version: 66.06
glider: 172
mission: 3
dive: 88
start: 11 4 109 17 3 8
data:
$ID,172
$MISSION,3
$DIVE,88
$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,-5905.0957
$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,33
$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
$GPS1,165507,6700.027,-5717.833,29,1.3,29,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-75.3
$GPS2,170244,6700.085,-5717.884,12,1.3,12,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,125.9,22246,-17.5,-10.000
$D_GRID,782
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-146.0,0.0,0.0,0,58,0.00,0.00,-41.80,0.000,2,0.000,0.000,121,1869,2366,0,0,0,0,0,0
$GC,60,-0.64,-146.0,3.0,-2.1,8,120,10.30,0.00,-43.12,0.000,6,0.234,0.000,2813,1868,3536,0,0,0,0,0,0
$GC,459,-0.58,-146.0,62.7,-14.5,80,464,0.00,2.33,0.00,0.000,4,0.000,0.071,2813,434,3537,0,0,0,0,0,0
$GC,484,-0.51,-146.0,66.6,-14.6,85,491,0.17,2.20,0.00,0.000,6,0.156,0.054,2863,1841,3537,0,0,0,0,0,0
$GC,828,-0.64,-146.0,101.3,-8.9,145,832,0.12,2.28,0.00,0.000,4,0.099,0.071,2803,439,3537,0,0,0,0,0,0
$GC,852,-0.64,-146.0,104.2,-11.9,147,856,0.00,2.20,0.00,0.000,6,0.000,0.054,2792,1850,3537,0,0,0,0,0,0
$GC,1176,-0.58,-146.0,151.7,-14.1,177,1180,0.15,2.28,0.00,0.000,4,0.163,0.071,2836,439,3537,0,0,0,0,0,0
$GC,1200,-0.58,-146.0,154.7,-12.7,179,1204,0.00,2.20,0.00,0.000,6,0.000,0.054,2834,1857,3537,0,0,0,0,0,0
$GC,1525,-0.66,-146.0,186.0,-9.3,209,1529,0.00,2.25,0.00,0.000,4,0.000,0.070,2834,440,3537,0,0,0,0,0,0
$GC,1549,-0.73,-146.0,188.5,-10.3,211,1554,0.12,2.17,0.00,0.000,6,0.098,0.052,2774,1852,3537,0,0,0,0,0,0
$GC,1873,-0.63,-146.0,235.1,-14.4,241,1875,0.15,0.00,0.00,0.000,6,0.157,0.000,2818,1853,3537,0,0,0,0,0,0
$GC,2192,-0.68,-146.0,269.8,-10.7,271,2196,0.00,2.25,0.00,0.000,4,0.000,0.071,2818,435,3537,0,0,0,0,0,0
$GC,2215,-0.72,-146.0,272.4,-11.5,273,2219,0.00,2.17,0.00,0.000,6,0.000,0.052,2810,1852,3537,0,0,0,0,0,0
$GC,2540,-0.72,-146.0,309.8,-11.7,303,2544,0.00,2.22,0.00,0.000,4,0.000,0.070,2811,440,3537,0,0,0,0,0,0
$GC,2562,-0.72,-146.0,312.7,-12.3,305,2566,0.00,2.17,0.00,0.000,6,0.000,0.052,2810,1857,3537,0,0,0,0,0,0
$GC,2886,-0.75,-146.0,350.2,-12.0,335,2890,0.00,2.22,0.00,0.000,4,0.000,0.068,2810,439,3538,0,0,0,0,0,0
$GC,2902,-0.75,-146.0,352.4,-12.1,336,2908,0.00,2.15,0.00,0.000,6,0.000,0.051,2810,1850,3537,0,0,0,0,0,0
$GC,3227,-0.79,-146.0,390.7,-12.0,367,3229,0.12,0.00,0.00,0.000,6,0.099,0.000,2749,1850,3538,0,0,0,0,0,0
$GC,3545,-0.66,-146.0,441.6,-15.7,397,3550,0.20,2.22,0.00,0.000,4,0.150,0.067,2810,439,3539,0,0,0,0,0,0
$GC,3582,-0.70,-146.0,446.5,-11.2,400,3588,0.00,2.17,0.00,0.000,6,0.000,0.052,2807,1858,3539,0,0,0,0,0,0
$GC,3907,-0.73,-146.0,481.7,-10.9,431,3911,0.00,2.22,0.00,0.000,4,0.000,0.068,2807,439,3539,0,0,0,0,0,0
$GC,3931,-0.73,-146.0,484.6,-11.6,433,3935,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1850,3539,0,0,0,0,0,0
$GC,4254,-0.73,-146.0,520.5,-11.1,463,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3540,0,0,0,0,0,0
$GC,4573,-0.73,-146.0,554.3,-9.8,493,4577,0.00,2.25,0.00,0.000,4,0.000,0.071,2807,439,3539,0,0,0,0,0,0
$GC,4614,-0.73,-146.0,558.7,-10.5,497,4618,0.00,2.15,0.00,0.000,6,0.000,0.053,2807,1850,3539,0,0,0,0,0,0
$GC,4940,-0.77,-146.0,591.2,-10.0,527,4944,0.00,2.25,0.00,0.000,4,0.000,0.071,2807,439,3539,0,0,0,0,0,0
$GC,4962,-0.77,-146.0,593.8,-10.3,529,4966,0.00,2.15,0.00,0.000,6,0.000,0.053,2807,1849,3540,0,0,0,0,0,0
$GC,5276,-0.80,-146.0,625.6,-10.3,543,5278,0.12,0.00,0.00,0.000,6,0.101,0.000,2746,1849,3539,0,0,0,0,0,0
$GC,5582,-0.67,-146.0,669.5,-14.8,553,5587,0.20,2.25,0.00,0.000,4,0.152,0.071,2807,435,3538,0,0,0,0,0,0
$GC,5633,-0.73,-146.0,675.8,-11.2,554,5637,0.00,2.15,0.00,0.000,6,0.000,0.054,2807,1849,3538,0,0,0,0,0,0
$GC,5945,-0.78,-146.0,707.8,-10.2,564,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1849,3538,0,0,0,0,0,0
$GC,6251,-0.82,-146.0,737.4,-10.1,574,6256,0.12,2.25,0.00,0.000,4,0.101,0.073,2746,440,3537,0,0,0,0,0,0
$GC,6297,-0.68,-146.0,744.0,-14.2,575,6302,0.22,2.15,0.00,0.000,6,0.152,0.054,2809,1849,3537,0,0,0,0,0,0
$GC,6614,-0.75,-146.0,777.1,-10.3,586,6618,0.00,2.22,0.00,0.000,4,0.000,0.072,2810,439,3537,0,0,0,0,0,0
$GC,6642,-0.80,-146.0,779.9,-11.2,587,6647,0.12,2.15,0.00,0.000,6,0.100,0.054,2752,1849,3537,0,0,0,0,0,0
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6663,-0.13,0.0,782.2,12.1,587,6789,0.68,0.00,121.95,1.126,6,0.138,0.000,2976,1695,2940,0,0,0,0,0,0
$STATE,6790,end apogee,CONTROL_FINISHED_OK
$STATE,6790,begin climb
$GC,6791,0.64,146.0,786.1,0.0,591,6927,0.70,2.47,126.57,1.095,4,0.077,0.070,3238,292,2343,0,0,0,0,0,0
$GC,7029,0.50,147.9,779.0,9.9,598,7035,0.20,2.30,0.00,0.000,6,0.157,0.048,3185,1706,2336,0,0,0,0,0,0
$GC,7341,0.58,215.0,757.0,6.9,609,7406,0.00,2.42,60.00,1.073,4,0.000,0.065,3185,3111,2062,0,0,0,0,0,0
$GC,7427,0.67,238.3,750.4,8.9,612,7458,0.15,2.35,21.77,1.017,6,0.092,0.061,3252,1705,1968,0,0,1,0,0,0
$GC,7764,0.59,238.3,707.7,13.7,623,7768,0.12,2.35,0.00,0.000,4,0.168,0.074,3228,288,1958,0,0,0,0,0,0
$GC,7809,0.59,238.3,701.9,12.0,624,7813,0.00,2.25,0.00,0.000,6,0.000,0.050,3228,1705,1957,0,0,0,0,0,0
$GC,8129,0.59,238.3,666.3,11.0,635,8133,0.00,2.25,0.00,0.000,4,0.000,0.065,3228,3106,1956,0,0,0,0,0,0
$GC,8147,0.59,238.3,664.1,12.3,635,8151,0.00,2.25,0.00,0.000,6,0.000,0.058,3238,1698,1956,0,0,0,0,0,0
$GC,8459,0.55,238.3,628.2,11.4,645,8463,0.12,2.28,0.00,0.000,4,0.171,0.073,3213,284,1955,0,0,0,0,0,0
$GC,8487,0.56,247.3,625.1,9.6,646,8500,0.00,2.20,7.05,0.864,6,0.000,0.049,3213,1706,1931,0,0,0,0,0,0
$GC,8818,0.60,247.3,592.7,10.2,660,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1706,1930,0,0,0,0,0,0
$GC,9138,0.64,247.3,559.8,10.3,690,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1706,1929,0,0,0,0,0,0
$GC,9456,0.68,247.3,528.7,10.4,720,9460,0.00,2.30,0.00,0.000,4,0.000,0.075,3224,282,1929,0,0,0,0,0,0
$GC,9488,0.68,247.3,525.1,10.7,723,9492,0.00,2.17,0.00,0.000,6,0.000,0.050,3224,1701,1928,0,0,0,0,0,0
$GC,9813,0.68,247.3,489.5,11.8,753,9817,0.00,2.22,0.00,0.000,4,0.000,0.066,3224,3104,1928,0,0,0,0,0,0
$GC,9827,0.68,247.3,487.6,12.3,754,9831,0.00,2.22,0.00,0.000,6,0.000,0.061,3232,1699,1927,0,0,0,0,0,0
$GC,10150,0.68,247.3,446.9,12.2,784,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1699,1927,0,0,0,0,0,0
$GC,10469,0.68,247.3,410.5,11.4,814,10473,0.00,2.25,0.00,0.000,4,0.000,0.074,3242,285,1927,0,0,0,0,0,0
$GC,10501,0.64,247.3,406.6,12.5,817,10505,0.00,2.17,0.00,0.000,6,0.000,0.049,3242,1707,1926,0,0,0,0,0,0
$GC,10837,0.59,247.3,367.7,11.9,847,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1708,1926,0,0,0,0,0,0
$GC,11157,0.54,247.3,328.7,12.1,877,11159,0.15,0.00,0.00,0.000,6,0.165,0.000,3199,1708,1926,0,0,0,0,0,0
$GC,11484,0.65,268.3,297.3,9.0,907,11506,0.10,0.00,19.17,0.799,6,0.116,0.000,3247,1708,1846,0,0,0,0,0,0
$GC,11832,0.65,268.3,253.7,12.3,939,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1708,1841,0,0,0,0,0,0
$GC,12151,0.65,268.3,216.6,10.9,969,12155,0.00,2.28,0.00,0.000,4,0.000,0.071,3258,282,1841,0,0,0,0,0,0
$GC,12178,0.61,268.3,213.3,12.1,971,12186,0.12,2.17,0.00,0.000,6,0.166,0.047,3223,1704,1841,0,0,0,0,0,0
$GC,12512,0.70,304.7,184.4,8.3,1002,12547,0.00,0.00,32.80,0.732,6,0.000,0.000,3223,1705,1697,0,0,0,0,0,0
$GC,12870,0.83,313.4,151.6,9.6,1035,12885,0.20,2.35,7.85,0.642,4,0.081,0.071,3321,288,1661,0,0,0,0,0,0
$GC,12927,0.67,313.4,143.1,17.7,1041,12932,0.28,2.20,0.00,0.000,6,0.152,0.048,3238,1702,1660,0,0,0,0,0,0
$GC,13251,0.73,313.4,107.0,11.2,1071,13255,0.00,2.28,0.00,0.000,4,0.000,0.071,3249,288,1658,0,0,0,0,0,0
$GC,13278,0.79,313.4,103.8,11.8,1074,13282,0.00,2.17,0.00,0.000,6,0.000,0.048,3249,1700,1658,0,0,0,0,0,0
$GC,13635,0.87,313.4,59.2,11.7,1131,13642,0.15,2.25,0.00,0.000,4,0.091,0.066,3318,3104,1657,0,0,0,0,0,0
$GC,13675,0.77,313.4,53.2,15.7,1139,13682,0.20,2.22,0.00,0.000,6,0.170,0.060,3272,1699,1656,0,0,0,0,0,0
$GC,14034,0.82,313.4,14.8,11.2,1200,14039,0.00,2.25,0.00,0.000,4,0.000,0.073,3282,284,1656,0,0,0,0,0,0
$GC,14126,0.86,315.1,6.0,9.9,1220,14132,0.00,2.17,0.00,0.000,6,0.000,0.051,3282,1701,1655,0,0,0,0,0,0
$STATE,14141,end climb,SURFACE_DEPTH_REACHED
$STATE,14142,begin surface coast
$FINISH,1.5,1.025375
$STATE,14176,end surface coast,CONTROL_FINISHED_OK
$STATE,14177,begin surface
$SM_CCo,14252,0.00,0.000,0,0,1652,315.95
$SM_GC,2.69,8.23,0.00,0.00,0.059,0.000,0.000,133,1865,1652,-8.94,0.42,315.95
$RAFOS_CLK,682
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5724.14,290199,121219
$TT8_MAMPS,0.025311
$HUMID,39.13
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.5,93.1
$24V_AH,23.2,17.550
$10V_AH,10.2,7.716
$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,23.550,121.150,397.175,0.000,0.000,29.970,34.620,286.095,2.000,0.000,13.009,2383.363,9288.639,579.524,2052.534,402.279,0.000,1583.737,0.000,2024.954,1089.000,17.851,0.000
$DEVICE_MAMPS,233.935,82.836,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.182,918.962,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188720
$DATA_FILE_SIZE,50439,1229
$CAP_FILE_SIZE,159750,0
$CFSIZE,260165632,244584448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1468.8
$CURRENT,0.208,191.7,1
$GPS,041109,210200,6658.514,-5713.280,36,1.0,41,-37.6