version: 66.06
glider: 172
mission: 3
dive: 76
start: 11 2 109 10 57 47
data:
$ID,172
$MISSION,3
$DIVE,76
$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,608.34399
$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,-5664.9351
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,103836,6652.338,-5821.062,32,1.6,32,-37.7
$_CALLS,5
$_XMS_NAKs,30
$_XMS_TOUTs,4
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.6
$GPS2,105741,6652.292,-5821.134,13,2.5,32,-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,70.4,35642,-17.5,-10.000
$D_GRID,872
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,77,0.00,0.00,-63.10,0.000,2,0.000,0.000,120,1856,2253,0,0,0,0,0,0
$GC,79,-0.64,-146.0,3.0,-1.9,12,152,10.38,2.35,-57.20,0.000,4,0.235,0.085,2814,439,3536,0,0,0,0,0,0
$GC,178,-0.50,-146.0,10.6,-14.2,33,184,0.17,2.30,0.00,0.000,6,0.150,0.058,2862,1841,3537,0,0,0,0,0,0
$GC,502,-0.55,-146.0,53.4,-12.8,94,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1841,3537,0,0,0,0,0,0
$GC,823,-0.63,-146.0,88.6,-11.2,154,830,0.12,2.30,0.00,0.000,4,0.104,0.076,2805,439,3537,0,0,0,0,0,0
$GC,873,-0.56,-146.0,96.0,-15.5,165,878,0.17,2.25,0.00,0.000,6,0.161,0.058,2848,1857,3537,0,0,0,0,0,0
$GC,1193,-0.62,-146.0,135.0,-11.7,199,1197,0.00,2.33,0.00,0.000,4,0.000,0.075,2848,448,3537,0,0,0,0,0,0
$GC,1241,-0.68,-146.0,140.7,-12.0,204,1246,0.12,2.25,0.00,0.000,6,0.106,0.058,2792,1851,3537,0,0,0,0,0,0
$GC,1555,-0.60,-146.0,190.7,-15.5,235,1556,0.15,0.00,0.00,0.000,6,0.169,0.000,2835,1852,3537,0,0,0,0,0,0
$GC,1866,-0.65,-146.0,223.7,-10.3,265,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1852,3537,0,0,0,0,0,0
$GC,2176,-0.72,-146.0,254.4,-10.4,295,2180,0.12,2.30,0.00,0.000,4,0.102,0.077,2779,433,3537,0,0,0,0,0,0
$GC,2280,-0.63,-146.0,269.7,-14.9,307,2284,0.17,2.22,0.00,0.000,6,0.160,0.060,2821,1854,3537,0,0,0,0,0,0
$GC,2594,-0.68,-146.0,304.6,-10.8,337,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1854,3537,0,0,0,0,0,0
$GC,2905,-0.72,-146.0,339.3,-10.9,367,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1854,3537,0,0,0,0,0,0
$GC,3216,-0.77,-146.0,373.2,-10.7,397,3219,0.12,2.28,0.00,0.000,4,0.101,0.077,2764,439,3537,0,0,0,0,0,0
$GC,3271,-0.65,-146.0,381.7,-16.2,403,3275,0.12,2.22,0.00,0.000,6,0.146,0.058,2807,1843,3537,0,0,0,0,0,0
$GC,3589,-0.65,-146.0,419.8,-11.5,434,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1843,3537,0,0,0,0,0,0
$GC,3900,-0.65,-146.0,454.6,-11.2,464,3904,0.00,2.25,0.00,0.000,4,0.000,0.075,2807,428,3537,0,0,0,0,0,0
$GC,3934,-0.65,-146.0,458.7,-12.4,468,3938,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1850,3537,0,0,0,0,0,0
$GC,4253,-0.65,-146.0,495.1,-11.5,499,4257,0.00,2.30,0.00,0.000,4,0.000,0.075,2807,445,3538,0,0,0,0,0,0
$GC,4276,-0.65,-146.0,497.7,-12.9,501,4281,0.00,2.17,0.00,0.000,6,0.000,0.057,2807,1852,3538,0,0,0,0,0,0
$GC,4589,-0.65,-146.0,535.7,-12.0,532,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3538,0,0,0,0,0,0
$GC,4900,-0.69,-146.0,572.3,-11.7,562,4904,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,445,3538,0,0,0,0,0,0
$GC,4947,-0.72,-146.0,578.3,-12.6,567,4953,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1848,3538,0,0,0,0,0,0
$GC,5262,-0.76,-146.0,614.4,-11.4,590,5265,0.00,2.25,0.00,0.000,4,0.000,0.074,2806,432,3538,0,0,0,0,0,0
$GC,5295,-0.76,-146.0,618.8,-12.7,591,5299,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1848,3538,0,0,0,0,0,0
$GC,5623,-0.80,-146.0,656.4,-11.7,602,5627,0.12,2.25,0.00,0.000,4,0.104,0.074,2749,438,3538,0,0,0,0,0,0
$GC,5657,-0.65,-146.0,661.9,-16.2,603,5661,0.20,2.22,0.00,0.000,6,0.140,0.057,2807,1849,3538,0,0,0,0,0,0
$GC,5983,-0.70,-146.0,701.0,-11.9,614,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,6285,-0.74,-146.0,736.2,-11.5,624,6289,0.00,2.30,0.00,0.000,4,0.000,0.075,2807,439,3539,0,0,0,0,0,0
$GC,6346,-0.78,-146.0,743.3,-11.7,626,6350,0.08,2.22,0.00,0.000,6,0.073,0.057,2761,1853,3539,0,0,0,0,0,0
$GC,6681,-0.70,-146.0,791.4,-14.2,637,6682,0.12,0.00,0.00,0.000,6,0.168,0.000,2795,1853,3539,0,0,0,0,0,0
$GC,6983,-0.70,-146.0,827.1,-11.9,647,6986,0.00,2.30,0.00,0.000,4,0.000,0.074,2796,434,3539,0,0,0,0,0,0
$GC,7043,-0.70,-146.0,834.6,-12.5,649,7047,0.00,2.22,0.00,0.000,6,0.000,0.058,2796,1845,3539,0,0,0,0,0,0
$STATE,7376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7376,begin apogee
$GC,7378,-0.13,0.0,874.4,12.7,660,7505,0.55,0.00,124.25,1.193,6,0.135,0.000,2977,1691,2940,0,0,0,0,0,0
$STATE,7505,end apogee,CONTROL_FINISHED_OK
$STATE,7505,begin climb
$GC,7507,0.64,146.0,880.6,0.0,664,7640,0.73,0.00,129.25,1.161,6,0.085,0.000,3229,1690,2344,0,0,0,0,0,0
$GC,7927,0.59,194.4,862.0,7.8,678,7972,0.00,0.00,43.12,1.127,6,0.000,0.000,3229,1690,2147,0,0,0,0,0,0
$GC,8260,0.52,194.4,829.1,10.1,689,8262,0.12,0.00,0.00,0.000,6,0.177,0.000,3197,1690,2139,0,0,0,0,0,0
$GC,8564,0.55,215.7,802.0,9.0,699,8584,0.00,0.00,18.95,1.079,6,0.000,0.000,3198,1690,2060,0,0,0,0,0,0
$GC,8868,0.62,237.8,774.5,9.0,709,8891,0.00,0.00,20.55,1.073,6,0.000,0.000,3197,1690,1969,0,0,0,0,0,0
$GC,9199,0.71,253.0,744.1,9.3,720,9216,0.17,0.00,14.02,1.029,6,0.090,0.000,3269,1690,1908,0,0,0,0,0,0
$GC,9532,0.58,253.0,696.6,14.5,731,9536,0.20,2.33,0.00,0.000,4,0.160,0.075,3222,294,1904,0,0,0,0,0,0
$GC,9565,0.58,253.0,692.3,12.6,732,9570,0.00,2.28,0.00,0.000,6,0.000,0.051,3222,1705,1903,0,0,0,0,0,0
$GC,9895,0.58,253.0,656.1,11.0,743,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1902,0,0,0,0,0,0
$GC,10198,0.58,253.0,622.4,10.9,753,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1902,0,0,0,0,0,0
$GC,10503,0.58,253.0,589.5,10.5,769,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1902,0,0,0,0,0,0
$GC,10815,0.58,253.0,555.5,11.1,799,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1901,0,0,0,0,0,0
$GC,11125,0.58,253.0,520.4,11.4,829,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1901,0,0,0,0,0,0
$GC,11436,0.58,253.0,486.1,10.8,859,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1901,0,0,0,0,0,0
$GC,11746,0.58,253.0,452.6,10.4,889,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1901,0,0,0,0,0,0
$GC,12057,0.58,254.9,421.4,9.9,919,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1900,0,0,0,0,0,0
$GC,12366,0.58,254.9,389.5,10.4,949,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1704,1900,0,0,0,0,0,0
$GC,12677,0.58,254.9,356.7,10.9,979,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1900,0,0,0,0,0,0
$GC,12987,0.59,260.8,324.5,9.7,1009,13000,0.00,2.33,7.07,0.752,4,0.000,0.078,3232,302,1876,0,0,0,0,0,0
$GC,13025,0.59,260.8,320.5,10.7,1013,13031,0.00,2.20,0.00,0.000,6,0.000,0.054,3232,1700,1875,0,0,0,0,0,0
$GC,13339,0.59,260.8,287.1,10.9,1044,13340,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1701,1876,0,0,0,0,0,0
$GC,13651,0.59,260.8,253.6,11.0,1074,13651,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1701,1875,0,0,0,0,0,0
$GC,13961,0.63,260.8,220.5,10.7,1104,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1701,1875,0,0,0,0,0,0
$GC,14272,0.69,282.2,189.8,9.0,1134,14293,0.00,0.00,20.05,0.764,6,0.000,0.000,3232,1701,1789,0,0,0,0,0,0
$GC,14601,0.78,304.5,160.5,9.0,1166,14630,0.12,2.35,20.25,0.739,4,0.107,0.077,3299,302,1697,0,0,0,0,0,0
$GC,14668,0.69,304.5,152.3,13.6,1173,14674,0.10,2.22,0.00,0.000,6,0.139,0.053,3251,1697,1695,0,0,0,0,0,0
$GC,14982,0.74,304.5,119.2,10.7,1204,14983,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1698,1692,0,0,0,0,0,0
$GC,15297,0.82,307.1,86.0,9.9,1246,15304,0.12,2.30,0.00,0.000,4,0.106,0.077,3317,288,1691,0,0,0,0,0,0
$GC,15325,0.72,307.1,82.3,13.2,1252,15331,0.20,2.20,0.00,0.000,6,0.160,0.053,3259,1705,1691,0,0,0,0,0,0
$GC,15650,0.82,332.0,51.0,8.9,1313,15679,0.00,2.35,24.30,0.696,4,0.000,0.070,3259,3104,1586,0,0,0,0,0,0
$GC,15713,0.92,332.0,44.8,11.0,1327,15719,0.17,2.30,0.00,0.000,6,0.089,0.064,3332,1683,1581,0,0,0,0,0,0
$STATE,16020,end climb,SURFACE_DEPTH_REACHED
$STATE,16020,begin surface coast
$FINISH,1.8,1.025206
$STATE,16042,end surface coast,CONTROL_FINISHED_OK
$STATE,16042,begin surface
$SM_CCo,16055,227.25,0.648,0,0,459,608.34
$SM_GC,2.33,0.00,0.00,227.25,0.000,0.000,0.648,123,1858,459,-8.99,0.23,608.34
$RAFOS_CLK,869
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5819.97,270199,101039
$TT8_MAMPS,0.051389
$HUMID,38.58
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,852.0,105.4
$24V_AH,22.9,15.635
$10V_AH,10.2,6.767
$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,23.150,77.625,421.825,227.250,0.000,154.704,280.891,335.882,2.750,0.000,33.086,0.000,12969.886,775.604,2729.971,930.322,0.000,1882.414,0.000,2180.250,2471.000,24.241,0.000
$DEVICE_MAMPS,235.469,85.137,1192.685,648.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.511,1047.515,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150372
$DATA_FILE_SIZE,53613,1389
$CAP_FILE_SIZE,163557,0
$CFSIZE,260165632,245481472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.4
$CURRENT,0.108, 29.4,1
$GPS,021109,153037,6655.354,-5816.813,65,0.9,65,-37.8