version: 66.06
glider: 172
mission: 3
dive: 89
start: 11 4 109 21 10 26
data:
$ID,172
$MISSION,3
$DIVE,89
$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,-5917.7104
$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,40
$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
$GPS1,210200,6658.514,-5713.280,36,1.0,41,-37.6
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-75.9
$GPS2,211002,6658.481,-5713.320,11,1.5,11,-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,62.8,20109,-17.5,-10.000
$D_GRID,770
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-47.78,0.000,2,0.000,0.000,121,1866,2604,0,0,0,0,0,0
$GC,66,-0.64,-146.0,3.1,-1.4,9,113,10.25,2.30,-27.88,0.000,4,0.235,0.082,2802,3244,3538,0,0,0,0,0,0
$GC,142,-0.59,-146.0,13.1,-13.7,25,148,0.12,2.22,0.00,0.000,6,0.166,0.056,2835,1848,3539,0,0,0,0,0,0
$GC,487,-0.59,-146.0,61.6,-14.1,86,492,0.00,2.25,0.00,0.000,4,0.000,0.068,2836,441,3539,0,0,0,0,0,0
$GC,521,-0.59,-146.0,66.6,-14.3,93,527,0.00,2.15,0.00,0.000,6,0.000,0.052,2826,1835,3539,0,0,0,0,0,0
$GC,860,-0.59,-146.0,107.7,-11.9,148,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1835,3539,0,0,0,0,0,0
$GC,1179,-0.63,-146.0,146.3,-11.8,178,1183,0.00,2.22,0.00,0.000,4,0.000,0.069,2826,438,3539,0,0,0,0,0,0
$GC,1212,-0.63,-146.0,150.5,-12.5,181,1216,0.00,2.17,0.00,0.000,6,0.000,0.051,2818,1851,3538,0,0,0,0,0,0
$GC,1536,-0.63,-146.0,190.8,-12.7,211,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1851,3539,0,0,0,0,0,0
$GC,1856,-0.63,-146.0,231.3,-12.5,241,1860,0.00,2.25,0.00,0.000,4,0.000,0.069,2818,436,3538,0,0,0,0,0,0
$GC,1892,-0.66,-146.0,236.4,-12.7,244,1898,0.00,2.17,0.00,0.000,6,0.000,0.052,2818,1851,3539,0,0,0,0,0,0
$GC,2216,-0.70,-146.0,277.7,-12.4,275,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1851,3539,0,0,0,0,0,0
$GC,2535,-0.75,-146.0,316.0,-12.2,305,2539,0.00,2.22,0.00,0.000,4,0.000,0.068,2818,441,3539,0,0,0,0,0,0
$GC,2623,-0.78,-146.0,327.2,-12.8,314,2628,0.12,2.15,0.00,0.000,6,0.099,0.051,2757,1852,3539,0,0,0,0,0,0
$GC,2947,-0.67,-146.0,378.3,-15.4,344,2952,0.17,2.25,0.00,0.000,4,0.152,0.068,2809,437,3539,0,0,0,0,0,0
$GC,2980,-0.67,-146.0,382.6,-12.7,347,2984,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1856,3539,0,0,0,0,0,0
$GC,3303,-0.67,-146.0,418.5,-11.0,377,3307,0.00,2.22,0.00,0.000,4,0.000,0.068,2807,442,3539,0,0,0,0,0,0
$GC,3332,-0.67,-146.0,421.6,-11.5,379,3337,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1854,3539,0,0,0,0,0,0
$GC,3656,-0.70,-146.0,457.9,-11.0,410,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1854,3539,0,0,0,0,0,0
$GC,3975,-0.74,-146.0,493.0,-11.5,440,3979,0.00,2.22,0.00,0.000,4,0.000,0.069,2807,441,3540,0,0,0,0,0,0
$GC,4026,-0.77,-146.0,499.0,-11.7,445,4030,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1849,3540,0,0,0,0,0,0
$GC,4350,-0.81,-146.0,534.7,-10.7,475,4355,0.12,2.22,0.00,0.000,4,0.099,0.068,2742,442,3540,0,0,0,0,0,0
$GC,4401,-0.66,-146.0,542.4,-16.6,480,4406,0.25,2.15,0.00,0.000,6,0.145,0.052,2811,1850,3540,0,0,0,0,0,0
$GC,4725,-0.72,-146.0,576.9,-10.2,510,4729,0.00,2.20,0.00,0.000,4,0.000,0.068,2811,441,3540,0,0,0,0,0,0
$GC,4761,-0.77,-146.0,581.1,-11.1,513,4766,0.00,2.15,0.00,0.000,6,0.000,0.051,2811,1855,3540,0,0,0,0,0,0
$GC,5081,-0.83,-146.0,611.9,-9.5,536,5083,0.15,0.00,0.00,0.000,6,0.088,0.000,2738,1855,3541,0,0,0,0,0,0
$GC,5386,-0.69,-146.0,658.5,-15.6,546,5391,0.20,2.25,0.00,0.000,4,0.150,0.070,2799,439,3541,0,0,0,0,0,0
$GC,5447,-0.69,-146.0,666.2,-12.0,548,5451,0.00,2.15,0.00,0.000,6,0.000,0.052,2797,1849,3541,0,0,0,0,0,0
$GC,5781,-0.69,-146.0,704.1,-10.8,559,5785,0.00,2.20,0.00,0.000,4,0.000,0.069,2797,442,3541,0,0,0,0,0,0
$GC,5809,-0.69,-146.0,707.2,-11.6,560,5813,0.00,2.15,0.00,0.000,6,0.000,0.051,2797,1855,3541,0,0,0,0,0,0
$GC,6143,-0.69,-146.0,744.1,-11.1,571,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1855,3541,0,0,0,0,0,0
$GC,6450,-1.04,-146.0,765.3,-1.3,581,6455,0.25,2.20,0.00,0.000,4,0.087,0.067,2691,3257,3542,0,0,0,0,0,0
$GC,6718,-1.46,-146.0,765.4,-0.1,589,6723,0.35,2.17,0.00,0.000,6,0.081,0.056,2553,1841,3541,0,0,0,0,0,0
$STATE,6762,end dive,NO_VERTICAL_VELOCITY
$STATE,6763,begin apogee
$GC,6767,-0.13,0.0,765.4,0.0,591,6892,1.17,0.00,121.80,1.091,6,0.089,0.000,2982,1694,2940,0,0,0,0,0,0
$STATE,6893,end apogee,CONTROL_FINISHED_OK
$STATE,6893,begin climb
$GC,6894,0.64,146.0,765.3,0.0,595,7030,0.70,2.42,125.47,1.059,4,0.087,0.067,3237,295,2343,0,0,0,0,0,0
$GC,7063,0.54,183.7,758.5,8.3,600,7103,0.15,2.30,33.80,1.018,6,0.159,0.046,3199,1706,2191,0,0,0,0,0,0
$GC,7407,0.56,204.7,728.1,9.0,612,7432,0.00,2.38,18.67,0.982,4,0.000,0.063,3198,3099,2104,0,0,0,0,0,0
$GC,7477,0.56,204.7,721.0,10.3,614,7481,0.00,2.35,0.00,0.000,6,0.000,0.060,3208,1708,2102,0,0,0,0,0,0
$GC,7807,0.56,204.7,687.6,10.1,625,7811,0.00,2.33,0.00,0.000,4,0.000,0.071,3218,280,2099,0,0,0,0,0,0
$GC,7838,0.56,204.7,684.2,11.3,626,7842,0.00,2.22,0.00,0.000,6,0.000,0.048,3218,1707,2099,0,0,0,0,0,0
$GC,8175,0.56,204.7,648.0,11.2,637,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1708,2099,0,0,0,0,0,0
$GC,8479,0.56,204.7,613.6,11.0,647,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1707,2098,0,0,0,0,0,0
$GC,8791,0.56,204.7,579.9,11.0,667,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1707,2098,0,0,0,0,0,0
$GC,9111,0.56,204.7,546.1,11.0,697,9112,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1708,2098,0,0,0,0,0,0
$GC,9429,0.56,204.7,512.1,10.5,727,9433,0.00,2.28,0.00,0.000,4,0.000,0.071,3229,281,2098,0,0,0,0,0,0
$GC,9453,0.53,204.7,509.4,11.2,729,9458,0.12,2.17,0.00,0.000,6,0.163,0.048,3194,1706,2097,0,0,0,0,0,0
$GC,9782,0.59,204.7,477.5,10.0,760,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1706,2097,0,0,0,0,0,0
$GC,10102,0.66,207.6,446.7,9.9,790,10104,0.12,0.00,0.00,0.000,6,0.100,0.000,3254,1707,2097,0,0,0,0,0,0
$GC,10429,0.55,207.6,403.2,14.0,820,10434,0.17,2.22,0.00,0.000,4,0.153,0.065,3202,3109,2097,0,0,0,0,0,0
$GC,10456,0.55,207.6,399.7,12.1,822,10462,0.00,2.22,0.00,0.000,6,0.000,0.061,3211,1691,2097,0,0,0,0,0,0
$GC,10780,0.55,207.6,365.4,10.0,853,10784,0.00,2.22,0.00,0.000,4,0.000,0.072,3221,283,2097,0,0,0,0,0,0
$GC,10827,0.55,207.6,360.5,10.3,856,10831,0.00,2.15,0.00,0.000,6,0.000,0.048,3221,1705,2097,0,0,0,0,0,0
$GC,11155,0.59,235.5,330.4,8.7,887,11186,0.00,2.22,25.80,0.808,4,0.000,0.061,3221,3102,1979,0,0,0,0,0,0
$GC,11216,0.59,236.4,325.0,10.0,893,11220,0.00,2.22,0.00,0.000,6,0.000,0.058,3230,1700,1977,0,0,0,0,0,0
$GC,11549,0.59,240.3,291.7,9.8,923,11560,0.00,2.28,4.90,0.609,4,0.000,0.069,3238,281,1960,0,0,0,0,0,0
$GC,11607,0.59,240.3,285.6,10.4,929,11611,0.00,2.17,0.00,0.000,6,0.000,0.047,3238,1700,1959,0,0,0,0,0,0
$GC,11941,0.59,240.3,249.8,10.6,959,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1701,1958,0,0,0,0,0,0
$GC,12261,0.59,240.3,216.1,10.1,989,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1701,1958,0,0,0,0,0,0
$GC,12588,0.60,243.4,182.8,9.9,1019,12598,0.00,0.00,4.05,0.524,6,0.000,0.000,3238,1701,1947,0,0,0,0,0,0
$GC,12927,0.60,245.9,148.3,9.9,1050,12937,0.00,2.25,3.72,0.486,4,0.000,0.064,3238,3110,1936,0,0,0,0,0,0
$GC,12969,0.60,245.9,143.7,10.6,1054,12975,0.00,2.22,0.00,0.000,6,0.000,0.059,3246,1697,1936,0,0,0,0,0,0
$GC,13293,0.61,250.5,112.9,9.8,1085,13303,0.00,0.00,5.85,0.591,6,0.000,0.000,3246,1697,1917,0,0,0,0,0,0
$GC,13648,0.61,254.0,78.3,9.8,1134,13658,0.00,0.00,4.40,0.519,6,0.000,0.000,3246,1697,1904,0,0,0,0,0,0
$GC,13996,0.73,300.7,46.5,7.8,1196,14044,0.00,2.30,41.08,0.654,4,0.000,0.072,3257,291,1713,0,0,0,0,0,0
$GC,14061,0.87,325.2,41.3,8.9,1209,14090,0.15,2.20,22.60,0.624,6,0.090,0.049,3325,1699,1612,0,0,0,0,0,0
$STATE,14342,end climb,SURFACE_DEPTH_REACHED
$STATE,14342,begin surface coast
$FINISH,1.4,1.021939
$STATE,14372,end surface coast,CONTROL_FINISHED_OK
$STATE,14372,begin surface
$SM_CCo,14447,0.00,0.000,0,0,1598,329.19
$SM_GC,2.34,8.40,0.00,0.00,0.054,0.000,0.000,137,1862,1598,-8.94,0.34,329.19
$RAFOS_CLK,671
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5719.52,290199,171735
$TT8_MAMPS,0.026078
$HUMID,38.69
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,653.7,116.9
$24V_AH,23.4,17.684
$10V_AH,10.3,7.792
$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,23.000,102.775,412.150,0.000,0.000,31.152,32.551,315.065,1.750,0.000,11.988,2393.639,9384.421,558.791,2146.928,442.824,0.000,1611.496,0.000,2122.094,1089.000,16.368,0.000
$DEVICE_MAMPS,235.469,82.069,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.000,939.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188712
$DATA_FILE_SIZE,50435,1265
$CAP_FILE_SIZE,154284,0
$CFSIZE,260165632,244518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.6
$CURRENT,0.106, 39.0,1
$GPS,051109,011232,6701.096,-5709.958,37,1.4,39,-37.6