version: 66.06
glider: 172
mission: 3
dive: 85
start: 11 4 109 4 18 26
data:
$ID,172
$MISSION,3
$DIVE,85
$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,-5863.2422
$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,21
$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
$GPS1,040927,6658.865,-5729.786,28,3.0,47,-37.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-69.7
$GPS2,041804,6658.885,-5729.590,20,3.7,39,-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,114.1,30986,-17.5,-10.000
$D_GRID,827
$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,-146.0,0.0,0.0,0,63,0.00,0.00,-45.97,0.000,2,0.000,0.000,121,1859,2341,0,0,0,0,0,0
$GC,65,-0.64,-146.0,3.0,-1.4,9,119,10.35,0.00,-40.05,0.000,6,0.235,0.000,2807,1860,3538,0,0,0,0,0,0
$GC,456,-0.52,-146.0,66.7,-16.2,80,462,0.17,2.33,0.00,0.000,4,0.166,0.074,2860,442,3540,0,0,0,0,0,0
$GC,583,-0.61,-146.0,81.9,-11.0,104,588,0.00,2.20,0.00,0.000,6,0.000,0.055,2859,1845,3540,0,0,0,0,0,0
$GC,918,-0.71,-146.0,114.6,-9.4,151,919,0.17,0.00,0.00,0.000,6,0.082,0.000,2781,1845,3540,0,0,0,0,0,0
$GC,1245,-0.59,-146.0,167.2,-16.8,181,1250,0.17,2.28,0.00,0.000,4,0.156,0.074,2833,440,3541,0,0,0,0,0,0
$GC,1279,-0.59,-146.0,172.3,-14.5,184,1283,0.00,2.20,0.00,0.000,6,0.000,0.055,2822,1850,3541,0,0,0,0,0,0
$GC,1602,-0.59,-146.0,213.0,-12.5,214,1623,0.00,2.28,0.00,0.000,4,0.000,0.074,2822,439,3540,0,0,0,0,0,0
$GC,1632,-0.59,-146.0,216.8,-12.6,215,1639,0.00,2.20,0.00,0.000,6,0.000,0.055,2822,1855,3540,0,0,0,0,0,0
$GC,1956,-0.59,-146.0,255.2,-12.0,246,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1855,3541,0,0,0,0,0,0
$GC,2285,-0.63,-146.0,292.9,-11.5,276,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1855,3541,0,0,0,0,0,0
$GC,2603,-0.66,-146.0,329.8,-11.2,306,2608,0.00,2.28,0.00,0.000,4,0.000,0.073,2822,432,3540,0,0,0,0,0,0
$GC,2667,-0.71,-146.0,337.7,-12.3,312,2673,0.00,2.20,0.00,0.000,6,0.000,0.056,2822,1852,3540,0,0,0,0,0,0
$GC,2991,-0.76,-146.0,373.2,-10.9,343,2996,0.12,2.28,0.00,0.000,4,0.102,0.073,2765,436,3541,0,0,0,0,0,0
$GC,3007,-0.76,-146.0,374.9,-11.4,344,3011,0.00,2.20,0.00,0.000,6,0.000,0.054,2753,1859,3540,0,0,0,0,0,0
$GC,3330,-0.61,-146.0,426.0,-15.6,374,3335,0.25,2.28,0.00,0.000,4,0.150,0.070,2838,435,3541,0,0,0,0,0,0
$GC,3359,-0.66,-146.0,429.7,-11.7,376,3364,0.00,2.17,0.00,0.000,6,0.000,0.054,2835,1850,3541,0,0,0,0,0,0
$GC,3683,-0.75,-146.0,459.4,-9.3,407,3685,0.15,0.00,0.00,0.000,6,0.092,0.000,2767,1850,3541,0,0,0,0,0,0
$GC,4001,-0.65,-146.0,506.3,-15.6,437,4006,0.17,2.28,0.00,0.000,4,0.162,0.073,2818,435,3541,0,0,0,0,0,0
$GC,4047,-0.70,-146.0,512.5,-11.5,441,4053,0.00,2.17,0.00,0.000,6,0.000,0.055,2818,1851,3541,0,0,0,0,0,0
$GC,4372,-0.76,-146.0,547.8,-10.4,472,4376,0.12,2.25,0.00,0.000,4,0.100,0.074,2760,439,3541,0,0,0,0,0,0
$GC,4399,-0.63,-146.0,551.7,-14.1,474,4405,0.22,2.17,0.00,0.000,6,0.154,0.055,2820,1854,3541,0,0,0,0,0,0
$GC,4723,-0.69,-146.0,586.2,-10.5,505,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1855,3541,0,0,0,0,0,0
$GC,5046,-0.76,-146.0,619.4,-10.3,524,5051,0.12,2.28,0.00,0.000,4,0.099,0.074,2761,432,3541,0,0,0,0,0,0
$GC,5075,-0.64,-146.0,623.3,-14.8,525,5079,0.20,2.20,0.00,0.000,6,0.156,0.056,2813,1857,3541,0,0,0,0,0,0
$GC,5411,-0.69,-146.0,656.8,-9.6,536,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1857,3541,0,0,0,0,0,0
$GC,5716,-0.74,-146.0,687.2,-10.2,546,5720,0.00,2.25,0.00,0.000,4,0.000,0.073,2813,441,3541,0,0,0,0,0,0
$GC,5761,-0.79,-146.0,692.3,-10.4,547,5766,0.12,2.17,0.00,0.000,6,0.102,0.055,2753,1856,3541,0,0,0,0,0,0
$GC,6080,-0.65,-146.0,739.7,-15.8,558,6085,0.20,2.25,0.00,0.000,4,0.153,0.072,2813,440,3540,0,0,0,0,0,0
$GC,6167,-0.70,-146.0,750.3,-10.9,560,6171,0.00,2.17,0.00,0.000,6,0.000,0.055,2812,1859,3541,0,0,0,0,0,0
$GC,6479,-0.75,-146.0,782.0,-9.9,570,6483,0.00,2.25,0.00,0.000,4,0.000,0.072,2812,437,3541,0,0,0,0,0,0
$GC,6533,-0.79,-146.0,787.9,-10.6,571,6541,0.12,2.17,0.00,0.000,6,0.104,0.054,2754,1855,3540,0,0,0,0,0,0
$STATE,6813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6813,begin apogee
$GC,6817,-0.13,0.0,827.1,14.4,581,6944,0.70,0.00,123.72,1.159,6,0.141,0.000,2980,1696,2940,0,0,0,0,0,0
$STATE,6945,end apogee,CONTROL_FINISHED_OK
$STATE,6945,begin climb
$GC,6946,0.64,146.0,832.5,0.0,585,7080,0.70,0.00,129.40,1.127,6,0.081,0.000,3229,1696,2344,0,0,0,0,0,0
$GC,7373,0.60,185.8,814.8,8.2,599,7414,0.00,2.47,34.95,1.094,4,0.000,0.071,3240,292,2182,0,0,0,0,0,0
$GC,7468,0.49,185.8,805.9,10.5,602,7472,0.20,2.30,0.00,0.000,6,0.155,0.049,3186,1701,2178,0,0,0,0,0,0
$GC,7803,0.59,231.1,779.3,7.9,613,7852,0.00,2.40,40.75,1.093,4,0.000,0.066,3186,3104,1995,0,0,0,0,0,0
$GC,7863,0.66,238.7,774.2,9.6,615,7877,0.12,2.38,8.12,0.919,6,0.100,0.061,3245,1700,1966,0,0,0,0,0,0
$GC,8199,0.58,238.7,729.7,13.5,626,8204,0.12,2.33,0.00,0.000,4,0.167,0.074,3222,287,1958,0,0,0,0,0,0
$GC,8240,0.58,238.7,724.4,11.9,627,8244,0.00,2.25,0.00,0.000,6,0.000,0.051,3222,1705,1957,0,0,0,0,0,0
$GC,8565,0.58,238.7,687.5,11.3,638,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1957,0,0,0,0,0,0
$GC,8872,0.58,238.7,652.2,11.7,648,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1956,0,0,0,0,0,0
$GC,9177,0.58,238.7,617.8,11.1,658,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1956,0,0,0,0,0,0
$GC,9489,0.58,238.7,584.1,10.8,676,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1955,0,0,0,0,0,0
$GC,9810,0.58,238.7,550.9,10.0,706,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1955,0,0,0,0,0,0
$GC,10127,0.58,238.7,518.7,10.0,736,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1955,0,0,0,0,0,0
$GC,10445,0.58,238.7,485.5,10.7,766,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1954,0,0,0,0,0,0
$GC,10765,0.58,238.7,452.1,11.1,796,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1954,0,0,0,0,0,0
$GC,11082,0.58,238.7,417.2,10.7,826,11086,0.00,2.25,0.00,0.000,4,0.000,0.070,3222,3112,1954,0,0,0,0,0,0
$GC,11118,0.58,238.7,413.0,11.3,829,11123,0.00,2.25,0.00,0.000,6,0.000,0.065,3230,1698,1954,0,0,0,0,0,0
$GC,11442,0.58,238.7,378.6,10.6,860,11446,0.00,2.28,0.00,0.000,4,0.000,0.076,3240,280,1953,0,0,0,0,0,0
$GC,11502,0.58,238.7,371.8,11.5,866,11506,0.00,2.17,0.00,0.000,6,0.000,0.051,3240,1702,1953,0,0,0,0,0,0
$GC,11830,0.54,238.7,336.6,10.5,897,11832,0.15,0.00,0.00,0.000,6,0.166,0.000,3197,1703,1953,0,0,0,0,0,0
$GC,12149,0.69,289.5,312.6,7.7,927,12199,0.15,2.35,43.47,0.841,4,0.097,0.075,3273,285,1758,0,0,0,0,0,0
$GC,12244,0.61,289.5,301.3,13.4,937,12251,0.17,2.22,0.00,0.000,6,0.160,0.051,3223,1700,1753,0,0,0,0,0,0
$GC,12569,0.67,289.5,266.5,10.9,968,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1700,1748,0,0,0,0,0,0
$GC,12888,0.74,290.0,233.2,10.0,998,12893,0.12,2.30,0.00,0.000,4,0.106,0.076,3288,286,1747,0,0,0,0,0,0
$GC,12913,0.69,290.0,230.1,12.5,1000,12918,0.15,2.20,0.00,0.000,6,0.163,0.051,3246,1704,1747,0,0,0,0,0,0
$GC,13237,0.69,290.0,192.8,11.4,1030,13241,0.00,2.30,0.00,0.000,4,0.000,0.075,3256,282,1747,0,0,0,0,0,0
$GC,13263,0.69,290.0,189.6,11.7,1032,13268,0.00,2.17,0.00,0.000,6,0.000,0.050,3256,1701,1747,0,0,0,0,0,0
$GC,13596,0.69,290.0,151.0,11.8,1063,13600,0.00,2.28,0.00,0.000,4,0.000,0.076,3264,288,1746,0,0,0,0,0,0
$GC,13619,0.69,290.0,148.2,11.3,1065,13623,0.00,2.17,0.00,0.000,6,0.000,0.051,3264,1700,1745,0,0,0,0,0,0
$GC,13953,0.69,290.0,105.8,13.0,1095,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1701,1745,0,0,0,0,0,0
$GC,14287,0.69,290.0,67.5,12.0,1150,14293,0.00,2.28,0.00,0.000,4,0.000,0.077,3275,285,1744,0,0,0,0,0,0
$GC,14365,0.69,290.0,57.2,13.2,1167,14372,0.00,2.17,0.00,0.000,6,0.000,0.052,3275,1700,1745,0,0,0,0,0,0
$GC,14725,0.69,292.6,22.2,9.9,1228,14730,0.00,2.28,0.00,0.000,4,0.000,0.076,3285,287,1744,0,0,0,0,0,0
$GC,14756,0.69,294.2,19.3,9.9,1234,14762,0.12,2.17,0.00,0.000,6,0.169,0.052,3249,1703,1744,0,0,0,0,0,0
$STATE,14951,end climb,SURFACE_DEPTH_REACHED
$STATE,14952,begin surface coast
$FINISH,1.5,1.014608
$STATE,14996,end surface coast,CONTROL_FINISHED_OK
$STATE,14996,begin surface
$SM_CCo,15071,0.00,0.000,0,0,1739,294.85
$SM_GC,2.92,8.12,0.00,0.00,0.059,0.000,0.000,130,1858,1739,-8.96,0.23,294.85
$RAFOS_CLK,752
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5815.99,290199,000057
$TT8_MAMPS,0.026845
$HUMID,39.76
$INTERNAL_PRESSURE,9.56091
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.3,87.4
$24V_AH,23.0,17.106
$10V_AH,10.2,7.490
$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,23.550,103.975,380.425,0.000,0.000,28.784,30.631,325.242,2.250,0.000,40.033,2467.079,9969.026,620.142,2116.786,409.505,0.000,1594.245,0.000,2052.156,1222.000,20.747,0.000
$DEVICE_MAMPS,234.702,85.137,1158.937,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.043,962.121,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,50390,1274
$CAP_FILE_SIZE,155243,0
$CFSIZE,260165632,244826112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.4
$CURRENT,0.310,168.6,1
$GPS,041109,083137,6657.029,-5722.743,82,1.1,82,-37.6