version: 66.06
glider: 172
mission: 3
dive: 101
start: 11 6 109 17 9 43
data:
$ID,172
$MISSION,3
$DIVE,101
$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,-6175.7544
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,170325,6703.812,-5658.484,46,1.6,46,-37.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-76.0
$GPS2,170920,6703.827,-5658.573,37,1.9,37,-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,141.3,7787,-17.5,-10.000
$D_GRID,576
$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,-146.0,0.0,0.0,0,42,0.00,0.00,-25.92,0.000,2,0.000,0.000,121,1842,2254,0,0,0,0,0,0
$GC,44,-0.64,-146.0,3.0,-2.4,5,117,10.18,2.30,-53.03,0.000,4,0.230,0.082,2810,450,3537,0,0,0,0,0,0
$GC,373,-0.57,-146.0,48.0,-16.6,77,380,0.12,2.17,0.00,0.000,6,0.173,0.052,2843,1846,3539,0,0,0,0,0,0
$GC,717,-0.63,-146.0,91.6,-11.1,138,723,0.00,2.25,0.00,0.000,4,0.000,0.068,2843,442,3538,0,0,0,0,0,0
$GC,815,-0.70,-146.0,103.4,-12.2,156,821,0.12,2.20,0.00,0.000,6,0.097,0.051,2780,1852,3537,0,0,0,0,0,0
$GC,1139,-0.62,-146.0,154.8,-16.1,187,1144,0.15,2.28,0.00,0.000,4,0.156,0.069,2824,442,3537,0,0,0,0,0,0
$GC,1163,-0.62,-146.0,158.5,-14.2,189,1167,0.00,2.17,0.00,0.000,6,0.000,0.051,2820,1853,3537,0,0,0,0,0,0
$GC,1491,-0.66,-146.0,197.6,-11.0,220,1495,0.00,2.22,0.00,0.000,4,0.000,0.067,2820,440,3537,0,0,0,0,0,0
$GC,1533,-0.69,-146.0,202.4,-12.4,224,1537,0.00,2.17,0.00,0.000,6,0.000,0.051,2820,1850,3536,0,0,0,0,0,0
$GC,1856,-0.74,-146.0,239.0,-11.1,254,1860,0.00,2.25,0.00,0.000,4,0.000,0.068,2820,436,3537,0,0,0,0,0,0
$GC,1880,-0.74,-146.0,241.7,-11.3,256,1884,0.00,2.15,0.00,0.000,6,0.000,0.051,2820,1850,3536,0,0,0,0,0,0
$GC,2203,-0.79,-146.0,275.8,-10.4,286,2208,0.15,2.22,0.00,0.000,4,0.089,0.067,2749,440,3536,0,0,0,0,0,0
$GC,2256,-0.63,-146.0,283.8,-17.2,291,2261,0.28,2.17,0.00,0.000,6,0.145,0.051,2824,1852,3536,0,0,0,0,0,0
$GC,2580,-0.69,-146.0,320.4,-10.9,321,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1852,3537,0,0,0,0,0,0
$GC,2900,-0.77,-146.0,355.8,-11.1,351,2902,0.12,0.00,0.00,0.000,6,0.095,0.000,2762,1853,3537,0,0,0,0,0,0
$GC,3217,-0.68,-146.0,404.5,-15.7,381,3222,0.15,2.28,0.00,0.000,4,0.155,0.067,2807,435,3537,0,0,0,0,0,0
$GC,3270,-0.72,-146.0,411.6,-12.2,386,3274,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1850,3537,0,0,0,0,0,0
$GC,3598,-0.72,-146.0,451.0,-12.5,416,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,3923,-0.76,-146.0,490.5,-11.9,447,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,4241,-0.80,-146.0,528.8,-12.2,477,4242,0.12,0.00,0.00,0.000,6,0.097,0.000,2741,1850,3539,0,0,0,0,0,0
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4541,-0.13,0.0,577.0,16.3,505,4663,0.73,0.00,118.45,0.969,6,0.130,0.000,2981,1689,2940,0,0,0,0,0,0
$STATE,4664,end apogee,CONTROL_FINISHED_OK
$STATE,4664,begin climb
$GC,4666,0.64,146.0,582.5,0.0,517,4799,0.70,2.40,122.03,0.942,4,0.085,0.064,3240,296,2342,0,0,0,0,0,0
$GC,4856,0.52,174.4,579.3,8.7,538,4887,0.17,2.28,24.92,0.896,6,0.156,0.044,3193,1704,2228,0,0,0,0,0,0
$GC,5211,0.59,231.3,552.5,7.4,572,5266,0.00,2.38,49.00,0.916,4,0.000,0.061,3193,3093,1996,0,0,0,0,0,0
$GC,5311,0.69,255.5,544.1,8.9,583,5344,0.12,2.30,21.85,0.877,6,0.096,0.057,3258,1706,1897,0,0,0,0,0,0
$GC,5660,0.61,255.5,497.9,13.0,617,5665,0.12,2.28,0.00,0.000,4,0.163,0.060,3223,3105,1890,0,0,0,0,0,0
$GC,5684,0.61,255.5,494.8,11.8,619,5688,0.00,2.30,0.00,0.000,6,0.000,0.058,3232,1692,1889,0,0,0,0,0,0
$GC,6008,0.61,255.5,458.3,10.9,649,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1692,1888,0,0,0,0,0,0
$GC,6327,0.61,255.5,421.8,12.0,679,6332,0.00,2.28,0.00,0.000,4,0.000,0.061,3232,3107,1887,0,0,0,0,0,0
$GC,6382,0.61,255.5,414.9,12.3,684,6388,0.00,2.25,0.00,0.000,6,0.000,0.058,3241,1699,1887,0,0,0,0,0,0
$GC,6706,0.61,255.5,373.9,12.6,715,6710,0.00,2.25,0.00,0.000,4,0.000,0.069,3251,287,1887,0,0,0,0,0,0
$GC,6738,0.61,255.5,369.5,13.4,718,6742,0.00,2.17,0.00,0.000,6,0.000,0.046,3251,1706,1886,0,0,0,0,0,0
$GC,7064,0.56,255.5,328.3,13.1,748,7066,0.15,0.00,0.00,0.000,6,0.157,0.000,3207,1708,1886,0,0,0,0,0,0
$GC,7381,0.64,255.5,294.9,10.1,778,7385,0.00,2.20,0.00,0.000,4,0.000,0.061,3207,3110,1886,0,0,0,0,0,0
$GC,7405,0.72,255.5,292.4,10.8,780,7410,0.12,2.25,0.00,0.000,6,0.100,0.059,3276,1692,1886,0,0,0,0,0,0
$GC,7729,0.62,255.5,247.9,13.0,810,7733,0.17,2.22,0.00,0.000,4,0.155,0.068,3233,287,1886,0,0,0,0,0,0
$GC,7808,0.62,255.5,238.9,11.4,818,7812,0.00,2.15,0.00,0.000,6,0.000,0.046,3233,1700,1886,0,0,0,0,0,0
$GC,8131,0.62,255.5,205.0,10.7,848,8135,0.00,2.20,0.00,0.000,4,0.000,0.061,3233,3104,1886,0,0,0,0,0,0
$GC,8172,0.62,255.5,200.4,11.1,852,8177,0.00,2.22,0.00,0.000,6,0.000,0.058,3241,1692,1886,0,0,0,0,0,0
$GC,8496,0.62,255.5,163.5,11.4,882,8500,0.00,2.22,0.00,0.000,4,0.000,0.068,3251,287,1886,0,0,0,0,0,0
$GC,8574,0.62,255.5,154.0,12.3,890,8578,0.00,2.15,0.00,0.000,6,0.000,0.045,3251,1701,1886,0,0,0,0,0,0
$GC,8897,0.62,255.5,117.4,10.5,920,8901,0.00,2.20,0.00,0.000,4,0.000,0.061,3251,3105,1886,0,0,0,0,0,0
$GC,8920,0.62,255.5,114.9,11.5,922,8925,0.12,2.22,0.00,0.000,6,0.170,0.057,3223,1692,1886,0,0,0,0,0,0
$GC,9253,0.73,268.4,85.5,9.4,966,9269,0.10,2.22,10.62,0.636,4,0.113,0.066,3282,284,1845,0,0,0,0,0,0
$GC,9302,0.66,268.4,80.0,12.1,976,9308,0.15,2.17,0.00,0.000,6,0.156,0.045,3238,1706,1844,0,0,0,0,0,0
$GC,9646,0.82,311.6,52.1,8.0,1037,9694,0.15,2.35,38.28,0.647,4,0.092,0.068,3318,285,1668,0,0,0,0,0,0
$GC,9781,0.76,311.6,34.6,13.9,1066,9788,0.15,2.20,0.00,0.000,6,0.151,0.045,3275,1702,1663,0,0,0,0,0,0
$STATE,10073,end climb,SURFACE_DEPTH_REACHED
$STATE,10073,begin surface coast
$FINISH,1.6,1.025391
$STATE,10114,end surface coast,CONTROL_FINISHED_OK
$STATE,10115,begin surface
$SM_CCo,10190,0.00,0.000,0,0,1655,315.21
$SM_GC,2.80,8.12,0.00,0.00,0.049,0.000,0.000,126,1857,1655,-8.95,0.20,315.21
$RAFOS_CLK,452
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5658.34,310199,141415
$TT8_MAMPS,0.026078
$HUMID,39.05
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.6,87.7
$24V_AH,23.7,19.232
$10V_AH,10.3,8.633
$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,22.500,85.375,385.150,0.000,0.000,24.321,33.153,171.528,1.250,0.000,37.884,1939.637,5998.812,429.139,1832.928,345.619,0.000,1386.354,0.000,1780.926,0.000,12.696,0.000
$DEVICE_MAMPS,230.100,82.069,969.488,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.389,820.808,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188328
$DATA_FILE_SIZE,44178,1125
$CAP_FILE_SIZE,123320,0
$CFSIZE,260165632,243183616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.3
$CURRENT,0.212,241.3,1
$GPS,061109,200036,6703.000,-5657.599,22,1.7,22,-37.6