version: 66.06
glider: 172
mission: 3
dive: 62
start: 10 30 109 13 52 57
data:
$ID,172
$MISSION,3
$DIVE,62
$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,450
$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,-5363.125
$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,20
$R_STBD_OVSHOOT,30
$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
$GPS1,134306,6647.140,-5934.689,94,1.1,94,-38.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.2
$GPS2,135250,6647.026,-5934.910,14,1.1,14,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$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,101.3,19573,-17.5,-10.000
$D_GRID,885
$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,-146.0,0.0,0.0,0,78,0.00,0.00,-63.45,0.000,2,0.000,0.000,121,1859,2282,0,0,0,0,0,0
$GC,79,-0.64,-146.0,3.1,-1.4,12,141,10.45,2.40,-44.03,0.000,4,0.235,0.094,2810,438,3538,0,0,0,0,0,0
$GC,222,-0.44,-146.0,27.8,-22.8,44,229,0.22,2.30,0.00,0.000,6,0.148,0.058,2874,1836,3540,0,0,0,0,0,0
$GC,548,-0.50,-146.0,71.4,-11.8,105,554,0.00,2.28,0.00,0.000,4,0.000,0.077,2874,441,3540,0,0,0,0,0,0
$GC,587,-0.57,-146.0,76.4,-12.4,114,593,0.00,2.28,0.00,0.000,6,0.000,0.058,2873,1845,3540,0,0,0,0,0,0
$GC,908,-0.65,-146.0,112.3,-10.7,164,909,0.17,0.00,0.00,0.000,6,0.087,0.000,2795,1845,3540,0,0,0,0,0,0
$GC,1219,-0.54,-146.0,165.1,-16.2,194,1223,0.17,2.33,0.00,0.000,4,0.162,0.078,2846,435,3540,0,0,0,0,0,0
$GC,1274,-0.61,-146.0,172.9,-11.9,200,1278,0.00,2.28,0.00,0.000,6,0.000,0.059,2837,1848,3540,0,0,0,0,0,0
$GC,1593,-0.61,-146.0,211.1,-11.7,231,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1848,3540,0,0,0,0,0,0
$GC,1904,-0.65,-146.0,248.3,-11.3,261,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1848,3540,0,0,0,0,0,0
$GC,2214,-0.70,-146.0,283.3,-10.9,291,2218,0.12,2.30,0.00,0.000,4,0.104,0.078,2779,438,3539,0,0,0,0,0,0
$GC,2235,-0.63,-146.0,286.1,-13.9,293,2239,0.15,2.25,0.00,0.000,6,0.144,0.059,2819,1848,3539,0,0,0,0,0,0
$GC,2553,-0.63,-146.0,325.4,-12.2,324,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1848,3538,0,0,0,0,0,0
$GC,2864,-0.63,-146.0,364.2,-12.4,354,2868,0.00,2.30,0.00,0.000,4,0.000,0.077,2820,418,3538,0,0,0,0,0,0
$GC,2912,-0.67,-146.0,370.5,-13.1,359,2917,0.00,2.28,0.00,0.000,6,0.000,0.058,2810,1850,3538,0,0,0,0,0,0
$GC,3226,-0.67,-146.0,411.4,-12.3,390,3230,0.00,2.33,0.00,0.000,4,0.000,0.077,2810,444,3538,0,0,0,0,0,0
$GC,3243,-0.67,-146.0,413.7,-13.3,392,3247,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1848,3538,0,0,0,0,0,0
$GC,3562,-0.67,-146.0,452.7,-12.2,423,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3538,0,0,0,0,0,0
$GC,3873,-0.67,-146.0,490.6,-12.3,453,3876,0.00,2.25,0.00,0.000,4,0.000,0.077,2807,441,3539,0,0,0,0,0,0
$GC,3915,-0.67,-146.0,496.3,-13.6,457,3920,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,4229,-0.67,-146.0,534.7,-11.9,488,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,4540,-0.67,-146.0,569.7,-10.9,518,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3540,0,0,0,0,0,0
$GC,4851,-0.67,-146.0,603.4,-10.8,546,4854,0.00,2.28,0.00,0.000,4,0.000,0.075,2808,438,3541,0,0,0,0,0,0
$GC,4901,-0.67,-146.0,609.2,-12.0,547,4907,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1850,3540,0,0,0,0,0,0
$GC,5209,-0.67,-146.0,643.1,-11.0,558,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3540,0,0,0,0,0,0
$GC,5513,-0.67,-146.0,676.3,-11.0,568,5516,0.00,2.30,0.00,0.000,4,0.000,0.075,2807,443,3541,0,0,0,0,0,0
$GC,5534,-0.67,-146.0,678.8,-11.3,568,5538,0.00,2.20,0.00,0.000,6,0.000,0.056,2807,1847,3541,0,0,0,0,0,0
$GC,5846,-0.70,-146.0,713.6,-11.3,579,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1847,3542,0,0,0,0,0,0
$GC,6150,-0.70,-146.0,748.3,-11.4,589,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1847,3541,0,0,0,0,0,0
$GC,6453,-0.70,-146.0,783.8,-11.8,599,6456,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,441,3542,0,0,0,0,0,0
$GC,6474,-0.70,-146.0,786.4,-12.6,599,6478,0.00,2.22,0.00,0.000,6,0.000,0.056,2807,1855,3541,0,0,0,0,0,0
$GC,6786,-0.73,-146.0,821.2,-11.0,610,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1855,3542,0,0,0,0,0,0
$GC,7089,-0.78,-146.0,853.0,-10.4,620,7093,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,445,3542,0,0,0,0,0,0
$GC,7158,-0.82,-146.0,860.5,-11.1,622,7162,0.10,2.20,0.00,0.000,6,0.067,0.056,2749,1848,3542,0,0,0,0,0,0
$STATE,7330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7330,begin apogee
$GC,7333,-0.13,0.0,885.2,14.7,628,7460,0.70,0.00,124.97,1.197,6,0.140,0.000,2976,1693,2940,0,0,0,0,0,0
$STATE,7461,end apogee,CONTROL_FINISHED_OK
$STATE,7461,begin climb
$GC,7462,0.64,146.0,890.2,0.0,632,7601,0.75,2.53,129.32,1.163,4,0.079,0.073,3246,290,2342,0,0,0,0,0,0
$GC,7652,0.46,152.3,886.5,9.7,638,7664,0.22,2.40,6.57,0.900,6,0.147,0.049,3181,1701,2317,0,0,0,0,0,0
$GC,7994,0.57,213.7,862.5,7.2,650,8058,0.00,0.00,56.08,1.137,6,0.000,0.000,3181,1701,2066,0,0,0,0,0,0
$GC,8357,0.70,249.9,832.9,8.3,662,8395,0.20,2.45,32.53,1.108,4,0.081,0.075,3273,296,1920,0,0,0,0,0,0
$GC,8420,0.56,249.9,825.0,14.3,664,8424,0.22,2.33,0.00,0.000,6,0.156,0.051,3210,1706,1917,0,0,0,0,0,0
$GC,8740,0.59,249.9,791.5,10.2,675,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1707,1912,0,0,0,0,0,0
$GC,9044,0.61,260.6,761.8,9.5,685,9055,0.00,0.00,9.35,0.979,6,0.000,0.000,3210,1707,1878,0,0,0,0,0,0
$GC,9377,0.65,266.8,729.1,9.7,696,9389,0.00,2.40,7.18,0.913,4,0.000,0.077,3220,292,1851,0,0,0,0,0,0
$GC,9419,0.65,266.8,724.8,11.3,697,9423,0.00,2.28,0.00,0.000,6,0.000,0.051,3220,1705,1851,0,0,0,0,0,0
$GC,9739,0.65,266.8,690.7,10.6,708,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1705,1849,0,0,0,0,0,0
$GC,10043,0.65,266.8,658.6,10.7,718,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1705,1849,0,0,0,0,0,0
$GC,10347,0.65,266.8,624.8,11.1,728,10350,0.00,2.30,0.00,0.000,4,0.000,0.078,3230,289,1848,0,0,0,0,0,0
$GC,10372,0.65,266.8,621.9,11.6,728,10379,0.00,2.22,0.00,0.000,6,0.000,0.051,3230,1697,1848,0,0,0,0,0,0
$GC,10682,0.65,266.8,585.2,11.7,747,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1698,1848,0,0,0,0,0,0
$GC,10993,0.65,266.8,547.1,12.6,777,10997,0.00,2.30,0.00,0.000,4,0.000,0.077,3237,298,1848,0,0,0,0,0,0
$GC,11019,0.65,266.8,543.8,13.7,780,11022,0.00,2.20,0.00,0.000,6,0.000,0.052,3238,1694,1848,0,0,0,0,0,0
$GC,11337,0.65,266.8,503.7,12.3,811,11341,0.00,2.28,0.00,0.000,4,0.000,0.066,3238,3106,1847,0,0,0,0,0,0
$GC,11359,0.65,266.8,501.1,11.5,813,11365,0.00,2.25,0.00,0.000,6,0.000,0.062,3246,1714,1847,0,0,0,0,0,0
$GC,11673,0.61,266.8,462.1,12.1,844,11677,0.00,2.33,0.00,0.000,4,0.000,0.076,3255,284,1847,0,0,0,0,0,0
$GC,11746,0.56,266.8,452.5,12.7,852,11753,0.12,2.22,0.00,0.000,6,0.144,0.050,3212,1705,1847,0,0,0,0,0,0
$GC,12061,0.64,282.0,421.0,9.3,883,12082,0.00,2.28,14.52,0.867,4,0.000,0.067,3211,3114,1789,0,0,0,0,0,0
$GC,12098,0.73,289.4,417.4,9.7,887,12111,0.08,2.30,7.97,0.781,6,0.074,0.063,3265,1705,1760,0,0,0,0,0,0
$GC,12425,0.67,289.4,375.0,12.6,919,12429,0.00,2.33,0.00,0.000,4,0.000,0.075,3275,285,1757,0,0,0,0,0,0
$GC,12481,0.60,289.4,367.2,13.8,925,12487,0.15,2.22,0.00,0.000,6,0.144,0.050,3225,1697,1757,0,0,0,0,0,0
$GC,12796,0.69,296.8,336.0,9.7,956,12808,0.00,0.00,7.97,0.764,6,0.000,0.000,3224,1697,1729,0,0,0,0,0,0
$GC,13116,0.77,296.8,305.1,10.0,987,13117,0.12,0.00,0.00,0.000,6,0.104,0.000,3281,1698,1726,0,0,0,0,0,0
$GC,13427,0.70,296.8,264.4,12.9,1017,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1698,1726,0,0,0,0,0,0
$GC,13738,0.65,296.8,223.4,12.8,1047,13742,0.15,2.28,0.00,0.000,4,0.166,0.076,3248,287,1726,0,0,0,0,0,0
$GC,13784,0.71,296.8,218.2,10.4,1052,13789,0.00,2.22,0.00,0.000,6,0.000,0.051,3248,1698,1726,0,0,0,0,0,0
$GC,14103,0.77,301.0,186.5,9.8,1083,14109,0.00,0.00,4.95,0.621,6,0.000,0.000,3248,1698,1712,0,0,0,0,0,0
$GC,14413,0.90,338.2,156.8,8.3,1113,14457,0.17,2.35,34.90,0.751,4,0.091,0.077,3333,282,1559,0,0,0,0,0,0
$GC,14547,0.80,338.2,138.4,13.8,1128,14554,0.17,2.25,0.00,0.000,6,0.163,0.052,3283,1703,1554,0,0,0,0,0,0
$GC,14861,0.83,338.2,105.2,10.4,1159,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1704,1551,0,0,0,0,0,0
$GC,15180,0.88,340.9,71.8,9.9,1214,15186,0.00,2.33,0.00,0.000,4,0.000,0.079,3294,273,1550,0,0,0,0,0,0
$GC,15225,0.91,340.9,67.2,10.7,1224,15230,0.00,2.22,0.00,0.000,6,0.000,0.054,3294,1701,1550,0,0,0,0,0,0
$GC,15550,0.99,349.2,35.5,9.6,1285,15561,0.15,0.00,9.10,0.667,6,0.100,0.000,3356,1702,1515,0,0,0,0,0,0
$STATE,15809,end climb,SURFACE_DEPTH_REACHED
$STATE,15809,begin surface coast
$FINISH,1.4,1.012279
$STATE,15843,end surface coast,CONTROL_FINISHED_OK
$STATE,15843,begin surface
$SM_CCo,15856,86.78,0.666,1,0,1104,450.13
$SM_GC,2.65,0.00,0.00,86.78,0.000,0.000,0.666,122,1868,1104,-9.04,0.51,450.13
$RAFOS_CLK,831
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5938.72,240199,131331
$TT8_MAMPS,0.051389
$HUMID,39.48
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.0,109.9
$24V_AH,23.0,13.017
$10V_AH,10.2,5.660
$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,23.200,105.725,445.425,86.775,0.000,54.123,70.305,294.939,2.500,0.000,14.523,0.000,12558.323,683.924,2709.429,558.048,0.000,1806.762,0.000,2168.875,2471.000,21.816,0.000
$DEVICE_MAMPS,235.469,93.574,1196.520,665.756,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.685,999.416,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150092
$DATA_FILE_SIZE,53660,1340
$CAP_FILE_SIZE,166125,0
$CFSIZE,260165632,247615488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.1
$CURRENT,0.353,178.1,1
$GPS,301009,181956,6645.031,-5928.996,28,2.3,47,-37.9