version: 66.06
glider: 172
mission: 3
dive: 15
start: 10 22 109 14 23 38
data:
$ID,172
$MISSION,3
$DIVE,15
$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,-4445.7368
$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,18
$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
$GPS1,141757,6657.427,-5743.103,42,2.1,61,-37.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-75.6
$GPS2,142332,6657.466,-5743.223,14,1.3,14,-37.7
$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,306.6,121665,-17.5,-10.000
$D_GRID,861
$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,-146.0,0.0,0.0,0,69,0.00,0.00,-54.65,0.000,2,0.000,0.000,129,1935,2605,0,0,0,0,0,0
$GC,70,-0.64,-146.0,3.3,-2.8,10,112,10.73,2.35,-25.02,0.000,4,0.254,0.094,2800,3350,3539,0,0,0,0,0,0
$GC,310,-0.64,-146.0,41.8,-13.8,65,316,0.00,2.33,0.00,0.000,6,0.000,0.064,2800,1938,3540,0,0,0,0,0,0
$GC,635,-0.55,-146.0,94.8,-16.3,126,641,0.15,2.30,0.00,0.000,4,0.180,0.078,2842,525,3540,0,0,0,0,0,0
$GC,749,-0.60,-146.0,109.2,-11.6,144,753,0.00,2.28,0.00,0.000,6,0.000,0.062,2835,1933,3540,0,0,0,0,0,0
$GC,1067,-0.60,-146.0,147.4,-11.8,175,1071,0.00,2.33,0.00,0.000,4,0.000,0.078,2835,520,3540,0,0,0,0,0,0
$GC,1132,-0.65,-146.0,155.2,-12.0,182,1138,0.00,2.28,0.00,0.000,6,0.000,0.062,2835,1935,3540,0,0,0,0,0,0
$GC,1447,-0.70,-146.0,190.0,-11.7,213,1451,0.10,2.33,0.00,0.000,4,0.120,0.077,2789,526,3539,0,0,0,0,0,0
$GC,1547,-0.62,-146.0,205.0,-15.6,224,1553,0.10,2.28,0.00,0.000,6,0.160,0.062,2830,1942,3539,0,0,0,0,0,0
$GC,1861,-0.67,-146.0,242.2,-11.4,255,1865,0.00,2.33,0.00,0.000,4,0.000,0.078,2830,522,3539,0,0,0,0,0,0
$GC,1922,-0.74,-146.0,249.5,-11.7,262,1926,0.08,2.25,0.00,0.000,6,0.078,0.062,2780,1929,3538,0,0,0,0,0,0
$GC,2240,-0.65,-146.0,297.7,-15.0,293,2244,0.12,2.33,0.00,0.000,4,0.179,0.078,2814,519,3538,0,0,0,0,0,0
$GC,2305,-0.69,-146.0,306.2,-12.2,300,2311,0.00,2.25,0.00,0.000,6,0.000,0.061,2807,1929,3538,0,0,0,0,0,0
$GC,2619,-0.69,-146.0,343.6,-11.8,331,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1929,3538,0,0,0,0,0,0
$GC,2930,-0.69,-146.0,379.8,-11.7,361,2934,0.00,2.28,0.00,0.000,4,0.000,0.077,2808,504,3539,0,0,0,0,0,0
$GC,3012,-0.69,-146.0,389.9,-12.3,370,3018,0.00,2.28,0.00,0.000,6,0.000,0.061,2807,1935,3539,0,0,0,0,0,0
$GC,3326,-0.69,-146.0,427.4,-12.3,401,3330,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,526,3539,0,0,0,0,0,0
$GC,3365,-0.69,-146.0,432.4,-13.3,405,3371,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1933,3539,0,0,0,0,0,0
$GC,3680,-0.69,-146.0,472.1,-12.9,436,3684,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,528,3539,0,0,0,0,0,0
$GC,3740,-0.69,-146.0,480.0,-12.5,443,3744,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1935,3539,0,0,0,0,0,0
$GC,4059,-0.69,-146.0,520.0,-12.2,474,4063,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,526,3539,0,0,0,0,0,0
$GC,4119,-0.73,-146.0,527.4,-12.1,481,4123,0.00,2.22,0.00,0.000,6,0.000,0.061,2807,1935,3539,0,0,0,0,0,0
$GC,4438,-0.73,-146.0,563.8,-11.4,512,4442,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,526,3540,0,0,0,0,0,0
$GC,4481,-0.76,-146.0,568.6,-11.5,517,4485,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1934,3539,0,0,0,0,0,0
$GC,4799,-0.80,-146.0,603.4,-10.7,546,4803,0.12,2.30,0.00,0.000,4,0.107,0.077,2749,524,3540,0,0,0,0,0,0
$GC,4855,-0.67,-146.0,611.8,-15.0,547,4861,0.20,2.22,0.00,0.000,6,0.146,0.061,2808,1931,3540,0,0,0,0,0,0
$GC,5163,-0.71,-146.0,645.5,-10.7,558,5167,0.00,2.28,0.00,0.000,4,0.000,0.077,2809,495,3540,0,0,0,0,0,0
$GC,5189,-0.75,-146.0,648.5,-12.4,558,5194,0.00,2.28,0.00,0.000,6,0.000,0.060,2808,1934,3540,0,0,0,0,0,0
$GC,5496,-0.79,-146.0,681.1,-10.5,569,5500,0.12,2.30,0.00,0.000,4,0.105,0.077,2752,520,3540,0,0,0,0,0,0
$GC,5544,-0.68,-146.0,687.8,-14.6,570,5548,0.15,2.25,0.00,0.000,6,0.147,0.061,2803,1941,3540,0,0,0,0,0,0
$GC,5861,-0.72,-146.0,723.2,-11.0,581,5865,0.00,2.25,0.00,0.000,4,0.000,0.076,2804,521,3540,0,0,0,0,0,0
$GC,5908,-0.76,-146.0,728.5,-10.1,582,5911,0.00,2.22,0.00,0.000,6,0.000,0.061,2803,1934,3541,0,0,0,0,0,0
$GC,6219,-0.76,-146.0,761.5,-10.4,593,6226,0.00,2.28,0.00,0.000,4,0.000,0.076,2803,520,3541,0,0,0,0,0,0
$GC,6290,-0.80,-146.0,769.4,-11.2,595,6294,0.08,2.25,0.00,0.000,6,0.075,0.061,2757,1948,3541,0,0,0,0,0,0
$GC,6615,-0.71,-146.0,814.4,-14.1,606,6619,0.12,2.28,0.00,0.000,4,0.176,0.076,2792,522,3541,0,0,0,0,0,0
$GC,6697,-0.71,-146.0,825.2,-12.5,608,6701,0.00,2.22,0.00,0.000,6,0.000,0.060,2792,1929,3541,0,0,0,0,0,0
$GC,7009,-0.71,-146.0,860.6,-11.3,619,7013,0.00,2.28,0.00,0.000,4,0.000,0.076,2792,521,3541,0,0,0,0,0,0
$STATE,7016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7016,begin apogee
$GC,7020,-0.13,0.0,861.6,11.2,619,7147,0.55,0.00,124.45,1.174,6,0.140,0.000,2976,1945,2940,0,0,0,0,0,0
$STATE,7147,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7149,0.64,146.0,866.4,0.0,623,7288,0.73,2.55,128.68,1.142,4,0.086,0.074,3238,530,2342,0,0,0,0,0,0
$GC,7534,0.50,162.4,847.6,9.2,635,7554,0.15,2.33,14.38,1.048,6,0.156,0.055,3193,1940,2276,0,0,0,0,0,0
$GC,7870,0.56,212.9,821.9,7.7,647,7922,0.00,2.45,45.80,1.112,4,0.000,0.076,3203,527,2070,0,0,0,0,0,0
$GC,8078,0.57,219.6,803.8,9.7,654,8091,0.00,2.33,6.65,0.898,6,0.000,0.055,3202,1933,2043,0,0,0,0,0,0
$GC,8412,0.58,230.4,772.5,9.5,665,8428,0.00,2.40,10.68,1.002,4,0.000,0.077,3211,533,1999,0,0,0,0,0,0
$GC,8532,0.58,230.4,760.1,11.2,669,8536,0.00,2.28,0.00,0.000,6,0.000,0.056,3211,1931,1997,0,0,0,0,0,0
$GC,8866,0.58,230.4,725.7,10.0,680,8869,0.00,2.33,0.00,0.000,4,0.000,0.077,3219,532,1995,0,0,0,0,0,0
$GC,8952,0.58,230.4,716.4,11.2,682,8958,0.00,2.25,0.00,0.000,6,0.000,0.055,3219,1933,1995,0,0,0,0,0,0
$GC,9259,0.58,230.4,684.6,10.3,693,9263,0.00,2.33,0.00,0.000,4,0.000,0.077,3226,527,1995,0,0,0,0,0,0
$GC,9368,0.58,230.4,673.0,11.0,696,9372,0.00,2.25,0.00,0.000,6,0.000,0.056,3226,1937,1994,0,0,0,0,0,0
$GC,9684,0.58,230.4,640.0,10.4,707,9688,0.00,2.33,0.00,0.000,4,0.000,0.077,3233,523,1994,0,0,0,0,0,0
$GC,9771,0.53,230.4,630.2,11.1,709,9777,0.10,2.25,0.00,0.000,6,0.159,0.056,3201,1936,1994,0,0,0,0,0,0
$GC,10078,0.60,251.7,602.0,9.0,720,10103,0.00,2.38,19.27,0.988,4,0.000,0.077,3211,524,1912,0,0,0,0,0,0
$GC,10211,0.60,252.2,589.4,10.0,733,10217,0.00,2.28,0.00,0.000,6,0.000,0.055,3210,1942,1909,0,0,0,0,0,0
$GC,10526,0.63,252.2,557.6,10.1,764,10529,0.00,2.35,0.00,0.000,4,0.000,0.077,3218,521,1908,0,0,0,0,0,0
$GC,10643,0.63,252.2,544.5,11.4,777,10649,0.00,2.28,0.00,0.000,6,0.000,0.057,3218,1942,1908,0,0,0,0,0,0
$GC,10957,0.63,252.2,510.6,10.7,808,10961,0.00,2.33,0.00,0.000,4,0.000,0.077,3226,530,1907,0,0,0,0,0,0
$GC,11065,0.63,252.2,498.9,10.8,820,11072,0.00,2.25,0.00,0.000,6,0.000,0.057,3226,1943,1906,0,0,0,0,0,0
$GC,11380,0.63,252.2,464.9,10.8,851,11384,0.00,2.33,0.00,0.000,4,0.000,0.077,3236,524,1907,0,0,0,0,0,0
$GC,11484,0.63,252.2,452.9,12.0,863,11488,0.00,2.25,0.00,0.000,6,0.000,0.058,3236,1940,1906,0,0,0,0,0,0
$GC,11803,0.63,252.2,415.2,12.1,894,11807,0.00,2.30,0.00,0.000,4,0.000,0.077,3246,533,1906,0,0,0,0,0,0
$GC,11881,0.58,252.2,405.3,12.7,903,11885,0.10,2.22,0.00,0.000,6,0.160,0.058,3214,1936,1906,0,0,0,0,0,0
$GC,12199,0.58,252.2,370.3,10.7,934,12203,0.00,2.33,0.00,0.000,4,0.000,0.077,3223,525,1905,0,0,0,0,0,0
$GC,12325,0.58,252.2,355.9,12.5,948,12332,0.00,2.22,0.00,0.000,6,0.000,0.057,3223,1935,1905,0,0,0,0,0,0
$GC,12639,0.58,252.2,322.4,10.0,979,12643,0.00,2.30,0.00,0.000,4,0.000,0.077,3233,520,1905,0,0,0,0,0,0
$GC,12726,0.58,252.2,313.5,10.2,989,12730,0.00,2.22,0.00,0.000,6,0.000,0.058,3233,1932,1905,0,0,0,0,0,0
$GC,13045,0.60,269.4,283.0,9.2,1020,13064,0.00,2.28,15.60,0.805,4,0.000,0.076,3243,524,1840,0,0,0,0,0,0
$GC,13167,0.61,278.5,270.6,9.6,1034,13180,0.00,2.25,9.00,0.744,6,0.000,0.057,3243,1933,1804,0,0,0,0,0,0
$GC,13494,0.61,278.5,236.5,10.3,1066,13498,0.00,2.33,0.00,0.000,4,0.000,0.077,3254,524,1800,0,0,0,0,0,0
$GC,13608,0.61,278.5,223.5,11.4,1079,13611,0.10,2.22,0.00,0.000,6,0.186,0.058,3227,1949,1800,0,0,0,0,0,0
$GC,13926,0.67,282.0,192.0,9.8,1110,13936,0.00,2.35,3.72,0.532,4,0.000,0.076,3238,525,1790,0,0,0,0,0,0
$GC,14100,0.71,282.0,173.2,11.1,1130,14104,0.00,2.25,0.00,0.000,6,0.000,0.057,3238,1941,1790,0,0,0,0,0,0
$GC,14419,0.77,282.0,140.1,10.6,1161,14423,0.10,2.35,0.00,0.000,4,0.121,0.079,3293,523,1790,0,0,0,0,0,0
$GC,14588,0.69,282.0,117.1,14.2,1180,14594,0.12,2.25,0.00,0.000,6,0.156,0.058,3252,1939,1790,0,0,0,0,0,0
$GC,14908,0.73,282.6,84.0,10.0,1225,14913,0.00,2.28,0.00,0.000,4,0.000,0.077,3262,521,1789,0,0,0,0,0,0
$GC,15033,0.73,282.6,70.9,11.4,1254,15039,0.00,2.25,0.00,0.000,6,0.000,0.058,3262,1942,1789,0,0,0,0,0,0
$GC,15358,0.77,320.9,40.4,8.2,1315,15400,0.00,2.38,35.60,0.694,4,0.000,0.079,3272,530,1630,0,0,0,0,0,0
$GC,15495,0.88,352.0,28.0,8.6,1346,15529,0.08,2.28,27.55,0.667,6,0.082,0.058,3314,1939,1504,0,0,0,0,0,0
$STATE,15697,end climb,SURFACE_DEPTH_REACHED
$STATE,15697,begin surface coast
$FINISH,1.2,0.999891
$STATE,15729,end surface coast,CONTROL_FINISHED_OK
$STATE,15729,begin surface
$SM_CCo,15802,0.00,0.000,0,0,1490,355.68
$SM_GC,2.22,8.60,0.00,0.00,0.067,0.000,0.000,150,1941,1490,-8.93,0.06,355.68
$RAFOS_CLK,802
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5743.95,160199,101026
$TT8_MAMPS,0.050622
$HUMID,39.36
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.5,87.4
$24V_AH,23.2,5.932
$10V_AH,10.3,2.318
$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,22.700,169.325,441.375,0.000,0.000,24.308,32.244,189.010,2.500,0.000,14.723,0.000,11836.724,570.350,3343.247,362.538,0.000,1993.311,0.000,2742.961,2520.000,21.755,0.000
$DEVICE_MAMPS,253.877,93.574,1173.510,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.999,1039.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150316
$DATA_FILE_SIZE,53647,1391
$CAP_FILE_SIZE,187427,0
$CFSIZE,260165632,251265024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.1
$CURRENT,0.108,289.0,1
$GPS,221009,184801,6658.039,-5750.569,39,1.3,39,-37.7