7,9.2,694,9155,0.15,0.00,17.20,1.114,6,0.094,0.000,3242,1703,2001,0,0,0,0,0,0
$GC,9467,0.53,229.9,857.9,12.2,705,9469,0.15,0.00,0.00,0.000,6,0.166,0.000,3202,1704,1995,0,0,0,0,0,0
$GC,9771,0.55,238.4,828.0,9.6,715,9780,0.00,0.00,7.72,0.984,6,0.000,0.000,3202,1703,1968,0,0,0,0,0,0
$GC,10074,0.55,245.4,798.5,9.7,725,10087,0.00,2.40,7.85,0.977,4,0.000,0.079,3212,291,1939,0,0,0,0,0,0
$GC,10103,0.56,248.7,795.6,9.9,726,10111,0.00,2.28,4.75,0.801,6,0.000,0.053,3212,1700,1926,0,0,0,0,0,0
$GC,10436,0.56,248.7,761.7,10.1,737,10437,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1701,1923,0,0,0,0,0,0
$GC,10740,0.56,248.8,731.3,10.0,747,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1701,1923,0,0,0,0,0,0
$GC,11043,0.56,248.8,701.1,10.0,757,11047,0.00,2.33,0.00,0.000,4,0.000,0.079,3222,298,1922,0,0,0,0,0,0
$GC,11064,0.56,248.8,698.9,11.2,757,11068,0.00,2.22,0.00,0.000,6,0.000,0.054,3222,1700,1922,0,0,0,0,0,0
$GC,11376,0.56,248.8,665.4,10.8,768,11380,0.00,2.30,0.00,0.000,4,0.000,0.070,3222,3110,1922,0,0,0,0,0,0
$GC,11406,0.56,248.8,662.0,12.4,769,11410,0.00,2.28,0.00,0.000,6,0.000,0.065,3232,1712,1922,0,0,0,0,0,0
$GC,11740,0.51,248.8,623.3,11.5,780,11744,0.15,2.30,0.00,0.000,4,0.176,0.078,3200,287,1921,0,0,0,0,0,0
$GC,11796,0.58,248.8,617.6,10.2,781,11802,0.00,2.22,0.00,0.000,6,0.000,0.054,3200,1695,1921,0,0,0,0,0,0
$GC,12107,0.66,266.4,588.6,9.2,800,12128,0.10,0.00,16.73,0.980,6,0.120,0.000,3245,1696,1854,0,0,0,0,0,0
$GC,12437,0.59,266.4,547.4,12.8,832,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1696,1851,0,0,0,0,0,0
$GC,12748,0.52,266.4,507.9,12.6,862,12749,0.17,0.00,0.00,0.000,6,0.166,0.000,3195,1696,1850,0,0,0,0,0,0
$GC,13058,0.62,276.9,478.4,9.5,892,13076,0.00,2.38,10.45,0.878,4,0.000,0.080,3205,286,1811,0,0,0,0,0,0
$GC,13092,0.71,282.0,475.1,9.8,896,13102,0.10,2.25,6.38,0.775,6,0.071,0.056,3259,1692,1790,0,0,0,0,0,0
$GC,13411,0.63,282.0,430.6,13.9,927,13414,0.12,2.30,0.00,0.000,4,0.173,0.073,3224,3109,1786,0,0,0,0,0,0
$GC,13449,0.63,282.0,425.6,12.7,931,13456,0.00,2.30,0.00,0.000,6,0.000,0.065,3234,1703,1785,0,0,0,0,0,0
$GC,13763,0.63,282.0,388.3,11.9,962,13767,0.00,2.33,0.00,0.000,4,0.000,0.077,3244,284,1785,0,0,0,0,0,0
$GC,13802,0.63,282.0,383.6,13.3,966,13808,0.00,2.25,0.00,0.000,6,0.000,0.054,3243,1702,1785,0,0,0,0,0,0
$GC,14117,0.59,282.0,343.7,12.1,997,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1702,1784,0,0,0,0,0,0
$GC,14427,0.59,282.0,306.8,11.8,1027,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1702,1784,0,0,0,0,0,0
$GC,14738,0.59,282.0,269.7,12.3,1057,14742,0.00,2.28,0.00,0.000,4,0.000,0.079,3254,287,1784,0,0,0,0,0,0
$GC,14772,0.56,282.0,265.2,12.8,1061,14776,0.12,2.22,0.00,0.000,6,0.147,0.054,3211,1696,1784,0,0,0,0,0,0
$GC,15091,0.66,289.9,233.8,9.6,1092,15102,0.00,0.00,7.95,0.729,6,0.000,0.000,3211,1696,1757,0,0,0,0,0,0
$GC,15411,0.78,308.9,202.7,9.1,1123,15433,0.17,0.00,18.50,0.764,6,0.089,0.000,3286,1697,1679,0,0,0,0,0,0
$GC,15742,0.70,308.9,155.8,13.8,1155,15743,0.12,0.00,0.00,0.000,6,0.176,0.000,3253,1697,1675,0,0,0,0,0,0
$GC,16052,0.73,308.9,122.0,10.3,1185,16056,0.00,2.30,0.00,0.000,4,0.000,0.073,3252,3100,1674,0,0,0,0,0,0
$GC,16082,0.73,313.6,118.9,9.8,1188,16090,0.00,2.28,4.68,0.581,6,0.000,0.067,3262,1705,1661,0,0,0,0,0,0
$GC,16409,0.73,313.6,84.1,11.4,1234,16415,0.00,2.33,0.00,0.000,4,0.000,0.079,3272,285,1659,0,0,0,0,0,0
$GC,16501,0.73,313.6,73.8,10.7,1255,16508,0.00,2.25,0.00,0.000,6,0.000,0.056,3272,1699,1659,0,0,0,0,0,0
$GC,16827,0.78,319.8,39.6,9.7,1316,16841,0.00,2.35,6.82,0.633,4,0.000,0.074,3272,3114,1635,0,0,0,0,0,0
$GC,16892,0.85,379.9,33.3,7.2,1331,16953,0.00,2.30,53.35,0.678,6,0.000,0.066,3282,1700,1389,0,0,0,0,0,0
$STATE,17175,end climb,SURFACE_DEPTH_REACHED
$STATE,17175,begin surface coast
$FINISH,1.5,1.024431
$STATE,17233,end surface coast,CONTROL_FINISHED_OK
$STATE,17233,begin surface
$SM_CCo,17305,0.00,0.000,0,0,1375,383.89
$SM_GC,2.40,8.48,0.00,0.00,0.064,0.000,0.000,144,1861,1375,-8.93,0.31,383.89
$RAFOS_CLK,902
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5836.82,180199,141411
$TT8_MAMPS,0.050622
$HUMID,39.09
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,902.7,96.3
$24V_AH,23.1,7.460
$10V_AH,10.2,3.120
$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,22.825,123.700,478.000,0.000,0.000,47.796,66.203,390.066,3.250,0.000,17.768,0.000,13832.962,599.755,2890.686,632.285,0.000,1801.745,0.000,2309.794,2520.000,29.090,0.000
$DEVICE_MAMPS,242.372,88.972,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.353,1043.916,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,56720,1397
$CAP_FILE_SIZE,179979,0
$CFSIZE,260165632,250392576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$CURRENT,0.055,298.7,1
$GPS,241009,192337,6654.700,-5841.857,32,1.0,32,-37.9