version: 66.06
glider: 172
mission: 3
dive: 91
start: 11 5 109 5 35 49
data:
$ID,172
$MISSION,3
$DIVE,91
$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,-5951.1685
$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,28
$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
$GPS1,051643,6701.997,-5709.614,26,1.6,32,-37.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-74.5
$GPS2,053525,6702.255,-5710.188,13,1.1,18,-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,150.7,16082,-17.5,-10.000
$D_GRID,732
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-146.0,0.0,0.0,0,73,0.00,0.00,-56.65,0.000,2,0.000,0.000,121,1854,2573,0,0,0,0,0,0
$GC,75,-0.64,-146.0,3.0,-1.3,11,123,10.27,2.33,-31.23,0.000,4,0.232,0.081,2810,441,3534,0,0,0,0,0,0
$GC,246,-0.57,-146.0,29.8,-17.6,48,252,0.12,2.22,0.00,0.000,6,0.163,0.052,2835,1851,3535,0,0,0,0,0,0
$GC,589,-0.57,-146.0,78.4,-12.9,109,595,0.00,2.28,0.00,0.000,4,0.000,0.069,2836,436,3535,0,0,0,0,0,0
$GC,636,-0.57,-146.0,84.1,-12.2,119,642,0.00,2.20,0.00,0.000,6,0.000,0.052,2826,1855,3535,0,0,0,0,0,0
$GC,968,-0.57,-146.0,122.6,-11.6,162,972,0.00,2.25,0.00,0.000,4,0.000,0.069,2816,3263,3534,0,0,0,0,0,0
$GC,1004,-0.66,-146.0,127.0,-11.9,165,1011,0.00,2.22,0.00,0.000,6,0.000,0.058,2816,1848,3534,0,0,0,0,0,0
$GC,1328,-0.66,-146.0,167.2,-12.1,196,1332,0.00,2.22,0.00,0.000,4,0.000,0.069,2816,442,3534,0,0,0,0,0,0
$GC,1409,-0.66,-146.0,177.2,-12.3,204,1415,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1849,3534,0,0,0,0,0,0
$GC,1734,-0.66,-146.0,215.3,-12.4,235,1738,0.00,2.22,0.00,0.000,4,0.000,0.067,2808,442,3534,0,0,0,0,0,0
$GC,1761,-0.66,-146.0,219.0,-13.5,237,1768,0.00,2.17,0.00,0.000,6,0.000,0.051,2808,1857,3534,0,0,0,0,0,0
$GC,2085,-0.66,-146.0,259.1,-12.4,268,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1857,3535,0,0,0,0,0,0
$GC,2404,-0.66,-146.0,296.3,-11.0,298,2408,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,441,3535,0,0,0,0,0,0
$GC,2436,-0.66,-146.0,300.2,-11.1,301,2440,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1850,3535,0,0,0,0,0,0
$GC,2760,-0.66,-146.0,336.3,-11.2,331,2764,0.00,2.25,0.00,0.000,4,0.000,0.069,2807,440,3535,0,0,0,0,0,0
$GC,2777,-0.66,-146.0,338.4,-11.6,332,2783,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1849,3535,0,0,0,0,0,0
$GC,3102,-0.66,-146.0,374.8,-11.4,363,3106,0.00,2.25,0.00,0.000,4,0.000,0.068,2807,436,3535,0,0,0,0,0,0
$GC,3120,-0.66,-146.0,377.2,-12.0,364,3125,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1859,3536,0,0,0,0,0,0
$GC,3443,-0.66,-146.0,413.1,-11.4,395,3447,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,441,3536,0,0,0,0,0,0
$GC,3457,-0.66,-146.0,414.7,-11.4,396,3461,0.00,2.15,0.00,0.000,6,0.000,0.050,2807,1851,3536,0,0,0,0,0,0
$GC,3785,-0.66,-146.0,452.3,-10.5,427,3789,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,435,3536,0,0,0,0,0,0
$GC,3803,-0.66,-146.0,454.5,-11.6,429,3807,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1851,3536,0,0,0,0,0,0
$GC,4127,-0.66,-146.0,487.8,-9.8,459,4131,0.00,2.20,0.00,0.000,4,0.000,0.067,2807,441,3537,0,0,0,0,0,0
$GC,4169,-0.66,-146.0,492.2,-11.1,463,4173,0.00,2.15,0.00,0.000,6,0.000,0.051,2808,1852,3537,0,0,0,0,0,0
$GC,4497,-0.66,-146.0,524.5,-9.7,494,4501,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,435,3537,0,0,0,0,0,0
$GC,4524,-0.66,-146.0,527.5,-11.0,496,4530,0.00,2.15,0.00,0.000,6,0.000,0.050,2807,1851,3537,0,0,0,0,0,0
$GC,4849,-0.69,-146.0,560.0,-10.2,527,4852,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,441,3537,0,0,0,0,0,0
$GC,4866,-0.69,-146.0,561.9,-10.8,529,4870,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1853,3537,0,0,0,0,0,0
$GC,5194,-0.74,-146.0,596.1,-10.6,560,5198,0.00,2.20,0.00,0.000,4,0.000,0.067,2807,442,3537,0,0,0,0,0,0
$GC,5236,-0.79,-146.0,600.8,-11.0,564,5241,0.10,2.15,0.00,0.000,6,0.110,0.051,2753,1856,3537,0,0,0,0,0,0
$GC,5557,-0.68,-146.0,644.2,-13.8,575,5562,0.17,2.20,0.00,0.000,4,0.146,0.067,2798,3257,3537,0,0,0,0,0,0
$GC,5580,-0.68,-146.0,647.2,-10.9,575,5586,0.00,2.17,0.00,0.000,6,0.000,0.055,2797,1849,3536,0,0,0,0,0,0
$GC,5892,-0.68,-146.0,678.5,-10.0,586,5896,0.00,2.20,0.00,0.000,4,0.000,0.069,2797,441,3537,0,0,0,0,0,0
$GC,5951,-0.68,-146.0,685.0,-10.8,588,5955,0.00,2.15,0.00,0.000,6,0.000,0.051,2793,1856,3537,0,0,0,0,0,0
$GC,6286,-0.68,-146.0,721.2,-10.9,599,6290,0.00,2.22,0.00,0.000,4,0.000,0.070,2793,436,3537,0,0,0,0,0,0
$GC,6294,-0.68,-146.0,722.2,-11.2,599,6298,0.00,2.15,0.00,0.000,6,0.000,0.051,2793,1853,3537,0,0,0,0,0,0
$STATE,6403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6403,begin apogee
$GC,6407,-0.13,0.0,734.4,11.1,603,6531,0.55,0.00,120.65,1.079,6,0.127,0.000,2977,1694,2940,0,0,0,0,0,0
$STATE,6531,end apogee,CONTROL_FINISHED_OK
$STATE,6532,begin climb
$GC,6533,0.64,146.0,739.4,0.0,607,6666,0.73,2.47,124.43,1.050,4,0.081,0.068,3244,297,2342,0,0,0,0,0,0
$GC,6842,0.47,146.0,723.7,10.9,617,6847,0.22,2.25,0.00,0.000,6,0.153,0.047,3181,1707,2336,0,0,0,0,0,0
$GC,7178,0.57,199.8,698.4,7.5,628,7231,0.00,2.38,45.90,1.018,4,0.000,0.061,3181,3101,2124,0,0,0,0,0,0
$GC,7272,0.63,203.5,690.1,9.8,631,7282,0.12,2.30,4.15,0.649,6,0.097,0.058,3244,1703,2110,0,0,0,0,0,0
$GC,7605,0.53,203.5,649.3,12.7,642,7610,0.15,2.33,0.00,0.000,4,0.156,0.069,3212,281,2106,0,0,0,0,0,0
$GC,7628,0.53,203.5,646.1,11.4,642,7634,0.00,2.22,0.00,0.000,6,0.000,0.046,3212,1710,2105,0,0,0,0,0,0
$GC,7939,0.53,203.5,613.2,10.9,653,7943,0.00,2.22,0.00,0.000,4,0.000,0.062,3212,3110,2105,0,0,0,0,0,0
$GC,7980,0.50,203.5,609.0,11.5,654,7985,0.12,2.25,0.00,0.000,6,0.176,0.059,3189,1697,2104,0,0,0,0,0,0
$GC,8310,0.60,232.1,578.4,8.7,679,8340,0.00,2.30,25.15,0.950,4,0.000,0.071,3199,288,1993,0,0,0,0,0,0
$GC,8359,0.70,251.8,574.1,9.1,684,8384,0.15,2.20,18.83,0.916,6,0.090,0.047,3265,1705,1913,0,0,0,0,0,0
$GC,8701,0.60,251.8,526.6,13.9,717,8706,0.15,2.22,0.00,0.000,4,0.160,0.061,3222,3103,1905,0,0,0,0,0,0
$GC,8738,0.60,251.8,522.0,13.2,720,8744,0.00,2.25,0.00,0.000,6,0.000,0.058,3231,1699,1904,0,0,0,0,0,0
$GC,9072,0.60,251.8,485.8,11.2,751,9076,0.00,2.25,0.00,0.000,4,0.000,0.070,3241,288,1903,0,0,0,0,0,0
$GC,9117,0.60,251.8,480.4,12.5,755,9122,0.00,2.17,0.00,0.000,6,0.000,0.047,3241,1705,1902,0,0,0,0,0,0
$GC,9452,0.57,251.8,440.4,12.2,786,9457,0.12,2.20,0.00,0.000,4,0.166,0.062,3205,3104,1901,0,0,0,0,0,0
$GC,9475,0.57,251.8,437.5,11.4,788,9480,0.00,2.22,0.00,0.000,6,0.000,0.058,3214,1698,1901,0,0,0,0,0,0
$GC,9810,0.61,251.8,402.3,10.5,818,9814,0.00,2.25,0.00,0.000,4,0.000,0.071,3224,281,1901,0,0,0,0,0,0
$GC,9838,0.61,251.8,399.1,11.7,820,9843,0.00,2.15,0.00,0.000,6,0.000,0.046,3224,1701,1901,0,0,0,0,0,0
$GC,10162,0.61,251.8,362.1,11.8,851,10166,0.00,2.20,0.00,0.000,4,0.000,0.061,3224,3104,1901,0,0,0,0,0,0
$GC,10191,0.61,251.8,358.6,13.0,854,10195,0.00,2.20,0.00,0.000,6,0.000,0.058,3232,1698,1901,0,0,0,0,0,0
$GC,10524,0.61,251.8,319.6,11.4,884,10528,0.00,2.22,0.00,0.000,4,0.000,0.070,3241,288,1901,0,0,0,0,0,0
$GC,10565,0.61,251.8,314.6,12.3,888,10569,0.00,2.15,0.00,0.000,6,0.000,0.047,3242,1705,1901,0,0,0,0,0,0
$GC,10900,0.61,251.8,272.5,13.0,918,10904,0.00,2.20,0.00,0.000,4,0.000,0.062,3241,3111,1901,0,0,0,0,0,0
$GC,10914,0.61,251.8,270.7,13.3,919,10918,0.00,2.20,0.00,0.000,6,0.000,0.058,3249,1699,1901,0,0,0,0,0,0
$GC,11237,0.61,251.8,227.7,13.0,949,11241,0.00,2.22,0.00,0.000,4,0.000,0.070,3259,286,1900,0,0,0,0,0,0
$GC,11269,0.56,251.8,223.3,14.0,952,11274,0.17,2.15,0.00,0.000,6,0.153,0.047,3206,1708,1901,0,0,0,0,0,0
$GC,11606,0.67,254.1,188.7,9.9,982,11610,0.00,2.22,0.00,0.000,4,0.000,0.069,3216,289,1901,0,0,0,0,0,0
$GC,11621,0.77,263.3,186.8,9.6,983,11639,0.15,2.12,9.32,0.683,6,0.094,0.047,3286,1701,1865,0,0,0,0,0,0
$GC,11957,0.66,263.3,140.3,13.6,1015,11962,0.15,2.22,0.00,0.000,4,0.160,0.062,3241,3110,1863,0,0,0,0,0,0
$GC,12018,0.67,271.3,133.2,9.6,1019,12033,0.00,2.22,8.02,0.641,6,0.000,0.058,3251,1693,1833,0,0,0,0,0,0
$GC,12350,0.68,279.9,102.6,9.6,1051,12368,0.00,2.25,8.98,0.637,4,0.000,0.067,3260,282,1798,0,0,0,0,0,0
$GC,12391,0.68,279.9,98.2,11.6,1057,12398,0.00,2.17,0.00,0.000,6,0.000,0.048,3261,1702,1797,0,0,0,0,0,0
$GC,12736,0.73,284.8,56.6,9.8,1118,12747,0.00,2.22,5.68,0.559,4,0.000,0.061,3261,3107,1777,0,0,0,0,0,0
$GC,12770,0.73,284.8,53.0,10.3,1125,12777,0.00,2.22,0.00,0.000,6,0.000,0.058,3270,1700,1775,0,0,0,0,0,0
$GC,13116,0.79,304.7,20.5,9.1,1186,13140,0.00,2.28,18.62,0.631,4,0.000,0.062,3270,3115,1696,0,0,0,0,0,0
$GC,13164,0.83,304.7,15.5,10.3,1196,13169,0.00,2.25,0.00,0.000,6,0.000,0.060,3280,1701,1693,0,0,0,0,0,0
$STATE,13280,end climb,SURFACE_DEPTH_REACHED
$STATE,13280,begin surface coast
$FINISH,1.5,1.025082
$STATE,13326,end surface coast,CONTROL_FINISHED_OK
$STATE,13326,begin surface
$SM_CCo,13402,0.00,0.000,0,0,1687,307.12
$SM_GC,2.72,8.20,0.00,0.00,0.054,0.000,0.000,139,1871,1687,-8.93,0.59,307.12
$RAFOS_CLK,638
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5710.59,300199,010152
$TT8_MAMPS,0.026078
$HUMID,38.54
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,196.4
$24V_AH,23.5,18.032
$10V_AH,10.2,7.956
$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,21.675,155.675,389.725,0.000,0.000,29.244,33.542,949.132,1.250,0.000,18.056,2395.768,8346.187,501.238,2121.118,1155.953,0.000,1650.246,0.000,2081.833,1069.000,12.033,0.000
$DEVICE_MAMPS,232.401,80.535,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.824,901.453,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188668
$DATA_FILE_SIZE,50433,1225
$CAP_FILE_SIZE,161577,0
$CFSIZE,260165632,243818496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.7
$CURRENT,0.202,246.2,1
$GPS,051109,092031,6701.012,-5709.016,40,1.7,40,-37.6