version: 66.06
glider: 172
mission: 3
dive: 92
start: 11 5 109 9 26 50
data:
$ID,172
$MISSION,3
$DIVE,92
$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,-5965.6123
$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,39
$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
$GPS1,092031,6701.012,-5709.016,40,1.7,40,-37.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-75.5
$GPS2,092626,6701.046,-5709.098,13,1.3,13,-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,106.2,15659,-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,-146.0,0.0,0.0,0,62,0.00,0.00,-46.03,0.000,2,0.000,0.000,122,1871,2600,0,0,0,0,0,0
$GC,65,-0.64,-146.0,3.1,-1.1,9,113,10.20,2.38,-28.80,0.000,4,0.232,0.083,2817,443,3537,0,0,0,0,0,0
$GC,178,-0.59,-146.0,19.5,-15.2,33,183,0.00,2.17,0.00,0.000,6,0.000,0.052,2808,1837,3538,0,0,0,0,0,0
$GC,522,-0.52,-146.0,76.2,-16.9,94,528,0.17,0.00,0.00,0.000,6,0.162,0.000,2860,1837,3537,0,0,0,0,0,0
$GC,858,-0.62,-146.0,115.7,-10.2,142,859,0.10,0.00,0.00,0.000,6,0.110,0.000,2808,1837,3538,0,0,0,0,0,0
$GC,1177,-0.62,-146.0,154.3,-11.9,172,1181,0.00,2.22,0.00,0.000,4,0.000,0.068,2808,439,3537,0,0,0,0,0,0
$GC,1190,-0.62,-146.0,156.2,-13.3,173,1194,0.00,2.17,0.00,0.000,6,0.000,0.051,2798,1850,3537,0,0,0,0,0,0
$GC,1514,-0.62,-146.0,198.2,-12.3,203,1518,0.00,2.28,0.00,0.000,4,0.000,0.069,2798,435,3537,0,0,0,0,0,0
$GC,1541,-0.58,-146.0,201.7,-12.7,205,1547,0.15,2.17,0.00,0.000,6,0.160,0.051,2839,1849,3537,0,0,0,0,0,0
$GC,1865,-0.68,-146.0,228.8,-8.6,236,1867,0.10,0.00,0.00,0.000,6,0.110,0.000,2785,1849,3537,0,0,0,0,0,0
$GC,2183,-0.63,-146.0,268.5,-12.7,266,2188,0.12,2.25,0.00,0.000,4,0.158,0.068,2821,436,3537,0,0,0,0,0,0
$GC,2239,-0.68,-146.0,274.8,-10.0,271,2245,0.00,2.17,0.00,0.000,6,0.000,0.051,2812,1856,3538,0,0,0,0,0,0
$GC,2563,-0.72,-146.0,310.3,-11.1,302,2567,0.00,2.22,0.00,0.000,4,0.000,0.067,2813,440,3538,0,0,0,0,0,0
$GC,2615,-0.75,-146.0,316.2,-11.2,307,2619,0.00,2.15,0.00,0.000,6,0.000,0.051,2812,1851,3537,0,0,0,0,0,0
$GC,2938,-0.79,-146.0,352.3,-10.9,337,2943,0.12,2.25,0.00,0.000,4,0.097,0.067,2749,432,3537,0,0,0,0,0,0
$GC,2976,-0.64,-146.0,357.9,-15.6,340,2982,0.25,2.15,0.00,0.000,6,0.143,0.051,2816,1850,3537,0,0,0,0,0,0
$GC,3300,-0.70,-146.0,391.0,-10.0,371,3304,0.00,2.22,0.00,0.000,4,0.000,0.068,2817,440,3537,0,0,0,0,0,0
$GC,3328,-0.75,-146.0,393.8,-10.8,373,3334,0.00,2.15,0.00,0.000,6,0.000,0.051,2817,1856,3537,0,0,0,0,0,0
$GC,3653,-0.81,-146.0,425.7,-9.6,404,3654,0.15,0.00,0.00,0.000,6,0.087,0.000,2743,1856,3538,0,0,0,0,0,0
$GC,3971,-0.68,-146.0,475.2,-16.0,434,3976,0.20,2.25,0.00,0.000,4,0.148,0.067,2805,431,3538,0,0,0,0,0,0
$GC,4007,-0.68,-146.0,480.5,-12.6,437,4013,0.00,2.17,0.00,0.000,6,0.000,0.051,2796,1856,3538,0,0,0,0,0,0
$GC,4331,-0.68,-146.0,518.9,-11.8,468,4335,0.00,2.22,0.00,0.000,4,0.000,0.068,2796,437,3539,0,0,0,0,0,0
$GC,4358,-0.68,-146.0,522.3,-13.0,470,4364,0.00,2.15,0.00,0.000,6,0.000,0.051,2796,1851,3538,0,0,0,0,0,0
$GC,4681,-0.68,-146.0,557.4,-9.9,501,4685,0.00,2.22,0.00,0.000,4,0.000,0.069,2796,439,3539,0,0,0,0,0,0
$GC,4721,-0.68,-146.0,561.7,-11.0,505,4727,0.00,2.15,0.00,0.000,6,0.000,0.051,2796,1855,3538,0,0,0,0,0,0
$GC,5045,-0.68,-146.0,595.6,-10.5,536,5049,0.00,2.22,0.00,0.000,4,0.000,0.068,2796,435,3539,0,0,0,0,0,0
$GC,5092,-0.68,-146.0,600.4,-11.5,540,5096,0.00,2.15,0.00,0.000,6,0.000,0.051,2796,1850,3539,0,0,0,0,0,0
$GC,5412,-0.68,-146.0,638.1,-11.6,551,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1850,3539,0,0,0,0,0,0
$GC,5718,-0.68,-146.0,672.9,-11.2,561,5722,0.00,2.22,0.00,0.000,4,0.000,0.070,2796,440,3539,0,0,0,0,0,0
$GC,5781,-0.68,-146.0,680.5,-11.8,563,5785,0.00,2.15,0.00,0.000,6,0.000,0.052,2796,1855,3539,0,0,0,0,0,0
$GC,6115,-0.68,-146.0,716.8,-11.3,574,6119,0.00,2.22,0.00,0.000,4,0.000,0.070,2796,438,3539,0,0,0,0,0,0
$GC,6143,-0.68,-146.0,720.2,-12.6,575,6147,0.00,2.15,0.00,0.000,6,0.000,0.051,2796,1852,3539,0,0,0,0,0,0
$STATE,6262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6262,begin apogee
$GC,6266,-0.13,0.0,734.1,11.6,579,6390,0.55,0.00,120.70,1.078,6,0.127,0.000,2980,1694,2940,0,0,0,0,0,0
$STATE,6391,end apogee,CONTROL_FINISHED_OK
$STATE,6391,begin climb
$GC,6392,0.64,146.0,739.1,0.0,583,6525,0.70,2.50,124.62,1.049,4,0.083,0.061,3228,3107,2343,0,0,0,0,0,0
$GC,6655,0.50,146.0,728.7,10.2,591,6660,0.20,2.33,0.00,0.000,6,0.163,0.057,3185,1706,2336,0,0,0,0,0,0
$GC,6972,0.58,209.0,705.6,7.1,602,7032,0.00,2.42,53.88,1.019,4,0.000,0.061,3184,3106,2087,0,0,0,0,0,0
$GC,7051,0.68,254.4,699.4,7.9,604,7100,0.15,2.35,41.08,0.997,6,0.088,0.057,3255,1692,1903,0,0,0,0,0,0
$GC,7431,0.59,254.4,647.9,13.7,617,7435,0.12,2.28,0.00,0.000,4,0.163,0.069,3230,287,1892,0,0,0,0,0,0
$GC,7467,0.59,254.4,643.2,12.0,618,7471,0.00,2.20,0.00,0.000,6,0.000,0.046,3230,1703,1891,0,0,0,0,0,0
$GC,7797,0.59,254.4,606.7,10.8,629,7801,0.00,2.30,0.00,0.000,4,0.000,0.071,3241,284,1890,0,0,0,0,0,0
$GC,7815,0.56,254.4,604.6,11.6,629,7819,0.12,2.20,0.00,0.000,6,0.159,0.046,3206,1708,1889,0,0,0,0,0,0
$GC,8136,0.61,254.4,572.9,10.1,655,8140,0.00,2.30,0.00,0.000,4,0.000,0.071,3216,281,1889,0,0,0,0,0,0
$GC,8178,0.65,254.4,568.4,10.5,659,8182,0.00,2.17,0.00,0.000,6,0.000,0.046,3216,1703,1888,0,0,0,0,0,0
$GC,8502,0.65,254.4,533.1,11.2,689,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1888,0,0,0,0,0,0
$GC,8821,0.65,254.4,497.4,11.6,719,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1704,1888,0,0,0,0,0,0
$GC,9140,0.65,254.4,458.8,12.1,749,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1704,1888,0,0,0,0,0,0
$GC,9469,0.65,254.4,419.9,11.1,779,9473,0.00,2.25,0.00,0.000,4,0.000,0.072,3227,287,1887,0,0,0,0,0,0
$GC,9502,0.65,254.4,415.9,12.4,782,9506,0.00,2.15,0.00,0.000,6,0.000,0.048,3227,1702,1887,0,0,0,0,0,0
$GC,9835,0.65,254.4,376.6,12.2,812,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,1703,1887,0,0,0,0,0,0
$GC,10154,0.65,254.4,336.5,13.1,842,10158,0.00,2.25,0.00,0.000,4,0.000,0.071,3235,284,1887,0,0,0,0,0,0
$GC,10171,0.65,254.4,334.0,13.3,843,10178,0.00,2.15,0.00,0.000,6,0.000,0.047,3236,1704,1887,0,0,0,0,0,0
$GC,10505,0.65,254.4,290.9,12.8,874,10509,0.00,2.25,0.00,0.000,4,0.000,0.071,3243,282,1887,0,0,0,0,0,0
$GC,10529,0.65,254.4,287.9,13.2,876,10533,0.00,2.15,0.00,0.000,6,0.000,0.047,3243,1703,1887,0,0,0,0,0,0
$GC,10862,0.65,254.4,246.7,12.6,906,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1704,1887,0,0,0,0,0,0
$GC,11183,0.65,254.4,206.9,12.5,936,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1704,1887,0,0,0,0,0,0
$GC,11509,0.65,254.4,169.6,10.9,966,11513,0.00,2.17,0.00,0.000,4,0.000,0.062,3243,3103,1888,0,0,0,0,0,0
$GC,11545,0.65,254.4,165.2,12.3,969,11551,0.00,2.20,0.00,0.000,6,0.000,0.058,3251,1689,1887,0,0,0,0,0,0
$GC,11869,0.65,254.4,130.1,10.2,1000,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1689,1887,0,0,0,0,0,0
$GC,12200,0.65,254.4,95.0,10.2,1034,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1689,1887,0,0,0,0,0,0
$GC,12558,0.70,269.0,59.9,9.3,1095,12574,0.00,2.28,11.15,0.630,4,0.000,0.071,3261,291,1842,0,0,0,0,0,0
$GC,12613,0.70,269.0,54.1,11.2,1106,12618,0.00,2.15,0.00,0.000,6,0.000,0.048,3261,1707,1841,0,0,0,0,0,0
$GC,12956,0.81,322.2,23.7,7.5,1167,13009,0.00,2.33,46.47,0.634,4,0.000,0.069,3270,284,1624,0,0,0,0,0,0
$GC,13020,0.90,322.2,17.7,10.5,1180,13026,0.12,2.20,0.00,0.000,6,0.099,0.046,3328,1701,1622,0,0,0,0,0,0
$STATE,13126,end climb,SURFACE_DEPTH_REACHED
$STATE,13126,begin surface coast
$FINISH,1.5,1.024824
$STATE,13161,end surface coast,CONTROL_FINISHED_OK
$STATE,13161,begin surface
$SM_CCo,13236,0.00,0.000,0,0,1612,325.51
$SM_GC,2.54,8.25,0.00,0.00,0.044,0.000,0.000,133,1858,1612,-8.94,0.23,325.51
$RAFOS_CLK,601
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5708.95,300199,050510
$TT8_MAMPS,0.026078
$HUMID,39.09
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,652.1,93.6
$24V_AH,23.5,18.158
$10V_AH,10.3,8.027
$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,21.800,107.325,397.900,0.000,0.000,28.010,31.611,188.651,2.000,0.000,13.815,2307.794,8400.244,466.726,2024.211,387.567,0.000,1543.254,0.000,1991.679,1069.000,20.288,0.000
$DEVICE_MAMPS,231.634,82.836,1077.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.033,891.251,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188232
$DATA_FILE_SIZE,47290,1205
$CAP_FILE_SIZE,146485,0
$CFSIZE,260165632,243769344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.3
$CURRENT,0.114,279.4,1
$GPS,051109,130836,6701.989,-5706.281,30,1.0,30,-37.6