version: 66.06
glider: 172
mission: 3
dive: 29
start: 10 25 109 10 56 38
data:
$ID,172
$MISSION,3
$DIVE,29
$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,-2
$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,-4689.4536
$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,18
$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
$GPS1,104955,6650.646,-5858.844,68,0.9,68,-37.9
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-76.2
$GPS2,105632,6650.632,-5858.737,14,1.2,14,-37.9
$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,338.3,65009,-17.5,-10.000
$D_GRID,991
$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,-146.0,0.0,0.0,0,40,0.00,0.00,-26.65,0.000,2,0.000,0.000,145,1851,2077,0,0,0,0,0,0
$GC,41,-0.64,-146.0,3.0,-2.7,5,117,10.80,0.00,-59.90,0.000,6,0.255,0.000,2810,1850,3537,0,0,0,0,0,0
$GC,435,-0.59,-146.0,65.9,-14.6,80,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1850,3538,0,0,0,0,0,0
$GC,759,-0.54,-146.0,114.5,-14.9,132,763,0.12,2.35,0.00,0.000,4,0.182,0.076,2846,436,3538,0,0,0,0,0,0
$GC,815,-0.62,-146.0,122.1,-12.3,138,820,0.00,2.28,0.00,0.000,6,0.000,0.058,2838,1850,3538,0,0,0,0,0,0
$GC,1129,-0.67,-146.0,159.0,-11.2,169,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1852,3538,0,0,0,0,0,0
$GC,1440,-0.74,-146.0,193.9,-10.5,199,1444,0.15,2.30,0.00,0.000,4,0.095,0.077,2773,436,3538,0,0,0,0,0,0
$GC,1500,-0.64,-146.0,202.9,-16.0,206,1504,0.12,2.28,0.00,0.000,6,0.150,0.061,2811,1852,3538,0,0,0,0,0,0
$GC,1818,-0.64,-146.0,241.6,-12.0,237,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1851,3538,0,0,0,0,0,0
$GC,2129,-0.64,-146.0,280.1,-12.2,267,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1852,3537,0,0,0,0,0,0
$GC,2440,-0.67,-146.0,314.6,-10.4,297,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1852,3537,0,0,0,0,0,0
$GC,2750,-0.72,-146.0,347.2,-10.7,327,2754,0.00,2.28,0.00,0.000,4,0.000,0.076,2812,429,3537,0,0,0,0,0,0
$GC,2785,-0.77,-146.0,351.1,-11.6,331,2788,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1848,3537,0,0,0,0,0,0
$GC,3103,-0.80,-146.0,387.2,-11.4,362,3104,0.12,0.00,0.00,0.000,6,0.102,0.000,2748,1847,3537,0,0,0,0,0,0
$GC,3413,-0.67,-146.0,435.8,-15.4,392,3417,0.20,2.30,0.00,0.000,4,0.158,0.077,2807,441,3537,0,0,0,0,0,0
$GC,3465,-0.72,-146.0,442.6,-11.6,398,3468,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1848,3538,0,0,0,0,0,0
$GC,3783,-0.76,-146.0,478.6,-11.2,429,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1849,3537,0,0,0,0,0,0
$GC,4094,-0.81,-146.0,511.8,-10.9,459,4098,0.12,2.28,0.00,0.000,4,0.101,0.075,2746,433,3538,0,0,0,0,0,0
$GC,4133,-0.68,-146.0,517.2,-15.0,463,4138,0.17,2.25,0.00,0.000,6,0.146,0.058,2799,1853,3538,0,0,0,0,0,0
$GC,4447,-0.68,-146.0,552.7,-11.2,494,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1853,3538,0,0,0,0,0,0
$GC,4758,-0.68,-146.0,587.6,-11.0,524,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1853,3538,0,0,0,0,0,0
$GC,5084,-0.68,-146.0,624.1,-10.9,542,5087,0.00,2.30,0.00,0.000,4,0.000,0.077,2799,435,3539,0,0,0,0,0,0
$GC,5122,-0.71,-146.0,628.6,-12.0,543,5126,0.00,2.22,0.00,0.000,6,0.000,0.058,2799,1843,3539,0,0,0,0,0,0
$GC,5448,-0.71,-146.0,664.5,-11.0,554,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1843,3539,0,0,0,0,0,0
$GC,5751,-0.75,-146.0,697.4,-10.8,564,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1843,3539,0,0,0,0,0,0
$GC,6054,-0.79,-146.0,730.0,-10.7,574,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1843,3539,0,0,0,0,0,0
$GC,6358,-0.83,-146.0,761.8,-10.6,584,6359,0.12,0.00,0.00,0.000,6,0.103,0.000,2739,1843,3539,0,0,0,0,0,0
$GC,6664,-0.70,-146.0,807.0,-15.1,594,6668,0.20,2.25,0.00,0.000,4,0.159,0.074,2799,430,3539,0,0,0,0,0,0
$GC,6693,-0.70,-146.0,811.1,-12.4,595,6697,0.00,2.25,0.00,0.000,6,0.000,0.058,2798,1854,3540,0,0,0,0,0,0
$GC,7022,-0.74,-146.0,845.7,-10.4,606,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1854,3540,0,0,0,0,0,0
$GC,7326,-0.78,-146.0,877.9,-10.6,616,7329,0.00,2.28,0.00,0.000,4,0.000,0.076,2798,441,3540,0,0,0,0,0,0
$GC,7360,-0.82,-146.0,881.7,-11.1,617,7364,0.08,2.22,0.00,0.000,6,0.074,0.058,2751,1853,3540,0,0,0,0,0,0
$GC,7690,-0.73,-146.0,926.4,-13.8,628,7691,0.12,0.00,0.00,0.000,6,0.173,0.000,2786,1853,3540,0,0,0,0,0,0
$GC,7993,-0.73,-146.0,960.1,-11.0,638,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1853,3540,0,0,0,0,0,0
$STATE,8295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8295,begin apogee
$GC,8298,-0.13,0.0,993.2,10.9,648,8425,0.60,0.00,125.10,1.261,6,0.139,0.000,2982,1685,2940,0,0,0,0,0,0
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8426,begin climb
$GC,8427,0.64,146.0,998.0,0.0,652,8564,0.70,2.55,130.02,1.226,4,0.086,0.067,3227,3115,2344,0,0,0,0,0,0
$GC,8611,0.51,187.0,995.7,8.1,658,8657,0.17,2.42,38.15,1.187,6,0.174,0.064,3194,1697,2175,0,0,1,0,0,0
$GC,8958,0.54,214.8,965.1,8.7,670,8985,0.00,0.00,25.38,1.165,6,0.000,0.000,3194,1697,2064,0,0,0,0,0,0
$GC,9262,0.60,231.4,937.9,9.2,680,9282,0.00,2.42,15.88,1.124,4,0.000,0.078,3204,285,1995,0,0,0,0,0,0
$GC,9303,0.60,233.1,933.7,9.9,681,9307,0.00,2.35,0.00,0.000,6,0.000,0.052,3204,1702,1994,0,0,0,0,0,0
$GC,9624,0.60,234.3,901.8,9.9,692,9628,0.00,2.35,0.00,0.000,4,0.000,0.069,3204,3108,1991,0,0,0,0,0,0
$GC,9663,0.60,237.2,898.0,9.9,693,9675,0.00,2.35,6.07,0.933,6,0.000,0.066,3213,1703,1972,0,0,0,0,0,0
$GC,9987,0.60,237.2,864.8,10.3,704,9990,0.00,2.38,0.00,0.000,4,0.000,0.078,3224,260,1969,0,0,0,0,0,0
$GC,10021,0.60,237.2,860.9,11.9,705,10025,0.00,2.33,0.00,0.000,6,0.000,0.053,3223,1702,1969,0,0,0,0,0,0
$GC,10350,0.60,237.2,824.2,11.1,716,10354,0.00,2.30,0.00,0.000,4,0.000,0.067,3223,3106,1969,0,0,0,0,0,0
$GC,10384,0.60,237.2,820.2,13.1,717,10388,0.00,2.30,0.00,0.000,6,0.000,0.064,3232,1705,1968,0,0,0,0,0,0
$GC,10714,0.56,237.2,782.2,11.3,728,10717,0.00,2.30,0.00,0.000,4,0.000,0.077,3242,282,1968,0,0,0,0,0,0
$GC,10739,0.48,237.2,779.2,12.0,728,10746,0.17,2.25,0.00,0.000,6,0.151,0.052,3186,1698,1967,0,0,0,0,0,0
$GC,11047,0.62,275.9,753.3,8.2,739,11085,0.12,0.00,36.17,1.098,6,0.104,0.000,3241,1698,1815,0,0,0,0,0,0
$GC,11379,0.58,275.9,712.8,12.5,750,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1698,1806,0,0,0,0,0,0
$GC,11682,0.55,275.9,673.7,12.8,760,11686,0.15,2.33,0.00,0.000,4,0.163,0.071,3199,3103,1805,0,0,0,0,0,0
$GC,11712,0.64,275.9,670.3,10.5,761,11716,0.00,2.28,0.00,0.000,6,0.000,0.064,3208,1696,1804,0,0,0,0,0,0
$GC,12045,0.70,275.9,633.4,11.1,772,12049,0.12,2.33,0.00,0.000,4,0.107,0.077,3270,284,1805,0,0,0,0,0,0
$GC,12097,0.61,275.9,625.8,17.0,773,12102,0.15,2.25,0.00,0.000,6,0.153,0.053,3221,1700,1804,0,0,0,0,0,0
$GC,12411,0.64,275.9,589.1,11.3,790,12415,0.00,2.28,0.00,0.000,4,0.000,0.070,3221,3117,1803,0,0,0,0,0,0
$GC,12441,0.64,275.9,585.6,12.1,793,12447,0.00,2.30,0.00,0.000,6,0.000,0.064,3231,1706,1803,0,0,0,0,0,0
$GC,12755,0.64,275.9,548.4,11.8,824,12759,0.00,2.33,0.00,0.000,4,0.000,0.077,3241,285,1803,0,0,0,0,0,0
$GC,12790,0.64,275.9,544.1,12.6,828,12794,0.00,2.22,0.00,0.000,6,0.000,0.053,3241,1695,1803,0,0,0,0,0,0
$GC,13108,0.64,275.9,505.4,11.8,859,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1696,1803,0,0,0,0,0,0
$GC,13419,0.64,275.9,469.1,11.4,889,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1696,1802,0,0,0,0,0,0
$GC,13730,0.64,275.9,435.0,11.0,919,13733,0.00,2.25,0.00,0.000,4,0.000,0.072,3240,3108,1803,0,0,0,0,0,0
$GC,13768,0.64,275.9,430.6,11.3,923,13774,0.00,2.28,0.00,0.000,6,0.000,0.065,3250,1700,1802,0,0,0,0,0,0
$GC,14083,0.61,275.9,393.6,11.4,954,14086,0.00,2.30,0.00,0.000,4,0.000,0.077,3260,285,1802,0,0,0,0,0,0
$GC,14135,0.57,275.9,386.8,12.2,960,14139,0.15,2.22,0.00,0.000,6,0.150,0.053,3210,1705,1802,0,0,0,0,0,0
$GC,14453,0.66,277.1,355.7,9.9,991,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1706,1801,0,0,0,0,0,0
$GC,14764,0.76,292.1,326.8,9.3,1021,14784,0.17,2.30,13.73,0.819,4,0.091,0.077,3296,286,1748,0,0,0,0,0,0
$GC,14801,0.62,292.1,321.9,14.3,1025,14805,0.20,2.22,0.00,0.000,6,0.153,0.053,3230,1697,1748,0,0,0,0,0,0
$GC,15120,0.67,292.1,288.9,10.1,1056,15120,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1697,1745,0,0,0,0,0,0
$GC,15430,0.73,292.1,257.1,10.1,1086,15434,0.00,2.25,0.00,0.000,4,0.000,0.070,3230,3114,1744,0,0,0,0,0,0
$GC,15469,0.80,292.1,252.8,11.0,1090,15475,0.10,2.30,0.00,0.000,6,0.068,0.065,3295,1694,1743,0,0,0,0,0,0
$GC,15783,0.69,292.1,206.3,14.6,1121,15787,0.15,2.30,0.00,0.000,4,0.173,0.075,3263,288,1744,0,0,0,0,0,0
$GC,15835,0.69,292.1,199.8,11.7,1127,15838,0.00,2.20,0.00,0.000,6,0.000,0.052,3263,1691,1744,0,0,0,0,0,0
$GC,16153,0.69,292.1,163.3,11.8,1158,16157,0.00,2.28,0.00,0.000,4,0.000,0.070,3264,3099,1743,0,0,0,0,0,0
$GC,16223,0.69,292.1,154.7,12.4,1166,16226,0.00,2.25,0.00,0.000,6,0.000,0.065,3273,1702,1743,0,0,0,0,0,0
$GC,16541,0.69,292.1,119.1,10.8,1197,16542,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1702,1743,0,0,0,0,0,0
$GC,16856,0.71,301.9,87.2,9.5,1239,16869,0.00,0.00,9.32,0.683,6,0.000,0.000,3273,1702,1708,0,0,0,0,0,0
$GC,17188,0.78,333.5,58.3,8.5,1301,17219,0.00,0.00,29.30,0.698,6,0.000,0.000,3273,1702,1579,0,0,0,0,0,0
$GC,17538,0.95,389.9,25.4,7.4,1367,17592,0.17,0.00,48.75,0.670,6,0.091,0.000,3344,1702,1348,0,0,0,0,0,0
$STATE,17701,end climb,SURFACE_DEPTH_REACHED
$STATE,17701,begin surface coast
$FINISH,1.6,1.017060
$STATE,17728,end surface coast,CONTROL_FINISHED_OK
$STATE,17728,begin surface
$SM_CCo,17801,0.00,0.000,0,0,1336,393.46
$SM_GC,2.39,8.70,0.00,0.00,0.063,0.000,0.000,146,1862,1336,-8.95,0.34,393.46
$RAFOS_CLK,916
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5851.86,190199,050544
$TT8_MAMPS,0.050622
$HUMID,38.77
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,953.3,82.9
$24V_AH,23.1,8.105
$10V_AH,10.2,3.436
$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,24.200,110.575,477.875,0.000,0.000,22.738,38.826,237.711,3.500,0.000,14.315,0.000,14277.209,566.716,2904.730,420.087,0.000,1776.909,0.000,2326.257,2520.000,30.773,0.000
$DEVICE_MAMPS,255.411,85.137,1260.948,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.200,1050.911,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150364
$DATA_FILE_SIZE,56716,1403
$CAP_FILE_SIZE,175622,0
$CFSIZE,260165632,250048512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1458.3
$CURRENT,0.139,199.7,1
$GPS,251009,155407,6650.684,-5906.121,28,1.2,28,-37.9