version: 66.06
glider: 172
mission: 3
dive: 79
start: 11 3 109 1 19 13
data:
$ID,172
$MISSION,3
$DIVE,79
$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,-5755.2261
$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,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
$GPS1,011137,6652.705,-5800.825,34,1.0,34,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-76.3
$GPS2,011850,6652.739,-5800.832,15,1.2,15,-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,62.5,22008,-17.5,-10.000
$D_GRID,845
$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,-146.0,0.0,0.0,0,75,0.00,0.00,-57.80,0.000,2,0.000,0.000,122,1850,2197,0,0,0,0,0,0
$GC,77,-0.64,-146.0,3.1,-2.5,11,153,10.60,2.42,-60.10,0.000,4,0.242,0.088,2811,436,3537,0,0,0,0,0,0
$GC,290,-0.53,-146.0,31.0,-19.2,56,296,0.17,2.28,0.00,0.000,6,0.166,0.059,2852,1856,3539,0,0,0,0,0,0
$GC,634,-0.58,-146.0,74.7,-11.5,117,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1856,3539,0,0,0,0,0,0
$GC,974,-0.65,-146.0,113.5,-11.4,168,979,0.10,2.33,0.00,0.000,4,0.117,0.076,2804,438,3539,0,0,0,0,0,0
$GC,1002,-0.59,-146.0,117.6,-14.4,170,1010,0.12,2.22,0.00,0.000,6,0.176,0.058,2830,1850,3539,0,0,0,0,0,0
$GC,1326,-0.59,-146.0,158.7,-12.3,201,1330,0.00,2.30,0.00,0.000,4,0.000,0.077,2830,440,3539,0,0,0,0,0,0
$GC,1367,-0.63,-146.0,163.9,-12.1,205,1371,0.00,2.22,0.00,0.000,6,0.000,0.058,2825,1855,3538,0,0,0,0,0,0
$GC,1691,-0.63,-146.0,205.3,-12.8,235,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1854,3538,0,0,0,0,0,0
$GC,2010,-0.63,-146.0,242.7,-11.1,265,2014,0.00,2.28,0.00,0.000,4,0.000,0.076,2825,440,3538,0,0,0,0,0,0
$GC,2079,-0.68,-146.0,250.7,-11.4,272,2083,0.00,2.22,0.00,0.000,6,0.000,0.059,2825,1855,3538,0,0,0,0,0,0
$GC,2403,-0.74,-146.0,286.5,-10.7,302,2405,0.12,0.00,0.00,0.000,6,0.103,0.000,2770,1855,3538,0,0,0,0,0,0
$GC,2721,-0.63,-146.0,332.6,-14.6,332,2726,0.17,2.30,0.00,0.000,4,0.161,0.076,2821,438,3538,0,0,0,0,0,0
$GC,2773,-0.69,-146.0,338.8,-10.9,337,2777,0.00,2.20,0.00,0.000,6,0.000,0.058,2811,1851,3538,0,0,0,0,0,0
$GC,3097,-0.69,-146.0,375.7,-11.4,367,3101,0.00,2.28,0.00,0.000,4,0.000,0.075,2811,431,3537,0,0,0,0,0,0
$GC,3120,-0.69,-146.0,378.5,-12.2,369,3124,0.00,2.22,0.00,0.000,6,0.000,0.058,2811,1857,3537,0,0,0,0,0,0
$GC,3444,-0.72,-146.0,413.6,-10.5,399,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1858,3538,0,0,0,0,0,0
$GC,3762,-0.72,-146.0,447.2,-10.9,429,3767,0.00,2.28,0.00,0.000,4,0.000,0.074,2811,431,3538,0,0,0,0,0,0
$GC,3813,-0.75,-146.0,452.9,-11.2,434,3817,0.00,2.20,0.00,0.000,6,0.000,0.058,2810,1850,3538,0,0,0,0,0,0
$GC,4137,-0.75,-146.0,487.3,-10.4,464,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1850,3539,0,0,0,0,0,0
$GC,4456,-0.79,-146.0,521.4,-10.9,494,4461,0.12,2.28,0.00,0.000,4,0.104,0.074,2753,433,3539,0,0,0,0,0,0
$GC,4483,-0.66,-146.0,525.4,-15.3,496,4489,0.22,2.20,0.00,0.000,6,0.154,0.058,2811,1852,3538,0,0,0,0,0,0
$GC,4807,-0.70,-146.0,559.2,-10.2,527,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1852,3539,0,0,0,0,0,0
$GC,5127,-0.74,-146.0,591.5,-9.9,557,5131,0.00,2.25,0.00,0.000,4,0.000,0.074,2811,438,3540,0,0,0,0,0,0
$GC,5172,-0.80,-146.0,596.7,-10.2,561,5178,0.12,2.17,0.00,0.000,6,0.102,0.057,2755,1852,3539,0,0,0,0,0,0
$GC,5485,-0.68,-146.0,641.5,-15.0,574,5487,0.17,0.00,0.00,0.000,6,0.156,0.000,2807,1852,3540,0,0,0,0,0,0
$GC,5791,-0.71,-146.0,674.5,-10.5,584,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3540,0,0,0,0,0,0
$GC,6097,-0.76,-146.0,706.6,-10.4,594,6101,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,436,3540,0,0,0,0,0,0
$GC,6130,-0.76,-146.0,710.2,-11.2,595,6134,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1857,3540,0,0,0,0,0,0
$GC,6459,-0.81,-146.0,743.7,-10.1,606,6461,0.12,0.00,0.00,0.000,6,0.101,0.000,2749,1857,3540,0,0,0,0,0,0
$GC,6766,-0.69,-146.0,787.3,-14.4,616,6770,0.17,2.28,0.00,0.000,4,0.159,0.074,2801,439,3540,0,0,0,0,0,0
$GC,6817,-0.73,-146.0,793.6,-11.6,617,6820,0.00,2.17,0.00,0.000,6,0.000,0.057,2798,1850,3540,0,0,0,0,0,0
$GC,7132,-0.73,-146.0,826.5,-10.3,628,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1850,3540,0,0,0,0,0,0
$STATE,7314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7314,begin apogee
$GC,7319,-0.13,0.0,846.3,10.9,634,7446,0.55,0.00,123.75,1.176,6,0.134,0.000,2978,1696,2940,0,0,0,0,0,0
$STATE,7446,end apogee,CONTROL_FINISHED_OK
$STATE,7446,begin climb
$GC,7448,0.64,146.0,850.5,0.0,638,7587,0.70,2.53,128.73,1.142,4,0.080,0.071,3238,288,2341,0,0,0,0,0,0
$GC,7601,0.60,228.0,849.7,6.2,643,7684,0.00,2.40,74.90,1.114,6,0.000,0.050,3237,1700,2008,0,0,0,0,0,0
$GC,7990,0.53,228.0,805.7,11.9,656,7991,0.15,0.00,0.00,0.000,6,0.166,0.000,3199,1701,1997,0,0,0,0,0,0
$GC,8296,0.60,243.2,776.7,9.3,666,8310,0.00,0.00,12.70,1.014,6,0.000,0.000,3199,1701,1948,0,0,0,0,0,0
$GC,8602,0.67,252.8,748.0,9.6,676,8615,0.12,0.00,9.98,0.977,6,0.104,0.000,3251,1701,1909,0,0,0,0,0,0
$GC,8937,0.58,252.8,703.5,13.6,687,8938,0.15,0.00,0.00,0.000,6,0.162,0.000,3210,1700,1905,0,0,0,0,0,0
$GC,9242,0.62,252.8,670.7,10.5,697,9246,0.00,2.33,0.00,0.000,4,0.000,0.076,3220,285,1904,0,0,0,0,0,0
$GC,9278,0.65,252.8,666.6,11.6,698,9283,0.00,2.22,0.00,0.000,6,0.000,0.052,3220,1702,1904,0,0,0,0,0,0
$GC,9603,0.65,252.8,631.5,10.5,709,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1703,1903,0,0,0,0,0,0
$GC,9910,0.65,252.8,598.3,10.9,719,9914,0.00,2.28,0.00,0.000,4,0.000,0.076,3230,291,1903,0,0,0,0,0,0
$GC,9937,0.65,252.8,595.0,12.0,721,9942,0.00,2.20,0.00,0.000,6,0.000,0.051,3230,1707,1903,0,0,0,0,0,0
$GC,10270,0.65,252.8,555.6,12.0,752,10274,0.00,2.25,0.00,0.000,4,0.000,0.070,3230,3104,1903,0,0,0,0,0,0
$GC,10298,0.65,252.8,552.1,12.7,755,10303,0.00,2.25,0.00,0.000,6,0.000,0.064,3239,1696,1902,0,0,0,0,0,0
$GC,10632,0.62,252.8,511.4,11.9,785,10636,0.00,2.25,0.00,0.000,4,0.000,0.076,3249,288,1902,0,0,0,0,0,0
$GC,10665,0.56,252.8,507.4,12.7,788,10671,0.12,2.17,0.00,0.000,6,0.150,0.052,3207,1705,1902,0,0,0,0,0,0
$GC,10996,0.64,268.9,476.4,9.3,819,11015,0.00,0.00,14.38,0.906,6,0.000,0.000,3207,1705,1844,0,0,0,0,0,0
$GC,11345,0.73,283.9,444.1,9.3,851,11366,0.15,2.38,14.70,0.883,4,0.100,0.077,3282,292,1782,0,0,0,0,0,0
$GC,11394,0.61,283.9,437.5,14.9,856,11400,0.17,2.22,0.00,0.000,6,0.150,0.052,3226,1706,1781,0,0,0,0,0,0
$GC,11727,0.65,283.9,399.6,11.4,887,11729,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1707,1777,0,0,0,0,0,0
$GC,12056,0.69,283.9,361.5,11.1,917,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1706,1776,0,0,0,0,0,0
$GC,12376,0.73,283.9,325.3,11.6,947,12381,0.10,2.33,0.00,0.000,4,0.120,0.077,3282,285,1776,0,0,0,0,0,0
$GC,12413,0.63,283.9,319.8,15.0,950,12420,0.17,2.20,0.00,0.000,6,0.167,0.053,3232,1702,1775,0,0,0,0,0,0
$GC,12747,0.66,283.9,281.3,10.8,981,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1702,1775,0,0,0,0,0,0
$GC,13076,0.71,283.9,247.3,10.4,1011,13077,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1702,1775,0,0,0,0,0,0
$GC,13395,0.76,283.9,213.8,10.1,1041,13399,0.12,2.30,0.00,0.000,4,0.107,0.077,3298,284,1775,0,0,0,0,0,0
$GC,13431,0.64,283.9,208.5,14.9,1044,13437,0.22,2.17,0.00,0.000,6,0.161,0.053,3231,1701,1775,0,0,0,0,0,0
$GC,13755,0.72,301.0,175.9,9.2,1075,13777,0.00,2.35,15.62,0.747,4,0.000,0.077,3241,289,1711,0,0,0,0,0,0
$GC,13801,0.79,301.0,171.5,10.7,1080,13806,0.12,2.20,0.00,0.000,6,0.107,0.052,3296,1704,1710,0,0,0,0,0,0
$GC,14125,0.71,301.0,128.5,12.6,1110,14127,0.15,0.00,0.00,0.000,6,0.169,0.000,3254,1705,1708,0,0,0,0,0,0
$GC,14446,0.76,310.0,96.2,9.6,1143,14457,0.00,0.00,8.70,0.676,6,0.000,0.000,3254,1705,1676,0,0,0,0,0,0
$GC,14795,0.84,314.7,63.3,9.8,1205,14807,0.12,2.30,5.43,0.602,4,0.107,0.077,3320,289,1656,0,0,0,0,0,0
$GC,14849,0.76,314.7,55.8,14.9,1216,14856,0.17,2.20,0.00,0.000,6,0.166,0.055,3271,1698,1655,0,0,0,0,0,0
$GC,15194,0.85,346.1,21.0,8.6,1277,15228,0.00,2.33,28.98,0.684,4,0.000,0.077,3282,291,1526,0,0,0,0,0,0
$GC,15270,0.93,346.1,13.1,12.0,1293,15276,0.12,2.22,0.00,0.000,6,0.106,0.055,3333,1699,1524,0,0,0,0,0,0
$STATE,15336,end climb,SURFACE_DEPTH_REACHED
$STATE,15337,begin surface coast
$FINISH,1.6,1.025065
$STATE,15366,end surface coast,CONTROL_FINISHED_OK
$STATE,15366,begin surface
$SM_CCo,15442,0.00,0.000,0,0,1517,349.06
$SM_GC,2.60,8.48,0.00,0.00,0.056,0.000,0.000,141,1854,1517,-8.95,0.08,349.06
$RAFOS_CLK,780
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5804.90,270199,212109
$TT8_MAMPS,0.026078
$HUMID,40.82
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.0,84.4
$24V_AH,22.5,16.147
$10V_AH,10.2,7.013
$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,24.175,100.125,437.850,0.000,0.000,30.058,39.105,253.490,2.500,0.000,15.797,2496.133,10247.669,537.327,2112.261,475.273,0.000,1664.768,0.000,2084.149,2471.000,22.671,0.000
$DEVICE_MAMPS,242.372,88.205,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.322,990.294,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188888
$DATA_FILE_SIZE,50387,1310
$CAP_FILE_SIZE,160644,0
$CFSIZE,260165632,245293056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$CURRENT,0.126,114.7,1
$GPS,031109,053800,6654.511,-5755.927,42,1.0,47,-37.7