version: 66.06
glider: 172
mission: 3
dive: 66
start: 10 31 109 9 15 49
data:
$ID,172
$MISSION,3
$DIVE,66
$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,450
$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,-5499.9014
$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,19
$R_STBD_OVSHOOT,22
$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
$GPS1,090906,6647.325,-5920.980,35,1.2,35,-37.9
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-69.8
$GPS2,091543,6647.321,-5921.051,11,1.2,16,-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,60.7,10543,-17.5,-10.000
$D_GRID,949
$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,-146.0,0.0,0.0,0,111,0.00,0.00,-96.85,0.000,2,0.000,0.000,121,1854,2351,0,0,0,0,0,0
$GC,112,-0.64,-146.0,3.0,-1.2,19,169,10.77,2.42,-41.60,0.000,4,0.246,0.091,2812,440,3538,0,0,0,0,0,0
$GC,203,-0.47,-146.0,15.3,-20.6,39,209,0.20,2.33,0.00,0.000,6,0.153,0.061,2868,1844,3538,0,0,0,0,0,0
$GC,528,-0.47,-146.0,61.0,-12.0,100,533,0.00,2.38,0.00,0.000,4,0.000,0.076,2862,3257,3539,0,0,0,0,0,0
$GC,558,-0.58,-146.0,64.4,-10.9,107,564,0.00,2.33,0.00,0.000,6,0.000,0.064,2862,1849,3539,0,0,0,0,0,0
$GC,887,-0.64,-146.0,105.6,-12.3,165,891,0.12,2.33,0.00,0.000,4,0.105,0.077,2807,435,3539,0,0,0,0,0,0
$GC,921,-0.56,-146.0,111.1,-17.1,169,925,0.12,2.28,0.00,0.000,6,0.150,0.058,2838,1850,3539,0,0,0,0,0,0
$GC,1240,-0.56,-146.0,154.3,-12.8,200,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1850,3539,0,0,0,0,0,0
$GC,1551,-0.56,-146.0,189.4,-10.5,230,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1850,3539,0,0,0,0,0,0
$GC,1861,-0.60,-146.0,222.1,-10.9,260,1864,0.00,2.30,0.00,0.000,4,0.000,0.078,2839,439,3539,0,0,0,0,0,0
$GC,1891,-0.63,-146.0,225.8,-11.6,263,1896,0.00,2.25,0.00,0.000,6,0.000,0.058,2829,1848,3538,0,0,0,0,0,0
$GC,2205,-0.63,-146.0,264.0,-12.9,294,2209,0.00,2.30,0.00,0.000,4,0.000,0.078,2829,446,3538,0,0,0,0,0,0
$GC,2244,-0.67,-146.0,269.3,-13.5,298,2250,0.00,2.25,0.00,0.000,6,0.000,0.059,2820,1854,3538,0,0,0,0,0,0
$GC,2558,-0.67,-146.0,310.2,-12.8,329,2562,0.00,2.30,0.00,0.000,4,0.000,0.077,2820,452,3538,0,0,0,0,0,0
$GC,2584,-0.67,-146.0,313.4,-13.1,332,2588,0.00,2.22,0.00,0.000,6,0.000,0.059,2820,1850,3538,0,0,0,0,0,0
$GC,2902,-0.67,-146.0,350.9,-11.5,363,2906,0.00,2.33,0.00,0.000,4,0.000,0.078,2820,443,3538,0,0,0,0,0,0
$GC,2924,-0.67,-146.0,353.4,-11.4,365,2930,0.00,2.22,0.00,0.000,6,0.000,0.058,2821,1844,3538,0,0,0,0,0,0
$GC,3238,-0.67,-146.0,387.5,-10.5,396,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1844,3538,0,0,0,0,0,0
$GC,3549,-0.71,-146.0,418.7,-9.9,426,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1844,3538,0,0,0,0,0,0
$GC,3860,-0.76,-146.0,449.2,-10.1,456,3864,0.12,2.25,0.00,0.000,4,0.104,0.076,2764,439,3538,0,0,0,0,0,0
$GC,3893,-0.62,-146.0,454.0,-14.7,459,3899,0.20,2.22,0.00,0.000,6,0.141,0.057,2821,1849,3538,0,0,0,0,0,0
$GC,4208,-0.68,-146.0,486.7,-10.5,490,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1850,3539,0,0,0,0,0,0
$GC,4519,-0.74,-146.0,517.7,-9.8,520,4523,0.10,2.30,0.00,0.000,4,0.117,0.076,2774,442,3539,0,0,0,0,0,0
$GC,4548,-0.65,-146.0,521.5,-13.4,523,4554,0.12,2.22,0.00,0.000,6,0.146,0.057,2809,1849,3539,0,0,0,0,0,0
$GC,4863,-0.65,-146.0,554.7,-10.0,554,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1850,3539,0,0,0,0,0,0
$GC,5173,-0.65,-146.0,585.4,-9.8,584,5177,0.00,2.28,0.00,0.000,4,0.000,0.074,2810,436,3539,0,0,0,0,0,0
$GC,5203,-0.65,-146.0,588.6,-10.9,587,5208,0.00,2.22,0.00,0.000,6,0.000,0.056,2807,1850,3539,0,0,0,0,0,0
$GC,5533,-0.65,-146.0,624.1,-11.0,606,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1849,3540,0,0,0,0,0,0
$GC,5837,-0.65,-146.0,657.8,-11.1,616,5840,0.00,2.30,0.00,0.000,4,0.000,0.074,2807,440,3541,0,0,0,0,0,0
$GC,5880,-0.68,-146.0,662.9,-11.7,617,5884,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1854,3541,0,0,0,0,0,0
$GC,6200,-0.68,-146.0,699.0,-11.4,628,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1854,3541,0,0,0,0,0,0
$GC,6504,-0.72,-146.0,733.3,-11.2,638,6508,0.00,2.30,0.00,0.000,4,0.000,0.074,2807,436,3541,0,0,0,0,0,0
$GC,6543,-0.72,-146.0,737.9,-11.6,639,6546,0.00,2.22,0.00,0.000,6,0.000,0.056,2808,1850,3541,0,0,0,0,0,0
$GC,6868,-0.76,-146.0,773.4,-10.9,650,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3542,0,0,0,0,0,0
$GC,7171,-0.79,-146.0,806.0,-10.9,660,7175,0.10,2.28,0.00,0.000,4,0.117,0.074,2759,431,3542,0,0,0,0,0,0
$GC,7201,-0.67,-146.0,810.1,-14.4,661,7205,0.15,2.22,0.00,0.000,6,0.144,0.056,2804,1846,3542,0,0,0,0,0,0
$GC,7534,-0.67,-146.0,846.8,-10.7,672,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1846,3542,0,0,0,0,0,0
$GC,7838,-0.71,-146.0,879.0,-10.9,682,7842,0.00,2.22,0.00,0.000,4,0.000,0.074,2804,438,3542,0,0,0,0,0,0
$GC,7863,-0.71,-146.0,882.0,-11.4,682,7869,0.00,2.22,0.00,0.000,6,0.000,0.055,2797,1856,3542,0,0,0,0,0,0
$GC,8171,-0.71,-146.0,916.0,-11.0,693,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1856,3542,0,0,0,0,0,0
$STATE,8474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8474,begin apogee
$GC,8477,-0.13,0.0,950.6,11.4,703,8605,0.55,0.00,125.75,1.235,6,0.135,0.000,2978,1685,2940,0,0,0,0,0,0
$STATE,8605,end apogee,CONTROL_FINISHED_OK
$STATE,8605,begin climb
$GC,8606,0.64,146.0,956.6,0.0,707,8746,0.75,2.50,131.02,1.202,4,0.081,0.072,3247,295,2342,0,0,0,0,0,0
$GC,8810,0.45,146.0,952.7,10.4,714,8814,0.25,2.40,0.00,0.000,6,0.151,0.050,3162,1704,2336,0,0,0,0,0,0
$GC,9139,0.63,232.7,932.1,6.0,725,9222,0.20,2.47,77.25,1.180,4,0.081,0.066,3243,3106,1991,0,0,0,0,0,0
$GC,9256,0.55,232.7,919.6,14.7,728,9260,0.15,2.45,0.00,0.000,6,0.147,0.061,3208,1710,1984,0,0,0,0,0,0
$GC,9585,0.55,232.7,885.4,10.1,739,9589,0.00,2.38,0.00,0.000,4,0.000,0.074,3218,284,1977,0,0,0,0,0,0
$GC,9615,0.55,232.7,882.2,11.3,740,9619,0.00,2.30,0.00,0.000,6,0.000,0.051,3218,1694,1977,0,0,0,0,0,0
$GC,9949,0.55,232.7,844.9,11.4,751,9949,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1695,1976,0,0,0,0,0,0
$GC,10253,0.55,232.7,810.2,11.4,761,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1695,1975,0,0,0,0,0,0
$GC,10556,0.55,232.7,775.9,11.2,771,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1695,1974,0,0,0,0,0,0
$GC,10859,0.55,232.7,742.4,11.0,781,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1695,1974,0,0,0,0,0,0
$GC,11163,0.55,232.7,710.2,10.6,791,11166,0.00,2.30,0.00,0.000,4,0.000,0.077,3228,277,1973,0,0,0,0,0,0
$GC,11188,0.55,232.7,707.4,11.1,791,11194,0.00,2.25,0.00,0.000,6,0.000,0.052,3228,1702,1973,0,0,0,0,0,0
$GC,11496,0.51,232.7,672.9,11.1,802,11497,0.12,0.00,0.00,0.000,6,0.176,0.000,3194,1703,1972,0,0,0,0,0,0
$GC,11800,0.60,255.0,645.4,9.0,812,11824,0.00,2.33,17.88,1.007,4,0.000,0.075,3205,284,1898,0,0,0,0,0,0
$GC,11854,0.68,255.0,640.2,10.4,813,11861,0.08,2.28,0.00,0.000,6,0.077,0.051,3248,1703,1897,0,0,0,0,0,0
$GC,12162,0.61,255.0,602.5,12.0,824,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1703,1894,0,0,0,0,0,0
$GC,12472,0.54,255.0,564.9,11.9,852,12473,0.15,0.00,0.00,0.000,6,0.162,0.000,3205,1704,1893,0,0,0,0,0,0
$GC,12782,0.64,281.6,536.6,8.8,882,12810,0.00,2.40,24.00,0.956,4,0.000,0.077,3214,285,1790,0,0,0,0,0,0
$GC,12863,0.71,281.6,528.6,10.4,891,12869,0.12,2.22,0.00,0.000,6,0.106,0.051,3268,1703,1786,0,0,0,0,0,0
$GC,13177,0.61,281.6,482.8,14.6,922,13178,0.15,0.00,0.00,0.000,6,0.166,0.000,3225,1704,1783,0,0,0,0,0,0
$GC,13487,0.61,281.6,445.6,11.7,952,13491,0.00,2.35,0.00,0.000,4,0.000,0.077,3235,284,1782,0,0,0,0,0,0
$GC,13526,0.61,281.6,440.8,12.7,956,13532,0.00,2.22,0.00,0.000,6,0.000,0.051,3236,1693,1782,0,0,0,0,0,0
$GC,13841,0.61,281.6,401.8,12.3,987,13845,0.00,2.30,0.00,0.000,4,0.000,0.076,3244,292,1782,0,0,0,0,0,0
$GC,13866,0.61,281.6,398.4,12.1,990,13870,0.00,2.22,0.00,0.000,6,0.000,0.051,3245,1704,1782,0,0,0,0,0,0
$GC,14185,0.61,281.6,358.1,12.5,1021,14189,0.00,2.33,0.00,0.000,4,0.000,0.076,3254,264,1782,0,0,0,0,0,0
$GC,14220,0.61,281.6,353.6,12.7,1025,14224,0.08,2.25,0.00,0.000,6,0.146,0.052,3227,1692,1782,0,0,0,0,0,0
$GC,14539,0.65,281.6,318.7,10.0,1056,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1692,1781,0,0,0,0,0,0
$GC,14850,0.70,281.7,288.1,10.0,1086,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1691,1781,0,0,0,0,0,0
$GC,15160,0.77,294.3,257.5,9.4,1116,15173,0.12,0.00,10.95,0.765,6,0.108,0.000,3282,1692,1740,0,0,0,0,0,0
$GC,15480,0.71,294.3,214.6,13.1,1147,15481,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1692,1737,0,0,0,0,0,0
$GC,15791,0.66,294.3,178.3,10.7,1177,15795,0.15,2.30,0.00,0.000,4,0.163,0.077,3249,277,1736,0,0,0,0,0,0
$GC,15820,0.74,317.9,175.5,8.9,1180,15848,0.00,2.25,21.75,0.753,6,0.000,0.054,3249,1700,1643,0,0,0,0,0,0
$GC,16157,0.82,319.4,142.5,9.9,1213,16161,0.12,2.33,0.00,0.000,4,0.107,0.078,3315,280,1637,0,0,0,0,0,0
$GC,16230,0.72,319.4,132.7,13.8,1221,16237,0.12,2.25,0.00,0.000,6,0.149,0.054,3259,1698,1637,0,0,0,0,0,0
$GC,16545,0.81,335.9,101.8,9.2,1252,16566,0.00,0.00,16.23,0.716,6,0.000,0.000,3260,1698,1569,0,0,0,0,0,0
$GC,16885,0.97,385.3,71.4,7.7,1313,16937,0.20,2.45,43.40,0.707,4,0.084,0.079,3353,280,1367,0,0,0,0,0,0
$GC,16971,0.86,385.3,59.2,16.9,1332,16977,0.15,2.30,0.00,0.000,6,0.151,0.054,3305,1691,1364,0,0,0,0,0,0
$GC,17296,0.86,385.3,19.3,12.2,1393,17296,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1691,1358,0,0,0,0,0,0
$STATE,17423,end climb,SURFACE_DEPTH_REACHED
$STATE,17423,begin surface coast
$FINISH,1.5,1.024840
$STATE,17455,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
$SM_CCo,17467,54.40,0.660,1,0,1104,450.13
$SM_GC,2.49,0.00,0.00,54.40,0.000,0.000,0.660,141,1859,1104,-9.01,0.28,450.13
$RAFOS_CLK,902
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5917.14,250199,040400
$TT8_MAMPS,0.052156
$HUMID,39.84
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,902.7,101.4
$24V_AH,22.8,13.797
$10V_AH,10.2,5.981
$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,23.950,120.075,468.225,54.400,0.000,23.446,42.452,234.247,3.000,0.000,16.486,0.000,13901.315,681.459,2880.195,438.847,0.000,1893.440,0.000,2309.561,2471.000,25.832,0.000
$DEVICE_MAMPS,246.207,91.273,1234.870,659.620,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.606,1068.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150804
$DATA_FILE_SIZE,56762,1423
$CAP_FILE_SIZE,174951,0
$CFSIZE,260165632,247267328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.1
$CURRENT,0.086, 28.1,1
$GPS,311009,140900,6650.594,-5917.387,40,1.0,40,-38.0