version: 66.06
glider: 172
mission: 3
dive: 33
start: 10 26 109 6 56 50
data:
$ID,172
$MISSION,3
$DIVE,33
$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,-4744.5161
$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,26
$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
$GPS1,065109,6648.083,-5926.637,29,1.5,30,-38.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-75.8
$GPS2,065644,6648.054,-5926.886,13,1.6,13,-38.0
$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,322.4,43893,-17.5,-10.000
$D_GRID,928
$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,-146.0,0.0,0.0,0,45,0.00,0.00,-31.40,0.000,2,0.000,0.000,132,1857,2056,0,0,0,0,0,0
$GC,46,-0.64,-146.0,3.0,-2.2,6,128,10.60,2.38,-63.58,0.000,4,0.249,0.091,2800,3251,3537,0,0,0,0,0,0
$GC,375,-0.56,-146.0,53.4,-16.7,79,382,0.10,2.30,0.00,0.000,6,0.151,0.065,2833,1851,3539,0,0,0,0,0,0
$GC,705,-0.56,-146.0,101.6,-13.4,140,709,0.00,2.33,0.00,0.000,4,0.000,0.074,2824,3253,3539,0,0,0,0,0,0
$GC,753,-0.64,-146.0,107.5,-11.4,145,759,0.00,2.30,0.00,0.000,6,0.000,0.064,2824,1843,3539,0,0,0,0,0,0
$GC,1067,-0.64,-146.0,151.7,-13.8,176,1071,0.00,2.30,0.00,0.000,4,0.000,0.077,2824,439,3538,0,0,0,0,0,0
$GC,1145,-0.64,-146.0,162.3,-13.1,185,1149,0.00,2.25,0.00,0.000,6,0.000,0.059,2814,1846,3538,0,0,0,0,0,0
$GC,1464,-0.64,-146.0,205.9,-14.1,216,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1846,3538,0,0,0,0,0,0
$GC,1774,-0.64,-146.0,246.6,-12.4,246,1778,0.00,2.28,0.00,0.000,4,0.000,0.078,2814,435,3537,0,0,0,0,0,0
$GC,1800,-0.64,-146.0,250.0,-13.4,249,1804,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1848,3537,0,0,0,0,0,0
$GC,2119,-0.64,-146.0,290.3,-13.2,280,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3537,0,0,0,0,0,0
$GC,2429,-0.64,-146.0,328.7,-11.9,310,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3537,0,0,0,0,0,0
$GC,2740,-0.64,-146.0,367.9,-13.0,340,2743,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,3258,3537,0,0,0,0,0,0
$GC,2766,-0.71,-146.0,371.1,-11.7,343,2769,0.00,2.22,0.00,0.000,6,0.000,0.064,2807,1847,3537,0,0,0,0,0,0
$GC,3084,-0.71,-146.0,409.1,-11.5,374,3088,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,441,3537,0,0,0,0,0,0
$GC,3136,-0.74,-146.0,415.5,-12.6,380,3140,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1850,3537,0,0,0,0,0,0
$GC,3454,-0.74,-146.0,452.0,-11.2,411,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3537,0,0,0,0,0,0
$GC,3766,-0.74,-146.0,486.5,-11.5,441,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3537,0,0,0,0,0,0
$GC,4075,-0.74,-146.0,521.5,-11.1,471,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,4385,-0.74,-146.0,555.0,-10.9,501,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,4696,-0.74,-146.0,587.6,-10.1,531,4703,0.00,2.25,0.00,0.000,4,0.000,0.075,2807,442,3538,0,0,0,0,0,0
$GC,4727,-0.74,-146.0,591.1,-11.7,534,4733,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1854,3538,0,0,0,0,0,0
$GC,5058,-0.78,-146.0,625.1,-10.2,551,5059,0.10,0.00,0.00,0.000,6,0.117,0.000,2758,1855,3539,0,0,0,0,0,0
$GC,5361,-0.69,-146.0,666.8,-14.1,561,5365,0.15,2.30,0.00,0.000,4,0.166,0.076,2801,440,3539,0,0,0,0,0,0
$GC,5412,-0.73,-146.0,673.0,-11.3,562,5416,0.00,2.20,0.00,0.000,6,0.000,0.058,2798,1842,3539,0,0,0,0,0,0
$GC,5724,-0.73,-146.0,707.7,-11.1,573,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1842,3540,0,0,0,0,0,0
$GC,6028,-0.73,-146.0,740.7,-10.8,583,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1842,3540,0,0,0,0,0,0
$GC,6331,-0.73,-146.0,773.1,-10.8,593,6335,0.00,2.25,0.00,0.000,4,0.000,0.075,2798,445,3540,0,0,0,0,0,0
$GC,6357,-0.73,-146.0,776.0,-12.1,593,6363,0.00,2.20,0.00,0.000,6,0.000,0.058,2798,1844,3540,0,0,0,0,0,0
$GC,6667,-0.73,-146.0,809.6,-11.1,604,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1844,3540,0,0,0,0,0,0
$GC,6968,-0.73,-146.0,843.1,-11.2,614,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1844,3540,0,0,0,0,0,0
$GC,7271,-0.73,-146.0,876.1,-10.8,624,7275,0.00,2.25,0.00,0.000,4,0.000,0.075,2798,446,3540,0,0,0,0,0,0
$GC,7315,-0.76,-146.0,881.0,-11.8,625,7319,0.00,2.20,0.00,0.000,6,0.000,0.059,2798,1843,3540,0,0,0,0,0,0
$GC,7636,-0.80,-146.0,914.8,-10.5,636,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1843,3540,0,0,0,0,0,0
$STATE,7786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7786,begin apogee
$GC,7789,-0.13,0.0,931.0,10.6,641,7916,0.55,0.00,124.82,1.220,6,0.140,0.000,2977,1689,2940,0,0,0,0,0,0
$STATE,7916,end apogee,CONTROL_FINISHED_OK
$STATE,7916,begin climb
$GC,7917,0.64,146.0,935.2,0.0,645,8055,0.70,2.50,129.40,1.185,4,0.081,0.064,3223,3107,2343,0,0,0,0,0,0
$GC,8233,0.47,146.0,917.8,10.3,655,8237,0.12,2.40,0.00,0.000,6,0.160,0.064,3184,1703,2334,0,0,0,0,0,0
$GC,8545,0.55,210.1,895.2,7.0,666,8607,0.00,0.00,56.95,1.157,6,0.000,0.000,3184,1703,2082,0,0,0,0,0,0
$GC,8909,0.64,240.2,864.3,8.6,678,8941,0.15,2.47,27.12,1.120,4,0.096,0.077,3253,291,1960,0,0,0,0,0,0
$GC,8971,0.52,240.2,856.4,14.0,680,8975,0.17,2.33,0.00,0.000,6,0.149,0.052,3199,1693,1957,0,0,0,0,0,0
$GC,9301,0.57,251.7,823.9,9.5,691,9313,0.00,0.00,10.98,1.030,6,0.000,0.000,3200,1693,1913,0,0,0,0,0,0
$GC,9604,0.63,254.8,794.4,9.9,701,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1693,1909,0,0,0,0,0,0
$GC,9907,0.68,257.6,764.5,9.9,711,9919,0.12,2.33,6.20,0.896,4,0.107,0.076,3262,287,1888,0,0,0,0,0,0
$GC,9937,0.55,257.6,761.0,12.9,712,9940,0.20,2.25,0.00,0.000,6,0.163,0.052,3206,1709,1888,0,0,0,0,0,0
$GC,10270,0.60,264.1,727.9,9.7,723,10278,0.00,0.00,7.35,0.930,6,0.000,0.000,3206,1709,1863,0,0,0,0,0,0
$GC,10573,0.64,264.1,697.9,10.0,733,10577,0.00,2.33,0.00,0.000,4,0.000,0.077,3217,284,1861,0,0,0,0,0,0
$GC,10598,0.64,264.1,695.1,11.3,733,10604,0.00,2.25,0.00,0.000,6,0.000,0.052,3216,1700,1860,0,0,0,0,0,0
$GC,10906,0.64,264.1,662.0,10.7,744,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1860,0,0,0,0,0,0
$GC,11210,0.64,264.1,629.6,10.6,754,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1701,1860,0,0,0,0,0,0
$GC,11513,0.64,264.1,598.4,10.3,764,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1701,1859,0,0,0,0,0,0
$GC,11824,0.64,264.1,566.8,10.2,794,11827,0.00,2.28,0.00,0.000,4,0.000,0.077,3225,287,1859,0,0,0,0,0,0
$GC,11858,0.64,264.1,563.0,11.9,798,11862,0.00,2.22,0.00,0.000,6,0.000,0.053,3226,1701,1859,0,0,0,0,0,0
$GC,12177,0.64,264.1,529.1,10.4,829,12181,0.00,2.28,0.00,0.000,4,0.000,0.067,3226,3109,1859,0,0,0,0,0,0
$GC,12207,0.64,264.1,525.8,11.1,832,12212,0.00,2.28,0.00,0.000,6,0.000,0.064,3236,1697,1858,0,0,0,0,0,0
$GC,12521,0.60,264.1,491.1,10.8,863,12525,0.00,2.28,0.00,0.000,4,0.000,0.077,3246,294,1858,0,0,0,0,0,0
$GC,12564,0.55,264.1,486.1,11.7,868,12568,0.10,2.20,0.00,0.000,6,0.154,0.053,3200,1699,1858,0,0,0,0,0,0
$GC,12883,0.67,293.0,458.1,8.7,899,12912,0.12,0.00,27.12,0.912,6,0.103,0.000,3256,1699,1745,0,0,0,0,0,0
$GC,13219,0.61,293.0,411.5,14.5,932,13224,0.12,2.35,0.00,0.000,4,0.170,0.077,3231,266,1738,0,0,0,0,0,0
$GC,13241,0.61,293.0,408.6,13.5,934,13247,0.00,2.28,0.00,0.000,6,0.000,0.052,3231,1698,1738,0,0,0,0,0,0
$GC,13555,0.61,293.0,367.6,12.6,965,13556,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1699,1737,0,0,0,0,0,0
$GC,13866,0.61,293.0,329.7,11.8,995,13870,0.00,2.28,0.00,0.000,4,0.000,0.078,3242,287,1736,0,0,0,0,0,0
$GC,13900,0.61,293.0,325.6,12.8,999,13904,0.00,2.22,0.00,0.000,6,0.000,0.053,3242,1698,1736,0,0,0,0,0,0
$GC,14219,0.61,293.0,288.7,11.1,1030,14223,0.00,2.30,0.00,0.000,4,0.000,0.070,3241,3111,1736,0,0,0,0,0,0
$GC,14249,0.61,293.0,285.2,11.7,1033,14255,0.08,2.30,0.00,0.000,6,0.156,0.064,3225,1695,1735,0,0,0,0,0,0
$GC,14564,0.69,302.5,256.3,9.6,1064,14576,0.00,2.33,8.27,0.736,4,0.000,0.077,3235,285,1706,0,0,0,0,0,0
$GC,14628,0.76,312.6,249.9,9.5,1071,14644,0.05,2.22,10.88,0.751,6,0.094,0.053,3286,1695,1665,0,0,0,0,0,0
$GC,14952,0.70,312.6,205.1,13.6,1103,14956,0.12,2.28,0.00,0.000,4,0.178,0.068,3251,3110,1660,0,0,0,0,0,0
$GC,14999,0.73,312.6,199.5,10.4,1108,15005,0.00,2.30,0.00,0.000,6,0.000,0.064,3261,1700,1660,0,0,0,0,0,0
$GC,15314,0.73,312.6,166.9,10.0,1139,15318,0.00,2.33,0.00,0.000,4,0.000,0.077,3271,290,1659,0,0,0,0,0,0
$GC,15383,0.73,312.6,159.3,10.2,1147,15387,0.00,2.22,0.00,0.000,6,0.000,0.052,3271,1700,1659,0,0,0,0,0,0
$GC,15701,0.73,312.6,125.7,10.8,1178,15705,0.00,2.33,0.00,0.000,4,0.000,0.078,3281,287,1659,0,0,0,0,0,0
$GC,15757,0.73,312.6,119.2,11.9,1184,15763,0.00,2.22,0.00,0.000,6,0.000,0.053,3282,1701,1659,0,0,0,0,0,0
$GC,16077,0.73,312.6,83.9,11.2,1228,16082,0.00,2.28,0.00,0.000,4,0.000,0.071,3282,3104,1658,0,0,0,0,0,0
$GC,16116,0.73,312.6,79.4,11.3,1237,16122,0.08,2.28,0.00,0.000,6,0.166,0.064,3266,1700,1657,0,0,0,0,0,0
$GC,16441,0.87,356.5,48.2,8.0,1298,16489,0.12,2.38,39.10,0.696,4,0.109,0.080,3329,290,1485,0,0,0,0,0,0
$GC,16509,0.80,356.5,40.3,13.4,1313,16515,0.12,2.28,0.00,0.000,6,0.152,0.055,3288,1702,1482,0,0,0,0,0,0
$GC,16835,0.92,381.4,11.1,8.8,1374,16863,0.00,2.40,21.12,0.669,4,0.000,0.081,3299,292,1384,0,0,0,0,0,0
$GC,16880,1.02,400.0,6.7,9.1,1384,16904,0.12,2.28,17.60,0.644,6,0.073,0.054,3357,1700,1307,0,0,0,0,0,0
$STATE,16907,end climb,SURFACE_DEPTH_REACHED
$STATE,16907,begin surface coast
$FINISH,1.5,1.023106
$STATE,16939,end surface coast,CONTROL_FINISHED_OK
$STATE,16939,begin surface
$SM_CCo,17012,0.00,0.000,0,0,1299,402.78
$SM_GC,2.37,8.77,0.00,0.00,0.065,0.000,0.000,150,1854,1299,-8.93,0.11,402.78
$RAFOS_CLK,872
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5917.14,200199,020251
$TT8_MAMPS,0.051389
$HUMID,39.88
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,803.0,139.6
$24V_AH,23.1,8.748
$10V_AH,10.2,3.736
$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,22.800,123.975,486.925,0.000,0.000,30.144,31.719,182.264,2.500,0.000,13.850,0.000,13484.910,615.945,2858.043,363.379,0.000,1816.617,0.000,2292.818,2520.000,22.574,0.000
$DEVICE_MAMPS,249.275,90.506,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.264,1041.307,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150324
$DATA_FILE_SIZE,56670,1396
$CAP_FILE_SIZE,170942,0
$CFSIZE,260165632,249712640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$CURRENT,0.171,181.9,1
$GPS,261009,114124,6647.234,-5933.325,41,1.5,41,-38.0