version: 66.06
glider: 172
mission: 3
dive: 34
start: 10 26 109 11 46 44
data:
$ID,172
$MISSION,3
$DIVE,34
$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,-4759.042
$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,22
$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
$GPS1,114124,6647.234,-5933.325,41,1.5,41,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-69.9
$GPS2,114638,6647.231,-5933.426,13,1.5,13,-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,339.2,38924,-17.5,-10.000
$D_GRID,884
$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,-146.0,0.0,0.0,0,68,0.00,0.00,-53.62,0.000,2,0.000,0.000,121,1854,2299,0,0,0,0,0,0
$GC,69,-0.64,-146.0,3.1,-1.4,10,130,10.75,2.40,-42.55,0.000,4,0.250,0.092,2803,3255,3538,0,0,0,0,0,0
$GC,372,-0.58,-146.0,52.4,-16.2,79,378,0.08,2.33,0.00,0.000,6,0.159,0.066,2828,1850,3539,0,0,0,0,0,0
$GC,696,-0.54,-146.0,103.4,-15.0,138,700,0.00,2.35,0.00,0.000,4,0.000,0.078,2829,442,3539,0,0,0,0,0,0
$GC,722,-0.54,-146.0,107.4,-15.8,141,726,0.00,2.28,0.00,0.000,6,0.000,0.059,2826,1849,3539,0,0,0,0,0,0
$GC,1040,-0.54,-146.0,151.6,-13.2,172,1045,0.00,2.35,0.00,0.000,4,0.000,0.078,2826,441,3539,0,0,0,0,0,0
$GC,1075,-0.54,-146.0,156.4,-14.0,176,1079,0.00,2.28,0.00,0.000,6,0.000,0.059,2826,1852,3539,0,0,0,0,0,0
$GC,1393,-0.54,-146.0,197.7,-12.9,207,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1852,3539,0,0,0,0,0,0
$GC,1704,-0.54,-146.0,236.4,-12.2,237,1711,0.00,2.30,0.00,0.000,4,0.000,0.077,2826,3251,3538,0,0,0,0,0,0
$GC,1727,-0.61,-146.0,239.0,-11.6,239,1733,0.00,2.28,0.00,0.000,6,0.000,0.066,2826,1846,3538,0,0,0,0,0,0
$GC,2041,-0.66,-146.0,276.2,-11.3,270,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1846,3538,0,0,0,0,0,0
$GC,2352,-0.71,-146.0,312.0,-11.8,300,2356,0.00,2.30,0.00,0.000,4,0.000,0.079,2826,441,3537,0,0,0,0,0,0
$GC,2399,-0.77,-146.0,317.7,-11.8,305,2405,0.10,2.25,0.00,0.000,6,0.074,0.059,2772,1853,3537,0,0,0,0,0,0
$GC,2714,-0.67,-146.0,367.6,-15.8,336,2718,0.12,2.33,0.00,0.000,4,0.179,0.077,2797,3261,3538,0,0,0,0,0,0
$GC,2739,-0.67,-146.0,371.2,-13.1,339,2743,0.00,2.28,0.00,0.000,6,0.000,0.064,2796,1847,3537,0,0,0,0,0,0
$GC,3058,-0.67,-146.0,411.4,-12.6,370,3062,0.00,2.28,0.00,0.000,4,0.000,0.077,2797,443,3537,0,0,0,0,0,0
$GC,3114,-0.67,-146.0,418.6,-12.5,376,3121,0.00,2.22,0.00,0.000,6,0.000,0.059,2793,1844,3538,0,0,0,0,0,0
$GC,3429,-0.67,-146.0,457.8,-12.7,407,3433,0.00,2.28,0.00,0.000,4,0.000,0.077,2793,445,3538,0,0,0,0,0,0
$GC,3463,-0.67,-146.0,462.2,-12.3,411,3467,0.00,2.22,0.00,0.000,6,0.000,0.059,2793,1846,3537,0,0,0,0,0,0
$GC,3782,-0.67,-146.0,502.4,-12.7,442,3786,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,3251,3538,0,0,0,0,0,0
$GC,3817,-0.72,-146.0,506.5,-11.4,446,3820,0.00,2.25,0.00,0.000,6,0.000,0.064,2793,1850,3538,0,0,0,0,0,0
$GC,4135,-0.72,-146.0,544.4,-11.8,477,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1850,3538,0,0,0,0,0,0
$GC,4446,-0.72,-146.0,581.9,-12.1,507,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1850,3538,0,0,0,0,0,0
$GC,4763,-0.72,-146.0,619.0,-11.9,528,4767,0.00,2.30,0.00,0.000,4,0.000,0.077,2793,442,3539,0,0,0,0,0,0
$GC,4806,-0.72,-146.0,624.4,-13.3,529,4810,0.00,2.22,0.00,0.000,6,0.000,0.058,2793,1854,3539,0,0,0,0,0,0
$GC,5127,-0.72,-146.0,662.9,-12.0,540,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1854,3540,0,0,0,0,0,0
$GC,5430,-0.72,-146.0,698.7,-11.5,550,5434,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,3257,3540,0,0,0,0,0,0
$GC,5474,-0.80,-146.0,703.4,-10.3,551,5478,0.00,2.25,0.00,0.000,6,0.000,0.062,2793,1846,3540,0,0,0,0,0,0
$GC,5795,-0.80,-146.0,739.4,-11.3,562,5799,0.00,2.25,0.00,0.000,4,0.000,0.075,2793,443,3540,0,0,0,0,0,0
$GC,5825,-0.80,-146.0,743.0,-12.2,563,5829,0.00,2.20,0.00,0.000,6,0.000,0.058,2793,1843,3540,0,0,0,0,0,0
$GC,6158,-0.80,-146.0,780.4,-11.2,574,6162,0.00,2.28,0.00,0.000,4,0.000,0.074,2793,3250,3541,0,0,0,0,0,0
$GC,6189,-0.87,-146.0,783.7,-10.3,575,6193,0.08,2.22,0.00,0.000,6,0.072,0.063,2729,1858,3541,0,0,0,0,0,0
$GC,6522,-0.70,-146.0,836.9,-16.3,586,6524,0.22,0.00,0.00,0.000,6,0.167,0.000,2796,1858,3541,0,0,0,0,0,0
$GC,6826,-0.70,-146.0,870.2,-10.6,596,6829,0.00,2.28,0.00,0.000,4,0.000,0.076,2796,445,3541,0,0,0,0,0,0
$GC,6864,-0.70,-146.0,874.6,-11.1,597,6868,0.00,2.20,0.00,0.000,6,0.000,0.058,2796,1845,3541,0,0,0,0,0,0
$STATE,6976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6976,begin apogee
$GC,6979,-0.13,0.0,886.6,10.7,601,7105,0.55,0.00,124.35,1.192,6,0.142,0.000,2974,1692,2940,0,0,0,0,0,0
$STATE,7105,end apogee,CONTROL_FINISHED_OK
$STATE,7105,begin climb
$GC,7107,0.64,146.0,891.2,0.0,605,7246,0.77,2.53,129.23,1.155,4,0.091,0.074,3246,298,2342,0,0,0,0,0,0
$GC,7297,0.45,158.8,888.5,9.4,611,7314,0.22,2.38,12.00,1.026,6,0.153,0.051,3179,1703,2292,0,0,0,0,0,0
$GC,7638,0.54,231.4,864.8,6.7,623,7706,0.00,0.00,66.15,1.133,6,0.000,0.000,3179,1704,1996,0,0,0,0,0,0
$GC,8002,0.66,256.3,833.8,8.9,635,8026,0.17,0.00,22.58,1.082,6,0.088,0.000,3248,1704,1895,0,0,0,0,0,0
$GC,8305,0.57,256.3,793.8,13.8,645,8309,0.15,2.35,0.00,0.000,4,0.163,0.077,3217,295,1887,0,0,0,0,0,0
$GC,8330,0.57,256.3,790.6,12.1,645,8337,0.00,2.28,0.00,0.000,6,0.000,0.052,3217,1694,1887,0,0,0,0,0,0
$GC,8638,0.57,256.3,755.4,11.6,656,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1694,1885,0,0,0,0,0,0
$GC,8941,0.57,256.3,720.0,11.7,666,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1694,1885,0,0,0,0,0,0
$GC,9245,0.57,256.3,684.1,11.9,676,9249,0.00,2.33,0.00,0.000,4,0.000,0.078,3228,299,1885,0,0,0,0,0,0
$GC,9271,0.57,256.3,680.9,12.5,676,9276,0.00,2.22,0.00,0.000,6,0.000,0.053,3228,1700,1885,0,0,0,0,0,0
$GC,9578,0.57,256.3,643.7,11.8,687,9582,0.00,2.28,0.00,0.000,4,0.000,0.067,3227,3099,1885,0,0,0,0,0,0
$GC,9612,0.57,256.3,639.6,11.8,688,9616,0.00,2.28,0.00,0.000,6,0.000,0.063,3237,1701,1884,0,0,0,0,0,0
$GC,9942,0.53,256.3,601.2,11.2,699,9946,0.15,2.28,0.00,0.000,4,0.176,0.077,3206,287,1884,0,0,0,0,0,0
$GC,9998,0.65,301.5,595.9,7.9,703,10046,0.00,2.22,40.67,0.998,6,0.000,0.053,3206,1700,1709,0,0,0,0,0,0
$GC,10355,0.75,301.5,562.1,10.1,739,10359,0.17,2.35,0.00,0.000,4,0.091,0.078,3288,291,1701,0,0,0,0,0,0
$GC,10394,0.61,301.5,556.6,16.0,743,10399,0.17,2.25,0.00,0.000,6,0.153,0.052,3230,1694,1701,0,0,0,0,0,0
$GC,10708,0.61,301.5,517.3,12.2,774,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1694,1699,0,0,0,0,0,0
$GC,11019,0.61,301.5,479.0,12.4,804,11022,0.00,2.30,0.00,0.000,4,0.000,0.077,3240,282,1699,0,0,0,0,0,0
$GC,11048,0.61,301.5,475.1,13.0,807,11054,0.00,2.22,0.00,0.000,6,0.000,0.051,3241,1690,1699,0,0,0,0,0,0
$GC,11363,0.61,301.5,434.6,12.8,838,11367,0.00,2.30,0.00,0.000,4,0.000,0.077,3251,292,1698,0,0,0,0,0,0
$GC,11411,0.61,301.5,428.2,13.3,843,11416,0.00,2.22,0.00,0.000,6,0.000,0.053,3251,1698,1698,0,0,0,0,0,0
$GC,11725,0.61,301.5,385.5,13.5,874,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1699,1698,0,0,0,0,0,0
$GC,12036,0.61,301.5,344.6,12.8,904,12039,0.00,2.28,0.00,0.000,4,0.000,0.078,3261,289,1698,0,0,0,0,0,0
$GC,12126,0.61,301.5,332.8,13.0,914,12132,0.10,2.22,0.00,0.000,6,0.150,0.053,3226,1703,1698,0,0,0,0,0,0
$GC,12441,0.68,301.5,301.0,10.2,945,12445,0.00,2.33,0.00,0.000,4,0.000,0.078,3237,288,1697,0,0,0,0,0,0
$GC,12471,0.74,301.5,297.9,10.0,948,12477,0.00,2.22,0.00,0.000,6,0.000,0.053,3237,1702,1697,0,0,0,0,0,0
$GC,12785,0.79,301.5,265.0,10.1,979,12789,0.12,2.30,0.00,0.000,4,0.107,0.078,3304,295,1697,0,0,0,0,0,0
$GC,12811,0.67,301.5,261.6,13.9,982,12815,0.17,2.20,0.00,0.000,6,0.150,0.053,3245,1700,1697,0,0,0,0,0,0
$GC,13130,0.71,301.5,227.0,10.2,1013,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1700,1697,0,0,0,0,0,0
$GC,13441,0.77,302.0,196.5,10.0,1043,13444,0.00,2.22,0.00,0.000,4,0.000,0.071,3245,3106,1697,0,0,0,0,0,0
$GC,13518,0.81,302.0,188.5,11.3,1052,13522,0.00,2.25,0.00,0.000,6,0.000,0.063,3255,1701,1697,0,0,0,0,0,0
$GC,13837,0.85,302.0,153.3,10.2,1083,13841,0.12,2.30,0.00,0.000,4,0.107,0.080,3321,296,1696,0,0,0,0,0,0
$GC,13862,0.72,302.0,150.0,13.7,1086,13866,0.17,2.20,0.00,0.000,6,0.155,0.054,3263,1699,1697,0,0,0,0,0,0
$GC,14181,0.80,329.1,119.3,8.7,1117,14205,0.00,0.00,23.40,0.732,6,0.000,0.000,3263,1699,1598,0,0,0,0,0,0
$GC,14513,0.89,339.6,87.4,9.5,1160,14529,0.12,2.30,9.85,0.681,4,0.105,0.072,3319,3114,1554,0,0,0,0,0,0
$GC,14571,0.81,339.6,80.0,13.2,1173,14578,0.08,2.30,0.00,0.000,6,0.156,0.066,3292,1710,1552,0,0,0,0,0,0
$GC,14897,0.81,339.6,45.7,10.4,1234,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1710,1551,0,0,0,0,0,0
$GC,15218,0.89,348.0,13.8,9.6,1294,15232,0.00,2.38,8.07,0.647,4,0.000,0.082,3302,285,1521,0,0,0,0,0,0
$STATE,15339,end climb,SURFACE_DEPTH_REACHED
$STATE,15339,begin surface coast
$FINISH,2.9,1.024596
$STATE,15348,end surface coast,CONTROL_FINISHED_OK
$STATE,15348,begin surface
$SM_CCo,15422,0.00,0.000,0,0,1514,349.80
$SM_GC,2.82,8.55,0.00,0.00,0.074,0.000,0.000,146,1848,1514,-8.94,-0.06,349.80
$RAFOS_CLK,791
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5929.30,200199,070730
$TT8_MAMPS,0.051389
$HUMID,39.44
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,802.3,109.5
$24V_AH,23.2,8.897
$10V_AH,10.2,3.807
$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,23.175,132.750,436.300,0.000,0.000,28.171,33.355,159.302,3.000,0.000,13.898,0.000,12041.006,603.959,2730.035,335.660,0.000,1733.895,0.000,2184.229,2880.000,28.491,0.000
$DEVICE_MAMPS,250.042,92.040,1191.918,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.121,992.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150348
$DATA_FILE_SIZE,53645,1324
$CAP_FILE_SIZE,162475,0
$CFSIZE,260165632,249638912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.2
$CURRENT,0.177,209.6,1
$GPS,261009,160537,6647.218,-5940.463,88,1.2,88,-38.0