version: 66.06
glider: 172
mission: 3
dive: 80
start: 11 3 109 5 51 19
data:
$ID,172
$MISSION,3
$DIVE,80
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5769.2139
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,053800,6654.511,-5755.927,42,1.0,47,-37.7
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-76.5
$GPS2,055056,6654.412,-5755.760,13,1.1,13,-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,75.0,17268,-17.5,-10.000
$D_GRID,868
$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,14,begin dive
$GC,15,-0.64,-146.0,0.0,0.0,0,58,0.00,0.00,-40.92,0.000,2,0.000,0.000,121,1854,2277,0,0,0,0,0,0
$GC,61,-0.64,-146.0,3.0,-1.1,8,132,10.38,2.42,-51.95,0.000,4,0.233,0.091,2797,3256,3538,0,0,0,0,0,0
$GC,260,-0.60,-146.0,28.0,-16.3,51,267,0.12,2.28,0.00,0.000,6,0.167,0.064,2830,1851,3539,0,0,0,0,0,0
$GC,605,-0.60,-146.0,75.5,-12.5,112,611,0.00,2.30,0.00,0.000,4,0.000,0.075,2830,439,3540,0,0,0,0,0,0
$GC,706,-0.60,-146.0,89.8,-14.8,134,712,0.00,2.22,0.00,0.000,6,0.000,0.057,2821,1852,3539,0,0,0,0,0,0
$GC,1034,-0.60,-146.0,136.5,-14.1,171,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1852,3539,0,0,0,0,0,0
$GC,1353,-0.60,-146.0,179.0,-12.7,201,1357,0.00,2.28,0.00,0.000,4,0.000,0.077,2821,442,3539,0,0,0,0,0,0
$GC,1394,-0.60,-146.0,184.3,-12.6,205,1398,0.00,2.22,0.00,0.000,6,0.000,0.058,2811,1855,3539,0,0,0,0,0,0
$GC,1720,-0.60,-146.0,223.8,-11.8,235,1724,0.00,2.28,0.00,0.000,4,0.000,0.076,2811,442,3539,0,0,0,0,0,0
$GC,1752,-0.60,-146.0,227.9,-11.9,238,1757,0.10,2.20,0.00,0.000,6,0.185,0.058,2829,1849,3538,0,0,0,0,0,0
$GC,2076,-0.65,-146.0,262.2,-10.9,268,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1849,3538,0,0,0,0,0,0
$GC,2395,-0.72,-146.0,296.8,-10.3,298,2400,0.10,2.28,0.00,0.000,4,0.115,0.076,2782,442,3538,0,0,0,0,0,0
$GC,2441,-0.64,-146.0,303.4,-13.8,302,2448,0.15,2.20,0.00,0.000,6,0.163,0.058,2814,1852,3537,0,0,0,0,0,0
$GC,2765,-0.64,-146.0,340.2,-10.7,333,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1852,3538,0,0,0,0,0,0
$GC,3084,-0.64,-146.0,376.4,-11.6,363,3088,0.00,2.25,0.00,0.000,4,0.000,0.075,2815,442,3538,0,0,0,0,0,0
$GC,3138,-0.69,-146.0,383.1,-12.2,368,3143,0.00,2.17,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,3463,-0.69,-146.0,421.0,-11.8,399,3467,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,439,3539,0,0,0,0,0,0
$GC,3489,-0.69,-146.0,424.4,-12.6,401,3495,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1857,3538,0,0,0,0,0,0
$GC,3813,-0.69,-146.0,461.1,-10.8,432,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1857,3539,0,0,0,0,0,0
$GC,4132,-0.69,-146.0,495.7,-10.6,462,4136,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,442,3539,0,0,0,0,0,0
$GC,4168,-0.69,-146.0,500.0,-11.2,465,4175,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1855,3539,0,0,0,0,0,0
$GC,4492,-0.69,-146.0,535.6,-11.0,496,4496,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,441,3539,0,0,0,0,0,0
$GC,4524,-0.69,-146.0,539.3,-11.7,499,4528,0.00,2.17,0.00,0.000,6,0.000,0.057,2807,1850,3539,0,0,0,0,0,0
$GC,4848,-0.69,-146.0,574.8,-11.0,529,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,5174,-0.72,-146.0,610.9,-10.9,554,5178,0.00,2.28,0.00,0.000,4,0.000,0.075,2807,439,3540,0,0,0,0,0,0
$GC,5202,-0.72,-146.0,614.1,-11.4,555,5206,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1852,3540,0,0,0,0,0,0
$GC,5542,-0.76,-146.0,650.7,-10.9,566,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3540,0,0,0,0,0,0
$GC,5848,-0.79,-146.0,683.9,-10.8,576,5849,0.10,0.00,0.00,0.000,6,0.117,0.000,2758,1852,3540,0,0,0,0,0,0
$GC,6154,-0.70,-146.0,725.8,-13.8,586,6159,0.15,2.28,0.00,0.000,4,0.163,0.075,2803,436,3540,0,0,0,0,0,0
$GC,6218,-0.70,-146.0,733.4,-11.3,588,6222,0.00,2.20,0.00,0.000,6,0.000,0.057,2798,1856,3540,0,0,0,0,0,0
$GC,6552,-0.70,-146.0,769.7,-10.6,599,6556,0.00,2.25,0.00,0.000,4,0.000,0.074,2798,439,3541,0,0,0,0,0,0
$GC,6582,-0.70,-146.0,773.2,-11.7,600,6586,0.00,2.17,0.00,0.000,6,0.000,0.057,2798,1852,3541,0,0,0,0,0,0
$GC,6916,-0.70,-146.0,807.4,-10.3,611,6920,0.00,2.25,0.00,0.000,4,0.000,0.074,2798,435,3541,0,0,0,0,0,0
$GC,6939,-0.70,-146.0,810.1,-11.5,611,6945,0.00,2.17,0.00,0.000,6,0.000,0.057,2798,1850,3541,0,0,0,0,0,0
$GC,7250,-0.74,-146.0,842.2,-10.4,622,7254,0.00,2.25,0.00,0.000,4,0.000,0.073,2798,441,3541,0,0,0,0,0,0
$GC,7281,-0.74,-146.0,845.9,-10.3,623,7285,0.00,2.17,0.00,0.000,6,0.000,0.057,2798,1850,3541,0,0,0,0,0,0
$GC,7616,-1.25,-146.0,847.2,0.0,634,7618,0.47,0.00,0.00,0.000,6,0.087,0.000,2620,1850,3541,0,0,0,0,0,0
$STATE,7645,end dive,NO_VERTICAL_VELOCITY
$STATE,7645,begin apogee
$GC,7648,-0.13,0.0,847.2,0.0,635,7776,1.02,0.00,124.10,1.176,6,0.104,0.000,2983,1698,2939,0,0,0,0,0,0
$STATE,7777,end apogee,CONTROL_FINISHED_OK
$STATE,7777,begin climb
$GC,7778,0.64,146.0,847.1,0.0,639,7915,0.73,0.00,129.68,1.140,6,0.089,0.000,3228,1697,2343,0,0,0,0,0,0
$GC,8221,0.58,165.9,822.6,9.1,654,8246,0.00,2.40,17.40,1.062,4,0.000,0.071,3238,291,2261,0,0,0,0,0,0
$GC,8311,0.47,167.4,814.3,9.9,656,8318,0.22,2.30,0.00,0.000,6,0.157,0.050,3178,1706,2258,0,0,0,0,0,0
$GC,8622,0.62,231.7,792.4,7.0,667,8689,0.15,2.50,59.15,1.110,4,0.094,0.067,3238,3111,1993,0,0,0,0,0,0
$GC,8701,0.55,231.7,784.6,11.2,669,8706,0.17,2.40,0.00,0.000,6,0.166,0.062,3203,1702,1990,0,0,0,0,0,0
$GC,9037,0.61,242.3,751.9,9.5,680,9053,0.00,2.38,8.65,0.951,4,0.000,0.073,3213,283,1953,0,0,0,0,0,0
$GC,9090,0.65,242.3,746.6,10.5,681,9094,0.00,2.25,0.00,0.000,6,0.000,0.051,3213,1701,1951,0,0,0,0,0,0
$GC,9400,0.65,242.3,715.1,10.1,691,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1702,1950,0,0,0,0,0,0
$GC,9709,0.65,242.3,684.2,10.1,701,9713,0.00,2.33,0.00,0.000,4,0.000,0.076,3223,288,1949,0,0,0,0,0,0
$GC,9731,0.65,242.3,681.6,10.5,701,9735,0.00,2.22,0.00,0.000,6,0.000,0.052,3223,1708,1949,0,0,0,0,0,0
$GC,10042,0.65,242.3,649.8,10.3,711,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1709,1948,0,0,0,0,0,0
$GC,10349,0.65,244.3,619.6,9.9,721,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1709,1948,0,0,0,0,0,0
$GC,10670,0.65,244.3,587.4,10.0,737,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1709,1948,0,0,0,0,0,0
$GC,10987,0.66,252.6,556.0,9.6,767,11006,0.00,2.38,10.00,0.913,4,0.000,0.077,3232,285,1909,0,0,0,0,0,0
$GC,11029,0.66,252.6,551.6,11.1,771,11051,0.00,2.22,0.00,0.000,6,0.000,0.052,3233,1707,1908,0,0,0,0,0,0
$GC,11364,0.66,252.6,514.2,11.3,802,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1708,1908,0,0,0,0,0,0
$GC,11684,0.66,252.6,478.4,11.3,832,11688,0.00,2.30,0.00,0.000,4,0.000,0.076,3242,283,1907,0,0,0,0,0,0
$GC,11706,0.66,252.6,475.7,12.2,834,11710,0.00,2.20,0.00,0.000,6,0.000,0.051,3242,1704,1908,0,0,0,0,0,0
$GC,12031,0.66,252.6,437.4,11.7,864,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1705,1907,0,0,0,0,0,0
$GC,12349,0.66,252.6,401.4,10.9,894,12353,0.00,2.28,0.00,0.000,4,0.000,0.077,3252,288,1907,0,0,0,0,0,0
$GC,12376,0.62,252.6,398.2,12.6,896,12382,0.00,2.17,0.00,0.000,6,0.000,0.052,3252,1700,1907,0,0,0,0,0,0
$GC,12701,0.57,252.6,360.0,12.1,927,12703,0.15,0.00,0.00,0.000,6,0.170,0.000,3210,1701,1906,0,0,0,0,0,0
$GC,13019,0.68,276.2,330.7,8.9,957,13044,0.10,0.00,21.75,0.846,6,0.119,0.000,3255,1701,1813,0,0,0,0,0,0
$GC,13357,0.68,276.2,290.0,12.6,989,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1701,1806,0,0,0,0,0,0
$GC,13676,0.68,276.2,250.4,12.5,1019,13680,0.00,2.28,0.00,0.000,4,0.000,0.077,3263,288,1806,0,0,0,0,0,0
$GC,13700,0.65,276.2,247.3,13.2,1021,13704,0.00,2.20,0.00,0.000,6,0.000,0.052,3263,1705,1805,0,0,0,0,0,0
$GC,14025,0.62,276.2,207.3,10.8,1051,14027,0.12,0.00,0.00,0.000,6,0.174,0.000,3228,1706,1805,0,0,0,0,0,0
$GC,14343,0.73,303.2,179.2,8.8,1081,14372,0.00,2.38,23.67,0.759,4,0.000,0.077,3238,291,1703,0,0,0,0,0,0
$GC,14400,0.84,308.6,174.1,9.7,1087,14416,0.12,2.22,6.28,0.636,6,0.068,0.052,3302,1706,1681,0,0,0,0,0,0
$GC,14732,0.77,308.6,128.9,14.4,1119,14736,0.00,2.30,0.00,0.000,4,0.000,0.076,3313,288,1675,0,0,0,0,0,0
$GC,14759,0.67,308.6,124.7,15.0,1121,14765,0.25,2.20,0.00,0.000,6,0.158,0.052,3239,1700,1676,0,0,0,0,0,0
$GC,15087,0.81,336.8,94.1,8.7,1158,15122,0.12,2.35,25.42,0.713,4,0.103,0.071,3296,3100,1564,0,0,0,0,0,0
$GC,15142,0.81,336.8,87.3,13.1,1169,15148,0.00,2.30,0.00,0.000,6,0.000,0.065,3306,1693,1561,0,0,0,0,0,0
$GC,15485,0.81,336.8,46.8,11.6,1230,15490,0.00,2.30,0.00,0.000,4,0.000,0.078,3316,283,1557,0,0,0,0,0,0
$GC,15509,0.81,336.8,44.0,11.6,1235,15514,0.00,2.22,0.00,0.000,6,0.000,0.053,3316,1701,1557,0,0,0,0,0,0
$STATE,15822,end climb,SURFACE_DEPTH_REACHED
$STATE,15822,begin surface coast
$FINISH,1.7,1.015716
$STATE,15863,end surface coast,CONTROL_FINISHED_OK
$STATE,15863,begin surface
$SM_CCo,15938,0.00,0.000,0,0,1551,340.72
$SM_GC,2.66,8.40,0.00,0.00,0.061,0.000,0.000,145,1863,1551,-8.92,0.37,340.72
$RAFOS_CLK,822
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5800.26,280199,010111
$TT8_MAMPS,0.026078
$HUMID,41.14
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.3,152.4
$24V_AH,22.9,16.316
$10V_AH,10.1,7.096
$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,23.150,118.250,426.100,0.000,0.000,30.754,29.725,609.590,2.000,0.000,13.361,2452.168,10737.502,553.505,2143.041,823.042,0.000,1703.152,0.000,2087.774,2471.000,18.024,0.000
$DEVICE_MAMPS,233.168,90.506,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.384,980.993,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188816
$DATA_FILE_SIZE,50451,1298
$CAP_FILE_SIZE,166286,0
$CFSIZE,260165632,245211136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$CURRENT,0.278,132.7,1
$GPS,031109,101807,6654.678,-5747.651,31,1.3,31,-37.6