version: 66.06
glider: 172
mission: 3
dive: 71
start: 11 1 109 10 34 2
data:
$ID,172
$MISSION,3
$DIVE,71
$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,-5577.2061
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,102630,6650.076,-5852.654,66,1.5,66,-37.8
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-72.9
$GPS2,103356,6650.096,-5852.657,12,1.5,12,-37.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD3_EB
$TGT_LATLONG,6655.000,-5823.000
$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,83.1,23371,-17.5,-10.000
$D_GRID,963
$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,-146.0,0.0,0.0,0,91,0.00,0.00,-76.62,0.000,2,0.000,0.000,121,1862,2500,0,0,0,0,0,0
$GC,92,-0.64,-146.0,3.1,-1.4,15,143,10.48,2.38,-33.85,0.000,4,0.238,0.089,2814,439,3537,0,0,0,0,0,0
$GC,255,-0.51,-146.0,30.4,-17.8,52,261,0.12,2.30,0.00,0.000,6,0.153,0.058,2848,1846,3538,0,0,0,0,0,0
$GC,580,-0.51,-146.0,74.5,-11.8,113,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1846,3538,0,0,0,0,0,0
$GC,902,-0.55,-146.0,113.2,-11.3,163,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1846,3539,0,0,0,0,0,0
$GC,1213,-0.60,-146.0,149.0,-11.0,193,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1846,3538,0,0,0,0,0,0
$GC,1524,-0.66,-146.0,180.5,-10.3,223,1525,0.10,0.00,0.00,0.000,6,0.116,0.000,2800,1846,3538,0,0,0,0,0,0
$GC,1834,-0.59,-146.0,224.8,-14.2,253,1835,0.12,0.00,0.00,0.000,6,0.173,0.000,2834,1846,3538,0,0,0,0,0,0
$GC,2144,-0.64,-146.0,261.3,-11.4,283,2148,0.00,2.28,0.00,0.000,4,0.000,0.077,2834,438,3538,0,0,0,0,0,0
$GC,2196,-0.71,-146.0,267.4,-11.4,289,2199,0.00,2.22,0.00,0.000,6,0.000,0.058,2824,1855,3538,0,0,0,0,0,0
$GC,2514,-0.74,-146.0,304.9,-12.1,320,2518,0.10,2.33,0.00,0.000,4,0.114,0.077,2776,446,3537,0,0,0,0,0,0
$GC,2549,-0.62,-146.0,310.1,-16.3,324,2553,0.20,2.20,0.00,0.000,6,0.160,0.059,2826,1852,3537,0,0,0,0,0,0
$GC,2867,-0.67,-146.0,346.7,-11.3,355,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1852,3537,0,0,0,0,0,0
$GC,3179,-0.73,-146.0,379.9,-9.9,385,3180,0.10,0.00,0.00,0.000,6,0.112,0.000,2775,1853,3537,0,0,0,0,0,0
$GC,3488,-0.62,-146.0,425.3,-15.6,415,3490,0.15,0.00,0.00,0.000,6,0.160,0.000,2818,1854,3538,0,0,0,0,0,0
$GC,3799,-0.66,-146.0,462.5,-11.5,445,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1853,3538,0,0,0,0,0,0
$GC,4109,-0.71,-146.0,497.8,-11.4,475,4113,0.00,2.30,0.00,0.000,4,0.000,0.075,2819,439,3538,0,0,0,0,0,0
$GC,4156,-0.77,-146.0,503.5,-12.7,480,4162,0.10,2.22,0.00,0.000,6,0.066,0.058,2762,1846,3538,0,0,0,0,0,0
$GC,4472,-0.66,-146.0,551.5,-14.9,511,4473,0.17,0.00,0.00,0.000,6,0.159,0.000,2814,1846,3539,0,0,0,0,0,0
$GC,4782,-0.70,-146.0,584.0,-9.1,541,4785,0.00,2.25,0.00,0.000,4,0.000,0.074,2814,434,3539,0,0,0,0,0,0
$GC,4816,-0.74,-146.0,587.5,-10.9,545,4819,0.00,2.22,0.00,0.000,6,0.000,0.057,2811,1845,3539,0,0,0,0,0,0
$GC,5131,-0.78,-146.0,617.6,-9.6,564,5132,0.10,0.00,0.00,0.000,6,0.113,0.000,2761,1845,3540,0,0,0,0,0,0
$GC,5434,-0.67,-146.0,658.6,-13.7,574,5435,0.15,0.00,0.00,0.000,6,0.160,0.000,2805,1845,3540,0,0,0,0,0,0
$GC,5737,-0.67,-146.0,691.1,-10.7,584,5741,0.00,2.28,0.00,0.000,4,0.000,0.074,2806,438,3540,0,0,0,0,0,0
$GC,5772,-0.67,-146.0,695.0,-10.8,585,5775,0.00,2.22,0.00,0.000,6,0.000,0.057,2805,1849,3540,0,0,0,0,0,0
$GC,6101,-0.67,-146.0,729.5,-10.3,596,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1849,3540,0,0,0,0,0,0
$GC,6404,-0.71,-146.0,759.8,-10.4,606,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1849,3541,0,0,0,0,0,0
$GC,6708,-0.74,-146.0,791.8,-10.7,616,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1849,3541,0,0,0,0,0,0
$GC,7011,-0.78,-146.0,824.1,-10.5,626,7015,0.00,2.28,0.00,0.000,4,0.000,0.074,2806,439,3541,0,0,0,0,0,0
$GC,7040,-0.78,-146.0,826.9,-12.3,626,7045,0.00,2.17,0.00,0.000,6,0.000,0.057,2806,1853,3540,0,0,0,0,0,0
$GC,7346,-0.83,-146.0,859.4,-10.3,637,7348,0.15,0.00,0.00,0.000,6,0.094,0.000,2735,1853,3541,0,0,0,0,0,0
$GC,7650,-0.66,-146.0,906.2,-16.1,647,7651,0.25,0.00,0.00,0.000,6,0.151,0.000,2812,1854,3540,0,0,0,0,0,0
$GC,7954,-0.72,-146.0,937.7,-10.0,657,7957,0.00,2.25,0.00,0.000,4,0.000,0.074,2812,435,3541,0,0,0,0,0,0
$GC,8000,-0.79,-146.0,942.6,-10.3,658,8005,0.08,2.22,0.00,0.000,6,0.071,0.057,2762,1850,3541,0,0,0,0,0,0
$STATE,8164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8164,begin apogee
$GC,8167,-0.13,0.0,964.9,13.9,664,8295,0.68,0.00,125.47,1.253,6,0.141,0.000,2981,1693,2940,0,0,0,0,0,0
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8296,0.64,146.0,969.9,0.0,668,8437,0.75,2.50,131.52,1.220,4,0.084,0.071,3248,297,2341,0,0,0,0,0,0
$GC,8467,0.49,197.8,968.9,7.6,674,8521,0.25,2.42,48.12,1.183,6,0.161,0.051,3183,1701,2132,0,0,0,0,0,0
$GC,8829,0.61,251.4,942.1,7.5,686,8884,0.12,2.47,48.60,1.181,4,0.101,0.066,3235,3106,1914,0,0,0,0,0,0
$GC,8896,0.53,251.4,934.7,12.2,688,8900,0.15,2.45,0.00,0.000,6,0.146,0.061,3189,1715,1912,0,0,0,0,0,0
$GC,9221,0.63,271.3,904.7,9.1,699,9245,0.12,2.50,18.33,1.121,4,0.102,0.074,3251,284,1833,0,0,0,0,0,0
$GC,9305,0.56,271.3,894.0,13.9,701,9311,0.12,2.33,0.00,0.000,6,0.144,0.050,3211,1692,1830,0,0,0,0,0,0
$GC,9613,0.56,271.3,860.7,10.6,712,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1693,1827,0,0,0,0,0,0
$GC,9917,0.56,271.3,829.1,10.6,722,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1693,1827,0,0,0,0,0,0
$GC,10220,0.56,271.3,797.7,10.3,732,10224,0.00,2.35,0.00,0.000,4,0.000,0.076,3221,282,1826,0,0,0,0,0,0
$GC,10245,0.56,271.3,795.0,11.2,732,10251,0.00,2.25,0.00,0.000,6,0.000,0.051,3221,1697,1826,0,0,0,0,0,0
$GC,10553,0.56,271.3,761.8,10.8,743,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1698,1826,0,0,0,0,0,0
$GC,10856,0.56,271.3,730.2,10.3,753,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1698,1825,0,0,0,0,0,0
$GC,11160,0.56,271.3,697.9,10.7,763,11164,0.00,2.33,0.00,0.000,4,0.000,0.077,3232,287,1825,0,0,0,0,0,0
$GC,11194,0.56,271.3,694.1,10.8,764,11198,0.00,2.22,0.00,0.000,6,0.000,0.053,3231,1697,1824,0,0,0,0,0,0
$GC,11524,0.56,271.3,655.5,11.9,775,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1697,1824,0,0,0,0,0,0
$GC,11827,0.56,271.3,620.0,11.6,785,11831,0.00,2.33,0.00,0.000,4,0.000,0.077,3241,284,1824,0,0,0,0,0,0
$GC,11862,0.52,271.3,615.8,13.3,786,11866,0.12,2.22,0.00,0.000,6,0.140,0.052,3185,1698,1824,0,0,0,0,0,0
$GC,12174,0.69,307.9,589.0,8.3,803,12211,0.17,2.42,33.08,1.003,4,0.088,0.077,3268,281,1683,0,0,0,0,0,0
$GC,12232,0.60,307.9,581.4,13.9,809,12238,0.17,2.25,0.00,0.000,6,0.159,0.051,3218,1703,1681,0,0,0,0,0,0
$GC,12546,0.66,307.9,546.4,10.8,840,12550,0.00,2.38,0.00,0.000,4,0.000,0.077,3228,282,1677,0,0,0,0,0,0
$GC,12572,0.70,307.9,543.6,10.9,843,12576,0.00,2.20,0.00,0.000,6,0.000,0.051,3227,1699,1676,0,0,0,0,0,0
$GC,12890,0.70,307.9,507.7,10.8,874,12894,0.00,2.33,0.00,0.000,4,0.000,0.077,3236,292,1675,0,0,0,0,0,0
$GC,12920,0.70,307.9,504.4,11.1,877,12926,0.00,2.22,0.00,0.000,6,0.000,0.051,3236,1698,1675,0,0,0,0,0,0
$GC,13235,0.70,307.9,469.0,10.7,908,13239,0.00,2.33,0.00,0.000,4,0.000,0.077,3243,291,1675,0,0,0,0,0,0
$GC,13274,0.70,307.9,464.5,11.9,912,13279,0.00,2.22,0.00,0.000,6,0.000,0.051,3242,1704,1675,0,0,0,0,0,0
$GC,13588,0.70,307.9,427.3,12.4,943,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1703,1674,0,0,0,0,0,0
$GC,13899,0.70,307.9,388.8,12.7,973,13903,0.00,2.30,0.00,0.000,4,0.000,0.077,3252,281,1674,0,0,0,0,0,0
$GC,13929,0.70,307.9,384.9,13.5,976,13935,0.00,2.22,0.00,0.000,6,0.000,0.051,3252,1696,1674,0,0,0,0,0,0
$GC,14243,0.70,307.9,341.0,13.7,1007,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1696,1673,0,0,0,0,0,0
$GC,14554,0.70,307.9,298.4,13.3,1037,14558,0.00,2.28,0.00,0.000,4,0.000,0.077,3260,281,1673,0,0,0,0,0,0
$GC,14597,0.70,307.9,292.5,13.5,1042,14601,0.00,2.22,0.00,0.000,6,0.000,0.052,3259,1697,1673,0,0,0,0,0,0
$GC,14916,0.70,307.9,250.0,13.0,1073,14920,0.00,2.30,0.00,0.000,4,0.000,0.077,3270,289,1673,0,0,0,0,0,0
$GC,14955,0.66,307.9,244.9,13.8,1077,14960,0.08,2.20,0.00,0.000,6,0.152,0.053,3243,1694,1673,0,0,0,0,0,0
$GC,15269,0.70,307.9,207.6,11.6,1108,15273,0.00,2.28,0.00,0.000,4,0.000,0.070,3243,3097,1673,0,0,0,0,0,0
$GC,15299,0.74,307.9,204.0,12.6,1111,15305,0.00,2.25,0.00,0.000,6,0.000,0.064,3253,1698,1672,0,0,0,0,0,0
$GC,15614,0.78,307.9,166.4,11.3,1142,15617,0.00,2.30,0.00,0.000,4,0.000,0.077,3261,288,1672,0,0,0,0,0,0
$GC,15696,0.78,307.9,156.9,10.6,1151,15701,0.00,2.20,0.00,0.000,6,0.000,0.054,3262,1696,1671,0,0,0,0,0,0
$GC,16010,0.78,309.3,123.7,9.9,1182,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1696,1672,0,0,0,0,0,0
$GC,16324,0.82,309.3,91.5,10.2,1219,16324,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1697,1671,0,0,0,0,0,0
$GC,16644,0.91,331.1,59.9,9.0,1279,16671,0.15,2.35,19.58,0.705,4,0.099,0.081,3337,288,1589,0,0,0,0,0,0
$GC,16691,0.79,331.1,54.0,12.6,1289,16697,0.17,2.25,0.00,0.000,6,0.146,0.055,3280,1699,1588,0,0,0,0,0,0
$GC,17017,0.94,372.2,22.3,8.1,1350,17060,0.15,2.33,36.65,0.684,4,0.095,0.074,3341,3106,1420,0,0,0,0,0,0
$GC,17106,0.80,372.2,11.8,16.7,1370,17113,0.17,2.35,0.00,0.000,6,0.153,0.068,3283,1697,1415,0,0,0,0,0,0
$STATE,17196,end climb,SURFACE_DEPTH_REACHED
$STATE,17196,begin surface coast
$FINISH,1.3,1.024364
$STATE,17233,end surface coast,CONTROL_FINISHED_OK
$STATE,17233,begin surface
$SM_CCo,17246,64.53,0.664,0,0,1105,450.13
$SM_GC,2.40,0.00,0.00,64.53,0.000,0.000,0.664,132,1856,1105,-9.02,0.17,450.13
$RAFOS_CLK,896
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5854.68,260199,050524
$TT8_MAMPS,0.052156
$HUMID,39.56
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,952.4,51.7
$24V_AH,22.6,14.695
$10V_AH,10.2,6.368
$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,24.175,115.175,461.350,64.525,0.000,28.201,31.895,293.852,3.750,0.000,12.566,0.000,13769.566,670.606,2811.237,482.200,0.000,1833.246,0.000,2238.971,2471.000,33.676,0.000
$DEVICE_MAMPS,237.770,88.972,1253.278,664.222,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,978.016,1039.597,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150344
$DATA_FILE_SIZE,53599,1394
$CAP_FILE_SIZE,173520,0
$CFSIZE,260165632,246775808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.7
$CURRENT,0.059, 57.5,1
$GPS,011109,152336,6652.262,-5846.395,40,0.8,40,-37.9