version: 66.06
glider: 172
mission: 3
dive: 35
start: 10 26 109 16 11 32
data:
$ID,172
$MISSION,3
$DIVE,35
$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,-4776.4722
$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,17
$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
$GPS1,160537,6647.218,-5940.463,88,1.2,88,-38.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-76.8
$GPS2,161126,6647.171,-5940.535,16,1.5,16,-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,329.6,33775,-17.5,-10.000
$D_GRID,874
$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,-146.0,0.0,0.0,0,50,0.00,0.00,-36.30,0.000,2,0.000,0.000,123,1848,2185,0,0,0,0,0,0
$GC,51,-0.64,-146.0,3.1,-2.5,6,116,10.57,2.35,-47.83,0.000,4,0.249,0.094,2811,435,3538,0,0,0,0,0,0
$GC,241,-0.53,-146.0,34.3,-19.0,49,248,0.10,2.30,0.00,0.000,6,0.165,0.061,2850,1848,3539,0,0,0,0,0,0
$GC,567,-0.53,-146.0,81.9,-13.7,110,572,0.00,2.33,0.00,0.000,4,0.000,0.076,2840,3252,3539,0,0,0,0,0,0
$GC,606,-0.61,-146.0,87.0,-12.6,119,611,0.00,2.30,0.00,0.000,6,0.000,0.066,2840,1850,3539,0,0,0,0,0,0
$GC,928,-0.61,-146.0,132.4,-13.5,159,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1849,3539,0,0,0,0,0,0
$GC,1239,-0.65,-146.0,171.3,-12.3,189,1243,0.00,2.33,0.00,0.000,4,0.000,0.077,2836,3255,3539,0,0,0,0,0,0
$GC,1278,-0.74,-146.0,175.8,-11.5,193,1284,0.15,2.25,0.00,0.000,6,0.096,0.065,2772,1842,3538,0,0,0,0,0,0
$GC,1592,-0.60,-146.0,228.2,-17.2,224,1596,0.20,2.35,0.00,0.000,4,0.172,0.076,2819,3281,3539,0,0,0,0,0,0
$GC,1644,-0.69,-146.0,235.2,-11.9,230,1647,0.00,2.28,0.00,0.000,6,0.000,0.064,2819,1849,3538,0,0,0,0,0,0
$GC,1962,-0.69,-146.0,276.5,-12.9,261,1966,0.00,2.30,0.00,0.000,4,0.000,0.079,2819,442,3538,0,0,0,0,0,0
$GC,1997,-0.69,-146.0,281.2,-13.4,265,2000,0.00,2.25,0.00,0.000,6,0.000,0.061,2819,1855,3538,0,0,0,0,0,0
$GC,2315,-0.69,-146.0,320.6,-12.4,296,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1854,3538,0,0,0,0,0,0
$GC,2629,-0.69,-146.0,357.1,-11.4,326,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3538,0,0,0,0,0,0
$GC,2937,-0.73,-146.0,390.6,-10.5,356,2940,0.00,2.25,0.00,0.000,4,0.000,0.077,2819,3257,3538,0,0,0,0,0,0
$GC,2962,-0.83,-146.0,393.2,-10.1,359,2966,0.15,2.25,0.00,0.000,6,0.064,0.062,2743,1855,3538,0,0,0,0,0,0
$GC,3281,-0.65,-146.0,445.3,-16.4,390,3285,0.22,2.28,0.00,0.000,4,0.165,0.077,2809,439,3538,0,0,0,0,0,0
$GC,3328,-0.69,-146.0,451.7,-11.8,395,3332,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1843,3538,0,0,0,0,0,0
$GC,3647,-0.69,-146.0,488.5,-11.8,426,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1843,3538,0,0,0,0,0,0
$GC,3957,-0.69,-146.0,525.2,-11.7,456,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1843,3539,0,0,0,0,0,0
$GC,4267,-0.69,-146.0,561.6,-12.1,486,4271,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,441,3539,0,0,0,0,0,0
$GC,4298,-0.69,-146.0,565.4,-12.9,489,4304,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1850,3539,0,0,0,0,0,0
$GC,4613,-0.69,-146.0,601.0,-11.3,520,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1849,3540,0,0,0,0,0,0
$GC,4916,-0.73,-146.0,634.6,-11.0,530,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3540,0,0,0,0,0,0
$GC,5219,-0.77,-146.0,666.0,-10.1,540,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1849,3541,0,0,0,0,0,0
$GC,5523,-0.80,-146.0,696.0,-10.0,550,5524,0.12,0.00,0.00,0.000,6,0.105,0.000,2749,1850,3541,0,0,0,0,0,0
$GC,5826,-0.68,-146.0,739.8,-14.8,560,5827,0.17,0.00,0.00,0.000,6,0.164,0.000,2800,1849,3541,0,0,0,0,0,0
$GC,6130,-0.68,-146.0,772.5,-10.5,570,6133,0.00,2.30,0.00,0.000,4,0.000,0.076,2801,441,3542,0,0,0,0,0,0
$GC,6168,-0.68,-146.0,776.9,-11.6,571,6172,0.00,2.22,0.00,0.000,6,0.000,0.058,2798,1852,3542,0,0,0,0,0,0
$GC,6493,-0.68,-146.0,811.8,-10.7,582,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1852,3542,0,0,0,0,0,0
$GC,6797,-0.68,-146.0,844.9,-10.8,592,6800,0.00,2.28,0.00,0.000,4,0.000,0.076,2798,444,3542,0,0,0,0,0,0
$GC,6840,-0.72,-146.0,849.6,-11.0,593,6844,0.00,2.22,0.00,0.000,6,0.000,0.059,2798,1853,3542,0,0,0,0,0,0
$GC,7161,-1.12,-146.0,868.3,0.0,604,7162,0.38,0.00,0.00,0.000,6,0.083,0.000,2653,1853,3542,0,0,0,0,0,0
$STATE,7433,end dive,NO_VERTICAL_VELOCITY
$STATE,7433,begin apogee
$GC,7436,-0.13,0.0,868.3,0.0,613,7562,0.93,0.00,124.07,1.179,6,0.100,0.000,2983,1697,2940,0,0,0,0,0,0
$STATE,7563,end apogee,CONTROL_FINISHED_OK
$STATE,7563,begin climb
$GC,7564,0.64,146.0,868.4,0.0,617,7702,0.75,2.47,128.40,1.142,4,0.097,0.075,3242,301,2342,0,0,0,0,0,0
$GC,7853,0.46,146.0,854.6,10.7,627,7857,0.20,2.33,0.00,0.000,6,0.150,0.053,3182,1697,2335,0,0,0,0,0,0
$GC,8187,0.54,209.4,830.6,7.1,638,8247,0.00,2.47,55.47,1.116,4,0.000,0.067,3182,3104,2086,0,0,0,0,0,0
$GC,8291,0.65,250.5,822.4,8.1,641,8334,0.08,2.40,38.38,1.088,6,0.051,0.063,3247,1709,1917,0,0,0,0,0,0
$GC,8635,0.56,250.5,777.3,13.3,653,8639,0.15,2.38,0.00,0.000,4,0.166,0.077,3217,287,1907,0,0,0,0,0,0
$GC,8700,0.56,250.5,769.6,10.9,655,8703,0.00,2.30,0.00,0.000,6,0.000,0.053,3217,1693,1906,0,0,0,0,0,0
$GC,9029,0.56,250.5,734.6,10.5,666,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1694,1904,0,0,0,0,0,0
$GC,9332,0.56,250.5,702.0,11.0,676,9336,0.00,2.35,0.00,0.000,4,0.000,0.078,3227,287,1903,0,0,0,0,0,0
$GC,9354,0.56,250.5,699.4,11.7,676,9358,0.00,2.25,0.00,0.000,6,0.000,0.052,3227,1699,1903,0,0,0,0,0,0
$GC,9665,0.56,250.5,662.7,11.8,687,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1699,1903,0,0,0,0,0,0
$GC,9969,0.56,250.5,627.5,11.5,697,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1699,1902,0,0,0,0,0,0
$GC,10274,0.56,250.5,592.0,11.5,711,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1699,1902,0,0,0,0,0,0
$GC,10585,0.56,250.5,557.0,10.9,741,10588,0.00,2.33,0.00,0.000,4,0.000,0.078,3238,291,1902,0,0,0,0,0,0
$GC,10615,0.52,250.5,553.6,11.9,744,10620,0.12,2.22,0.00,0.000,6,0.147,0.054,3196,1701,1902,0,0,0,0,0,0
$GC,10929,0.64,285.2,526.5,8.4,775,10962,0.10,0.00,29.27,0.953,6,0.118,0.000,3241,1702,1776,0,0,0,0,0,0
$GC,11269,0.64,285.2,487.5,11.2,808,11273,0.00,2.35,0.00,0.000,4,0.000,0.078,3252,291,1769,0,0,0,0,0,0
$GC,11339,0.60,285.2,478.9,12.1,816,11343,0.10,2.25,0.00,0.000,6,0.146,0.053,3218,1699,1769,0,0,0,0,0,0
$GC,11658,0.65,285.6,447.2,10.0,847,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1700,1768,0,0,0,0,0,0
$GC,11968,0.72,285.6,415.7,10.8,877,11972,0.12,2.30,0.00,0.000,4,0.109,0.078,3283,287,1768,0,0,0,0,0,0
$GC,11994,0.61,285.6,412.1,15.2,880,11998,0.15,2.22,0.00,0.000,6,0.151,0.053,3220,1696,1767,0,0,0,0,0,0
$GC,12313,0.67,285.6,376.4,10.9,911,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1696,1767,0,0,0,0,0,0
$GC,12623,0.75,285.6,343.5,10.3,941,12624,0.12,0.00,0.00,0.000,6,0.109,0.000,3275,1697,1767,0,0,0,0,0,0
$GC,12933,0.66,285.6,300.6,13.3,971,12937,0.12,2.28,0.00,0.000,4,0.173,0.069,3240,3103,1767,0,0,0,0,0,0
$GC,12985,0.66,285.6,294.6,11.1,977,12989,0.00,2.25,0.00,0.000,6,0.000,0.064,3250,1706,1766,0,0,0,0,0,0
$GC,13304,0.67,289.9,260.9,9.8,1008,13307,0.00,2.30,0.00,0.000,4,0.000,0.077,3260,290,1766,0,0,0,0,0,0
$GC,13359,0.67,289.9,254.8,10.6,1014,13368,0.00,2.20,3.80,0.554,6,0.000,0.054,3260,1690,1759,0,0,0,0,0,0
$GC,13682,0.67,289.9,218.6,11.1,1046,13686,0.00,2.28,0.00,0.000,4,0.000,0.078,3270,295,1759,0,0,0,0,0,0
$GC,13717,0.64,289.9,214.3,12.5,1050,13721,0.10,2.20,0.00,0.000,6,0.151,0.053,3236,1698,1759,0,0,0,0,0,0
$GC,14036,0.73,308.1,183.5,9.2,1081,14057,0.00,0.00,18.17,0.757,6,0.000,0.000,3235,1698,1683,0,0,0,0,0,0
$GC,14367,0.91,362.2,156.1,7.5,1113,14419,0.22,0.00,49.28,0.744,6,0.085,0.000,3326,1698,1461,0,0,0,0,0,0
$GC,14727,0.84,362.2,103.8,14.3,1148,14732,0.12,2.35,0.00,0.000,4,0.177,0.071,3293,3133,1451,0,0,0,0,0,0
$GC,14758,0.87,362.2,99.6,14.1,1151,14763,0.00,2.38,0.00,0.000,6,0.000,0.067,3303,1679,1450,0,0,0,0,0,0
$GC,15082,0.87,362.2,62.5,11.9,1212,15087,0.00,2.30,0.00,0.000,4,0.000,0.081,3314,298,1448,0,0,0,0,0,0
$GC,15164,0.87,362.2,51.5,12.7,1231,15170,0.00,2.25,0.00,0.000,6,0.000,0.056,3314,1701,1447,0,0,0,0,0,0
$GC,15489,0.87,362.2,15.2,10.3,1292,15495,0.00,2.33,0.00,0.000,4,0.000,0.072,3314,3110,1446,0,0,0,0,0,0
$STATE,15593,end climb,SURFACE_DEPTH_REACHED
$STATE,15593,begin surface coast
$FINISH,1.4,1.024377
$STATE,15614,end surface coast,CONTROL_FINISHED_OK
$STATE,15614,begin surface
$SM_CCo,15688,0.00,0.000,0,0,1441,367.46
$SM_GC,2.99,8.35,0.00,0.00,0.058,0.000,0.000,147,1835,1441,-8.93,-0.42,367.46
$RAFOS_CLK,808
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5936.77,200199,111143
$TT8_MAMPS,0.051389
$HUMID,39.72
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,124.4
$24V_AH,23.2,9.047
$10V_AH,10.2,3.879
$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,23.825,105.600,446.850,0.000,0.000,24.453,38.558,191.308,2.250,0.000,16.801,0.000,12388.955,548.589,2707.300,367.564,0.000,1671.829,0.000,2164.735,3240.000,19.838,0.000
$DEVICE_MAMPS,248.508,93.574,1178.879,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.756,989.296,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150328
$DATA_FILE_SIZE,53565,1321
$CAP_FILE_SIZE,158370,0
$CFSIZE,260165632,249561088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.3
$CURRENT,0.099,228.3,1
$GPS,261009,203408,6647.504,-5947.597,47,1.8,47,-38.0