version: 66.06
glider: 172
mission: 3
dive: 63
start: 10 30 109 18 38 12
data:
$ID,172
$MISSION,3
$DIVE,63
$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,-5407.2314
$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,33
$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
$GPS1,181956,6645.031,-5928.996,28,2.3,47,-37.9
$_CALLS,2
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-72.8
$GPS2,183806,6644.739,-5929.211,27,1.9,43,-37.9
$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,43.2,18168,-17.5,-10.000
$D_GRID,894
$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,-146.0,0.0,0.0,0,77,0.00,0.00,-62.67,0.000,2,0.000,0.000,119,1870,2248,0,0,0,0,0,0
$GC,78,-0.64,-146.0,3.1,-2.2,12,139,10.43,2.40,-44.72,0.000,4,0.235,0.088,2815,437,3539,0,0,0,0,0,0
$GC,304,-0.53,-146.0,45.8,-20.0,63,309,0.15,2.25,0.00,0.000,6,0.167,0.059,2850,1838,3541,0,0,0,0,0,0
$GC,628,-0.53,-146.0,93.6,-13.9,124,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1838,3541,0,0,0,0,0,0
$GC,945,-0.53,-146.0,135.7,-13.2,159,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1838,3541,0,0,0,0,0,0
$GC,1256,-0.57,-146.0,172.6,-10.8,189,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1838,3541,0,0,0,0,0,0
$GC,1566,-0.63,-146.0,205.0,-10.4,219,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1838,3541,0,0,0,0,0,0
$GC,1877,-0.71,-146.0,238.5,-10.9,249,1881,0.15,2.28,0.00,0.000,4,0.091,0.078,2782,441,3540,0,0,0,0,0,0
$GC,1915,-0.59,-146.0,244.1,-15.7,253,1919,0.17,2.25,0.00,0.000,6,0.140,0.059,2831,1842,3540,0,0,0,0,0,0
$GC,2234,-0.62,-146.0,282.0,-11.1,284,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1843,3539,0,0,0,0,0,0
$GC,2544,-0.67,-146.0,318.8,-12.4,314,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1843,3539,0,0,0,0,0,0
$GC,2855,-0.73,-146.0,355.5,-11.0,344,2859,0.12,2.28,0.00,0.000,4,0.099,0.077,2773,440,3539,0,0,0,0,0,0
$GC,2876,-0.65,-146.0,358.4,-14.6,346,2880,0.12,2.25,0.00,0.000,6,0.144,0.059,2809,1849,3539,0,0,0,0,0,0
$GC,3195,-0.65,-146.0,399.7,-12.8,377,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1849,3539,0,0,0,0,0,0
$GC,3505,-0.65,-146.0,438.2,-12.4,407,3509,0.00,2.30,0.00,0.000,4,0.000,0.077,2810,413,3539,0,0,0,0,0,0
$GC,3570,-0.65,-146.0,446.6,-13.4,414,3577,0.00,2.28,0.00,0.000,6,0.000,0.058,2809,1848,3539,0,0,0,0,0,0
$GC,3885,-0.65,-146.0,483.0,-11.2,445,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1848,3540,0,0,0,0,0,0
$GC,4195,-0.65,-146.0,519.2,-11.7,475,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1848,3541,0,0,0,0,0,0
$GC,4505,-0.65,-146.0,554.5,-11.4,505,4509,0.00,2.28,0.00,0.000,4,0.000,0.076,2809,442,3541,0,0,0,0,0,0
$GC,4535,-0.65,-146.0,558.1,-12.3,508,4541,0.00,2.22,0.00,0.000,6,0.000,0.058,2810,1849,3541,0,0,0,0,0,0
$GC,4850,-0.65,-146.0,592.5,-10.9,539,4854,0.00,2.28,0.00,0.000,4,0.000,0.075,2810,425,3541,0,0,0,0,0,0
$GC,4884,-0.65,-146.0,596.4,-12.0,543,4888,0.00,2.25,0.00,0.000,6,0.000,0.057,2810,1850,3541,0,0,0,0,0,0
$GC,5196,-0.65,-146.0,629.0,-10.4,556,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1850,3542,0,0,0,0,0,0
$GC,5500,-0.65,-146.0,661.8,-10.9,566,5504,0.00,2.30,0.00,0.000,4,0.000,0.074,2809,438,3542,0,0,0,0,0,0
$GC,5530,-0.65,-146.0,665.3,-12.0,567,5534,0.00,2.22,0.00,0.000,6,0.000,0.057,2809,1852,3542,0,0,0,0,0,0
$GC,5865,-0.65,-146.0,700.5,-10.4,578,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1852,3542,0,0,0,0,0,0
$GC,6167,-0.65,-146.0,732.4,-10.5,588,6171,0.00,2.25,0.00,0.000,4,0.000,0.074,2810,436,3543,0,0,0,0,0,0
$GC,6223,-0.69,-146.0,738.9,-11.7,589,6229,0.00,2.22,0.00,0.000,6,0.000,0.056,2810,1848,3543,0,0,0,0,0,0
$GC,6531,-0.73,-146.0,771.7,-10.8,600,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1849,3543,0,0,0,0,0,0
$GC,6834,-0.77,-146.0,803.0,-10.1,610,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1849,3543,0,0,0,0,0,0
$GC,7138,-0.81,-146.0,834.2,-10.4,620,7142,0.15,2.28,0.00,0.000,4,0.092,0.074,2737,431,3543,0,0,0,0,0,0
$GC,7181,-0.65,-146.0,840.6,-15.9,621,7185,0.17,2.25,0.00,0.000,6,0.137,0.058,2811,1853,3543,0,0,0,0,0,0
$GC,7502,-0.71,-146.0,873.0,-9.8,632,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1853,3543,0,0,0,0,0,0
$STATE,7746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7746,begin apogee
$GC,7749,-0.13,0.0,896.8,9.9,640,7877,0.50,0.00,125.38,1.204,6,0.125,0.000,2980,1695,2940,0,0,0,0,0,0
$STATE,7877,end apogee,CONTROL_FINISHED_OK
$STATE,7877,begin climb
$GC,7878,0.64,146.0,901.9,0.0,644,8017,0.73,2.55,129.80,1.173,4,0.078,0.072,3242,302,2342,0,0,0,0,0,0
$GC,8033,0.58,226.6,902.2,6.3,649,8115,0.12,2.38,74.40,1.147,6,0.168,0.049,3213,1705,2016,0,0,0,0,0,0
$GC,8435,0.58,226.6,862.2,10.4,663,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1705,2005,0,0,0,0,0,0
$GC,8739,0.58,226.6,830.0,10.4,673,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1705,2002,0,0,0,0,0,0
$GC,9042,0.58,226.6,798.2,10.6,683,9046,0.00,2.38,0.00,0.000,4,0.000,0.076,3223,292,2002,0,0,0,0,0,0
$GC,9076,0.58,226.6,794.4,12.2,684,9080,0.00,2.25,0.00,0.000,6,0.000,0.052,3223,1691,2001,0,0,0,0,0,0
$GC,9406,0.58,226.6,758.0,10.8,695,9409,0.00,2.30,0.00,0.000,4,0.000,0.067,3223,3108,2001,0,0,0,0,0,0
$GC,9431,0.58,226.6,755.1,11.7,695,9437,0.00,2.30,0.00,0.000,6,0.000,0.064,3232,1708,2001,0,0,0,0,0,0
$GC,9739,0.53,226.6,720.1,11.3,706,9743,0.12,2.30,0.00,0.000,4,0.175,0.075,3209,287,2000,0,0,0,0,0,0
$GC,9795,0.57,226.6,714.3,10.6,707,9800,0.00,2.25,0.00,0.000,6,0.000,0.052,3209,1703,2000,0,0,0,0,0,0
$GC,10102,0.57,230.5,684.0,9.8,718,10103,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1705,2000,0,0,0,0,0,0
$GC,10406,0.58,238.1,654.7,9.7,728,10418,0.00,2.33,8.77,0.932,4,0.000,0.077,3218,285,1968,0,0,0,0,0,0
$GC,10466,0.58,238.1,648.6,11.1,730,10470,0.00,2.25,0.00,0.000,6,0.000,0.052,3219,1702,1967,0,0,0,0,0,0
$GC,10795,0.58,238.1,614.6,10.4,741,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1702,1966,0,0,0,0,0,0
$GC,11102,0.58,238.1,582.1,10.4,761,11105,0.00,2.30,0.00,0.000,4,0.000,0.077,3227,278,1966,0,0,0,0,0,0
$GC,11145,0.58,238.1,577.2,12.2,766,11148,0.00,2.25,0.00,0.000,6,0.000,0.052,3227,1705,1966,0,0,0,0,0,0
$GC,11463,0.58,238.1,541.4,11.3,797,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1705,1966,0,0,0,0,0,0
$GC,11774,0.58,238.1,506.8,10.9,827,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1704,1966,0,0,0,0,0,0
$GC,12085,0.58,238.1,472.5,10.8,857,12086,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1705,1966,0,0,0,0,0,0
$GC,12395,0.58,238.1,439.8,10.2,887,12399,0.00,2.28,0.00,0.000,4,0.000,0.077,3237,288,1966,0,0,0,0,0,0
$GC,12447,0.58,238.1,433.9,11.3,893,12450,0.00,2.22,0.00,0.000,6,0.000,0.053,3237,1705,1966,0,0,0,0,0,0
$GC,12765,0.58,238.1,398.9,10.5,924,12770,0.00,2.33,0.00,0.000,4,0.000,0.077,3245,282,1965,0,0,0,0,0,0
$GC,12795,0.53,238.1,395.6,11.5,927,12801,0.12,2.22,0.00,0.000,6,0.146,0.051,3203,1703,1966,0,0,0,0,0,0
$GC,13110,0.66,276.9,369.4,8.2,958,13147,0.10,0.00,35.08,0.864,6,0.118,0.000,3249,1703,1810,0,0,0,0,0,0
$GC,13450,0.66,276.9,331.9,10.6,991,13454,0.00,2.35,0.00,0.000,4,0.000,0.076,3259,289,1802,0,0,0,0,0,0
$GC,13532,0.66,276.9,322.2,11.8,1000,13538,0.00,2.22,0.00,0.000,6,0.000,0.051,3259,1690,1801,0,0,0,0,0,0
$GC,13847,0.66,276.9,285.1,11.3,1031,13851,0.00,2.33,0.00,0.000,4,0.000,0.067,3259,3104,1800,0,0,0,0,0,0
$GC,13933,0.66,276.9,274.8,11.4,1041,13938,0.00,2.28,0.00,0.000,6,0.000,0.061,3267,1701,1799,0,0,0,0,0,0
$GC,14252,0.62,276.9,236.2,12.3,1072,14256,0.15,2.25,0.00,0.000,4,0.165,0.074,3234,288,1799,0,0,0,0,0,0
$GC,14352,0.73,295.2,225.9,9.2,1083,14374,0.00,2.20,15.88,0.763,6,0.000,0.053,3234,1705,1735,0,0,0,0,0,0
$GC,14683,0.84,302.1,192.0,9.7,1116,14693,0.17,0.00,7.00,0.683,6,0.092,0.000,3308,1705,1708,0,0,0,0,0,0
$GC,15001,0.74,302.1,148.2,13.4,1147,15002,0.15,0.00,0.00,0.000,6,0.166,0.000,3266,1704,1705,0,0,0,0,0,0
$GC,15312,0.82,325.6,117.0,8.9,1177,15341,0.00,2.40,22.27,0.731,4,0.000,0.080,3277,285,1611,0,0,0,0,0,0
$GC,15361,0.88,333.1,112.6,9.7,1182,15376,0.00,2.28,8.10,0.653,6,0.000,0.054,3277,1697,1581,0,0,0,0,0,0
$GC,15691,0.97,359.2,81.0,8.8,1232,15720,0.17,2.35,23.70,0.704,4,0.089,0.072,3347,3113,1474,0,0,0,0,0,0
$GC,15768,0.87,359.2,70.7,14.4,1249,15773,0.17,2.33,0.00,0.000,6,0.182,0.067,3311,1698,1469,0,0,0,0,0,0
$GC,16092,0.87,359.2,34.1,11.1,1310,16099,0.00,2.30,0.00,0.000,4,0.000,0.078,3320,288,1466,0,0,0,0,0,0
$GC,16145,0.87,359.2,28.0,12.9,1322,16152,0.00,2.28,0.00,0.000,6,0.000,0.054,3320,1702,1466,0,0,0,0,0,0
$STATE,16336,end climb,SURFACE_DEPTH_REACHED
$STATE,16336,begin surface coast
$FINISH,1.5,1.024377
$STATE,16358,end surface coast,CONTROL_FINISHED_OK
$STATE,16358,begin surface
$SM_CCo,16370,77.60,0.666,1,0,1104,450.13
$SM_GC,2.35,0.00,0.00,77.60,0.000,0.000,0.666,132,1863,1104,-9.03,0.40,450.13
$RAFOS_CLK,872
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5924.61,240199,181822
$TT8_MAMPS,0.052156
$HUMID,39.60
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,752.2,171.3
$24V_AH,22.5,13.221
$10V_AH,10.1,5.743
$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,22.375,105.750,450.375,77.600,0.000,56.006,73.890,769.971,2.250,0.000,43.477,0.000,13043.729,660.073,2780.264,1036.249,0.000,1804.381,0.000,2213.783,2471.000,19.967,0.000
$DEVICE_MAMPS,235.469,88.205,1204.190,665.756,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.640,1018.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150600
$DATA_FILE_SIZE,53521,1362
$CAP_FILE_SIZE,167265,0
$CFSIZE,260165632,247508992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1456.5
$CURRENT,0.030,144.0,1
$GPS,301009,231324,6647.060,-5928.248,36,1.7,36,-37.9