version: 66.06
glider: 172
mission: 3
dive: 97
start: 11 6 109 4 21 20
data:
$ID,172
$MISSION,3
$DIVE,97
$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,-6053.5352
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,041231,6703.913,-5702.738,42,1.1,42,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-78.3
$GPS2,042056,6704.003,-5702.991,11,1.8,11,-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,162.6,10984,-17.5,-10.000
$D_GRID,626
$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,14,-0.64,-146.0,0.0,0.0,0,68,0.00,0.00,-50.85,0.000,2,0.000,0.000,139,1848,2709,0,0,0,0,0,0
$GC,70,-0.64,-146.0,3.2,-2.5,10,110,10.30,2.33,-22.95,0.000,4,0.237,0.079,2797,3261,3538,0,0,0,0,0,0
$GC,139,-0.60,-146.0,14.4,-17.6,24,146,0.12,2.28,0.00,0.000,6,0.160,0.057,2832,1847,3538,0,0,0,0,0,0
$GC,483,-0.60,-146.0,61.5,-13.7,85,488,0.00,2.28,0.00,0.000,4,0.000,0.071,2833,443,3539,0,0,0,0,0,0
$GC,584,-0.64,-146.0,75.0,-13.8,107,589,0.00,2.22,0.00,0.000,6,0.000,0.053,2824,1859,3538,0,0,0,0,0,0
$GC,923,-0.64,-146.0,124.1,-14.5,154,927,0.00,2.28,0.00,0.000,4,0.000,0.070,2824,443,3538,0,0,0,0,0,0
$GC,983,-0.68,-146.0,133.1,-13.9,160,987,0.00,2.17,0.00,0.000,6,0.000,0.053,2814,1855,3538,0,0,0,0,0,0
$GC,1311,-0.68,-146.0,176.8,-12.8,191,1315,0.00,2.28,0.00,0.000,4,0.000,0.069,2813,436,3537,0,0,0,0,0,0
$GC,1365,-0.68,-146.0,183.8,-12.3,196,1372,0.00,2.20,0.00,0.000,6,0.000,0.052,2807,1853,3538,0,0,0,0,0,0
$GC,1689,-0.68,-146.0,221.1,-10.5,227,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3537,0,0,0,0,0,0
$GC,2008,-0.68,-146.0,254.1,-10.3,257,2012,0.00,2.25,0.00,0.000,4,0.000,0.070,2807,442,3537,0,0,0,0,0,0
$GC,2035,-0.68,-146.0,257.0,-10.2,259,2041,0.00,2.17,0.00,0.000,6,0.000,0.052,2808,1850,3538,0,0,0,0,0,0
$GC,2359,-0.68,-146.0,290.5,-10.6,290,2363,0.00,2.22,0.00,0.000,4,0.000,0.068,2807,439,3537,0,0,0,0,0,0
$GC,2387,-0.68,-146.0,293.6,-11.7,292,2393,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1851,3538,0,0,0,0,0,0
$GC,2710,-0.68,-146.0,328.4,-10.8,323,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,3030,-0.68,-146.0,364.0,-11.4,353,3034,0.00,2.25,0.00,0.000,4,0.000,0.067,2807,438,3539,0,0,0,0,0,0
$GC,3066,-0.68,-146.0,368.7,-12.1,356,3072,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1851,3538,0,0,0,0,0,0
$GC,3390,-0.71,-146.0,405.8,-11.7,387,3394,0.00,2.25,0.00,0.000,4,0.000,0.067,2807,434,3538,0,0,0,0,0,0
$GC,3404,-0.71,-146.0,407.7,-12.2,388,3408,0.00,2.17,0.00,0.000,6,0.000,0.051,2808,1860,3538,0,0,0,0,0,0
$GC,3728,-0.75,-146.0,443.0,-10.8,418,3732,0.00,2.25,0.00,0.000,4,0.000,0.067,2807,437,3538,0,0,0,0,0,0
$GC,3751,-0.75,-146.0,445.8,-12.3,420,3755,0.00,2.15,0.00,0.000,6,0.000,0.051,2807,1851,3538,0,0,0,0,0,0
$GC,4081,-0.79,-146.0,481.3,-11.3,451,4083,0.10,0.00,0.00,0.000,6,0.113,0.000,2754,1851,3539,0,0,0,0,0,0
$GC,4400,-0.69,-146.0,527.0,-14.9,481,4402,0.15,0.00,0.00,0.000,6,0.154,0.000,2799,1852,3539,0,0,0,0,0,0
$GC,4716,-0.69,-146.0,564.2,-10.9,511,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1852,3540,0,0,0,0,0,0
$GC,5056,-0.69,-146.0,604.2,-11.8,541,5060,0.00,2.22,0.00,0.000,4,0.000,0.069,2799,441,3540,0,0,0,0,0,0
$GC,5101,-0.69,-146.0,609.9,-12.1,542,5105,0.00,2.17,0.00,0.000,6,0.000,0.051,2794,1853,3540,0,0,0,0,0,0
$STATE,5266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5266,begin apogee
$GC,5271,-0.13,0.0,629.0,11.5,548,5394,0.55,0.00,119.53,1.008,6,0.120,0.000,2981,1697,2940,0,0,0,0,0,0
$STATE,5394,end apogee,CONTROL_FINISHED_OK
$STATE,5394,begin climb
$GC,5396,0.64,146.0,631.1,0.0,552,5527,0.70,2.50,122.75,0.979,4,0.089,0.070,3235,294,2343,0,0,0,0,0,0
$GC,5791,0.55,222.7,627.0,6.5,564,5864,0.12,2.22,66.12,0.969,6,0.170,0.047,3203,1705,2032,0,0,0,0,0,0
$GC,6178,0.62,248.1,593.0,8.8,582,6206,0.00,2.42,22.15,0.925,4,0.000,0.070,3213,293,1927,0,0,0,0,0,0
$GC,6302,0.67,249.3,580.5,9.9,595,6307,0.00,2.22,0.00,0.000,6,0.000,0.047,3213,1700,1924,0,0,0,0,0,0
$GC,6627,0.72,265.4,548.1,9.3,626,6649,0.12,2.33,16.00,0.890,4,0.100,0.062,3272,3106,1856,0,0,0,0,0,0
$GC,6683,0.62,265.4,540.7,14.9,632,6688,0.20,2.30,0.00,0.000,6,0.163,0.058,3225,1699,1853,0,0,0,0,0,0
$GC,7006,0.62,265.4,504.8,10.4,662,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1699,1852,0,0,0,0,0,0
$GC,7326,0.62,265.4,471.6,10.7,692,7330,0.00,2.28,0.00,0.000,4,0.000,0.071,3235,288,1851,0,0,0,0,0,0
$GC,7340,0.62,265.4,470.0,10.7,693,7344,0.00,2.20,0.00,0.000,6,0.000,0.047,3235,1707,1851,0,0,0,0,0,0
$GC,7663,0.62,265.4,433.0,11.7,723,7667,0.00,2.22,0.00,0.000,4,0.000,0.061,3235,3106,1851,0,0,0,0,0,0
$GC,7681,0.62,265.4,430.7,12.7,724,7687,0.00,2.25,0.00,0.000,6,0.000,0.057,3244,1692,1850,0,0,0,0,0,0
$GC,8006,0.62,265.4,389.6,13.5,755,8010,0.00,2.25,0.00,0.000,4,0.000,0.061,3244,3106,1850,0,0,0,0,0,0
$GC,8024,0.62,265.4,386.8,14.0,756,8031,0.00,2.25,0.00,0.000,6,0.000,0.058,3253,1690,1850,0,0,0,0,0,0
$GC,8347,0.57,265.4,342.4,13.5,787,8349,0.15,0.00,0.00,0.000,6,0.161,0.000,3210,1690,1850,0,0,0,0,0,0
$GC,8667,0.64,265.4,309.5,10.1,817,8671,0.00,2.22,0.00,0.000,4,0.000,0.070,3219,290,1849,0,0,0,0,0,0
$GC,8685,0.71,266.2,307.6,10.0,818,8691,0.10,2.15,0.00,0.000,6,0.115,0.046,3268,1703,1849,0,0,0,0,0,0
$GC,9010,0.64,266.2,263.2,13.6,849,9015,0.12,2.22,0.00,0.000,4,0.166,0.062,3232,3103,1849,0,0,0,0,0,0
$GC,9080,0.64,266.2,254.7,11.2,856,9084,0.00,2.22,0.00,0.000,6,0.000,0.058,3241,1693,1849,0,0,0,0,0,0
$GC,9407,0.64,266.2,218.3,11.1,887,9411,0.00,2.20,0.00,0.000,4,0.000,0.070,3250,289,1849,0,0,0,0,0,0
$GC,9467,0.64,266.2,211.3,11.6,893,9471,0.00,2.15,0.00,0.000,6,0.000,0.047,3250,1701,1849,0,0,0,0,0,0
$GC,9796,0.64,266.2,171.7,12.8,924,9800,0.00,2.20,0.00,0.000,4,0.000,0.061,3250,3105,1849,0,0,0,0,0,0
$GC,9832,0.64,266.2,166.8,12.7,927,9838,0.00,2.17,0.00,0.000,6,0.000,0.055,3259,1700,1849,0,0,0,0,0,0
$GC,10156,0.64,266.2,128.7,11.1,958,10160,0.00,2.22,0.00,0.000,4,0.000,0.068,3267,289,1849,0,0,0,0,0,0
$GC,10210,0.64,266.2,122.1,11.3,963,10216,0.12,2.15,0.00,0.000,6,0.163,0.046,3230,1703,1849,0,0,0,0,0,0
$GC,10542,0.73,281.1,90.0,9.3,1003,10562,0.00,2.28,13.75,0.655,4,0.000,0.071,3241,290,1792,0,0,0,0,0,0
$GC,10573,0.84,306.7,87.3,8.8,1009,10602,0.15,2.15,23.98,0.655,6,0.091,0.046,3311,1701,1689,0,0,0,0,0,0
$GC,10940,0.77,306.7,43.7,11.9,1075,10946,0.12,2.25,0.00,0.000,4,0.163,0.061,3277,3110,1680,0,0,0,0,0,0
$GC,10965,0.77,306.7,40.8,11.8,1080,10972,0.00,2.25,0.00,0.000,6,0.000,0.059,3286,1701,1679,0,0,0,0,0,0
$STATE,11309,end climb,SURFACE_DEPTH_REACHED
$STATE,11309,begin surface coast
$FINISH,1.6,1.000230
$STATE,11342,end surface coast,CONTROL_FINISHED_OK
$STATE,11342,begin surface
$SM_CCo,11417,0.00,0.000,0,0,1674,310.55
$SM_GC,2.70,8.18,0.00,0.00,0.053,0.000,0.000,136,1856,1674,-8.95,0.17,310.55
$RAFOS_CLK,519
$RAFOS,6,1257482979,4.833333,4.827500,34,34,33,0,0,0,42,101,32,0,0,0
$RAFOS,5,1257482494,4.700000,4.692778,41,30,29,0,0,0,31,40,64,0,0,0
$RAFOS,4,1257482014,4.566667,4.559444,36,34,26,0,0,0,31,127,7,0,0,0
$RAFOS,3,1257481536,4.433333,4.426667,38,36,34,0,0,0,39,101,28,0,0,0
$RAFOS,1,1257480575,4.166667,4.159722,46,43,40,0,0,0,108,36,467,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5705.96,310199,000049
$TT8_MAMPS,0.026078
$HUMID,39.32
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.6,124.5
$24V_AH,23.6,18.761
$10V_AH,10.3,8.378
$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,21.325,103.225,384.275,0.000,0.000,57.784,113.437,167.162,1.000,0.000,12.021,2087.535,6955.806,451.416,1951.499,472.551,0.000,1479.111,0.000,1926.206,480.000,10.266,0.000
$DEVICE_MAMPS,237.003,79.001,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.889,846.925,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188436
$DATA_FILE_SIZE,47298,1147
$CAP_FILE_SIZE,134190,0
$CFSIZE,260165632,243445760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.9
$CURRENT,0.223,284.1,1
$GPS,061109,073246,6703.551,-5703.431,8,3.8,27,-37.6