version: 66.06
glider: 172
mission: 3
dive: 27
start: 10 25 109 0 43 2
data:
$ID,172
$MISSION,3
$DIVE,27
$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,-4643.0498
$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,21
$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
$GPS1,003601,6651.530,-5845.427,68,1.4,68,-37.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-72.7
$GPS2,004256,6651.464,-5845.233,15,1.3,15,-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,342.2,75002,-17.5,-10.000
$D_GRID,970
$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,-146.0,0.0,0.0,0,49,0.00,0.00,-35.60,0.000,2,0.000,0.000,122,1853,2220,0,0,0,0,0,0
$GC,50,-0.64,-146.0,3.0,-2.0,6,120,10.68,2.38,-51.25,0.000,4,0.250,0.091,2812,446,3538,0,0,0,0,0,0
$GC,215,-0.57,-146.0,26.9,-18.4,43,221,0.08,2.28,0.00,0.000,6,0.156,0.061,2836,1841,3540,0,0,0,0,0,0
$GC,540,-0.57,-146.0,75.7,-12.3,104,546,0.00,2.35,0.00,0.000,4,0.000,0.077,2826,3254,3539,0,0,0,0,0,0
$GC,579,-0.65,-146.0,80.7,-12.0,113,586,0.00,2.30,0.00,0.000,6,0.000,0.066,2826,1851,3539,0,0,0,0,0,0
$GC,899,-0.65,-146.0,121.7,-13.0,158,903,0.00,2.33,0.00,0.000,4,0.000,0.077,2826,440,3539,0,0,0,0,0,0
$GC,972,-0.65,-146.0,131.0,-12.4,166,978,0.00,2.25,0.00,0.000,6,0.000,0.059,2822,1842,3539,0,0,0,0,0,0
$GC,1287,-0.65,-146.0,172.2,-13.6,197,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1842,3539,0,0,0,0,0,0
$GC,1598,-0.65,-146.0,212.3,-12.0,227,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1843,3539,0,0,0,0,0,0
$GC,1908,-0.65,-146.0,247.2,-10.7,257,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1843,3538,0,0,0,0,0,0
$GC,2219,-0.70,-146.0,280.8,-10.6,287,2222,0.00,2.25,0.00,0.000,4,0.000,0.078,2822,439,3538,0,0,0,0,0,0
$GC,2244,-0.73,-146.0,283.6,-11.7,290,2248,0.00,2.25,0.00,0.000,6,0.000,0.061,2820,1850,3538,0,0,0,0,0,0
$GC,2563,-0.78,-146.0,318.0,-10.8,321,2564,0.15,0.00,0.00,0.000,6,0.097,0.000,2755,1850,3538,0,0,0,0,0,0
$GC,2873,-0.64,-146.0,366.1,-16.2,351,2874,0.20,0.00,0.00,0.000,6,0.164,0.000,2813,1850,3538,0,0,0,0,0,0
$GC,3185,-0.67,-146.0,400.3,-11.0,381,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1850,3538,0,0,0,0,0,0
$GC,3494,-0.71,-146.0,435.6,-11.7,411,3498,0.00,2.30,0.00,0.000,4,0.000,0.078,2814,425,3539,0,0,0,0,0,0
$GC,3550,-0.76,-146.0,442.5,-12.0,417,3557,0.00,2.28,0.00,0.000,6,0.000,0.060,2809,1856,3538,0,0,0,0,0,0
$GC,3865,-0.79,-146.0,479.2,-11.7,448,3866,0.12,0.00,0.00,0.000,6,0.105,0.000,2751,1856,3539,0,0,0,0,0,0
$GC,4175,-0.66,-146.0,528.2,-15.7,478,4176,0.20,0.00,0.00,0.000,6,0.165,0.000,2810,1857,3539,0,0,0,0,0,0
$GC,4485,-0.70,-146.0,561.8,-10.5,508,4489,0.00,2.30,0.00,0.000,4,0.000,0.077,2810,439,3540,0,0,0,0,0,0
$GC,4533,-0.74,-146.0,567.1,-11.2,513,4540,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1846,3540,0,0,0,0,0,0
$GC,4848,-0.78,-146.0,600.0,-9.9,544,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1846,3540,0,0,0,0,0,0
$GC,5161,-0.82,-146.0,632.0,-10.5,555,5162,0.12,0.00,0.00,0.000,6,0.104,0.000,2750,1847,3540,0,0,0,0,0,0
$GC,5465,-0.69,-146.0,677.9,-15.5,565,5469,0.17,2.30,0.00,0.000,4,0.166,0.077,2801,440,3540,0,0,0,0,0,0
$GC,5516,-0.69,-146.0,684.7,-12.1,566,5520,0.00,2.22,0.00,0.000,6,0.000,0.058,2798,1850,3540,0,0,0,0,0,0
$GC,5828,-0.69,-146.0,720.0,-11.3,577,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1850,3541,0,0,0,0,0,0
$GC,6132,-0.69,-146.0,754.8,-11.6,587,6135,0.00,2.30,0.00,0.000,4,0.000,0.077,2798,442,3541,0,0,0,0,0,0
$GC,6170,-0.69,-146.0,759.6,-12.7,588,6174,0.00,2.22,0.00,0.000,6,0.000,0.058,2798,1852,3540,0,0,0,0,0,0
$GC,6495,-0.69,-146.0,796.5,-11.4,599,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1852,3541,0,0,0,0,0,0
$GC,6799,-0.69,-146.0,831.2,-11.5,609,6803,0.00,2.28,0.00,0.000,4,0.000,0.077,2798,443,3540,0,0,0,0,0,0
$GC,6824,-0.69,-146.0,834.5,-14.1,609,6831,0.00,2.20,0.00,0.000,6,0.000,0.058,2797,1842,3541,0,0,0,0,0,0
$GC,7132,-0.69,-146.0,870.1,-11.6,620,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1842,3541,0,0,0,0,0,0
$GC,7439,-0.69,-146.0,902.6,-10.5,630,7442,0.00,2.22,0.00,0.000,4,0.000,0.076,2798,438,3541,0,0,0,0,0,0
$GC,7463,-0.69,-146.0,905.7,-12.0,631,7467,0.00,2.22,0.00,0.000,6,0.000,0.058,2798,1850,3541,0,0,0,0,0,0
$GC,7797,-0.72,-146.0,940.7,-10.9,642,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1851,3541,0,0,0,0,0,0
$STATE,8069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8069,begin apogee
$GC,8072,-0.13,0.0,970.1,10.5,651,8199,0.55,0.00,125.05,1.247,6,0.143,0.000,2976,1694,2940,0,0,0,0,0,0
$STATE,8199,end apogee,CONTROL_FINISHED_OK
$STATE,8199,begin climb
$GC,8200,0.64,146.0,975.1,0.0,655,8341,0.77,2.50,129.85,1.213,4,0.090,0.066,3236,3108,2345,0,0,0,0,0,0
$GC,8366,0.49,193.9,975.4,7.8,660,8416,0.20,2.42,44.62,1.179,6,0.160,0.064,3178,1715,2148,0,0,1,0,0,0
$GC,8732,0.61,235.5,947.5,8.1,673,8774,0.12,2.50,37.55,1.173,4,0.105,0.077,3239,287,1978,0,0,0,0,0,0
$GC,8804,0.53,235.5,939.4,12.6,675,8808,0.10,2.38,0.00,0.000,6,0.152,0.053,3197,1697,1974,0,0,0,0,0,0
$GC,9125,0.58,244.8,908.0,9.6,686,9137,0.00,2.38,8.52,1.016,4,0.000,0.071,3197,3111,1941,0,0,0,0,0,0
$GC,9162,0.62,244.8,904.2,10.1,687,9166,0.00,2.40,0.00,0.000,6,0.000,0.064,3206,1694,1938,0,0,0,0,0,0
$GC,9483,0.62,244.8,869.6,10.9,698,9486,0.00,2.35,0.00,0.000,4,0.000,0.077,3216,292,1937,0,0,0,0,0,0
$GC,9513,0.62,244.8,866.3,12.0,699,9517,0.00,2.28,0.00,0.000,6,0.000,0.053,3215,1699,1936,0,0,0,0,0,0
$GC,9846,0.62,244.8,829.8,10.6,710,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1936,0,0,0,0,0,0
$GC,10150,0.62,244.8,797.8,10.6,720,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1935,0,0,0,0,0,0
$GC,10453,0.62,244.8,765.4,10.7,730,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1701,1934,0,0,0,0,0,0
$GC,10757,0.62,244.8,732.7,10.6,740,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1701,1934,0,0,0,0,0,0
$GC,11060,0.62,244.8,701.2,10.3,750,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1934,0,0,0,0,0,0
$GC,11364,0.62,247.8,670.6,9.9,760,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1934,0,0,0,0,0,0
$GC,11667,0.62,247.8,640.1,10.1,770,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1934,0,0,0,0,0,0
$GC,11970,0.62,247.8,609.5,10.3,780,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1934,0,0,0,0,0,0
$GC,12279,0.62,247.8,576.7,10.4,804,12283,0.00,2.30,0.00,0.000,4,0.000,0.073,3216,3102,1934,0,0,0,0,0,0
$GC,12313,0.62,247.8,572.8,11.5,808,12317,0.00,2.28,0.00,0.000,6,0.000,0.068,3226,1698,1933,0,0,0,0,0,0
$GC,12632,0.62,247.8,537.5,10.9,839,12636,0.00,2.28,0.00,0.000,4,0.000,0.078,3235,295,1933,0,0,0,0,0,0
$GC,12688,0.58,247.8,530.8,11.2,845,12695,0.00,2.20,0.00,0.000,6,0.000,0.055,3235,1697,1933,0,0,0,0,0,0
$GC,13003,0.54,247.8,495.2,10.9,876,13007,0.12,2.30,0.00,0.000,4,0.188,0.073,3202,3105,1933,0,0,0,0,0,0
$GC,13042,0.59,247.8,491.2,10.7,880,13047,0.00,2.25,0.00,0.000,6,0.000,0.064,3211,1705,1933,0,0,0,0,0,0
$GC,13356,0.60,254.3,460.7,9.7,911,13368,0.00,2.30,8.52,0.847,4,0.000,0.078,3221,281,1903,0,0,0,0,0,0
$GC,13407,0.60,254.3,455.3,10.2,917,13411,0.00,2.25,0.00,0.000,6,0.000,0.054,3221,1703,1902,0,0,0,0,0,0
$GC,13725,0.60,254.3,421.8,10.6,948,13729,0.00,2.28,0.00,0.000,4,0.000,0.072,3221,3107,1901,0,0,0,0,0,0
$GC,13773,0.60,254.3,416.5,11.3,953,13780,0.00,2.28,0.00,0.000,6,0.000,0.064,3231,1697,1901,0,0,0,0,0,0
$GC,14087,0.60,254.3,381.0,10.9,984,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1697,1900,0,0,0,0,0,0
$GC,14398,0.60,254.3,347.1,10.9,1014,14399,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1697,1901,0,0,0,0,0,0
$GC,14708,0.60,254.3,313.2,11.5,1044,14709,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1697,1901,0,0,0,0,0,0
$GC,15019,0.60,254.3,278.1,11.2,1074,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1697,1900,0,0,0,0,0,0
$GC,15329,0.60,254.3,244.7,10.3,1104,15333,0.00,2.28,0.00,0.000,4,0.000,0.077,3241,288,1900,0,0,0,0,0,0
$GC,15376,0.60,254.3,239.6,10.1,1109,15383,0.00,2.20,0.00,0.000,6,0.000,0.054,3241,1693,1900,0,0,0,0,0,0
$GC,15691,0.60,254.3,205.5,10.6,1140,15695,0.00,2.28,0.00,0.000,4,0.000,0.072,3241,3107,1901,0,0,0,0,0,0
$GC,15743,0.60,254.3,199.5,11.1,1146,15747,0.08,2.25,0.00,0.000,6,0.163,0.064,3224,1706,1900,0,0,0,0,0,0
$GC,16062,0.72,304.8,171.7,7.7,1177,16108,0.00,0.00,45.28,0.756,6,0.000,0.000,3224,1706,1697,0,0,0,0,0,0
$GC,16412,0.91,343.4,143.0,8.2,1211,16448,0.25,0.00,34.10,0.726,6,0.080,0.000,3324,1706,1540,0,0,0,0,0,0
$GC,16754,0.80,343.4,90.8,17.9,1249,16761,0.15,2.33,0.00,0.000,4,0.174,0.076,3294,275,1529,0,0,0,0,0,0
$GC,16790,0.80,343.4,85.4,15.8,1257,16797,0.00,2.28,0.00,0.000,6,0.000,0.055,3294,1691,1528,0,0,0,0,0,0
$GC,17115,0.80,343.4,43.3,14.2,1318,17121,0.00,2.33,0.00,0.000,4,0.000,0.072,3295,3101,1525,0,0,0,0,0,0
$GC,17146,0.80,343.4,39.2,13.8,1325,17153,0.00,2.30,0.00,0.000,6,0.000,0.066,3305,1700,1524,0,0,0,0,0,0
$GC,17471,0.87,358.2,5.1,9.3,1386,17487,0.00,1.88,11.55,0.653,3,0.000,0.078,3312,572,1477,0,0,0,0,0,0
$STATE,17487,end climb,SURFACE_DEPTH_REACHED
$STATE,17487,begin surface coast
$FINISH,1.6,1.013537
$STATE,17527,end surface coast,CONTROL_FINISHED_OK
$STATE,17527,begin surface
$SM_CCo,17601,0.00,0.000,0,0,1472,360.10
$SM_GC,2.69,8.48,0.00,0.00,0.063,0.000,0.000,152,1849,1472,-8.93,-0.03,360.10
$RAFOS_CLK,908
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5841.50,180199,191923
$TT8_MAMPS,0.050622
$HUMID,38.93
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,902.6,90.3
$24V_AH,23.0,7.773
$10V_AH,10.2,3.276
$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,22.550,109.775,445.050,0.000,0.000,27.656,33.184,259.388,3.250,0.000,15.524,0.000,14164.240,580.327,2810.128,433.819,0.000,1735.494,0.000,2237.399,2880.000,28.787,0.000
$DEVICE_MAMPS,250.042,91.273,1247.142,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.235,1042.617,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150316
$DATA_FILE_SIZE,56722,1397
$CAP_FILE_SIZE,166864,0
$CFSIZE,260165632,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1458.6
$CURRENT,0.160,198.2,1
$GPS,251009,053725,6651.549,-5852.268,41,1.4,41,-37.9