version: 66.06
glider: 172
mission: 3
dive: 17
start: 10 22 109 23 28 38
data:
$ID,172
$MISSION,3
$DIVE,17
$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,-4474.2832
$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,21
$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
$GPS1,232231,6655.850,-5753.351,51,1.2,51,-37.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-77.3
$GPS2,232832,6655.803,-5753.156,13,1.2,13,-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,341.6,113931,-17.5,-10.000
$D_GRID,890
$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,-146.0,0.0,0.0,0,61,0.00,0.00,-46.83,0.000,2,0.000,0.000,129,1944,2542,0,0,0,0,0,0
$GC,62,-0.64,-146.0,3.0,-1.3,9,108,10.62,2.33,-28.85,0.000,4,0.252,0.091,2812,527,3538,0,0,0,0,0,0
$GC,259,-0.55,-146.0,37.0,-16.7,54,265,0.10,2.28,0.00,0.000,6,0.160,0.062,2841,1931,3539,0,0,0,0,0,0
$GC,584,-0.55,-146.0,76.9,-11.8,115,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1931,3539,0,0,0,0,0,0
$GC,901,-0.59,-146.0,113.4,-11.4,164,905,0.00,2.28,0.00,0.000,4,0.000,0.077,2841,520,3539,0,0,0,0,0,0
$GC,940,-0.65,-146.0,118.1,-11.5,168,945,0.00,2.28,0.00,0.000,6,0.000,0.060,2838,1939,3539,0,0,0,0,0,0
$GC,1254,-0.71,-146.0,152.7,-10.8,199,1258,0.12,2.33,0.00,0.000,4,0.104,0.077,2781,529,3538,0,0,0,0,0,0
$GC,1297,-0.60,-146.0,159.2,-16.1,204,1301,0.12,2.25,0.00,0.000,6,0.154,0.062,2833,1936,3538,0,0,0,0,0,0
$GC,1616,-0.65,-146.0,198.0,-12.5,235,1620,0.00,2.28,0.00,0.000,4,0.000,0.076,2833,534,3538,0,0,0,0,0,0
$GC,1667,-0.71,-146.0,204.8,-12.2,241,1671,0.00,2.22,0.00,0.000,6,0.000,0.060,2825,1933,3538,0,0,0,0,0,0
$GC,1987,-0.74,-146.0,245.9,-13.2,272,1990,0.12,2.28,0.00,0.000,4,0.104,0.077,2769,522,3538,0,0,0,0,0,0
$GC,2068,-0.62,-146.0,260.5,-19.1,281,2074,0.15,2.25,0.00,0.000,6,0.147,0.061,2817,1932,3538,0,0,0,0,0,0
$GC,2382,-0.62,-146.0,302.2,-12.3,312,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1932,3539,0,0,0,0,0,0
$GC,2693,-0.62,-146.0,339.0,-11.8,342,2697,0.00,2.28,0.00,0.000,4,0.000,0.077,2817,532,3538,0,0,0,0,0,0
$GC,2776,-0.67,-146.0,348.8,-12.2,351,2782,0.00,2.22,0.00,0.000,6,0.000,0.060,2809,1938,3538,0,0,0,0,0,0
$GC,3090,-0.67,-146.0,384.1,-10.7,382,3094,0.00,2.28,0.00,0.000,4,0.000,0.076,2810,531,3538,0,0,0,0,0,0
$GC,3159,-0.67,-146.0,392.2,-11.3,390,3163,0.00,2.22,0.00,0.000,6,0.000,0.061,2809,1934,3539,0,0,0,0,0,0
$GC,3478,-0.67,-146.0,426.1,-10.4,421,3482,0.00,2.28,0.00,0.000,4,0.000,0.075,2809,527,3538,0,0,0,0,0,0
$GC,3551,-0.67,-146.0,434.3,-11.7,429,3557,0.00,2.22,0.00,0.000,6,0.000,0.060,2809,1931,3538,0,0,0,0,0,0
$GC,3867,-0.67,-146.0,467.7,-10.7,460,3870,0.00,2.22,0.00,0.000,4,0.000,0.075,2809,526,3539,0,0,0,0,0,0
$GC,3926,-0.70,-146.0,474.7,-11.5,466,3932,0.00,2.22,0.00,0.000,6,0.000,0.060,2809,1933,3539,0,0,0,0,0,0
$GC,4243,-0.70,-146.0,509.3,-10.6,497,4247,0.00,2.22,0.00,0.000,4,0.000,0.076,2809,525,3539,0,0,0,0,0,0
$GC,4298,-0.75,-146.0,516.0,-12.1,503,4302,0.00,2.22,0.00,0.000,6,0.000,0.060,2809,1937,3539,0,0,0,0,0,0
$GC,4619,-0.78,-146.0,551.0,-10.9,534,4622,0.10,2.25,0.00,0.000,4,0.120,0.076,2761,525,3539,0,0,0,0,0,0
$GC,4669,-0.69,-146.0,558.3,-14.2,539,4676,0.12,2.22,0.00,0.000,6,0.150,0.060,2795,1934,3539,0,0,0,0,0,0
$GC,4983,-0.69,-146.0,597.6,-12.4,570,4987,0.00,2.28,0.00,0.000,4,0.000,0.075,2795,524,3539,0,0,0,0,0,0
$GC,5044,-0.69,-146.0,605.4,-13.2,575,5048,0.00,2.22,0.00,0.000,6,0.000,0.061,2795,1932,3540,0,0,0,0,0,0
$GC,5378,-0.69,-146.0,646.2,-12.3,586,5382,0.00,2.25,0.00,0.000,4,0.000,0.076,2795,532,3539,0,0,0,0,0,0
$GC,5438,-0.69,-146.0,653.6,-11.8,588,5442,0.00,2.20,0.00,0.000,6,0.000,0.061,2795,1930,3539,0,0,0,0,0,0
$GC,5772,-0.69,-146.0,692.6,-11.6,599,5776,0.00,2.25,0.00,0.000,4,0.000,0.075,2795,530,3540,0,0,0,0,0,0
$GC,5815,-0.69,-146.0,697.9,-12.6,600,5819,0.00,2.22,0.00,0.000,6,0.000,0.061,2795,1937,3539,0,0,0,0,0,0
$GC,6135,-0.69,-146.0,735.3,-11.6,611,6139,0.00,2.28,0.00,0.000,4,0.000,0.075,2795,525,3539,0,0,0,0,0,0
$GC,6165,-0.69,-146.0,739.0,-12.6,612,6169,0.00,2.22,0.00,0.000,6,0.000,0.060,2795,1938,3539,0,0,0,0,0,0
$GC,6500,-0.69,-146.0,777.1,-11.5,623,6503,0.00,2.22,0.00,0.000,4,0.000,0.075,2795,526,3540,0,0,0,0,0,0
$GC,6568,-0.69,-146.0,785.2,-11.3,625,6572,0.00,2.22,0.00,0.000,6,0.000,0.060,2795,1941,3539,0,0,0,0,0,0
$GC,6893,-0.69,-146.0,821.2,-10.9,636,6897,0.00,2.28,0.00,0.000,4,0.000,0.075,2795,523,3540,0,0,0,0,0,0
$GC,6931,-0.69,-146.0,825.7,-11.8,637,6935,0.00,2.22,0.00,0.000,6,0.000,0.060,2795,1937,3539,0,0,0,0,0,0
$GC,7256,-0.69,-146.0,861.6,-10.9,648,7261,0.00,2.28,0.00,0.000,4,0.000,0.076,2795,526,3540,0,0,0,0,0,0
$GC,7304,-0.69,-146.0,867.2,-12.3,649,7308,0.00,2.22,0.00,0.000,6,0.000,0.060,2795,1939,3539,0,0,0,0,0,0
$STATE,7528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7528,begin apogee
$GC,7530,-0.13,0.0,891.9,10.9,657,7657,0.57,0.00,124.03,1.196,6,0.140,0.000,2983,1939,2940,0,0,0,0,0,0
$STATE,7657,end apogee,CONTROL_FINISHED_OK
$STATE,7657,begin climb
$GC,7658,0.64,146.0,895.2,0.0,661,7796,0.73,2.50,129.00,1.159,4,0.097,0.072,3236,523,2342,0,0,0,0,0,0
$GC,7943,0.48,151.9,880.2,9.7,670,7953,0.12,2.35,5.22,0.829,6,0.150,0.054,3184,1939,2320,0,0,0,0,0,0
$GC,8254,0.56,218.1,857.7,6.9,681,8319,0.00,2.50,60.03,1.133,4,0.000,0.075,3194,533,2049,0,0,0,0,0,0
$GC,8380,0.63,243.8,847.6,8.8,685,8409,0.08,2.35,23.45,1.081,6,0.076,0.054,3235,1936,1947,0,0,0,0,0,0
$GC,8733,0.57,243.8,804.8,12.5,697,8737,0.00,2.38,0.00,0.000,4,0.000,0.075,3244,534,1936,0,0,0,0,0,0
$GC,8824,0.49,243.8,792.4,14.3,700,8828,0.17,2.30,0.00,0.000,6,0.153,0.055,3189,1940,1935,0,0,0,0,0,0
$GC,9158,0.57,253.7,759.8,9.5,711,9170,0.00,2.35,8.82,0.969,4,0.000,0.075,3199,526,1904,0,0,0,0,0,0
$GC,9304,0.63,253.7,744.8,10.5,716,9308,0.00,2.28,0.00,0.000,6,0.000,0.055,3199,1934,1902,0,0,0,0,0,0
$GC,9638,0.69,255.9,711.3,9.9,727,9642,0.15,2.33,0.00,0.000,4,0.100,0.076,3269,521,1900,0,0,0,0,0,0
$GC,9763,0.56,255.9,693.9,13.9,731,9768,0.17,2.28,0.00,0.000,6,0.153,0.055,3213,1945,1900,0,0,0,0,0,0
$GC,10092,0.56,255.9,658.7,10.6,742,10096,0.00,2.35,0.00,0.000,4,0.000,0.077,3223,523,1899,0,0,0,0,0,0
$GC,10196,0.56,255.9,647.0,11.8,745,10200,0.00,2.25,0.00,0.000,6,0.000,0.056,3223,1936,1899,0,0,0,0,0,0
$GC,10517,0.56,255.9,610.9,11.7,756,10520,0.00,2.33,0.00,0.000,4,0.000,0.076,3232,528,1899,0,0,0,0,0,0
$GC,10694,0.56,255.9,589.4,11.8,766,10700,0.00,2.25,0.00,0.000,6,0.000,0.055,3233,1944,1899,0,0,0,0,0,0
$GC,11009,0.52,255.9,552.2,11.4,797,11013,0.15,2.33,0.00,0.000,4,0.176,0.077,3201,533,1898,0,0,0,0,0,0
$GC,11109,0.60,257.7,542.5,9.9,808,11117,0.00,2.20,4.07,0.675,6,0.000,0.056,3201,1949,1889,0,0,0,0,0,0
$GC,11432,0.69,278.2,512.4,9.1,840,11459,0.12,2.38,19.92,0.937,4,0.107,0.077,3265,533,1806,0,0,0,0,0,0
$GC,11588,0.60,278.2,490.9,14.6,858,11592,0.12,2.25,0.00,0.000,6,0.155,0.056,3224,1935,1802,0,0,0,0,0,0
$GC,11906,0.60,278.2,454.1,11.5,889,11910,0.00,2.33,0.00,0.000,4,0.000,0.076,3234,523,1799,0,0,0,0,0,0
$GC,12032,0.60,278.2,438.7,12.3,903,12039,0.00,2.25,0.00,0.000,6,0.000,0.056,3234,1934,1799,0,0,0,0,0,0
$GC,12346,0.60,278.2,400.3,12.0,934,12350,0.00,2.30,0.00,0.000,4,0.000,0.076,3244,527,1798,0,0,0,0,0,0
$GC,12460,0.56,278.2,385.4,12.9,947,12464,0.12,2.20,0.00,0.000,6,0.176,0.057,3211,1939,1798,0,0,0,0,0,0
$GC,12778,0.63,278.2,351.7,10.1,978,12782,0.00,2.30,0.00,0.000,4,0.000,0.076,3221,527,1797,0,0,0,0,0,0
$GC,12917,0.68,278.6,336.9,10.0,994,12921,0.00,2.22,0.00,0.000,6,0.000,0.058,3221,1935,1798,0,0,0,0,0,0
$GC,13235,0.74,279.3,304.6,10.0,1025,13239,0.12,2.30,0.00,0.000,4,0.108,0.077,3286,532,1798,0,0,0,0,0,0
$GC,13356,0.61,279.3,287.5,14.8,1039,13360,0.17,2.22,0.00,0.000,6,0.158,0.058,3229,1943,1798,0,0,0,0,0,0
$GC,13675,0.64,279.3,253.9,10.3,1070,13679,0.00,2.30,0.00,0.000,4,0.000,0.077,3239,529,1798,0,0,0,0,0,0
$GC,13797,0.64,279.3,240.9,10.4,1084,13800,0.00,2.22,0.00,0.000,6,0.000,0.058,3239,1938,1798,0,0,0,0,0,0
$GC,14115,0.64,279.3,207.4,10.3,1115,14119,0.00,2.30,0.00,0.000,4,0.000,0.077,3249,523,1797,0,0,0,0,0,0
$GC,14210,0.64,279.3,196.8,11.0,1126,14215,0.00,2.22,0.00,0.000,6,0.000,0.058,3249,1931,1798,0,0,0,0,0,0
$GC,14529,0.64,279.3,161.6,11.2,1157,14533,0.00,2.28,0.00,0.000,4,0.000,0.077,3259,528,1798,0,0,0,0,0,0
$GC,14594,0.64,279.3,153.9,12.7,1164,14600,0.00,2.22,0.00,0.000,6,0.000,0.057,3259,1942,1797,0,0,0,0,0,0
$GC,14909,0.64,279.3,118.4,10.3,1195,14913,0.00,2.30,0.00,0.000,4,0.000,0.077,3270,523,1798,0,0,0,0,0,0
$GC,15022,0.64,279.3,105.7,11.6,1208,15026,0.05,2.22,0.00,0.000,6,0.143,0.058,3237,1935,1798,0,0,0,0,0,0
$GC,15350,0.76,307.4,77.0,8.7,1263,15383,0.00,2.33,25.70,0.707,4,0.000,0.077,3247,534,1685,0,0,0,0,0,0
$GC,15408,0.85,313.4,71.4,9.7,1276,15419,0.15,2.25,6.45,0.604,6,0.102,0.058,3309,1962,1662,0,0,0,0,0,0
$GC,15737,0.80,313.4,27.9,11.4,1338,15743,0.00,2.38,0.00,0.000,4,0.000,0.078,3320,524,1656,0,0,0,0,0,0
$GC,15799,0.72,313.4,20.6,11.5,1352,15805,0.15,2.25,0.00,0.000,6,0.154,0.059,3257,1932,1656,0,0,0,0,0,0
$STATE,16016,end climb,SURFACE_DEPTH_REACHED
$STATE,16016,begin surface coast
$FINISH,1.2,1.010797
$STATE,16064,end surface coast,CONTROL_FINISHED_OK
$STATE,16064,begin surface
$SM_CCo,16136,0.00,0.000,0,0,1651,316.19
$SM_GC,2.36,8.27,0.00,0.00,0.065,0.000,0.000,144,1933,1651,-8.93,-0.11,316.19
$RAFOS_CLK,814
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5753.26,160199,181822
$TT8_MAMPS,0.050622
$HUMID,39.80
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.1,100.8
$24V_AH,23.2,6.217
$10V_AH,10.3,2.479
$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,22.925,168.325,406.700,0.000,0.000,27.717,33.896,186.572,2.500,0.000,13.536,0.000,12155.657,535.512,3388.018,391.633,0.000,1956.255,0.000,2768.962,2520.000,21.792,0.000
$DEVICE_MAMPS,252.343,91.273,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,985.608,1043.582,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150416
$DATA_FILE_SIZE,56669,1402
$CAP_FILE_SIZE,189716,0
$CFSIZE,260165632,251080704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$CURRENT,0.093,187.7,1
$GPS,231009,035957,6656.520,-5758.045,101,2.2,120,-37.7