version: 66.06
glider: 172
mission: 3
dive: 59
start: 10 30 109 0 14 57
data:
$ID,172
$MISSION,3
$DIVE,59
$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,-5258.0605
$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,20
$R_STBD_OVSHOOT,32
$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
$GPS1,000455,6646.770,-5945.062,62,1.8,62,-38.0
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-70.7
$GPS2,001450,6646.694,-5945.335,12,1.7,12,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$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,102.3,26935,-17.5,-10.000
$D_GRID,842
$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,-146.0,0.0,0.0,0,58,0.00,0.00,-43.97,0.000,2,0.000,0.000,120,1860,2404,0,0,0,0,0,0
$GC,59,-0.64,-146.0,3.0,-1.8,8,112,10.57,2.38,-34.95,0.000,4,0.244,0.091,2813,438,3538,0,0,0,0,0,0
$GC,289,-0.51,-146.0,44.9,-18.2,60,295,0.15,2.28,0.00,0.000,6,0.150,0.059,2854,1834,3540,0,0,0,0,0,0
$GC,613,-0.51,-146.0,89.8,-13.1,121,618,0.00,2.38,0.00,0.000,4,0.000,0.077,2847,3253,3540,0,0,0,0,0,0
$GC,635,-0.57,-146.0,92.7,-12.2,126,641,0.00,2.28,0.00,0.000,6,0.000,0.066,2848,1844,3540,0,0,0,0,0,0
$GC,952,-0.57,-146.0,135.1,-13.6,162,956,0.00,2.30,0.00,0.000,4,0.000,0.077,2848,448,3539,0,0,0,0,0,0
$GC,1017,-0.61,-146.0,143.9,-12.9,169,1022,0.00,2.25,0.00,0.000,6,0.000,0.059,2842,1845,3539,0,0,0,0,0,0
$GC,1331,-0.61,-146.0,184.1,-12.6,200,1335,0.00,2.33,0.00,0.000,4,0.000,0.076,2835,3251,3539,0,0,0,0,0,0
$GC,1352,-0.67,-146.0,186.6,-12.1,202,1359,0.00,2.28,0.00,0.000,6,0.000,0.064,2834,1854,3539,0,0,0,0,0,0
$GC,1666,-0.67,-146.0,223.5,-11.5,233,1670,0.00,2.33,0.00,0.000,4,0.000,0.077,2834,439,3539,0,0,0,0,0,0
$GC,1740,-0.72,-146.0,232.2,-11.5,241,1746,0.00,2.25,0.00,0.000,6,0.000,0.058,2826,1849,3539,0,0,0,0,0,0
$GC,2054,-0.72,-146.0,267.5,-11.0,272,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1849,3539,0,0,0,0,0,0
$GC,2365,-0.72,-146.0,302.4,-11.6,302,2369,0.00,2.30,0.00,0.000,4,0.000,0.077,2815,3273,3538,0,0,0,0,0,0
$GC,2391,-0.80,-146.0,305.4,-12.0,305,2395,0.12,2.25,0.00,0.000,6,0.102,0.065,2759,1847,3538,0,0,0,0,0,0
$GC,2710,-0.67,-146.0,357.3,-16.6,336,2714,0.17,2.28,0.00,0.000,4,0.167,0.076,2809,435,3538,0,0,0,0,0,0
$GC,2757,-0.67,-146.0,364.0,-12.8,341,2763,0.00,2.25,0.00,0.000,6,0.000,0.058,2799,1848,3538,0,0,0,0,0,0
$GC,3071,-0.67,-146.0,404.3,-12.9,372,3075,0.00,2.28,0.00,0.000,4,0.000,0.075,2799,450,3538,0,0,0,0,0,0
$GC,3128,-0.67,-146.0,411.8,-13.1,378,3134,0.00,2.22,0.00,0.000,6,0.000,0.058,2795,1851,3538,0,0,0,0,0,0
$GC,3442,-0.67,-146.0,452.8,-12.8,409,3446,0.00,2.28,0.00,0.000,4,0.000,0.074,2795,448,3538,0,0,0,0,0,0
$GC,3468,-0.63,-146.0,456.3,-13.6,412,3472,0.00,2.22,0.00,0.000,6,0.000,0.057,2794,1852,3538,0,0,0,0,0,0
$GC,3787,-0.63,-146.0,497.6,-13.3,443,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1852,3538,0,0,0,0,0,0
$GC,4097,-0.63,-146.0,537.1,-12.4,473,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1852,3539,0,0,0,0,0,0
$GC,4407,-0.63,-146.0,576.2,-12.4,503,4411,0.00,2.28,0.00,0.000,4,0.000,0.074,2795,445,3539,0,0,0,0,0,0
$GC,4425,-0.63,-146.0,578.5,-13.5,505,4428,0.00,2.22,0.00,0.000,6,0.000,0.056,2795,1855,3539,0,0,0,0,0,0
$GC,4750,-0.63,-146.0,619.3,-12.6,527,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1855,3540,0,0,0,0,0,0
$GC,5054,-0.63,-146.0,656.2,-12.0,537,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1855,3541,0,0,0,0,0,0
$GC,5357,-0.63,-146.0,691.3,-11.4,547,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1855,3541,0,0,0,0,0,0
$GC,5660,-0.63,-146.0,725.6,-11.3,557,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1855,3541,0,0,0,0,0,0
$GC,5964,-0.63,-146.0,760.2,-11.3,567,5968,0.00,2.25,0.00,0.000,4,0.000,0.075,2794,439,3541,0,0,0,0,0,0
$GC,5981,-0.63,-146.0,762.2,-11.9,567,5985,0.00,2.22,0.00,0.000,6,0.000,0.057,2794,1850,3541,0,0,0,0,0,0
$GC,6297,-0.63,-146.0,797.3,-11.2,578,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1850,3541,0,0,0,0,0,0
$GC,6601,-0.63,-146.0,830.7,-11.0,588,6605,0.00,2.30,0.00,0.000,4,0.000,0.075,2795,442,3542,0,0,0,0,0,0
$GC,6631,-0.63,-146.0,834.2,-12.5,589,6635,0.00,2.17,0.00,0.000,6,0.000,0.057,2795,1855,3542,0,0,0,0,0,0
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6723,-0.13,0.0,843.8,10.4,592,6849,0.57,0.00,123.70,1.170,6,0.133,0.000,2983,1699,2940,0,0,0,0,0,0
$STATE,6850,end apogee,CONTROL_FINISHED_OK
$STATE,6850,begin climb
$GC,6851,0.64,146.0,847.8,0.0,596,6985,0.73,2.53,128.15,1.137,4,0.074,0.073,3249,287,2343,0,0,0,0,0,0
$GC,7089,0.46,160.2,838.3,9.3,603,7107,0.28,2.35,12.93,1.020,6,0.160,0.050,3175,1707,2287,0,0,0,0,0,0
$GC,7409,0.58,209.0,814.0,7.7,614,7460,0.12,2.42,45.20,1.104,4,0.100,0.065,3229,3111,2085,0,0,0,0,0,0
$GC,7465,0.49,209.0,808.5,10.8,615,7470,0.20,2.40,0.00,0.000,6,0.159,0.061,3186,1702,2083,0,0,0,0,0,0
$GC,7772,0.61,239.3,781.5,8.6,626,7803,0.10,2.50,27.10,1.073,4,0.116,0.074,3240,282,1963,0,0,0,0,0,0
$GC,7842,0.57,239.3,773.7,12.6,628,7846,0.12,2.33,0.00,0.000,6,0.166,0.050,3208,1708,1959,0,0,0,0,0,0
$GC,8166,0.57,240.8,740.7,9.9,639,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1708,1955,0,0,0,0,0,0
$GC,8470,0.57,242.9,710.7,9.9,649,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1708,1954,0,0,0,0,0,0
$GC,8774,0.58,248.9,681.0,9.7,659,8783,0.00,0.00,8.43,0.930,6,0.000,0.000,3208,1708,1925,0,0,0,0,0,0
$GC,9077,0.61,248.9,650.5,10.0,669,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1708,1922,0,0,0,0,0,0
$GC,9380,0.64,248.9,618.9,10.6,679,9384,0.00,2.30,0.00,0.000,4,0.000,0.076,3219,287,1922,0,0,0,0,0,0
$GC,9401,0.64,248.9,616.6,10.5,679,9405,0.00,2.25,0.00,0.000,6,0.000,0.052,3218,1700,1921,0,0,0,0,0,0
$GC,9717,0.64,248.9,581.9,11.0,700,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1700,1922,0,0,0,0,0,0
$GC,10028,0.64,248.9,548.6,10.4,730,10031,0.00,2.30,0.00,0.000,4,0.000,0.077,3228,286,1922,0,0,0,0,0,0
$GC,10057,0.64,248.9,545.2,11.3,733,10063,0.00,2.22,0.00,0.000,6,0.000,0.051,3228,1697,1921,0,0,0,0,0,0
$GC,10372,0.64,248.9,511.5,10.7,764,10376,0.00,2.30,0.00,0.000,4,0.000,0.077,3235,294,1921,0,0,0,0,0,0
$GC,10389,0.64,248.9,509.7,11.1,766,10393,0.00,2.20,0.00,0.000,6,0.000,0.051,3235,1696,1921,0,0,0,0,0,0
$GC,10707,0.64,248.9,474.9,11.1,797,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1696,1921,0,0,0,0,0,0
$GC,11019,0.64,248.9,440.6,11.3,827,11022,0.00,2.25,0.00,0.000,4,0.000,0.076,3244,287,1921,0,0,0,0,0,0
$GC,11056,0.64,248.9,436.1,11.9,831,11062,0.00,2.20,0.00,0.000,6,0.000,0.051,3244,1693,1921,0,0,0,0,0,0
$GC,11371,0.64,248.9,399.7,11.4,862,11375,0.00,2.28,0.00,0.000,4,0.000,0.067,3244,3104,1921,0,0,0,0,0,0
$GC,11414,0.61,248.9,394.5,13.0,867,11419,0.08,2.25,0.00,0.000,6,0.160,0.062,3227,1704,1921,0,0,0,0,0,0
$GC,11733,0.61,250.5,362.2,9.9,898,11737,0.00,2.30,0.00,0.000,4,0.000,0.076,3237,285,1921,0,0,0,0,0,0
$GC,11824,0.61,250.5,352.3,10.0,908,11829,0.00,2.20,0.00,0.000,6,0.000,0.051,3237,1693,1921,0,0,0,0,0,0
$GC,12138,0.61,250.5,318.9,10.6,939,12142,0.00,2.28,0.00,0.000,4,0.000,0.067,3237,3104,1921,0,0,0,0,0,0
$GC,12177,0.61,250.5,314.5,12.4,943,12183,0.00,2.25,0.00,0.000,6,0.000,0.061,3246,1700,1921,0,0,0,0,0,0
$GC,12491,0.61,250.5,281.4,10.0,974,12495,0.00,2.30,0.00,0.000,4,0.000,0.074,3256,289,1921,0,0,0,0,0,0
$GC,12556,0.57,250.5,274.8,10.2,981,12562,0.12,2.20,0.00,0.000,6,0.146,0.053,3213,1697,1921,0,0,0,0,0,0
$GC,12871,0.71,284.0,248.8,8.5,1012,12907,0.12,2.30,31.38,0.798,4,0.107,0.068,3269,3110,1781,0,0,0,0,0,0
$GC,12933,0.67,284.0,241.6,13.2,1019,12937,0.12,2.28,0.00,0.000,6,0.183,0.064,3246,1699,1778,0,0,0,0,0,0
$GC,13251,0.73,286.6,208.7,9.9,1050,13255,0.00,2.33,0.00,0.000,4,0.000,0.077,3257,290,1774,0,0,0,0,0,0
$GC,13272,0.73,287.4,206.7,10.0,1052,13278,0.00,2.25,0.00,0.000,6,0.000,0.053,3257,1702,1773,0,0,0,0,0,0
$GC,13587,0.76,310.0,176.9,9.0,1083,13616,0.00,2.35,23.20,0.754,4,0.000,0.070,3257,3102,1675,0,0,0,0,0,0
$GC,13629,0.81,314.7,172.9,9.8,1088,13639,0.00,2.28,5.85,0.616,6,0.000,0.064,3265,1700,1656,0,0,0,0,0,0
$GC,13947,0.89,338.1,141.5,8.9,1119,13974,0.12,2.35,21.70,0.734,4,0.107,0.077,3331,287,1559,0,0,0,0,0,0
$GC,14082,0.81,338.1,123.1,15.0,1134,14089,0.15,2.28,0.00,0.000,6,0.145,0.053,3282,1693,1554,0,0,0,0,0,0
$GC,14400,0.86,340.1,89.4,9.9,1174,14406,0.00,2.33,0.00,0.000,4,0.000,0.078,3292,273,1552,0,0,0,0,0,0
$GC,14435,0.90,340.1,85.7,10.4,1182,14442,0.00,2.28,0.00,0.000,6,0.000,0.054,3292,1695,1551,0,0,0,0,0,0
$GC,14761,0.93,340.1,51.9,10.3,1243,14766,0.00,2.30,0.00,0.000,4,0.000,0.080,3303,287,1551,0,0,0,0,0,0
$GC,14795,0.93,340.1,48.1,11.0,1251,14801,0.00,2.25,0.00,0.000,6,0.000,0.055,3303,1694,1551,0,0,0,0,0,0
$GC,15120,1.01,402.2,13.9,7.1,1312,15180,0.12,2.40,54.35,0.683,4,0.110,0.082,3364,285,1298,0,0,0,0,0,0
$STATE,15200,end climb,SURFACE_DEPTH_REACHED
$STATE,15201,begin surface coast
$FINISH,1.5,1.024687
$STATE,15222,end surface coast,CONTROL_FINISHED_OK
$STATE,15222,begin surface
$SM_CCo,15298,0.00,0.000,0,0,1289,404.99
$SM_GC,2.30,8.75,0.00,0.00,0.060,0.000,0.000,146,1847,1289,-8.93,-0.08,404.99
$RAFOS_CLK,798
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5944.22,240199,000025
$TT8_MAMPS,0.052156
$HUMID,39.56
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,753.3,108.9
$24V_AH,23.0,12.474
$10V_AH,10.2,5.423
$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,22.750,137.950,481.975,0.000,0.000,69.151,69.858,283.221,2.250,0.000,12.582,0.000,11956.856,600.968,2741.827,573.071,0.000,1758.773,0.000,2190.222,3177.000,20.802,0.000
$DEVICE_MAMPS,243.906,91.273,1169.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.319,991.159,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150232
$DATA_FILE_SIZE,53669,1335
$CAP_FILE_SIZE,168452,0
$CFSIZE,260165632,247857152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$CURRENT,0.357,179.7,1
$GPS,301009,043124,6644.626,-5940.063,66,1.1,66,-37.9