version: 66.06
glider: 172
mission: 3
dive: 83
start: 11 3 109 19 29 7
data:
$ID,172
$MISSION,3
$DIVE,83
$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,-5809.1665
$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,22
$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
$GPS1,191725,6656.229,-5742.729,70,1.1,70,-37.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-75.9
$GPS2,192844,6656.070,-5742.493,12,1.3,12,-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,80.4,41392,-17.5,-10.000
$D_GRID,832
$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,-146.0,0.0,0.0,0,58,0.00,0.00,-41.40,0.000,2,0.000,0.000,121,1855,2317,0,0,0,0,0,0
$GC,60,-0.64,-146.0,3.2,-1.3,8,122,10.43,2.38,-42.78,0.000,4,0.237,0.091,2800,3250,3539,0,0,0,0,0,0
$GC,169,-0.57,-146.0,17.2,-19.7,31,175,0.12,2.28,0.00,0.000,6,0.165,0.066,2834,1851,3540,0,0,0,0,0,0
$GC,511,-0.57,-146.0,68.5,-12.7,92,517,0.00,2.30,0.00,0.000,4,0.000,0.075,2834,436,3540,0,0,0,0,0,0
$GC,563,-0.57,-146.0,75.1,-12.6,103,568,0.00,2.22,0.00,0.000,6,0.000,0.057,2825,1850,3540,0,0,0,0,0,0
$GC,897,-0.57,-146.0,120.7,-13.6,150,901,0.00,2.28,0.00,0.000,4,0.000,0.075,2825,441,3541,0,0,0,0,0,0
$GC,932,-0.57,-146.0,125.9,-14.1,153,938,0.00,2.22,0.00,0.000,6,0.000,0.057,2815,1859,3540,0,0,0,0,0,0
$GC,1257,-0.57,-146.0,170.0,-13.4,184,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1859,3541,0,0,0,0,0,0
$GC,1575,-0.57,-146.0,214.1,-12.9,214,1579,0.00,2.28,0.00,0.000,4,0.000,0.075,2814,440,3540,0,0,0,0,0,0
$GC,1627,-0.57,-146.0,221.2,-13.6,219,1631,0.12,2.20,0.00,0.000,6,0.174,0.057,2844,1851,3540,0,0,0,0,0,0
$GC,1956,-0.67,-146.0,252.2,-9.1,250,1960,0.00,2.28,0.00,0.000,4,0.000,0.076,2844,435,3539,0,0,0,0,0,0
$GC,1996,-0.76,-146.0,256.0,-9.8,252,2001,0.17,2.22,0.00,0.000,6,0.086,0.057,2766,1859,3539,0,0,0,0,0,0
$GC,2320,-0.63,-146.0,304.8,-15.6,282,2325,0.17,2.30,0.00,0.000,4,0.156,0.074,2818,434,3539,0,0,0,0,0,0
$GC,2347,-0.63,-146.0,309.0,-14.0,284,2352,0.00,2.20,0.00,0.000,6,0.000,0.057,2818,1851,3539,0,0,0,0,0,0
$GC,2681,-0.67,-146.0,346.7,-11.5,315,2685,0.00,2.25,0.00,0.000,4,0.000,0.075,2818,440,3539,0,0,0,0,0,0
$GC,2714,-0.70,-146.0,350.7,-12.4,318,2718,0.00,2.20,0.00,0.000,6,0.000,0.056,2818,1858,3539,0,0,0,0,0,0
$GC,3048,-0.75,-146.0,386.7,-10.3,348,3052,0.00,2.25,0.00,0.000,4,0.000,0.073,2818,440,3539,0,0,0,0,0,0
$GC,3100,-0.79,-146.0,392.1,-10.7,353,3104,0.15,2.20,0.00,0.000,6,0.093,0.055,2752,1860,3539,0,0,0,0,0,0
$GC,3424,-0.64,-146.0,441.3,-15.8,383,3429,0.22,2.28,0.00,0.000,4,0.151,0.071,2821,432,3539,0,0,0,0,0,0
$GC,3457,-0.64,-146.0,445.8,-11.6,386,3461,0.00,2.20,0.00,0.000,6,0.000,0.055,2820,1852,3539,0,0,0,0,0,0
$GC,3792,-0.69,-146.0,480.1,-10.5,416,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1851,3540,0,0,0,0,0,0
$GC,4121,-0.75,-146.0,512.4,-9.3,446,4126,0.10,2.28,0.00,0.000,4,0.111,0.074,2769,434,3540,0,0,0,0,0,0
$GC,4154,-0.65,-146.0,516.5,-13.2,449,4159,0.17,2.20,0.00,0.000,6,0.155,0.056,2811,1858,3540,0,0,0,0,0,0
$GC,4479,-0.68,-146.0,548.9,-9.7,479,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1857,3540,0,0,0,0,0,0
$GC,4807,-0.72,-146.0,580.8,-9.8,509,4811,0.00,2.25,0.00,0.000,4,0.000,0.073,2812,436,3540,0,0,0,0,0,0
$GC,4852,-0.76,-146.0,585.6,-10.3,513,4857,0.00,2.17,0.00,0.000,6,0.000,0.055,2812,1852,3540,0,0,0,0,0,0
$GC,5197,-0.81,-146.0,618.9,-10.3,533,5202,0.15,2.25,0.00,0.000,4,0.091,0.074,2741,441,3540,0,0,0,0,0,0
$GC,5216,-0.74,-146.0,623.4,-11.6,533,5221,0.15,2.17,0.00,0.000,6,0.167,0.056,2783,1850,3540,0,0,0,0,0,0
$GC,5528,-0.70,-146.0,662.9,-12.6,543,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1850,3540,0,0,0,0,0,0
$GC,5836,-0.70,-146.0,701.0,-12.4,553,5840,0.00,2.25,0.00,0.000,4,0.000,0.074,2783,436,3541,0,0,0,0,0,0
$GC,5886,-0.66,-146.0,708.0,-13.1,554,5891,0.12,2.17,0.00,0.000,6,0.169,0.056,2816,1850,3540,0,0,0,0,0,0
$GC,6203,-0.73,-146.0,739.2,-9.8,565,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1851,3541,0,0,0,0,0,0
$GC,6510,-0.80,-146.0,768.8,-9.4,575,6515,0.15,2.28,0.00,0.000,4,0.088,0.074,2746,434,3540,0,0,0,0,0,0
$GC,6547,-0.65,-146.0,774.2,-15.4,576,6552,0.25,2.20,0.00,0.000,6,0.150,0.057,2816,1851,3541,0,0,0,0,0,0
$GC,6883,-0.73,-146.0,806.7,-9.4,587,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1852,3541,0,0,0,0,0,0
$STATE,7156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7156,begin apogee
$GC,7161,-0.13,0.0,833.7,9.7,596,7287,0.47,0.00,123.65,1.167,6,0.125,0.000,2977,1695,2940,0,0,0,0,0,0
$STATE,7288,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7289,0.64,146.0,838.8,0.0,600,7423,0.73,0.00,129.48,1.134,6,0.084,0.000,3229,1694,2344,0,0,0,0,0,0
$GC,7714,0.58,190.7,817.1,7.9,614,7756,0.00,0.00,40.05,1.099,6,0.000,0.000,3229,1694,2162,0,0,0,0,0,0
$GC,8050,0.50,190.7,782.8,10.7,625,8052,0.15,0.00,0.00,0.000,6,0.172,0.000,3189,1695,2154,0,0,0,0,0,0
$GC,8357,0.60,237.1,758.0,7.9,635,8405,0.00,2.42,40.90,1.085,4,0.000,0.065,3190,3113,1971,0,0,0,0,0,0
$GC,8424,0.69,248.4,752.4,9.5,637,8441,0.15,2.38,11.30,0.974,6,0.093,0.064,3260,1701,1927,0,0,0,0,0,0
$GC,8755,0.58,248.4,708.6,13.6,648,8760,0.17,2.35,0.00,0.000,4,0.161,0.075,3221,287,1919,0,0,0,0,0,0
$GC,8792,0.58,248.4,703.8,10.8,649,8796,0.00,2.25,0.00,0.000,6,0.000,0.051,3221,1705,1918,0,0,0,0,0,0
$GC,9122,0.58,248.4,667.9,10.9,660,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1706,1917,0,0,0,0,0,0
$GC,9428,0.58,248.4,635.5,10.4,670,9432,0.00,2.33,0.00,0.000,4,0.000,0.076,3231,281,1916,0,0,0,0,0,0
$GC,9459,0.58,248.4,632.0,11.5,671,9464,0.00,2.22,0.00,0.000,6,0.000,0.051,3231,1705,1916,0,0,0,0,0,0
$GC,9775,0.58,248.4,598.5,10.6,682,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1706,1916,0,0,0,0,0,0
$GC,10093,0.58,248.4,564.0,10.8,712,10097,0.00,2.30,0.00,0.000,4,0.000,0.077,3239,282,1915,0,0,0,0,0,0
$GC,10129,0.58,248.4,559.7,12.2,715,10135,0.00,2.20,0.00,0.000,6,0.000,0.051,3240,1705,1915,0,0,0,0,0,0
$GC,10453,0.54,248.4,521.1,12.1,746,10455,0.15,0.00,0.00,0.000,6,0.168,0.000,3198,1706,1915,0,0,0,0,0,0
$GC,10772,0.64,265.9,490.8,9.2,776,10794,0.10,2.38,14.98,0.917,4,0.116,0.077,3253,285,1854,0,0,0,0,0,0
$GC,10817,0.59,265.9,485.3,13.1,781,10822,0.12,2.20,0.00,0.000,6,0.171,0.051,3219,1700,1853,0,0,0,0,0,0
$GC,11141,0.63,265.9,449.4,11.0,811,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1700,1851,0,0,0,0,0,0
$GC,11460,0.67,265.9,415.0,10.2,841,11464,0.00,2.30,0.00,0.000,4,0.000,0.077,3228,287,1850,0,0,0,0,0,0
$GC,11493,0.67,265.9,411.5,10.5,844,11497,0.00,2.17,0.00,0.000,6,0.000,0.051,3228,1700,1851,0,0,0,0,0,0
$GC,11816,0.67,265.9,377.6,10.3,874,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1702,1850,0,0,0,0,0,0
$GC,12136,0.67,265.9,343.5,10.8,904,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1701,1850,0,0,0,0,0,0
$GC,12454,0.67,265.9,307.9,11.7,934,12458,0.00,2.22,0.00,0.000,4,0.000,0.069,3228,3104,1849,0,0,0,0,0,0
$GC,12489,0.67,265.9,303.4,11.9,937,12495,0.00,2.22,0.00,0.000,6,0.000,0.063,3237,1698,1849,0,0,0,0,0,0
$GC,12814,0.67,265.9,263.2,12.2,968,12818,0.00,2.25,0.00,0.000,4,0.000,0.075,3247,285,1849,0,0,0,0,0,0
$GC,12855,0.67,265.9,257.8,13.0,972,12859,0.00,2.17,0.00,0.000,6,0.000,0.051,3246,1705,1849,0,0,0,0,0,0
$GC,13180,0.67,265.9,218.0,11.4,1002,13184,0.00,2.25,0.00,0.000,4,0.000,0.075,3254,289,1849,0,0,0,0,0,0
$GC,13215,0.67,265.9,213.4,13.2,1005,13220,0.00,2.15,0.00,0.000,6,0.000,0.051,3254,1701,1849,0,0,0,0,0,0
$GC,13538,0.67,265.9,178.0,10.5,1036,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1701,1849,0,0,0,0,0,0
$GC,13858,0.67,265.9,144.0,10.3,1066,13862,0.00,2.25,0.00,0.000,4,0.000,0.076,3262,288,1848,0,0,0,0,0,0
$GC,13902,0.67,265.9,138.9,10.3,1070,13909,0.00,2.17,0.00,0.000,6,0.000,0.052,3262,1707,1848,0,0,0,0,0,0
$GC,14227,0.68,273.4,104.6,9.7,1101,14239,0.00,2.33,7.10,0.658,4,0.000,0.076,3271,293,1825,0,0,0,0,0,0
$GC,14286,0.68,273.4,98.7,10.2,1108,14291,0.00,2.17,0.00,0.000,6,0.000,0.052,3271,1706,1823,0,0,0,0,0,0
$GC,14629,0.72,303.3,64.6,8.6,1169,14660,0.00,0.00,27.55,0.700,6,0.000,0.000,3271,1706,1702,0,0,0,0,0,0
$GC,15000,0.79,327.9,33.8,8.9,1235,15028,0.00,2.30,21.75,0.680,4,0.000,0.071,3271,3104,1602,0,0,0,0,0,0
$GC,15071,0.85,327.9,26.6,10.5,1250,15078,0.00,2.28,0.00,0.000,6,0.000,0.065,3280,1702,1598,0,0,0,0,0,0
$STATE,15289,end climb,SURFACE_DEPTH_REACHED
$STATE,15289,begin surface coast
$FINISH,1.7,1.020607
$STATE,15330,end surface coast,CONTROL_FINISHED_OK
$STATE,15330,begin surface
$SM_CCo,15405,0.00,0.000,0,0,1590,331.15
$SM_GC,2.56,8.30,0.00,0.00,0.057,0.000,0.000,140,1854,1590,-8.94,0.08,331.15
$RAFOS_CLK,787
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5746.88,280199,141401
$TT8_MAMPS,0.026078
$HUMID,42.00
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.4,98.6
$24V_AH,22.9,16.799
$10V_AH,10.2,7.336
$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,22.850,117.525,416.750,0.000,0.000,31.293,37.861,470.261,2.500,0.000,12.990,2453.143,10267.862,584.873,2110.440,643.330,0.000,1636.005,0.000,2080.963,1079.000,22.887,0.000
$DEVICE_MAMPS,237.003,91.273,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.834,974.954,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188680
$DATA_FILE_SIZE,50400,1296
$CAP_FILE_SIZE,164650,0
$CFSIZE,260165632,244969472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.6
$CURRENT,0.280,122.3,1
$GPS,031109,234731,6656.618,-5733.465,61,1.7,61,-37.6