version: 66.06
glider: 172
mission: 3
dive: 32
start: 10 26 109 2 5 8
data:
$ID,172
$MISSION,3
$DIVE,32
$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,-4730.0391
$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,29
$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
$GPS1,015937,6647.661,-5919.438,34,1.5,34,-37.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-77.0
$GPS2,020502,6647.590,-5919.382,15,1.5,15,-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,345.1,49186,-17.5,-10.000
$D_GRID,944
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-51.30,0.000,2,0.000,0.000,144,1858,2295,0,0,0,0,0,0
$GC,66,-0.64,-146.0,3.0,-0.8,10,128,10.68,2.35,-42.97,0.000,4,0.249,0.089,2804,3243,3538,0,0,0,0,0,0
$GC,340,-0.64,-146.0,44.8,-15.8,72,346,0.00,2.30,0.00,0.000,6,0.000,0.065,2804,1848,3539,0,0,0,0,0,0
$GC,665,-0.56,-146.0,97.4,-15.7,133,666,0.15,0.00,0.00,0.000,6,0.179,0.000,2845,1847,3539,0,0,0,0,0,0
$GC,977,-0.61,-146.0,134.9,-11.5,165,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1847,3539,0,0,0,0,0,0
$GC,1287,-0.67,-146.0,171.3,-11.8,195,1291,0.10,2.30,0.00,0.000,4,0.120,0.078,2801,436,3539,0,0,0,0,0,0
$GC,1339,-0.62,-146.0,179.1,-16.1,201,1343,0.12,2.22,0.00,0.000,6,0.181,0.059,2825,1851,3539,0,0,0,0,0,0
$GC,1657,-0.62,-146.0,221.2,-12.6,232,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1851,3539,0,0,0,0,0,0
$GC,1968,-0.66,-146.0,260.2,-13.0,262,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1851,3538,0,0,0,0,0,0
$GC,2278,-0.71,-146.0,296.5,-10.8,292,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1851,3538,0,0,0,0,0,0
$GC,2589,-0.77,-146.0,329.4,-10.4,322,2590,0.15,0.00,0.00,0.000,6,0.097,0.000,2761,1852,3538,0,0,0,0,0,0
$GC,2898,-0.65,-146.0,375.2,-14.4,352,2903,0.17,2.33,0.00,0.000,4,0.166,0.078,2811,440,3538,0,0,0,0,0,0
$GC,2946,-0.69,-146.0,380.9,-10.7,357,2952,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1854,3538,0,0,0,0,0,0
$GC,3261,-0.69,-146.0,413.1,-10.6,388,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1854,3538,0,0,0,0,0,0
$GC,3571,-0.69,-146.0,445.5,-10.7,418,3575,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,438,3538,0,0,0,0,0,0
$GC,3610,-0.73,-146.0,449.9,-11.5,422,3617,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1843,3538,0,0,0,0,0,0
$GC,3924,-0.73,-146.0,486.4,-12.0,453,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1844,3538,0,0,0,0,0,0
$GC,4235,-0.76,-146.0,523.6,-12.2,483,4238,0.00,2.28,0.00,0.000,4,0.000,0.075,2807,439,3539,0,0,0,0,0,0
$GC,4273,-0.81,-146.0,528.4,-12.5,487,4279,0.10,2.22,0.00,0.000,6,0.071,0.058,2752,1849,3539,0,0,0,0,0,0
$GC,4588,-0.69,-146.0,577.3,-15.1,518,4590,0.17,0.00,0.00,0.000,6,0.165,0.000,2803,1850,3539,0,0,0,0,0,0
$GC,4916,-0.69,-146.0,613.3,-10.8,542,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1850,3539,0,0,0,0,0,0
$GC,5220,-0.69,-146.0,646.9,-11.2,552,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1850,3540,0,0,0,0,0,0
$GC,5523,-0.72,-146.0,681.5,-11.4,562,5527,0.00,2.30,0.00,0.000,4,0.000,0.076,2803,440,3540,0,0,0,0,0,0
$GC,5562,-0.76,-146.0,686.1,-11.4,563,5566,0.00,2.22,0.00,0.000,6,0.000,0.057,2795,1853,3540,0,0,0,0,0,0
$GC,5887,-0.76,-146.0,723.7,-11.5,574,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1853,3540,0,0,0,0,0,0
$GC,6190,-0.76,-146.0,757.3,-11.0,584,6194,0.00,2.30,0.00,0.000,4,0.000,0.076,2795,435,3541,0,0,0,0,0,0
$GC,6216,-0.76,-146.0,760.6,-13.4,584,6222,0.00,2.22,0.00,0.000,6,0.000,0.058,2795,1849,3540,0,0,0,0,0,0
$GC,6523,-0.76,-146.0,794.2,-10.9,595,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1849,3541,0,0,0,0,0,0
$GC,6827,-0.76,-146.0,828.2,-11.4,605,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1849,3541,0,0,0,0,0,0
$GC,7130,-0.76,-146.0,862.4,-11.2,615,7134,0.00,2.28,0.00,0.000,4,0.000,0.075,2794,439,3541,0,0,0,0,0,0
$GC,7169,-0.76,-146.0,866.9,-11.3,616,7173,0.00,2.20,0.00,0.000,6,0.000,0.058,2795,1845,3541,0,0,0,0,0,0
$GC,7494,-0.76,-146.0,902.0,-10.6,627,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1844,3541,0,0,0,0,0,0
$GC,7797,-0.76,-146.0,934.4,-10.3,637,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1845,3541,0,0,0,0,0,0
$STATE,7887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7888,begin apogee
$GC,7890,-0.13,0.0,944.3,10.8,640,8018,0.57,0.00,125.15,1.229,6,0.140,0.000,2982,1690,2941,0,0,0,0,0,0
$STATE,8018,end apogee,CONTROL_FINISHED_OK
$STATE,8018,begin climb
$GC,8019,0.64,146.0,948.0,0.0,644,8155,0.70,2.53,129.43,1.190,4,0.084,0.067,3226,3111,2343,0,0,0,0,0,0
$GC,8194,0.48,151.2,944.0,9.8,650,8205,0.20,2.40,5.18,0.830,6,0.170,0.064,3187,1708,2323,0,0,1,0,0,0
$GC,8522,0.57,221.1,920.3,6.8,661,8587,0.00,0.00,64.45,1.167,6,0.000,0.000,3186,1708,2038,0,0,0,0,0,0
$GC,8886,0.66,249.6,890.5,8.7,673,8916,0.15,0.00,26.15,1.127,6,0.097,0.000,3246,1707,1921,0,0,0,0,0,0
$GC,9218,0.57,249.6,848.1,13.1,684,9219,0.12,0.00,0.00,0.000,6,0.172,0.000,3213,1708,1913,0,0,0,0,0,0
$GC,9522,0.57,249.6,815.1,10.9,694,9525,0.00,2.38,0.00,0.000,4,0.000,0.078,3224,294,1913,0,0,0,0,0,0
$GC,9560,0.57,249.6,810.3,13.0,695,9564,0.00,2.28,0.00,0.000,6,0.000,0.052,3224,1702,1912,0,0,0,0,0,0
$GC,9885,0.57,249.6,770.9,12.2,706,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1702,1912,0,0,0,0,0,0
$GC,10189,0.57,249.6,733.9,12.2,716,10193,0.00,2.35,0.00,0.000,4,0.000,0.077,3235,287,1911,0,0,0,0,0,0
$GC,10226,0.51,249.6,729.6,13.0,717,10229,0.15,2.20,0.00,0.000,6,0.170,0.052,3193,1705,1911,0,0,0,0,0,0
$GC,10554,0.59,253.2,696.1,9.8,728,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1705,1910,0,0,0,0,0,0
$GC,10857,0.68,266.5,667.2,9.4,738,10873,0.15,0.00,14.65,1.005,6,0.097,0.000,3257,1705,1853,0,0,0,0,0,0
$GC,11161,0.58,266.5,627.3,13.3,748,11162,0.15,0.00,0.00,0.000,6,0.163,0.000,3215,1705,1849,0,0,0,0,0,0
$GC,11465,0.62,266.6,596.4,10.0,760,11469,0.00,2.30,0.00,0.000,4,0.000,0.078,3225,284,1848,0,0,0,0,0,0
$GC,11516,0.62,266.6,590.9,10.3,766,11520,0.00,2.22,0.00,0.000,6,0.000,0.053,3225,1695,1848,0,0,0,0,0,0
$GC,11835,0.62,266.6,556.1,11.3,797,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1696,1848,0,0,0,0,0,0
$GC,12146,0.62,266.6,520.6,11.5,827,12150,0.00,2.30,0.00,0.000,4,0.000,0.078,3235,293,1847,0,0,0,0,0,0
$GC,12176,0.62,266.6,516.8,13.0,830,12182,0.00,2.20,0.00,0.000,6,0.000,0.053,3235,1692,1847,0,0,0,0,0,0
$GC,12490,0.62,266.6,478.3,11.9,861,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1693,1847,0,0,0,0,0,0
$GC,12801,0.62,266.6,441.5,12.1,891,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1692,1848,0,0,0,0,0,0
$GC,13111,0.62,266.6,404.9,11.7,921,13115,0.00,2.28,0.00,0.000,4,0.000,0.070,3235,3103,1847,0,0,0,0,0,0
$GC,13146,0.62,266.6,400.6,12.5,925,13149,0.00,2.28,0.00,0.000,6,0.000,0.067,3244,1699,1847,0,0,0,0,0,0
$GC,13464,0.62,266.6,362.2,12.0,956,13468,0.00,2.30,0.00,0.000,4,0.000,0.078,3254,284,1847,0,0,0,0,0,0
$GC,13495,0.57,266.6,358.4,13.1,959,13500,0.12,2.22,0.00,0.000,6,0.150,0.053,3212,1702,1847,0,0,0,0,0,0
$GC,13809,0.64,266.6,326.1,10.0,990,13813,0.00,2.25,0.00,0.000,4,0.000,0.068,3212,3104,1846,0,0,0,0,0,0
$GC,13835,0.71,266.6,323.2,10.4,993,13839,0.00,2.25,0.00,0.000,6,0.000,0.065,3221,1704,1847,0,0,0,0,0,0
$GC,14154,0.78,271.0,292.0,9.8,1024,14165,0.15,2.28,4.45,0.622,4,0.097,0.078,3297,285,1835,0,0,0,0,0,0
$GC,14243,0.62,271.0,279.5,15.2,1034,14246,0.22,2.17,0.00,0.000,6,0.166,0.053,3231,1703,1834,0,0,0,0,0,0
$GC,14561,0.68,281.6,247.2,9.5,1065,14573,0.00,0.00,11.12,0.761,6,0.000,0.000,3231,1704,1792,0,0,0,0,0,0
$GC,14881,0.75,287.5,215.7,9.7,1096,14893,0.10,2.38,6.82,0.688,4,0.123,0.079,3287,284,1767,0,0,0,0,0,0
$GC,14918,0.65,287.5,211.2,13.2,1100,14922,0.10,2.22,0.00,0.000,6,0.157,0.053,3241,1693,1765,0,0,0,0,0,0
$GC,15237,0.72,290.7,178.8,9.9,1131,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1694,1763,0,0,0,0,0,0
$GC,15548,0.80,303.1,149.8,9.4,1161,15568,0.12,2.33,15.00,0.732,4,0.105,0.071,3297,3102,1703,0,0,0,0,0,0
$GC,15589,0.72,303.1,144.7,13.5,1166,15593,0.15,2.30,0.00,0.000,6,0.162,0.067,3259,1702,1701,0,0,0,0,0,0
$GC,15908,0.76,303.1,112.8,10.4,1197,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1702,1699,0,0,0,0,0,0
$GC,16224,0.83,305.2,81.5,9.9,1244,16231,0.10,2.33,0.00,0.000,4,0.121,0.081,3315,277,1698,0,0,0,0,0,0
$GC,16264,0.73,305.2,76.5,12.8,1253,16270,0.15,2.25,0.00,0.000,6,0.152,0.056,3266,1699,1698,0,0,0,0,0,0
$GC,16589,0.87,353.2,49.3,7.8,1314,16642,0.10,2.38,44.72,0.696,4,0.118,0.072,3313,3110,1497,0,0,0,0,0,0
$GC,16676,0.87,353.2,39.9,12.2,1333,16681,0.00,2.35,0.00,0.000,6,0.000,0.067,3323,1702,1492,0,0,0,0,0,0
$STATE,16994,end climb,SURFACE_DEPTH_REACHED
$STATE,16994,begin surface coast
$FINISH,1.6,1.006080
$STATE,17037,end surface coast,CONTROL_FINISHED_OK
$STATE,17037,begin surface
$SM_CCo,17110,0.00,0.000,0,0,1483,357.16
$SM_GC,2.94,8.60,0.00,0.00,0.068,0.000,0.000,142,1856,1483,-8.95,0.17,357.16
$RAFOS_CLK,875
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5914.35,190199,212158
$TT8_MAMPS,0.050622
$HUMID,40.03
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.7,235.2
$24V_AH,23.1,8.587
$10V_AH,10.2,3.662
$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,23.775,96.500,447.125,0.000,0.000,22.509,32.087,175.428,2.250,0.000,15.198,0.000,13723.699,568.018,2769.946,347.417,0.000,1704.060,0.000,2210.544,2520.000,20.170,0.000
$DEVICE_MAMPS,249.275,88.972,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,983.279,1044.042,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150320
$DATA_FILE_SIZE,56767,1401
$CAP_FILE_SIZE,163636,0
$CFSIZE,260165632,249802752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.5
$CURRENT,0.149,214.4,1
$GPS,261009,065109,6648.083,-5926.637,29,1.5,30,-38.0