version: 66.06
glider: 172
mission: 3
dive: 12
start: 10 22 109 1 39 56
data:
$ID,172
$MISSION,3
$DIVE,12
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4378.9902
$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,20
$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
$GPS1,013407,6656.716,-5730.486,43,1.0,43,-37.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-75.7
$GPS2,013950,6656.705,-5730.549,13,1.1,13,-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,339.8,130492,-17.5,-10.000
$D_GRID,781
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-51.92,0.000,2,0.000,0.000,129,1929,2546,0,0,0,0,0,0
$GC,67,-0.64,-146.0,3.1,-3.0,10,114,10.75,2.42,-27.95,0.000,4,0.252,0.092,2800,3346,3537,0,0,0,0,0,0
$GC,234,-0.60,-146.0,31.5,-16.4,48,241,0.08,2.33,0.00,0.000,6,0.157,0.066,2824,1937,3538,0,0,0,0,0,0
$GC,560,-0.60,-146.0,81.8,-13.4,109,565,0.00,2.33,0.00,0.000,4,0.000,0.078,2825,528,3539,0,0,0,0,0,0
$GC,599,-0.60,-146.0,87.4,-13.4,118,605,0.00,2.28,0.00,0.000,6,0.000,0.062,2818,1934,3539,0,0,0,0,0,0
$GC,922,-0.60,-146.0,130.4,-13.2,158,925,0.00,2.28,0.00,0.000,4,0.000,0.078,2818,526,3538,0,0,0,0,0,0
$GC,995,-0.60,-146.0,140.1,-13.3,166,1001,0.00,2.28,0.00,0.000,6,0.000,0.062,2819,1938,3539,0,0,0,0,0,0
$GC,1309,-0.60,-146.0,178.3,-12.2,197,1313,0.00,2.33,0.00,0.000,4,0.000,0.078,2818,534,3538,0,0,0,0,0,0
$GC,1378,-0.60,-146.0,186.7,-12.3,205,1383,0.00,2.25,0.00,0.000,6,0.000,0.062,2818,1932,3538,0,0,0,0,0,0
$GC,1697,-0.60,-146.0,223.5,-11.5,236,1701,0.00,2.30,0.00,0.000,4,0.000,0.080,2818,530,3538,0,0,0,0,0,0
$GC,1784,-0.60,-146.0,233.6,-11.6,246,1788,0.00,2.25,0.00,0.000,6,0.000,0.062,2818,1933,3538,0,0,0,0,0,0
$GC,2103,-0.60,-146.0,269.4,-11.3,277,2107,0.00,2.30,0.00,0.000,4,0.000,0.079,2818,527,3538,0,0,0,0,0,0
$GC,2185,-0.65,-146.0,278.7,-11.7,286,2191,0.00,2.25,0.00,0.000,6,0.000,0.061,2810,1937,3537,0,0,0,0,0,0
$GC,2499,-0.65,-146.0,315.0,-11.7,317,2503,0.00,2.30,0.00,0.000,4,0.000,0.078,2811,527,3537,0,0,0,0,0,0
$GC,2573,-0.65,-146.0,324.1,-12.0,325,2579,0.00,2.25,0.00,0.000,6,0.000,0.061,2807,1943,3537,0,0,0,0,0,0
$GC,2887,-0.65,-146.0,362.4,-12.6,356,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1944,3537,0,0,0,0,0,0
$GC,3199,-0.65,-146.0,400.8,-12.2,386,3203,0.00,2.28,0.00,0.000,4,0.000,0.078,2807,517,3538,0,0,0,0,0,0
$GC,3267,-0.65,-146.0,409.8,-12.6,393,3273,0.00,2.25,0.00,0.000,6,0.000,0.062,2807,1935,3538,0,0,0,0,0,0
$GC,3581,-0.65,-146.0,448.0,-11.6,424,3585,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,529,3538,0,0,0,0,0,0
$GC,3642,-0.65,-146.0,455.5,-12.3,431,3646,0.00,2.22,0.00,0.000,6,0.000,0.062,2807,1935,3538,0,0,0,0,0,0
$GC,3961,-0.65,-146.0,492.8,-11.2,462,3965,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,533,3538,0,0,0,0,0,0
$GC,4013,-0.65,-146.0,498.8,-11.1,468,4017,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1941,3538,0,0,0,0,0,0
$GC,4331,-0.65,-146.0,535.0,-11.1,499,4335,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,533,3538,0,0,0,0,0,0
$GC,4366,-0.68,-146.0,539.0,-11.6,503,4370,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1941,3538,0,0,0,0,0,0
$GC,4685,-0.71,-146.0,572.5,-10.2,534,4689,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,505,3538,0,0,0,0,0,0
$GC,4732,-0.76,-146.0,577.6,-9.7,539,4738,0.00,2.28,0.00,0.000,6,0.000,0.061,2807,1942,3538,0,0,0,0,0,0
$GC,5055,-0.79,-146.0,609.9,-10.1,565,5059,0.10,2.30,0.00,0.000,4,0.120,0.077,2759,528,3539,0,0,0,0,0,0
$GC,5115,-0.70,-146.0,618.1,-14.0,567,5119,0.12,2.22,0.00,0.000,6,0.152,0.062,2795,1934,3539,0,0,0,0,0,0
$GC,5448,-0.70,-146.0,656.0,-11.2,578,5452,0.00,2.28,0.00,0.000,4,0.000,0.076,2795,523,3539,0,0,0,0,0,0
$GC,5500,-0.70,-146.0,662.3,-12.5,579,5504,0.00,2.22,0.00,0.000,6,0.000,0.061,2794,1934,3539,0,0,0,0,0,0
$GC,5812,-0.70,-146.0,698.5,-11.8,590,5816,0.00,2.28,0.00,0.000,4,0.000,0.077,2794,526,3539,0,0,0,0,0,0
$GC,5881,-0.70,-146.0,706.8,-11.5,592,5885,0.00,2.22,0.00,0.000,6,0.000,0.061,2794,1938,3539,0,0,0,0,0,0
$GC,6206,-0.70,-146.0,743.5,-11.3,603,6210,0.00,2.30,0.00,0.000,4,0.000,0.077,2794,527,3540,0,0,0,0,0,0
$GC,6253,-0.70,-146.0,749.2,-12.4,604,6257,0.00,2.22,0.00,0.000,6,0.000,0.061,2794,1936,3539,0,0,0,0,0,0
$STATE,6538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6538,begin apogee
$GC,6540,-0.13,0.0,781.8,11.5,614,6666,0.57,0.00,123.25,1.131,6,0.140,0.000,2981,1937,2940,0,0,0,0,0,0
$STATE,6666,end apogee,CONTROL_FINISHED_OK
$STATE,6666,begin climb
$GC,6667,0.64,146.0,786.9,0.0,618,6803,0.70,2.47,127.40,1.096,4,0.086,0.069,3224,3345,2343,0,0,0,0,0,0
$GC,6855,0.52,187.3,786.5,8.1,624,6897,0.15,2.38,37.15,1.060,6,0.185,0.061,3198,1936,2176,0,0,0,0,0,0
$GC,7204,0.56,221.9,757.6,8.4,636,7239,0.00,2.42,30.62,1.055,4,0.000,0.074,3208,523,2034,0,0,0,0,0,0
$GC,7372,0.57,232.9,741.6,9.5,641,7388,0.00,2.33,10.45,0.956,6,0.000,0.054,3208,1928,1990,0,0,0,0,0,0
$GC,7714,0.58,239.1,708.1,9.7,653,7726,0.00,2.40,6.25,0.855,4,0.000,0.077,3216,526,1965,0,0,0,0,0,0
$GC,7830,0.58,239.1,696.0,10.7,656,7837,0.00,2.30,0.00,0.000,6,0.000,0.056,3216,1939,1963,0,0,0,0,0,0
$GC,8137,0.58,239.1,663.6,10.6,667,8142,0.00,2.35,0.00,0.000,4,0.000,0.077,3225,529,1962,0,0,0,0,0,0
$GC,8267,0.58,239.1,648.6,11.6,671,8272,0.00,2.28,0.00,0.000,6,0.000,0.057,3225,1938,1961,0,0,0,0,0,0
$GC,8592,0.58,239.1,611.5,11.4,682,8596,0.00,2.33,0.00,0.000,4,0.000,0.077,3234,531,1961,0,0,0,0,0,0
$GC,8679,0.55,239.1,601.2,12.6,684,8686,0.10,2.25,0.00,0.000,6,0.156,0.058,3202,1932,1961,0,0,0,0,0,0
$GC,8993,0.59,239.1,569.2,10.1,713,8997,0.00,2.30,0.00,0.000,4,0.000,0.078,3212,533,1961,0,0,0,0,0,0
$GC,9088,0.59,239.1,559.1,11.0,724,9092,0.00,2.25,0.00,0.000,6,0.000,0.058,3212,1945,1960,0,0,0,0,0,0
$GC,9406,0.59,239.1,526.0,10.3,755,9411,0.00,2.33,0.00,0.000,4,0.000,0.078,3221,530,1960,0,0,0,0,0,0
$GC,9511,0.62,260.1,515.0,9.0,767,9538,0.00,2.25,19.50,0.940,6,0.000,0.058,3221,1937,1878,0,0,0,0,0,0
$GC,9846,0.62,260.1,478.4,10.9,800,9850,0.00,2.35,0.00,0.000,4,0.000,0.078,3231,523,1873,0,0,0,0,0,0
$GC,9924,0.62,260.1,469.2,12.3,809,9928,0.00,2.28,0.00,0.000,6,0.000,0.058,3231,1937,1873,0,0,0,0,0,0
$GC,10243,0.62,260.1,433.3,10.3,840,10247,0.00,2.35,0.00,0.000,4,0.000,0.078,3241,527,1872,0,0,0,0,0,0
$GC,10368,0.62,260.1,419.6,10.9,854,10374,0.00,2.25,0.00,0.000,6,0.000,0.058,3241,1938,1872,0,0,0,0,0,0
$GC,10683,0.62,260.1,385.6,10.8,885,10687,0.00,2.33,0.00,0.000,4,0.000,0.078,3251,526,1872,0,0,0,0,0,0
$GC,10764,0.57,260.1,376.5,12.2,894,10768,0.15,2.22,0.00,0.000,6,0.175,0.059,3210,1949,1872,0,0,0,0,0,0
$GC,11077,0.63,268.8,346.6,9.6,924,11090,0.00,2.35,7.85,0.779,4,0.000,0.077,3220,531,1844,0,0,0,0,0,0
$GC,11186,0.68,268.8,335.0,10.5,936,11193,0.00,2.22,0.00,0.000,6,0.000,0.058,3220,1927,1843,0,0,0,0,0,0
$GC,11500,0.72,268.8,301.6,10.2,967,11505,0.10,2.30,0.00,0.000,4,0.120,0.078,3274,534,1841,0,0,0,0,0,0
$GC,11639,0.63,268.8,283.4,12.8,983,11643,0.12,2.22,0.00,0.000,6,0.156,0.057,3233,1935,1841,0,0,0,0,0,0
$GC,11958,0.63,268.8,248.9,10.0,1014,11962,0.00,2.30,0.00,0.000,4,0.000,0.077,3243,524,1841,0,0,0,0,0,0
$GC,12057,0.63,268.8,238.3,11.2,1025,12063,0.00,2.22,0.00,0.000,6,0.000,0.058,3243,1931,1842,0,0,0,0,0,0
$GC,12372,0.63,268.8,205.2,10.3,1056,12376,0.00,2.28,0.00,0.000,4,0.000,0.077,3253,534,1841,0,0,0,0,0,0
$GC,12532,0.63,268.8,187.4,11.6,1074,12538,0.00,2.22,0.00,0.000,6,0.000,0.058,3254,1938,1841,0,0,0,0,0,0
$GC,12847,0.63,268.8,151.9,10.8,1105,12851,0.00,2.30,0.00,0.000,4,0.000,0.078,3263,525,1841,0,0,0,0,0,0
$GC,12981,0.63,268.8,136.6,11.7,1120,12988,0.08,2.22,0.00,0.000,6,0.157,0.058,3236,1930,1841,0,0,0,0,0,0
$GC,13296,0.76,304.7,107.9,8.3,1151,13334,0.00,2.38,32.40,0.726,4,0.000,0.077,3245,522,1695,0,0,0,0,0,0
$GC,13425,0.87,329.5,96.4,8.9,1170,13454,0.12,2.28,22.50,0.698,6,0.071,0.058,3308,1938,1595,0,0,0,0,0,0
$GC,13773,0.81,329.5,50.8,12.7,1236,13779,0.00,2.35,0.00,0.000,4,0.000,0.080,3318,529,1586,0,0,0,0,0,0
$GC,13879,0.74,329.5,37.7,11.4,1260,13885,0.20,2.25,0.00,0.000,6,0.167,0.060,3262,1947,1585,0,0,0,0,0,0
$GC,14204,0.93,394.4,11.6,7.0,1321,14265,0.17,2.40,54.15,0.667,4,0.094,0.080,3342,527,1330,0,0,0,0,0,0
$STATE,14268,end climb,SURFACE_DEPTH_REACHED
$STATE,14268,begin surface coast
$FINISH,1.2,1.013670
$STATE,14299,end surface coast,CONTROL_FINISHED_OK
$STATE,14299,begin surface
$SM_CCo,14374,0.00,0.000,0,0,1322,396.90
$SM_GC,2.13,8.68,0.00,0.00,0.058,0.000,0.000,149,1947,1322,-8.93,0.25,396.90
$RAFOS_CLK,727
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5736.37,150199,212128
$TT8_MAMPS,0.050622
$HUMID,38.97
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.6,141.8
$24V_AH,23.3,5.490
$10V_AH,10.3,2.083
$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,22.200,155.800,471.525,0.000,0.000,27.411,44.246,183.545,2.000,0.000,13.981,0.000,10634.130,597.473,3100.628,359.867,0.000,1917.068,0.000,2535.894,2520.000,18.155,0.000
$DEVICE_MAMPS,252.343,92.040,1131.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.023,999.741,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150268
$DATA_FILE_SIZE,53613,1342
$CAP_FILE_SIZE,171269,0
$CFSIZE,260165632,251539456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$CURRENT,0.022,248.9,1
$GPS,221009,054037,6657.995,-5735.118,46,1.6,46,-37.6