version: 66.06
glider: 172
mission: 3
dive: 75
start: 11 2 109 6 13 43
data:
$ID,172
$MISSION,3
$DIVE,75
$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,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,-5631.2212
$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,27
$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
$GPS1,060437,6651.137,-5826.986,27,1.9,27,-37.7
$_CALLS,1
$_XMS_NAKs,42
$_XMS_TOUTs,1
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-69.8
$GPS2,061337,6650.972,-5826.804,11,1.9,16,-37.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD4_EB
$TGT_LATLONG,6659.000,-5735.000
$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,61.1,40352,-17.5,-10.000
$D_GRID,862
$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,13,-0.64,-146.0,0.0,0.0,0,83,0.00,0.00,-68.30,0.000,2,0.000,0.000,121,1858,2364,0,0,0,0,0,0
$GC,84,-0.64,-146.0,3.1,-1.7,13,142,10.48,2.38,-41.03,0.000,4,0.238,0.086,2813,438,3536,0,0,0,0,0,0
$GC,262,-0.56,-146.0,27.6,-15.7,53,268,0.15,2.30,0.00,0.000,6,0.169,0.058,2846,1867,3537,0,0,0,0,0,0
$GC,587,-0.56,-146.0,69.9,-12.3,114,592,0.00,2.35,0.00,0.000,4,0.000,0.076,2846,434,3537,0,0,0,0,0,0
$GC,679,-0.60,-146.0,81.4,-12.0,135,685,0.00,2.25,0.00,0.000,6,0.000,0.058,2837,1853,3537,0,0,0,0,0,0
$GC,998,-0.63,-146.0,120.1,-12.0,180,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1853,3537,0,0,0,0,0,0
$GC,1309,-0.68,-146.0,156.9,-12.1,210,1313,0.00,2.30,0.00,0.000,4,0.000,0.077,2837,439,3537,0,0,0,0,0,0
$GC,1369,-0.74,-146.0,164.1,-11.4,216,1375,0.12,2.25,0.00,0.000,6,0.063,0.058,2771,1842,3536,0,0,0,0,0,0
$GC,1684,-0.62,-146.0,214.4,-16.2,247,1685,0.17,0.00,0.00,0.000,6,0.160,0.000,2821,1842,3536,0,0,0,0,0,0
$GC,1994,-0.65,-146.0,249.8,-10.9,277,1998,0.00,2.30,0.00,0.000,4,0.000,0.077,2822,442,3535,0,0,0,0,0,0
$GC,2042,-0.69,-146.0,255.3,-12.0,282,2047,0.00,2.25,0.00,0.000,6,0.000,0.058,2813,1850,3535,0,0,0,0,0,0
$GC,2356,-0.69,-146.0,292.5,-11.9,313,2360,0.00,2.33,0.00,0.000,4,0.000,0.077,2813,442,3535,0,0,0,0,0,0
$GC,2390,-0.69,-146.0,297.1,-13.3,317,2394,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1851,3535,0,0,0,0,0,0
$GC,2709,-0.69,-146.0,336.0,-12.3,348,2713,0.00,2.30,0.00,0.000,4,0.000,0.076,2807,446,3535,0,0,0,0,0,0
$GC,2743,-0.69,-146.0,340.3,-12.9,352,2748,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1849,3535,0,0,0,0,0,0
$GC,3062,-0.69,-146.0,378.6,-11.9,383,3066,0.00,2.30,0.00,0.000,4,0.000,0.075,2807,438,3535,0,0,0,0,0,0
$GC,3088,-0.69,-146.0,381.9,-12.7,386,3091,0.00,2.22,0.00,0.000,6,0.000,0.056,2807,1843,3535,0,0,0,0,0,0
$GC,3406,-0.69,-146.0,418.2,-11.1,417,3410,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,445,3536,0,0,0,0,0,0
$GC,3440,-0.69,-146.0,422.2,-12.3,421,3444,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1850,3536,0,0,0,0,0,0
$GC,3759,-0.69,-146.0,457.3,-10.9,452,3763,0.00,2.28,0.00,0.000,4,0.000,0.075,2807,448,3536,0,0,0,0,0,0
$GC,3798,-0.69,-146.0,461.8,-12.1,456,3804,0.00,2.22,0.00,0.000,6,0.000,0.056,2807,1855,3536,0,0,0,0,0,0
$GC,4112,-0.69,-146.0,495.7,-11.0,487,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1854,3536,0,0,0,0,0,0
$GC,4423,-0.69,-146.0,530.2,-11.2,517,4427,0.00,2.30,0.00,0.000,4,0.000,0.074,2807,439,3536,0,0,0,0,0,0
$GC,4470,-0.69,-146.0,535.7,-11.4,522,4476,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1848,3536,0,0,0,0,0,0
$GC,4785,-0.72,-146.0,570.1,-10.7,553,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3537,0,0,0,0,0,0
$GC,5095,-0.76,-146.0,603.7,-10.7,581,5098,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,436,3537,0,0,0,0,0,0
$GC,5159,-0.79,-146.0,611.1,-11.1,583,5164,0.08,2.22,0.00,0.000,6,0.071,0.057,2759,1850,3537,0,0,0,0,0,0
$GC,5490,-0.70,-146.0,657.4,-14.3,594,5493,0.15,2.28,0.00,0.000,4,0.163,0.075,2803,434,3537,0,0,0,0,0,0
$GC,5514,-0.70,-146.0,660.9,-13.0,595,5518,0.00,2.22,0.00,0.000,6,0.000,0.056,2797,1846,3537,0,0,0,0,0,0
$GC,5848,-0.70,-146.0,699.8,-11.5,606,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1845,3537,0,0,0,0,0,0
$GC,6152,-0.70,-146.0,734.1,-11.4,616,6155,0.00,2.22,0.00,0.000,4,0.000,0.074,2797,441,3537,0,0,0,0,0,0
$GC,6198,-0.70,-146.0,739.9,-12.5,617,6202,0.00,2.20,0.00,0.000,6,0.000,0.056,2797,1842,3537,0,0,0,0,0,0
$GC,6515,-0.70,-146.0,775.5,-11.0,628,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1842,3537,0,0,0,0,0,0
$GC,6821,-0.70,-146.0,809.4,-11.3,638,6824,0.00,2.22,0.00,0.000,4,0.000,0.074,2797,441,3537,0,0,0,0,0,0
$GC,6897,-0.70,-146.0,818.8,-11.0,640,6901,0.00,2.20,0.00,0.000,6,0.000,0.056,2797,1842,3537,0,0,0,0,0,0
$GC,7210,-0.70,-146.0,852.4,-10.5,651,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1842,3536,0,0,0,0,0,0
$STATE,7302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7302,begin apogee
$GC,7305,-0.13,0.0,862.3,10.8,654,7431,0.55,0.00,123.60,1.187,6,0.130,0.000,2979,1688,2940,0,0,0,0,0,0
$STATE,7431,end apogee,CONTROL_FINISHED_OK
$STATE,7431,begin climb
$GC,7432,0.64,146.0,867.1,0.0,658,7568,0.70,2.58,128.48,1.154,4,0.072,0.066,3232,3113,2343,0,0,0,0,0,0
$GC,7680,0.49,153.7,858.7,9.6,666,7692,0.22,2.40,7.10,0.918,6,0.166,0.063,3185,1707,2312,0,0,0,0,0,0
$GC,8000,0.59,232.9,837.9,6.3,677,8073,0.00,0.00,71.80,1.132,6,0.000,0.000,3184,1707,1990,0,0,0,0,0,0
$GC,8365,0.73,267.3,808.9,8.4,689,8401,0.22,2.47,30.75,1.093,4,0.078,0.074,3284,281,1849,0,0,0,0,0,0
$GC,8457,0.58,267.3,795.4,16.0,692,8461,0.17,2.38,0.00,0.000,6,0.143,0.051,3217,1703,1845,0,0,0,0,0,0
$GC,8786,0.58,267.3,758.6,11.0,703,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1703,1840,0,0,0,0,0,0
$GC,9089,0.58,267.3,726.5,10.6,713,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1839,0,0,0,0,0,0
$GC,9393,0.58,267.3,694.7,10.5,723,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1838,0,0,0,0,0,0
$GC,9700,0.61,267.3,661.6,11.0,733,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1838,0,0,0,0,0,0
$GC,10000,0.65,267.3,629.9,10.1,743,10004,0.00,2.35,0.00,0.000,4,0.000,0.077,3226,284,1838,0,0,0,0,0,0
$GC,10030,0.65,267.3,626.8,10.9,744,10034,0.00,2.25,0.00,0.000,6,0.000,0.053,3226,1701,1837,0,0,0,0,0,0
$GC,10345,0.65,267.3,592.2,11.4,757,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1702,1837,0,0,0,0,0,0
$GC,10655,0.65,267.3,557.9,11.0,787,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1702,1837,0,0,0,0,0,0
$GC,10966,0.65,267.3,524.3,10.9,817,10969,0.00,2.30,0.00,0.000,4,0.000,0.077,3237,281,1837,0,0,0,0,0,0
$GC,10995,0.65,267.3,520.6,12.5,820,11001,0.00,2.22,0.00,0.000,6,0.000,0.052,3237,1693,1837,0,0,0,0,0,0
$GC,11310,0.65,267.3,482.5,12.6,851,11310,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1837,0,0,0,0,0,0
$GC,11620,0.65,267.3,444.4,11.8,881,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1836,0,0,0,0,0,0
$GC,11931,0.65,267.3,407.0,11.8,911,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1837,0,0,0,0,0,0
$GC,12241,0.65,267.3,370.4,11.3,941,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1837,0,0,0,0,0,0
$GC,12552,0.65,267.3,335.7,10.4,971,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1837,0,0,0,0,0,0
$GC,12862,0.65,267.3,301.5,11.0,1001,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1837,0,0,0,0,0,0
$GC,13173,0.65,267.3,267.6,10.4,1031,13176,0.00,2.25,0.00,0.000,4,0.000,0.076,3248,285,1837,0,0,0,0,0,0
$GC,13207,0.65,267.3,263.7,11.0,1035,13210,0.00,2.20,0.00,0.000,6,0.000,0.053,3248,1691,1837,0,0,0,0,0,0
$GC,13525,0.65,267.3,228.6,11.1,1066,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1692,1836,0,0,0,0,0,0
$GC,13836,0.65,267.3,194.4,10.9,1096,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1692,1836,0,0,0,0,0,0
$GC,14147,0.66,277.4,163.0,9.5,1126,14159,0.00,2.30,7.88,0.696,4,0.000,0.070,3247,3112,1808,0,0,0,0,0,0
$GC,14185,0.66,277.4,159.1,10.9,1130,14190,0.00,2.28,0.00,0.000,6,0.000,0.065,3257,1708,1807,0,0,0,0,0,0
$GC,14499,0.66,279.4,127.1,9.9,1161,14503,0.00,2.30,0.00,0.000,4,0.000,0.077,3267,295,1807,0,0,0,0,0,0
$GC,14586,0.66,279.4,117.6,11.2,1171,14590,0.00,2.20,0.00,0.000,6,0.000,0.054,3267,1696,1807,0,0,0,0,0,0
$GC,14910,0.67,281.4,84.8,9.9,1216,14916,0.00,0.00,4.97,0.586,6,0.000,0.000,3267,1697,1792,0,0,0,0,0,0
$GC,15236,0.78,346.3,57.2,7.0,1277,15297,0.00,2.42,57.35,0.698,4,0.000,0.073,3267,3106,1525,0,0,0,0,0,0
$GC,15366,0.90,346.3,44.4,10.1,1306,15372,0.08,2.35,0.00,0.000,6,0.075,0.066,3322,1699,1519,0,0,0,0,0,0
$STATE,15691,end climb,SURFACE_DEPTH_REACHED
$STATE,15691,begin surface coast
$FINISH,1.8,1.025167
$STATE,15733,end surface coast,CONTROL_FINISHED_OK
$STATE,15733,begin surface
$SM_CCo,15746,87.25,0.655,1,0,1105,450.13
$SM_GC,2.27,0.00,0.00,87.25,0.000,0.000,0.655,129,1855,1105,-9.00,0.14,450.13
$RAFOS_CLK,817
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5829.29,270199,010155
$TT8_MAMPS,0.050622
$HUMID,39.44
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,802.6,115.8
$24V_AH,22.9,15.427
$10V_AH,10.2,6.686
$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,21.525,101.100,431.925,87.250,0.000,41.637,38.011,360.872,2.500,0.000,16.603,0.000,12354.777,634.771,2796.126,567.820,0.000,1791.365,0.000,2249.292,2471.000,22.574,0.000
$DEVICE_MAMPS,237.770,85.904,1186.549,655.018,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.070,1021.243,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150308
$DATA_FILE_SIZE,53605,1375
$CAP_FILE_SIZE,159867,0
$CFSIZE,260165632,245567488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.3
$CURRENT,0.195,122.6,1
$GPS,021109,103836,6652.338,-5821.062,32,1.6,32,-37.7