version: 66.06
glider: 172
mission: 3
dive: 60
start: 10 30 109 4 43 32
data:
$ID,172
$MISSION,3
$DIVE,60
$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,-5296.4512
$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,18
$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
$GPS1,043124,6644.626,-5940.063,66,1.1,66,-37.9
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-77.2
$GPS2,044326,6644.389,-5940.187,37,1.7,37,-37.9
$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,53.8,25159,-17.5,-10.000
$D_GRID,846
$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,-146.0,0.0,0.0,0,63,0.00,0.00,-49.33,0.000,2,0.000,0.000,120,1850,2189,0,0,0,0,0,0
$GC,65,-0.64,-146.0,3.2,-2.6,9,126,10.65,2.40,-43.62,0.000,4,0.243,0.090,2798,3255,3539,0,0,0,0,0,0
$GC,277,-0.55,-146.0,38.0,-16.4,57,283,0.17,2.35,0.00,0.000,6,0.163,0.067,2847,1824,3541,0,0,0,0,0,0
$GC,602,-0.55,-146.0,84.1,-14.3,118,607,0.00,2.30,0.00,0.000,4,0.000,0.078,2848,443,3540,0,0,0,0,0,0
$GC,663,-0.55,-146.0,93.2,-15.1,132,668,0.00,2.28,0.00,0.000,6,0.000,0.059,2838,1845,3541,0,0,0,0,0,0
$GC,983,-0.55,-146.0,139.0,-13.7,168,987,0.00,2.33,0.00,0.000,4,0.000,0.075,2827,3249,3540,0,0,0,0,0,0
$GC,1010,-0.58,-146.0,142.3,-13.5,171,1013,0.00,2.25,0.00,0.000,6,0.000,0.065,2827,1847,3540,0,0,0,0,0,0
$GC,1328,-0.58,-146.0,186.6,-14.1,202,1332,0.00,2.33,0.00,0.000,4,0.000,0.078,2827,441,3540,0,0,0,0,0,0
$GC,1362,-0.58,-146.0,191.5,-14.1,206,1366,0.00,2.25,0.00,0.000,6,0.000,0.059,2819,1842,3540,0,0,0,0,0,0
$GC,1681,-0.58,-146.0,236.0,-13.8,237,1685,0.00,2.30,0.00,0.000,4,0.000,0.078,2819,447,3540,0,0,0,0,0,0
$GC,1724,-0.58,-146.0,242.2,-13.4,242,1729,0.00,2.25,0.00,0.000,6,0.000,0.060,2819,1848,3540,0,0,0,0,0,0
$GC,2043,-0.58,-146.0,284.2,-12.9,273,2047,0.00,2.33,0.00,0.000,4,0.000,0.079,2819,439,3540,0,0,0,0,0,0
$GC,2082,-0.58,-146.0,289.4,-13.3,277,2088,0.00,2.28,0.00,0.000,6,0.000,0.059,2819,1856,3539,0,0,0,0,0,0
$GC,2396,-0.58,-146.0,329.1,-12.4,308,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1856,3539,0,0,0,0,0,0
$GC,2707,-0.58,-146.0,367.7,-11.9,338,2711,0.00,2.30,0.00,0.000,4,0.000,0.077,2819,432,3539,0,0,0,0,0,0
$GC,2728,-0.58,-146.0,370.5,-12.6,340,2734,0.00,2.28,0.00,0.000,6,0.000,0.058,2819,1853,3539,0,0,0,0,0,0
$GC,3043,-0.58,-146.0,407.5,-11.7,371,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1853,3539,0,0,0,0,0,0
$GC,3354,-0.63,-146.0,443.4,-11.5,401,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1853,3540,0,0,0,0,0,0
$GC,3664,-0.67,-146.0,476.9,-10.9,431,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1853,3540,0,0,0,0,0,0
$GC,3974,-0.72,-146.0,510.5,-10.6,461,3978,0.00,2.30,0.00,0.000,4,0.000,0.077,2819,441,3540,0,0,0,0,0,0
$GC,4004,-0.78,-146.0,513.9,-11.2,464,4010,0.10,2.22,0.00,0.000,6,0.067,0.058,2761,1845,3540,0,0,0,0,0,0
$GC,4319,-0.66,-146.0,560.6,-15.3,495,4320,0.17,0.00,0.00,0.000,6,0.161,0.000,2812,1845,3541,0,0,0,0,0,0
$GC,4629,-0.70,-146.0,595.4,-10.8,525,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1845,3541,0,0,0,0,0,0
$GC,4954,-0.75,-146.0,630.2,-10.6,539,4958,0.00,2.28,0.00,0.000,4,0.000,0.076,2811,443,3542,0,0,0,0,0,0
$GC,5001,-0.80,-146.0,635.5,-10.9,540,5005,0.10,2.22,0.00,0.000,6,0.067,0.057,2751,1852,3542,0,0,0,0,0,0
$GC,5318,-0.68,-146.0,683.1,-15.0,551,5319,0.17,0.00,0.00,0.000,6,0.160,0.000,2803,1852,3542,0,0,0,0,0,0
$GC,5620,-0.68,-146.0,716.7,-10.9,561,5624,0.00,2.30,0.00,0.000,4,0.000,0.075,2803,438,3542,0,0,0,0,0,0
$GC,5672,-0.68,-146.0,722.4,-10.0,562,5677,0.00,2.22,0.00,0.000,6,0.000,0.056,2797,1850,3542,0,0,0,0,0,0
$GC,5984,-0.68,-146.0,756.8,-11.1,573,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1850,3543,0,0,0,0,0,0
$GC,6288,-0.68,-146.0,790.9,-11.2,583,6292,0.00,2.30,0.00,0.000,4,0.000,0.076,2798,445,3543,0,0,0,0,0,0
$GC,6318,-0.68,-146.0,794.4,-11.8,584,6322,0.00,2.22,0.00,0.000,6,0.000,0.057,2798,1854,3543,0,0,0,0,0,0
$GC,6652,-0.89,-146.0,827.7,-8.5,595,6656,0.17,2.28,0.00,0.000,4,0.088,0.075,2715,438,3543,0,0,0,0,0,0
$GC,6743,-0.68,-146.0,841.8,-17.1,598,6747,0.28,2.20,0.00,0.000,6,0.152,0.058,2801,1856,3543,0,0,0,0,0,0
$STATE,6802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6802,begin apogee
$GC,6805,-0.13,0.0,849.2,11.0,600,6931,0.55,0.00,124.28,1.174,6,0.133,0.000,2983,1687,2940,0,0,0,0,0,0
$STATE,6932,end apogee,CONTROL_FINISHED_OK
$STATE,6932,begin climb
$GC,6933,0.64,146.0,853.8,0.0,604,7072,0.73,2.58,128.73,1.142,4,0.083,0.065,3231,3107,2342,0,0,0,0,0,0
$GC,7124,0.49,156.1,850.4,9.5,610,7139,0.17,2.45,9.57,0.973,6,0.155,0.060,3191,1704,2303,0,0,0,0,0,0
$GC,7464,0.56,210.5,824.0,7.5,622,7516,0.00,0.00,49.65,1.109,6,0.000,0.000,3191,1703,2081,0,0,0,0,0,0
$GC,7798,0.64,235.9,795.6,8.8,633,7828,0.12,2.47,22.92,1.069,4,0.102,0.074,3253,293,1977,0,0,0,0,0,0
$GC,7858,0.55,235.9,788.5,13.7,635,7862,0.17,2.30,0.00,0.000,6,0.163,0.051,3206,1703,1974,0,0,0,0,0,0
$GC,8186,0.55,235.9,754.1,10.4,646,8190,0.00,2.40,0.00,0.000,4,0.000,0.076,3216,287,1971,0,0,0,0,0,0
$GC,8217,0.55,235.9,750.8,11.6,647,8220,0.00,2.25,0.00,0.000,6,0.000,0.051,3216,1702,1970,0,0,0,0,0,0
$GC,8550,0.55,235.9,714.5,10.8,658,8554,0.00,2.38,0.00,0.000,4,0.000,0.077,3223,289,1969,0,0,0,0,0,0
$GC,8575,0.55,235.9,711.7,11.1,658,8581,0.00,2.25,0.00,0.000,6,0.000,0.051,3223,1698,1969,0,0,0,0,0,0
$GC,8883,0.55,235.9,678.2,10.8,669,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1698,1968,0,0,0,0,0,0
$GC,9186,0.55,235.9,646.1,10.7,679,9190,0.00,2.35,0.00,0.000,4,0.000,0.077,3232,285,1968,0,0,0,0,0,0
$GC,9221,0.55,235.9,642.0,12.8,680,9225,0.00,2.25,0.00,0.000,6,0.000,0.051,3232,1703,1968,0,0,0,0,0,0
$GC,9550,0.55,235.9,606.2,10.9,691,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1704,1969,0,0,0,0,0,0
$GC,9859,0.55,235.9,571.7,10.8,717,9863,0.00,2.33,0.00,0.000,4,0.000,0.077,3240,291,1968,0,0,0,0,0,0
$GC,9898,0.52,235.9,567.2,12.2,721,9904,0.12,2.22,0.00,0.000,6,0.146,0.051,3198,1701,1968,0,0,0,0,0,0
$GC,10213,0.60,254.7,537.8,9.1,752,10234,0.00,2.38,16.27,0.942,4,0.000,0.077,3208,286,1900,0,0,0,0,0,0
$GC,10256,0.68,259.2,533.6,9.8,757,10266,0.08,2.25,5.40,0.746,6,0.076,0.051,3251,1696,1883,0,0,0,0,0,0
$GC,10574,0.63,259.2,491.9,13.5,788,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1697,1880,0,0,0,0,0,0
$GC,10885,0.58,259.2,450.7,13.6,818,10889,0.15,2.33,0.00,0.000,4,0.163,0.077,3219,282,1879,0,0,0,0,0,0
$GC,10906,0.58,259.2,448.0,12.2,820,10910,0.00,2.22,0.00,0.000,6,0.000,0.051,3219,1691,1879,0,0,0,0,0,0
$GC,11225,0.62,259.2,413.3,10.4,851,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1693,1879,0,0,0,0,0,0
$GC,11536,0.67,259.2,382.1,10.1,881,11539,0.00,2.28,0.00,0.000,4,0.000,0.077,3227,282,1879,0,0,0,0,0,0
$GC,11596,0.73,259.2,375.7,11.2,888,11600,0.00,2.22,0.00,0.000,6,0.000,0.051,3227,1724,1878,0,0,0,0,0,0
$GC,11914,0.76,259.2,342.3,10.4,919,11918,0.12,2.38,0.00,0.000,4,0.107,0.077,3291,260,1878,0,0,0,0,0,0
$GC,11953,0.62,259.2,336.9,15.4,923,11959,0.15,2.28,0.00,0.000,6,0.150,0.052,3227,1705,1878,0,0,0,0,0,0
$GC,12268,0.67,259.2,303.5,10.4,954,12272,0.00,2.33,0.00,0.000,4,0.000,0.077,3237,285,1878,0,0,0,0,0,0
$GC,12294,0.67,259.2,300.8,11.0,957,12297,0.00,2.22,0.00,0.000,6,0.000,0.051,3237,1703,1878,0,0,0,0,0,0
$GC,12612,0.71,259.2,267.6,10.1,988,12616,0.00,2.25,0.00,0.000,4,0.000,0.067,3237,3104,1878,0,0,0,0,0,0
$GC,12642,0.71,259.2,264.4,11.6,991,12648,0.00,2.25,0.00,0.000,6,0.000,0.061,3246,1701,1878,0,0,0,0,0,0
$GC,12957,0.73,272.0,233.2,9.4,1022,12975,0.00,2.33,11.98,0.765,4,0.000,0.077,3254,291,1830,0,0,0,0,0,0
$GC,13091,0.73,273.6,219.6,9.9,1037,13097,0.00,2.22,0.00,0.000,6,0.000,0.052,3255,1700,1828,0,0,0,0,0,0
$GC,13406,0.80,295.4,189.7,9.0,1068,13433,0.00,2.33,22.00,0.762,4,0.000,0.077,3262,289,1733,0,0,0,0,0,0
$GC,13484,0.85,295.4,182.3,10.2,1077,13488,0.10,2.22,0.00,0.000,6,0.121,0.053,3307,1703,1731,0,0,0,0,0,0
$GC,13803,0.77,295.4,145.3,10.8,1108,13807,0.12,2.28,0.00,0.000,4,0.176,0.069,3273,3108,1728,0,0,0,0,0,0
$GC,13841,0.77,295.4,141.2,11.0,1112,13848,0.00,2.30,0.00,0.000,6,0.000,0.064,3284,1704,1728,0,0,0,0,0,0
$GC,14156,0.79,308.2,110.5,9.4,1143,14175,0.00,2.35,11.50,0.711,4,0.000,0.079,3293,295,1682,0,0,0,0,0,0
$GC,14226,0.79,308.2,103.6,10.8,1151,14230,0.00,2.25,0.00,0.000,6,0.000,0.054,3293,1698,1681,0,0,0,0,0,0
$GC,14554,0.79,308.2,69.7,10.9,1209,14560,0.00,2.35,0.00,0.000,4,0.000,0.081,3304,285,1679,0,0,0,0,0,0
$GC,14633,0.79,308.2,60.8,10.6,1227,14638,0.00,2.25,0.00,0.000,6,0.000,0.054,3304,1700,1679,0,0,0,0,0,0
$GC,14958,0.80,318.2,30.9,9.5,1288,14973,0.00,2.30,9.55,0.674,4,0.000,0.073,3304,3110,1642,0,0,0,0,0,0
$GC,15028,0.80,318.2,22.2,13.6,1304,15034,0.08,2.33,0.00,0.000,6,0.160,0.067,3288,1699,1640,0,0,0,0,0,0
$STATE,15207,end climb,SURFACE_DEPTH_REACHED
$STATE,15207,begin surface coast
$FINISH,1.5,1.024780
$STATE,15272,end surface coast,CONTROL_FINISHED_OK
$STATE,15272,begin surface
$SM_CCo,15344,0.00,0.000,0,0,1634,320.36
$SM_GC,2.63,8.35,0.00,0.00,0.062,0.000,0.000,140,1857,1634,-8.94,0.20,320.36
$RAFOS_CLK,805
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5934.83,240199,040437
$TT8_MAMPS,0.052156
$HUMID,39.95
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,753.4,117.3
$24V_AH,23.0,12.630
$10V_AH,10.2,5.501
$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,22.850,138.375,411.850,0.000,0.000,54.333,76.250,396.889,2.250,0.000,37.761,0.000,11959.806,573.815,2834.212,675.055,0.000,1742.409,0.000,2254.845,2824.000,20.180,0.000
$DEVICE_MAMPS,243.139,89.739,1174.277,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.569,1006.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150236
$DATA_FILE_SIZE,53580,1350
$CAP_FILE_SIZE,172251,0
$CFSIZE,260165632,247771136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$CURRENT,0.143,171.1,1
$GPS,301009,090102,6645.451,-5938.000,84,1.1,85,-37.9