version: 66.06
glider: 172
mission: 3
dive: 64
start: 10 30 109 23 20 40
data:
$ID,172
$MISSION,3
$DIVE,64
$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,-5441.8716
$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,31
$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
$GPS1,231324,6647.060,-5928.248,36,1.7,36,-37.9
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-70.3
$GPS2,232034,6646.980,-5928.372,14,2.3,33,-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,92.3,15308,-17.5,-10.000
$D_GRID,917
$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,-146.0,0.0,0.0,0,78,0.00,0.00,-64.88,0.000,2,0.000,0.000,121,1866,2328,0,0,0,0,0,0
$GC,80,-0.64,-146.0,3.0,-0.7,12,135,10.43,2.42,-37.42,0.000,4,0.237,0.091,2810,447,3538,0,0,0,0,0,0
$GC,252,-0.49,-146.0,33.0,-18.0,51,257,0.17,2.28,0.00,0.000,6,0.153,0.059,2858,1839,3538,0,0,0,0,0,0
$GC,576,-0.49,-146.0,78.3,-12.4,112,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1839,3539,0,0,0,0,0,0
$GC,898,-0.53,-146.0,118.6,-12.6,159,901,0.00,2.28,0.00,0.000,4,0.000,0.077,2858,441,3539,0,0,0,0,0,0
$GC,932,-0.58,-146.0,123.0,-13.1,163,935,0.00,2.28,0.00,0.000,6,0.000,0.058,2849,1851,3538,0,0,0,0,0,0
$GC,1250,-0.62,-146.0,161.9,-11.7,194,1254,0.00,2.33,0.00,0.000,4,0.000,0.079,2840,3253,3538,0,0,0,0,0,0
$GC,1280,-0.73,-146.0,165.2,-11.1,197,1286,0.10,2.28,0.00,0.000,6,0.069,0.064,2783,1856,3538,0,0,0,0,0,0
$GC,1595,-0.61,-146.0,216.0,-16.1,228,1599,0.15,2.30,0.00,0.000,4,0.171,0.078,2825,440,3539,0,0,0,0,0,0
$GC,1633,-0.61,-146.0,221.8,-14.0,232,1639,0.00,2.25,0.00,0.000,6,0.000,0.058,2816,1846,3538,0,0,0,0,0,0
$GC,1948,-0.61,-146.0,264.0,-13.7,263,1951,0.00,2.30,0.00,0.000,4,0.000,0.077,2815,448,3538,0,0,0,0,0,0
$GC,1973,-0.61,-146.0,267.7,-13.8,266,1977,0.00,2.25,0.00,0.000,6,0.000,0.058,2810,1852,3538,0,0,0,0,0,0
$GC,2292,-0.61,-146.0,312.1,-13.3,297,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1852,3538,0,0,0,0,0,0
$GC,2603,-0.61,-146.0,355.2,-13.4,327,2606,0.00,2.28,0.00,0.000,4,0.000,0.077,2810,438,3538,0,0,0,0,0,0
$GC,2650,-0.61,-146.0,361.7,-13.8,332,2656,0.00,2.25,0.00,0.000,6,0.000,0.058,2810,1848,3537,0,0,0,0,0,0
$GC,2965,-0.61,-146.0,401.4,-12.5,363,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1848,3538,0,0,0,0,0,0
$GC,3275,-0.61,-146.0,439.3,-11.9,393,3279,0.00,2.28,0.00,0.000,4,0.000,0.076,2810,446,3538,0,0,0,0,0,0
$GC,3314,-0.61,-146.0,444.0,-12.4,397,3319,0.00,2.22,0.00,0.000,6,0.000,0.058,2810,1850,3538,0,0,0,0,0,0
$GC,3628,-0.61,-146.0,480.2,-11.1,428,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1850,3538,0,0,0,0,0,0
$GC,3939,-0.61,-146.0,514.9,-11.4,458,3943,0.00,2.33,0.00,0.000,4,0.000,0.075,2810,438,3538,0,0,0,0,0,0
$GC,3960,-0.61,-146.0,517.4,-12.2,460,3966,0.00,2.22,0.00,0.000,6,0.000,0.057,2810,1844,3538,0,0,0,0,0,0
$GC,4274,-0.61,-146.0,552.4,-11.5,491,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1844,3538,0,0,0,0,0,0
$GC,4585,-0.61,-146.0,587.7,-11.3,521,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1844,3539,0,0,0,0,0,0
$GC,4912,-0.61,-146.0,623.5,-10.8,539,4915,0.00,2.25,0.00,0.000,4,0.000,0.074,2810,429,3539,0,0,0,0,0,0
$GC,4954,-0.61,-146.0,628.5,-11.2,540,4958,0.00,2.25,0.00,0.000,6,0.000,0.057,2810,1850,3539,0,0,0,0,0,0
$GC,5275,-0.61,-146.0,663.7,-11.1,551,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1850,3540,0,0,0,0,0,0
$GC,5578,-0.64,-146.0,695.9,-10.6,561,5582,0.00,2.30,0.00,0.000,4,0.000,0.074,2810,441,3540,0,0,0,0,0,0
$GC,5621,-0.68,-146.0,700.8,-11.5,562,5625,0.00,2.22,0.00,0.000,6,0.000,0.056,2809,1851,3540,0,0,0,0,0,0
$GC,5943,-0.72,-146.0,734.7,-10.6,573,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1851,3541,0,0,0,0,0,0
$GC,6246,-0.77,-146.0,766.4,-10.3,583,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1851,3541,0,0,0,0,0,0
$GC,6549,-0.81,-146.0,797.2,-10.1,593,6553,0.12,2.28,0.00,0.000,4,0.103,0.074,2750,436,3541,0,0,0,0,0,0
$GC,6587,-0.69,-146.0,802.5,-14.4,594,6592,0.15,2.22,0.00,0.000,6,0.146,0.058,2801,1845,3541,0,0,0,0,0,0
$GC,6912,-0.69,-146.0,837.5,-10.6,605,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1845,3541,0,0,0,0,0,0
$GC,7216,-0.69,-146.0,869.4,-10.5,615,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1845,3541,0,0,0,0,0,0
$GC,7519,-0.72,-146.0,901.7,-10.5,625,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1845,3541,0,0,0,0,0,0
$STATE,7670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7670,begin apogee
$GC,7673,-0.13,0.0,917.0,10.1,630,7800,0.55,0.00,125.03,1.218,6,0.136,0.000,2982,1690,2940,0,0,0,0,0,0
$STATE,7800,end apogee,CONTROL_FINISHED_OK
$STATE,7800,begin climb
$GC,7802,0.64,146.0,921.9,0.0,634,7939,0.70,2.50,130.38,1.184,4,0.087,0.072,3235,295,2342,0,0,0,0,0,0
$GC,7955,0.58,209.9,921.6,7.0,639,8020,0.00,2.42,59.28,1.154,6,0.000,0.049,3236,1699,2082,0,0,0,0,0,0
$GC,8336,0.50,209.9,878.8,11.6,652,8338,0.17,0.00,0.00,0.000,6,0.167,0.000,3189,1699,2073,0,0,0,0,0,0
$GC,8640,0.59,238.7,852.2,8.7,662,8671,0.00,0.00,25.67,1.111,6,0.000,0.000,3189,1699,1964,0,0,0,0,0,0
$GC,8973,0.68,251.6,821.4,9.4,673,8989,0.15,2.38,12.27,1.040,4,0.095,0.076,3261,295,1913,0,0,0,0,0,0
$GC,9019,0.56,251.6,815.4,13.9,674,9023,0.15,2.30,0.00,0.000,6,0.145,0.051,3214,1696,1912,0,0,0,0,0,0
$GC,9335,0.56,251.6,780.0,11.1,685,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1697,1910,0,0,0,0,0,0
$GC,9638,0.56,251.6,746.1,11.1,695,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1697,1909,0,0,0,0,0,0
$GC,9942,0.56,251.6,711.9,11.3,705,9946,0.00,2.33,0.00,0.000,4,0.000,0.077,3224,295,1908,0,0,0,0,0,0
$GC,9963,0.56,251.6,709.3,11.6,705,9967,0.00,2.22,0.00,0.000,6,0.000,0.052,3224,1694,1908,0,0,0,0,0,0
$GC,10275,0.56,251.6,673.2,11.7,716,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1695,1907,0,0,0,0,0,0
$GC,10578,0.56,251.6,638.2,11.5,726,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1695,1907,0,0,0,0,0,0
$GC,10882,0.56,251.6,602.4,11.9,736,10886,0.00,2.30,0.00,0.000,4,0.000,0.077,3234,295,1907,0,0,0,0,0,0
$GC,10938,0.56,251.6,595.4,13.7,740,10944,0.00,2.22,0.00,0.000,6,0.000,0.052,3234,1701,1907,0,0,0,0,0,0
$GC,11252,0.56,251.6,557.4,11.9,771,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1702,1907,0,0,0,0,0,0
$GC,11563,0.56,251.6,520.6,11.7,801,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1702,1907,0,0,0,0,0,0
$GC,11874,0.56,251.6,484.9,11.5,831,11875,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1702,1907,0,0,0,0,0,0
$GC,12184,0.56,251.6,449.7,10.9,861,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1702,1907,0,0,0,0,0,0
$GC,12495,0.56,251.6,414.7,11.4,891,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1702,1907,0,0,0,0,0,0
$GC,12805,0.56,251.6,379.3,11.2,921,12808,0.00,2.25,0.00,0.000,4,0.000,0.077,3245,294,1907,0,0,0,0,0,0
$GC,12852,0.56,251.6,373.5,12.0,926,12859,0.10,2.20,0.00,0.000,6,0.144,0.052,3210,1700,1907,0,0,0,0,0,0
$GC,13167,0.65,264.7,342.6,9.4,957,13185,0.00,2.33,11.50,0.810,4,0.000,0.077,3220,291,1860,0,0,0,0,0,0
$GC,13206,0.71,264.7,338.6,10.5,961,13212,0.08,2.22,0.00,0.000,6,0.079,0.052,3281,1700,1860,0,0,0,0,0,0
$GC,13521,0.61,264.7,294.6,13.6,992,13525,0.20,2.28,0.00,0.000,4,0.161,0.076,3231,293,1859,0,0,0,0,0,0
$GC,13568,0.67,281.8,289.7,9.2,997,13592,0.00,2.20,16.58,0.798,6,0.000,0.053,3231,1693,1790,0,0,0,0,0,0
$GC,13901,0.75,302.8,258.7,9.0,1030,13928,0.10,2.35,19.80,0.785,4,0.121,0.069,3277,3100,1704,0,0,0,0,0,0
$GC,13954,0.70,302.8,252.3,13.5,1036,13957,0.12,2.28,0.00,0.000,6,0.182,0.065,3255,1704,1701,0,0,0,0,0,0
$GC,14272,0.73,302.8,216.5,10.4,1067,14275,0.00,2.33,0.00,0.000,4,0.000,0.076,3264,290,1699,0,0,0,0,0,0
$GC,14310,0.73,302.8,212.3,10.7,1071,14316,0.00,2.22,0.00,0.000,6,0.000,0.052,3264,1691,1698,0,0,0,0,0,0
$GC,14625,0.73,302.8,178.3,11.1,1102,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1693,1697,0,0,0,0,0,0
$GC,14935,0.73,302.8,144.1,12.0,1132,14939,0.00,2.28,0.00,0.000,4,0.000,0.077,3275,288,1696,0,0,0,0,0,0
$GC,15005,0.73,302.8,135.5,11.9,1140,15008,0.00,2.25,0.00,0.000,6,0.000,0.054,3275,1703,1697,0,0,0,0,0,0
$GC,15323,0.74,306.9,100.2,9.8,1171,15327,0.00,2.33,0.00,0.000,4,0.000,0.079,3286,293,1696,0,0,0,0,0,0
$GC,15353,0.74,306.9,97.3,10.3,1177,15359,0.00,2.22,0.00,0.000,6,0.000,0.055,3286,1699,1696,0,0,0,0,0,0
$GC,15678,0.76,325.9,65.6,9.1,1238,15704,0.00,2.30,20.50,0.709,4,0.000,0.073,3285,3108,1608,0,0,0,0,0,0
$GC,15720,0.76,325.9,61.3,10.6,1247,15726,0.00,2.33,0.00,0.000,6,0.000,0.067,3295,1698,1607,0,0,0,0,0,0
$GC,16045,0.83,352.9,31.4,8.8,1308,16074,0.00,2.33,24.23,0.686,4,0.000,0.078,3305,288,1499,0,0,0,0,0,0
$GC,16147,0.90,352.9,20.3,11.3,1331,16153,0.00,2.28,0.00,0.000,6,0.000,0.055,3305,1697,1496,0,0,0,0,0,0
$STATE,16289,end climb,SURFACE_DEPTH_REACHED
$STATE,16289,begin surface coast
$FINISH,1.5,1.014503
$STATE,16321,end surface coast,CONTROL_FINISHED_OK
$STATE,16321,begin surface
$SM_CCo,16334,81.60,0.671,0,0,1104,450.13
$SM_GC,2.47,0.00,0.00,81.60,0.000,0.000,0.671,132,1857,1104,-9.01,0.17,450.13
$RAFOS_CLK,849
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5932.07,240199,181809
$TT8_MAMPS,0.051389
$HUMID,39.05
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.3,104.3
$24V_AH,22.6,13.393
$10V_AH,10.2,5.816
$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,21.900,110.175,445.225,81.600,0.000,24.142,34.629,257.442,2.750,0.000,34.012,0.000,12987.288,660.771,2731.017,443.616,0.000,1789.805,0.000,2170.192,2471.000,23.821,0.000
$DEVICE_MAMPS,237.003,91.273,1217.996,671.125,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.635,1019.211,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150300
$DATA_FILE_SIZE,53529,1364
$CAP_FILE_SIZE,161121,0
$CFSIZE,260165632,247443456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.4
$CURRENT,0.270,163.9,1
$GPS,311009,035524,6646.172,-5921.417,27,1.4,45,-37.9