version: 66.06
glider: 172
mission: 3
dive: 37
start: 10 27 109 0 59 20
data:
$ID,172
$MISSION,3
$DIVE,37
$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,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,-4803.9272
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,004807,6644.869,-5953.078,90,1.0,90,-38.0
$_CALLS,2
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-74.9
$GPS2,005914,6644.708,-5953.341,11,2.0,11,-38.0
$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,349.9,23928,-17.5,-10.000
$D_GRID,709
$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,-146.0,0.0,0.0,0,38,0.00,0.00,-24.85,0.000,2,0.000,0.000,120,1855,1980,0,0,0,0,0,0
$GC,40,-0.64,-146.0,3.0,-2.4,4,114,10.55,0.00,-59.53,0.000,6,0.240,0.000,2810,1855,3538,0,0,0,0,0,0
$GC,432,-0.49,-146.0,79.1,-18.7,78,438,0.17,2.33,0.00,0.000,4,0.173,0.075,2850,3259,3539,0,0,0,0,0,0
$GC,459,-0.49,-146.0,83.5,-15.2,84,465,0.00,2.33,0.00,0.000,6,0.000,0.065,2851,1849,3539,0,0,0,0,0,0
$GC,778,-0.49,-146.0,126.9,-13.2,126,781,0.00,2.35,0.00,0.000,4,0.000,0.078,2850,443,3539,0,0,0,0,0,0
$GC,812,-0.54,-146.0,131.6,-14.0,130,816,0.00,2.25,0.00,0.000,6,0.000,0.060,2842,1838,3539,0,0,0,0,0,0
$GC,1131,-0.54,-146.0,176.4,-13.1,161,1135,0.00,2.30,0.00,0.000,4,0.000,0.077,2842,442,3538,0,0,0,0,0,0
$GC,1166,-0.57,-146.0,181.0,-13.1,165,1169,0.00,2.25,0.00,0.000,6,0.000,0.059,2837,1845,3538,0,0,0,0,0,0
$GC,1483,-0.57,-146.0,221.4,-12.0,196,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1844,3539,0,0,0,0,0,0
$GC,1795,-0.61,-146.0,258.6,-11.9,226,1798,0.00,2.28,0.00,0.000,4,0.000,0.075,2838,3258,3538,0,0,0,0,0,0
$GC,1819,-0.71,-146.0,261.6,-11.3,228,1827,0.10,2.28,0.00,0.000,6,0.069,0.064,2781,1855,3538,0,0,0,0,0,0
$GC,2134,-0.60,-146.0,309.5,-15.3,259,2138,0.17,2.35,0.00,0.000,4,0.170,0.080,2831,407,3538,0,0,0,0,0,0
$GC,2216,-0.63,-146.0,319.6,-12.2,268,2223,0.00,2.30,0.00,0.000,6,0.000,0.059,2822,1847,3538,0,0,0,0,0,0
$GC,2530,-0.63,-146.0,355.6,-11.1,299,2534,0.00,2.30,0.00,0.000,4,0.000,0.078,2822,443,3538,0,0,0,0,0,0
$GC,2583,-0.66,-146.0,361.8,-11.7,305,2586,0.00,2.22,0.00,0.000,6,0.000,0.061,2822,1843,3538,0,0,0,0,0,0
$GC,2901,-0.66,-146.0,397.3,-10.8,336,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1843,3538,0,0,0,0,0,0
$GC,3212,-0.66,-146.0,431.9,-11.3,366,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1843,3538,0,0,0,0,0,0
$GC,3522,-0.70,-146.0,467.2,-11.8,396,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1844,3538,0,0,0,0,0,0
$GC,3833,-0.74,-146.0,504.1,-11.8,426,3837,0.10,2.30,0.00,0.000,4,0.123,0.077,2776,443,3538,0,0,0,0,0,0
$GC,3863,-0.65,-146.0,508.7,-16.1,429,3869,0.10,2.22,0.00,0.000,6,0.156,0.061,2810,1845,3538,0,0,0,0,0,0
$GC,4177,-0.65,-146.0,546.9,-11.2,460,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1845,3539,0,0,0,0,0,0
$GC,4487,-0.65,-146.0,582.3,-10.9,490,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1845,3539,0,0,0,0,0,0
$GC,4805,-0.65,-146.0,617.8,-11.0,511,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1845,3540,0,0,0,0,0,0
$GC,5111,-0.65,-146.0,651.2,-11.0,521,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1844,3540,0,0,0,0,0,0
$GC,5412,-0.65,-146.0,683.8,-10.7,531,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1845,3541,0,0,0,0,0,0
$STATE,5653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5654,begin apogee
$GC,5657,-0.13,0.0,711.1,10.9,539,5780,0.52,0.00,121.55,1.081,6,0.142,0.000,2980,1691,2940,0,0,0,0,0,0
$STATE,5781,end apogee,CONTROL_FINISHED_OK
$STATE,5781,begin climb
$GC,5782,0.64,146.0,715.5,0.0,543,5914,0.73,2.47,125.72,1.048,4,0.091,0.075,3240,295,2343,0,0,0,0,0,0
$GC,6122,0.57,196.6,698.6,7.7,554,6171,0.12,2.30,43.95,1.023,6,0.175,0.053,3209,1710,2138,0,0,0,0,0,0
$GC,6496,0.63,240.8,668.0,8.0,567,6536,0.00,0.00,39.58,1.012,6,0.000,0.000,3209,1710,1958,0,0,0,0,0,0
$GC,6830,0.69,247.9,636.3,9.7,578,6838,0.10,0.00,6.47,0.825,6,0.114,0.000,3252,1710,1929,0,0,0,0,0,0
$GC,7133,0.62,247.9,598.6,12.6,588,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1710,1925,0,0,0,0,0,0
$GC,7444,0.57,247.9,560.3,12.2,618,7445,0.15,0.00,0.00,0.000,6,0.163,0.000,3211,1711,1925,0,0,0,0,0,0
$GC,7754,0.64,253.8,530.7,9.7,648,7766,0.00,0.00,6.38,0.805,6,0.000,0.000,3211,1710,1905,0,0,0,0,0,0
$GC,8074,0.71,253.8,498.2,10.3,679,8078,0.12,2.30,0.00,0.000,4,0.107,0.067,3265,3106,1903,0,0,0,0,0,0
$GC,8104,0.62,253.8,494.3,14.3,682,8110,0.15,2.30,0.00,0.000,6,0.156,0.064,3227,1701,1903,0,0,0,0,0,0
$GC,8418,0.63,265.8,461.0,9.4,713,8436,0.00,2.35,11.85,0.869,4,0.000,0.078,3237,295,1856,0,0,0,0,0,0
$GC,8457,0.64,272.0,457.1,9.7,717,8471,0.00,2.25,7.18,0.779,6,0.000,0.053,3237,1701,1831,0,0,0,0,0,0
$GC,8780,0.64,272.0,423.8,10.1,749,8784,0.00,2.30,0.00,0.000,4,0.000,0.067,3237,3108,1827,0,0,0,0,0,0
$GC,8818,0.64,272.0,419.8,10.5,753,8824,0.00,2.30,0.00,0.000,6,0.000,0.062,3245,1701,1827,0,0,0,0,0,0
$GC,9133,0.64,272.0,385.0,11.8,784,9137,0.00,2.33,0.00,0.000,4,0.000,0.077,3255,288,1826,0,0,0,0,0,0
$GC,9193,0.64,272.0,377.8,12.4,791,9197,0.00,2.25,0.00,0.000,6,0.000,0.052,3255,1706,1826,0,0,0,0,0,0
$GC,9512,0.64,272.0,339.5,11.6,822,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1706,1826,0,0,0,0,0,0
$GC,9823,0.64,272.0,304.4,10.9,852,9827,0.00,2.33,0.00,0.000,4,0.000,0.077,3265,290,1826,0,0,0,0,0,0
$GC,9914,0.64,272.0,293.6,11.9,862,9920,0.08,2.22,0.00,0.000,6,0.153,0.053,3237,1701,1826,0,0,0,0,0,0
$GC,10229,0.73,296.0,264.6,8.9,893,10255,0.00,2.33,21.98,0.800,4,0.000,0.076,3248,287,1732,0,0,0,0,0,0
$GC,10284,0.80,296.0,259.2,10.4,899,10290,0.08,2.25,0.00,0.000,6,0.079,0.053,3292,1691,1731,0,0,0,0,0,0
$GC,10599,0.75,296.0,220.5,12.6,930,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1693,1728,0,0,0,0,0,0
$GC,10911,0.70,296.0,185.4,10.2,960,10915,0.15,2.30,0.00,0.000,4,0.172,0.070,3249,3112,1728,0,0,0,0,0,0
$GC,10958,0.76,299.3,180.9,9.8,965,10961,0.00,2.25,0.00,0.000,6,0.000,0.064,3259,1699,1727,0,0,0,0,0,0
$GC,11279,0.90,335.2,153.4,8.3,996,11319,0.15,0.00,35.47,0.752,6,0.097,0.000,3322,1699,1573,0,0,0,0,0,0
$GC,11627,0.85,335.2,110.0,11.8,1030,11630,0.00,2.35,0.00,0.000,4,0.000,0.079,3333,291,1564,0,0,0,0,0,0
$GC,11670,0.77,335.2,104.2,13.8,1035,11674,0.17,2.25,0.00,0.000,6,0.146,0.055,3275,1695,1564,0,0,0,0,0,0
$GC,11998,0.93,379.6,75.4,7.9,1092,12040,0.15,0.00,38.42,0.708,6,0.098,0.000,3336,1696,1391,0,0,0,0,0,0
$GC,12359,0.93,379.6,31.4,11.3,1160,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1696,1382,0,0,0,0,0,0
$STATE,12630,end climb,SURFACE_DEPTH_REACHED
$STATE,12630,begin surface coast
$FINISH,1.5,1.004192
$STATE,12663,end surface coast,CONTROL_FINISHED_OK
$STATE,12663,begin surface
$SM_CCo,12735,0.00,0.000,0,0,1375,383.89
$SM_GC,2.52,8.40,0.00,0.00,0.053,0.000,0.000,149,1857,1375,-8.94,0.20,383.89
$RAFOS_CLK,667
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6015.98,210199,000036
$TT8_MAMPS,0.052156
$HUMID,38.85
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.2,76.4
$24V_AH,23.3,9.344
$10V_AH,10.2,4.019
$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,22.275,73.975,458.550,0.000,0.000,62.326,78.245,369.051,1.750,0.000,11.614,0.000,9797.140,532.743,2429.484,618.842,0.000,1547.612,0.000,1964.733,1412.000,15.677,0.000
$DEVICE_MAMPS,240.071,86.671,1080.703,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.465,904.820,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150740
$DATA_FILE_SIZE,47293,1217
$CAP_FILE_SIZE,141532,0
$CFSIZE,260165632,249421824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.7
$CURRENT,0.334,199.2,1
$GPS,271009,043255,6643.887,-5958.906,59,1.4,59,-38.0