version: 66.06
glider: 172
mission: 3
dive: 78
start: 11 2 109 20 54 8
data:
$ID,172
$MISSION,3
$DIVE,78
$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,-5738.8022
$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,32
$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
$GPS1,203643,6652.570,-5808.514,46,1.7,51,-37.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-73.7
$GPS2,205324,6652.417,-5808.265,46,1.6,56,-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,100.9,26998,-17.5,-10.000
$D_GRID,851
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.64,-146.0,0.0,0.0,0,69,0.00,0.00,-52.25,0.000,2,0.000,0.000,120,1865,2068,0,0,0,0,0,0
$GC,72,-0.64,-146.0,3.0,-2.1,10,164,10.32,2.42,-71.85,0.000,4,0.234,0.091,2808,439,3537,0,0,0,0,0,0
$GC,370,-0.54,-146.0,43.4,-17.4,74,376,0.17,2.22,0.00,0.000,6,0.165,0.058,2849,1841,3539,0,0,0,0,0,0
$GC,715,-0.58,-146.0,87.8,-11.9,135,720,0.00,2.28,0.00,0.000,4,0.000,0.075,2849,439,3539,0,0,0,0,0,0
$GC,776,-0.66,-146.0,95.4,-12.1,148,783,0.00,2.22,0.00,0.000,6,0.000,0.056,2841,1852,3539,0,0,0,0,0,0
$GC,1103,-0.71,-146.0,135.9,-11.5,182,1108,0.12,2.30,0.00,0.000,4,0.103,0.076,2785,440,3539,0,0,0,0,0,0
$GC,1137,-0.59,-146.0,141.0,-16.9,185,1142,0.20,2.22,0.00,0.000,6,0.161,0.058,2832,1854,3538,0,0,0,0,0,0
$GC,1461,-0.63,-146.0,179.1,-10.9,215,1465,0.00,2.30,0.00,0.000,4,0.000,0.079,2823,3264,3538,0,0,0,0,0,0
$GC,1488,-0.71,-146.0,182.1,-11.0,217,1494,0.00,2.28,0.00,0.000,6,0.000,0.065,2823,1841,3538,0,0,0,0,0,0
$GC,1811,-0.71,-146.0,217.2,-11.4,248,1815,0.00,2.25,0.00,0.000,4,0.000,0.076,2823,439,3538,0,0,0,0,0,0
$GC,1909,-0.75,-146.0,228.6,-11.5,258,1913,0.00,2.20,0.00,0.000,6,0.000,0.057,2813,1850,3538,0,0,0,0,0,0
$GC,2232,-0.75,-146.0,267.5,-12.3,288,2236,0.00,2.30,0.00,0.000,4,0.000,0.076,2813,438,3538,0,0,0,0,0,0
$GC,2263,-0.75,-146.0,271.5,-12.2,291,2267,0.00,2.20,0.00,0.000,6,0.000,0.057,2804,1850,3538,0,0,0,0,0,0
$GC,2589,-0.75,-146.0,313.4,-13.0,321,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1850,3538,0,0,0,0,0,0
$GC,2906,-0.75,-146.0,353.5,-12.6,351,2910,0.00,2.28,0.00,0.000,4,0.000,0.076,2804,442,3538,0,0,0,0,0,0
$GC,2975,-0.75,-146.0,362.3,-13.5,358,2979,0.00,2.20,0.00,0.000,6,0.000,0.058,2804,1852,3538,0,0,0,0,0,0
$GC,3298,-0.75,-146.0,402.3,-12.4,388,3302,0.00,2.25,0.00,0.000,4,0.000,0.075,2804,441,3539,0,0,0,0,0,0
$GC,3321,-0.75,-146.0,405.3,-13.4,390,3325,0.00,2.20,0.00,0.000,6,0.000,0.057,2804,1856,3539,0,0,0,0,0,0
$GC,3644,-0.75,-146.0,444.7,-12.2,420,3648,0.00,2.25,0.00,0.000,4,0.000,0.074,2804,441,3539,0,0,0,0,0,0
$GC,3671,-0.75,-146.0,448.2,-12.6,422,3677,0.00,2.20,0.00,0.000,6,0.000,0.056,2804,1860,3539,0,0,0,0,0,0
$GC,3995,-0.75,-146.0,487.1,-11.7,453,3999,0.00,2.25,0.00,0.000,4,0.000,0.073,2804,441,3539,0,0,0,0,0,0
$GC,4031,-0.75,-146.0,491.8,-12.4,456,4038,0.00,2.17,0.00,0.000,6,0.000,0.056,2804,1852,3539,0,0,0,0,0,0
$GC,4355,-0.75,-146.0,529.3,-11.2,487,4359,0.00,2.28,0.00,0.000,4,0.000,0.074,2804,434,3540,0,0,0,0,0,0
$GC,4400,-0.75,-146.0,534.9,-12.5,492,4404,0.00,2.20,0.00,0.000,6,0.000,0.057,2803,1852,3540,0,0,0,0,0,0
$GC,4724,-0.75,-146.0,572.5,-11.7,522,4728,0.00,2.25,0.00,0.000,4,0.000,0.074,2804,441,3540,0,0,0,0,0,0
$GC,4742,-0.75,-146.0,574.8,-11.9,524,4746,0.00,2.17,0.00,0.000,6,0.000,0.057,2804,1851,3540,0,0,0,0,0,0
$GC,5062,-0.75,-146.0,611.4,-11.3,548,5066,0.00,2.25,0.00,0.000,4,0.000,0.074,2804,438,3540,0,0,0,0,0,0
$GC,5084,-0.75,-146.0,614.3,-12.2,548,5091,0.00,2.17,0.00,0.000,6,0.000,0.056,2804,1850,3540,0,0,0,0,0,0
$GC,5395,-0.75,-146.0,646.9,-10.3,559,5399,0.00,2.28,0.00,0.000,4,0.000,0.074,2804,435,3541,0,0,0,0,0,0
$GC,5423,-0.75,-146.0,649.9,-11.3,560,5428,0.00,2.20,0.00,0.000,6,0.000,0.056,2804,1856,3541,0,0,0,0,0,0
$GC,5762,-0.75,-146.0,684.5,-10.2,571,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1856,3541,0,0,0,0,0,0
$GC,6069,-0.75,-146.0,715.8,-10.3,581,6073,0.00,2.25,0.00,0.000,4,0.000,0.074,2804,439,3541,0,0,0,0,0,0
$GC,6091,-0.75,-146.0,718.4,-10.8,581,6097,0.00,2.17,0.00,0.000,6,0.000,0.056,2804,1850,3541,0,0,0,0,0,0
$GC,6403,-0.78,-146.0,750.5,-10.3,592,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1850,3540,0,0,0,0,0,0
$GC,6708,-0.78,-146.0,783.6,-10.8,602,6712,0.00,2.28,0.00,0.000,4,0.000,0.074,2804,435,3541,0,0,0,0,0,0
$GC,6758,-0.78,-146.0,789.6,-12.0,603,6762,0.00,2.20,0.00,0.000,6,0.000,0.057,2804,1855,3541,0,0,0,0,0,0
$GC,7076,-0.82,-146.0,822.8,-9.9,614,7080,0.12,2.28,0.00,0.000,4,0.104,0.074,2744,435,3540,0,0,0,0,0,0
$GC,7109,-0.68,-146.0,827.7,-15.1,615,7114,0.20,2.20,0.00,0.000,6,0.159,0.058,2804,1850,3541,0,0,0,0,0,0
$STATE,7346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7346,begin apogee
$GC,7351,-0.13,0.0,852.8,10.0,623,7478,0.52,0.00,124.12,1.178,6,0.133,0.000,2977,1697,2941,0,0,0,0,0,0
$STATE,7479,end apogee,CONTROL_FINISHED_OK
$STATE,7479,begin climb
$GC,7480,0.64,146.0,855.9,0.0,627,7619,0.75,2.55,128.82,1.144,4,0.101,0.067,3226,3107,2341,0,0,0,0,0,0
$GC,7729,0.57,201.0,850.7,7.5,635,7784,0.00,2.40,49.25,1.115,6,0.000,0.063,3237,1699,2120,0,0,1,0,0,0
$GC,8114,0.48,201.0,809.1,11.5,648,8119,0.20,2.40,0.00,0.000,4,0.170,0.071,3193,281,2109,0,0,0,0,0,0
$GC,8166,0.54,212.5,804.2,9.5,649,8182,0.00,2.30,10.07,0.990,6,0.000,0.051,3194,1706,2072,0,0,0,0,0,0
$GC,8514,0.62,240.9,773.1,8.7,661,8546,0.00,2.42,26.62,1.078,4,0.000,0.070,3194,3100,1956,0,0,0,0,0,0
$GC,8556,0.71,266.7,769.3,8.8,662,8588,0.15,2.35,24.92,1.056,6,0.095,0.064,3263,1700,1851,0,0,0,0,0,0
$GC,8909,0.61,266.7,717.8,14.7,674,8914,0.15,2.35,0.00,0.000,4,0.168,0.074,3232,287,1842,0,0,0,0,0,0
$GC,8951,0.61,266.7,712.2,13.3,675,8955,0.00,2.25,0.00,0.000,6,0.000,0.051,3232,1702,1842,0,0,0,0,0,0
$GC,9275,0.61,266.7,672.4,12.2,686,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1702,1840,0,0,0,0,0,0
$GC,9581,0.61,266.7,635.4,12.2,696,9582,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1702,1839,0,0,0,0,0,0
$GC,9887,0.61,266.7,598.5,11.8,706,9892,0.00,2.30,0.00,0.000,4,0.000,0.076,3243,287,1839,0,0,0,0,0,0
$GC,9915,0.58,266.7,595.2,11.9,708,9922,0.12,2.20,0.00,0.000,6,0.168,0.052,3210,1704,1838,0,0,0,0,0,0
$GC,10238,0.64,266.7,562.6,10.0,739,10242,0.00,2.30,0.00,0.000,4,0.000,0.077,3219,285,1838,0,0,0,0,0,0
$GC,10262,0.68,266.7,560.2,10.7,741,10266,0.00,2.20,0.00,0.000,6,0.000,0.052,3219,1703,1839,0,0,0,0,0,0
$GC,10586,0.72,266.7,526.0,10.5,771,10588,0.10,0.00,0.00,0.000,6,0.118,0.000,3266,1704,1838,0,0,0,0,0,0
$GC,10905,0.62,266.7,482.4,13.7,801,10910,0.15,2.28,0.00,0.000,4,0.164,0.077,3234,287,1837,0,0,0,0,0,0
$GC,10933,0.62,266.7,478.6,12.8,803,10938,0.00,2.17,0.00,0.000,6,0.000,0.053,3234,1699,1837,0,0,0,0,0,0
$GC,11256,0.62,266.7,442.2,11.4,834,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1701,1837,0,0,0,0,0,0
$GC,11576,0.62,266.7,404.8,11.5,864,11580,0.00,2.28,0.00,0.000,4,0.000,0.077,3244,283,1838,0,0,0,0,0,0
$GC,11616,0.62,266.7,399.6,11.9,866,11622,0.00,2.17,0.00,0.000,6,0.000,0.052,3244,1699,1837,0,0,0,0,0,0
$GC,11940,0.62,266.7,361.1,11.5,897,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1701,1837,0,0,0,0,0,0
$GC,12269,0.62,266.7,323.4,11.1,927,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1701,1837,0,0,0,0,0,0
$GC,12598,0.62,266.7,286.5,10.9,957,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1701,1837,0,0,0,0,0,0
$GC,12917,0.62,266.7,249.6,11.7,987,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1701,1837,0,0,0,0,0,0
$GC,13245,0.62,266.7,212.4,11.2,1017,13249,0.00,2.25,0.00,0.000,4,0.000,0.077,3255,287,1837,0,0,0,0,0,0
$GC,13272,0.62,266.7,209.3,11.7,1019,13277,0.00,2.17,0.00,0.000,6,0.000,0.053,3255,1704,1837,0,0,0,0,0,0
$GC,13606,0.62,266.7,172.5,10.9,1050,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1704,1837,0,0,0,0,0,0
$GC,13927,0.62,266.7,138.9,11.0,1080,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1705,1837,0,0,0,0,0,0
$GC,14255,0.62,269.7,103.1,9.9,1110,14259,0.00,2.28,0.00,0.000,4,0.000,0.077,3265,282,1837,0,0,0,0,0,0
$GC,14281,0.63,274.1,100.2,9.8,1112,14293,0.12,2.17,5.20,0.607,6,0.170,0.054,3229,1699,1822,0,0,0,0,0,0
$GC,14646,0.83,339.2,72.8,7.0,1174,14709,0.17,2.40,56.80,0.706,4,0.094,0.073,3306,3101,1556,0,0,0,0,0,0
$GC,14729,0.78,339.2,63.4,13.5,1191,14735,0.15,2.30,0.00,0.000,6,0.176,0.067,3276,1700,1551,0,0,0,0,0,0
$GC,15073,0.85,348.9,26.6,9.6,1252,15089,0.00,2.38,7.93,0.623,4,0.000,0.078,3286,291,1516,0,0,0,0,0,0
$GC,15140,0.92,348.9,18.8,10.9,1266,15146,0.10,2.22,0.00,0.000,6,0.117,0.054,3330,1698,1515,0,0,0,0,0,0
$STATE,15246,end climb,SURFACE_DEPTH_REACHED
$STATE,15246,begin surface coast
$FINISH,1.6,1.012817
$STATE,15274,end surface coast,CONTROL_FINISHED_OK
$STATE,15274,begin surface
$SM_CCo,15289,84.90,0.661,0,0,1105,450.13
$SM_GC,2.34,0.00,0.00,84.90,0.000,0.000,0.661,133,1851,1105,-9.02,0.00,450.13
$RAFOS_CLK,797
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5814.21,270199,202018
$TT8_MAMPS,0.026845
$HUMID,39.44
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,161.2
$24V_AH,22.9,15.996
$10V_AH,10.2,6.936
$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,22.400,131.775,433.750,84.900,0.000,109.560,196.171,364.129,2.000,0.000,56.619,2440.175,10251.102,638.138,2235.885,855.027,0.000,1816.641,0.000,2150.817,2471.000,18.043,0.000
$DEVICE_MAMPS,233.935,90.506,1178.112,661.154,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.593,958.800,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,190144
$DATA_FILE_SIZE,50544,1290
$CAP_FILE_SIZE,169356,0
$CFSIZE,260165632,245366784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.8
$CURRENT,0.147,134.5,1
$GPS,031109,011137,6652.705,-5800.825,34,1.0,34,-37.7