version: 66.06
glider: 172
mission: 3
dive: 7
start: 10 21 109 5 13 32
data:
$ID,172
$MISSION,3
$DIVE,7
$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,-3
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4304.7017
$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,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,20
$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
$GPS1,050501,6659.933,-5714.319,64,1.8,64,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-78.7
$GPS2,051326,6659.947,-5714.419,15,1.6,15,-37.6
$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,309.4,143231,-17.5,-10.000
$D_GRID,779
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-56.90,0.000,2,0.000,0.000,120,1939,2817,0,0,0,0,0,0
$GC,72,-0.64,-146.0,3.3,-4.2,11,105,10.68,2.33,-17.48,0.000,4,0.249,0.091,2804,3347,3537,0,0,0,0,0,0
$GC,229,-0.64,-146.0,30.1,-14.6,47,235,0.00,2.30,0.00,0.000,6,0.000,0.063,2804,1940,3538,0,0,0,0,0,0
$GC,554,-0.64,-146.0,76.6,-13.5,108,560,0.00,2.30,0.00,0.000,4,0.000,0.076,2804,530,3538,0,0,0,0,0,0
$GC,689,-0.64,-146.0,96.0,-13.3,139,695,0.00,2.28,0.00,0.000,6,0.000,0.062,2796,1941,3538,0,0,0,0,0,0
$GC,1009,-0.64,-146.0,141.3,-14.0,173,1013,0.00,2.30,0.00,0.000,4,0.000,0.076,2795,529,3538,0,0,0,0,0,0
$GC,1078,-0.64,-146.0,151.3,-14.4,181,1082,0.08,2.25,0.00,0.000,6,0.165,0.062,2811,1932,3538,0,0,0,0,0,0
$GC,1397,-0.64,-146.0,192.4,-13.5,212,1401,0.00,2.30,0.00,0.000,4,0.000,0.076,2812,520,3538,0,0,0,0,0,0
$GC,1449,-0.64,-146.0,199.3,-13.0,218,1453,0.00,2.25,0.00,0.000,6,0.000,0.062,2807,1929,3538,0,0,0,0,0,0
$GC,1768,-0.64,-146.0,239.5,-11.8,249,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1929,3537,0,0,0,0,0,0
$GC,2078,-0.64,-146.0,279.9,-13.1,279,2082,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,524,3537,0,0,0,0,0,0
$GC,2156,-0.67,-146.0,290.3,-12.3,288,2160,0.00,2.25,0.00,0.000,6,0.000,0.062,2807,1938,3537,0,0,0,0,0,0
$GC,2475,-0.72,-146.0,328.8,-11.7,319,2479,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,527,3537,0,0,0,0,0,0
$GC,2540,-0.76,-146.0,336.9,-12.1,326,2546,0.00,2.25,0.00,0.000,6,0.000,0.061,2807,1942,3537,0,0,0,0,0,0
$GC,2854,-0.80,-146.0,370.4,-10.5,357,2858,0.12,2.30,0.00,0.000,4,0.108,0.077,2751,532,3537,0,0,0,0,0,0
$GC,2906,-0.70,-146.0,377.6,-14.3,363,2910,0.15,2.22,0.00,0.000,6,0.151,0.062,2791,1937,3537,0,0,0,0,0,0
$GC,3224,-0.70,-146.0,413.4,-10.7,394,3228,0.00,2.30,0.00,0.000,4,0.000,0.077,2791,526,3537,0,0,0,0,0,0
$GC,3284,-0.70,-146.0,420.3,-11.3,401,3288,0.00,2.22,0.00,0.000,6,0.000,0.061,2786,1937,3537,0,0,0,0,0,0
$GC,3603,-0.70,-146.0,457.5,-11.7,432,3607,0.00,2.28,0.00,0.000,4,0.000,0.074,2786,523,3537,0,0,0,0,0,0
$GC,3659,-0.70,-146.0,464.5,-12.5,438,3666,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1936,3537,0,0,0,0,0,0
$GC,3974,-0.70,-146.0,503.2,-12.4,469,3977,0.00,2.25,0.00,0.000,4,0.000,0.074,2779,532,3537,0,0,0,0,0,0
$GC,4025,-0.70,-146.0,509.9,-12.5,475,4029,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1939,3537,0,0,0,0,0,0
$GC,4344,-0.70,-146.0,549.0,-12.5,506,4348,0.00,2.28,0.00,0.000,4,0.000,0.075,2779,527,3537,0,0,0,0,0,0
$GC,4417,-0.70,-146.0,558.5,-13.1,514,4424,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1934,3537,0,0,0,0,0,0
$GC,4732,-0.70,-146.0,596.6,-12.0,545,4736,0.00,2.25,0.00,0.000,4,0.000,0.075,2779,530,3538,0,0,0,0,0,0
$GC,4775,-0.70,-146.0,602.2,-12.4,549,4779,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1942,3538,0,0,0,0,0,0
$GC,5095,-0.70,-146.0,640.5,-12.1,560,5099,0.00,2.28,0.00,0.000,4,0.000,0.075,2779,523,3538,0,0,0,0,0,0
$GC,5152,-0.70,-146.0,647.5,-12.3,561,5157,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1932,3538,0,0,0,0,0,0
$GC,5459,-0.70,-146.0,685.4,-12.5,572,5463,0.00,2.25,0.00,0.000,4,0.000,0.074,2779,529,3538,0,0,0,0,0,0
$GC,5506,-0.70,-146.0,691.6,-12.6,573,5510,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1938,3538,0,0,0,0,0,0
$GC,5823,-0.70,-146.0,729.8,-11.8,584,5826,0.00,2.30,0.00,0.000,4,0.000,0.076,2779,522,3538,0,0,0,0,0,0
$GC,5857,-0.70,-146.0,734.0,-11.7,585,5861,0.00,2.22,0.00,0.000,6,0.000,0.061,2779,1934,3538,0,0,0,0,0,0
$GC,6186,-0.70,-146.0,772.8,-11.9,596,6190,0.00,2.28,0.00,0.000,4,0.000,0.075,2779,519,3538,0,0,0,0,0,0
$STATE,6237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6237,begin apogee
$GC,6241,-0.13,0.0,779.1,12.0,597,6369,0.57,0.00,122.60,1.114,6,0.138,0.000,2972,1939,2939,0,0,0,0,0,0
$STATE,6370,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6371,0.64,146.0,784.4,0.0,602,6507,0.75,2.53,127.47,1.081,4,0.091,0.072,3230,3358,2342,0,0,0,0,0,0
$GC,6658,0.45,147.2,771.0,9.9,611,6663,0.22,2.38,0.00,0.000,6,0.163,0.061,3175,1938,2333,0,0,0,0,0,0
$GC,6970,0.54,222.5,750.3,6.5,622,7040,0.00,2.45,65.97,1.060,4,0.000,0.075,3185,519,2033,0,0,0,0,0,0
$GC,7126,0.68,259.2,738.1,8.3,627,7164,0.12,2.35,33.20,1.027,6,0.068,0.056,3245,1937,1883,0,0,0,0,0,0
$GC,7471,0.63,259.2,693.9,13.0,639,7475,0.00,2.35,0.00,0.000,4,0.000,0.074,3254,534,1872,0,0,0,0,0,0
$GC,7544,0.58,259.2,683.9,13.3,641,7549,0.12,2.28,0.00,0.000,6,0.150,0.056,3214,1934,1872,0,0,0,0,0,0
$GC,7865,0.62,259.2,648.2,11.1,652,7869,0.00,2.33,0.00,0.000,4,0.000,0.074,3224,530,1870,0,0,0,0,0,0
$GC,7947,0.65,259.2,638.8,11.7,654,7951,0.00,2.25,0.00,0.000,6,0.000,0.057,3224,1933,1869,0,0,0,0,0,0
$GC,8259,0.65,259.2,605.0,10.6,665,8263,0.00,2.30,0.00,0.000,4,0.000,0.074,3234,529,1869,0,0,0,0,0,0
$GC,8354,0.65,259.2,594.5,10.9,671,8358,0.00,2.25,0.00,0.000,6,0.000,0.058,3234,1935,1869,0,0,0,0,0,0
$GC,8672,0.65,259.2,558.3,11.7,702,8676,0.00,2.30,0.00,0.000,4,0.000,0.074,3244,527,1869,0,0,0,0,0,0
$GC,8772,0.65,259.2,546.2,12.7,713,8778,0.00,2.25,0.00,0.000,6,0.000,0.058,3244,1941,1868,0,0,0,0,0,0
$GC,9086,0.65,259.2,508.1,12.4,744,9091,0.00,2.30,0.00,0.000,4,0.000,0.075,3254,528,1868,0,0,0,0,0,0
$GC,9156,0.60,259.2,499.1,13.2,752,9160,0.08,2.22,0.00,0.000,6,0.156,0.058,3227,1931,1868,0,0,0,0,0,0
$GC,9474,0.60,259.2,461.0,12.3,783,9478,0.00,2.28,0.00,0.000,4,0.000,0.074,3238,526,1868,0,0,0,0,0,0
$GC,9592,0.60,259.2,446.5,12.5,796,9597,0.00,2.22,0.00,0.000,6,0.000,0.058,3237,1937,1868,0,0,0,0,0,0
$GC,9906,0.60,259.2,407.0,12.6,827,9910,0.00,2.30,0.00,0.000,4,0.000,0.076,3248,521,1867,0,0,0,0,0,0
$GC,9980,0.60,259.2,397.7,13.9,835,9985,0.00,2.25,0.00,0.000,6,0.000,0.058,3249,1942,1867,0,0,0,0,0,0
$GC,10294,0.60,259.2,356.0,13.3,866,10298,0.00,2.30,0.00,0.000,4,0.000,0.077,3259,524,1867,0,0,0,0,0,0
$GC,10381,0.56,259.2,344.0,14.2,876,10385,0.15,2.22,0.00,0.000,6,0.152,0.058,3209,1935,1867,0,0,0,0,0,0
$GC,10699,0.64,259.2,311.2,10.3,907,10703,0.00,2.28,0.00,0.000,4,0.000,0.074,3218,524,1867,0,0,0,0,0,0
$GC,10790,0.69,259.2,301.8,11.7,917,10796,0.00,2.22,0.00,0.000,6,0.000,0.058,3218,1943,1867,0,0,0,0,0,0
$GC,11105,0.77,276.7,271.3,9.2,948,11123,0.15,2.30,13.75,0.775,4,0.099,0.074,3294,516,1812,0,0,0,0,0,0
$GC,11213,0.66,276.7,257.0,13.9,960,11219,0.15,2.25,0.00,0.000,6,0.158,0.058,3245,1935,1809,0,0,0,0,0,0
$GC,11528,0.66,276.7,221.1,11.3,991,11532,0.00,2.28,0.00,0.000,4,0.000,0.074,3255,528,1807,0,0,0,0,0,0
$GC,11580,0.66,276.7,215.1,11.9,997,11584,0.00,2.22,0.00,0.000,6,0.000,0.058,3255,1937,1807,0,0,0,0,0,0
$GC,11898,0.66,279.1,180.4,9.9,1028,11903,0.00,2.30,0.00,0.000,4,0.000,0.076,3265,526,1806,0,0,0,0,0,0
$GC,11959,0.66,279.1,173.7,10.9,1035,11963,0.00,2.22,0.00,0.000,6,0.000,0.058,3266,1937,1806,0,0,0,0,0,0
$GC,12278,0.66,279.1,140.1,10.2,1066,12282,0.00,2.30,0.00,0.000,4,0.000,0.076,3276,529,1806,0,0,0,0,0,0
$GC,12417,0.63,279.1,124.2,10.9,1082,12421,0.12,2.22,0.00,0.000,6,0.153,0.058,3233,1939,1806,0,0,0,0,0,0
$GC,12737,0.72,279.1,94.0,10.2,1118,12744,0.00,2.28,0.00,0.000,4,0.000,0.076,3243,530,1806,0,0,0,0,0,0
$GC,12847,0.79,279.1,82.9,10.2,1143,12853,0.08,2.22,0.00,0.000,6,0.082,0.059,3288,1938,1805,0,0,0,0,0,0
$GC,13172,0.74,279.4,47.0,10.0,1204,13177,0.00,2.28,0.00,0.000,4,0.000,0.078,3288,3354,1806,0,0,0,0,0,0
$GC,13272,0.70,279.4,35.8,11.3,1227,13278,0.17,2.22,0.00,0.000,6,0.181,0.066,3248,1936,1805,0,0,0,0,0,0
$GC,13597,0.82,314.7,8.7,8.4,1288,13635,0.12,2.30,33.28,0.670,4,0.111,0.077,3313,519,1655,0,0,0,0,0,0
$STATE,13642,end climb,SURFACE_DEPTH_REACHED
$STATE,13642,begin surface coast
$FINISH,1.1,1.009472
$STATE,13681,end surface coast,CONTROL_FINISHED_OK
$STATE,13681,begin surface
$SM_CCo,13756,0.00,0.000,0,0,1646,317.17
$SM_GC,2.47,8.40,0.00,0.00,0.059,0.000,0.000,147,1941,1646,-8.93,0.08,317.17
$RAFOS_CLK,676
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5701.34,150199,010125
$TT8_MAMPS,0.050622
$HUMID,40.39
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.5,98.7
$24V_AH,23.5,4.763
$10V_AH,10.3,1.705
$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,22.250,154.725,396.275,0.000,0.000,30.696,39.565,323.049,2.000,0.000,15.345,0.000,10244.312,525.726,2949.771,503.678,0.000,1768.756,0.000,2401.430,2520.000,18.281,0.000
$DEVICE_MAMPS,248.508,90.506,1113.684,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.218,972.499,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150340
$DATA_FILE_SIZE,53668,1307
$CAP_FILE_SIZE,169787,0
$CFSIZE,260165632,251957248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.6
$CURRENT,0.328,163.6,1
$GPS,211009,090337,6657.815,-5717.588,28,1.3,28,-37.6