version: 66.06
glider: 172
mission: 3
dive: 86
start: 11 4 109 8 45 50
data:
$ID,172
$MISSION,3
$DIVE,86
$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,-5879.3809
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,083137,6657.029,-5722.743,82,1.1,82,-37.6
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-75.5
$GPS2,084526,6656.844,-5722.559,15,1.5,15,-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,58.0,27438,-17.5,-10.000
$D_GRID,776
$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,-146.0,0.0,0.0,0,48,0.00,0.00,-32.12,0.000,2,0.000,0.000,120,1861,2366,0,0,0,0,0,0
$GC,50,-0.64,-146.0,3.1,-1.1,6,114,10.40,2.38,-43.67,0.000,4,0.235,0.086,2810,443,3538,0,0,0,0,0,0
$GC,324,-0.53,-146.0,43.3,-17.6,65,330,0.17,2.22,0.00,0.000,6,0.160,0.055,2852,1851,3540,0,0,0,0,0,0
$GC,683,-0.58,-146.0,87.3,-11.2,126,689,0.00,2.30,0.00,0.000,4,0.000,0.074,2853,435,3540,0,0,0,0,0,0
$GC,731,-0.64,-146.0,92.7,-11.2,136,736,0.00,2.22,0.00,0.000,6,0.000,0.055,2849,1857,3540,0,0,0,0,0,0
$GC,1059,-0.73,-146.0,127.3,-10.6,173,1061,0.17,0.00,0.00,0.000,6,0.082,0.000,2770,1858,3540,0,0,0,0,0,0
$GC,1378,-0.57,-146.0,180.7,-17.1,203,1383,0.22,2.30,0.00,0.000,4,0.153,0.071,2839,432,3540,0,0,0,0,0,0
$GC,1479,-0.64,-146.0,193.4,-11.5,213,1485,0.00,2.22,0.00,0.000,6,0.000,0.054,2834,1858,3540,0,0,0,0,0,0
$GC,1804,-0.69,-146.0,227.7,-10.1,244,1809,0.00,2.28,0.00,0.000,4,0.000,0.072,2834,436,3540,0,0,0,0,0,0
$GC,1846,-0.73,-146.0,232.2,-10.6,248,1851,0.12,2.20,0.00,0.000,6,0.098,0.054,2774,1853,3540,0,0,0,0,0,0
$GC,2171,-0.61,-146.0,281.4,-15.2,278,2176,0.17,2.28,0.00,0.000,4,0.156,0.074,2826,439,3540,0,0,0,0,0,0
$GC,2236,-0.65,-146.0,290.0,-12.3,284,2242,0.00,2.17,0.00,0.000,6,0.000,0.054,2821,1851,3540,0,0,0,0,0,0
$GC,2560,-0.65,-146.0,328.3,-11.6,315,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1852,3540,0,0,0,0,0,0
$GC,2881,-0.69,-146.0,364.0,-11.0,345,2885,0.00,2.25,0.00,0.000,4,0.000,0.073,2821,439,3540,0,0,0,0,0,0
$GC,2951,-0.74,-146.0,372.3,-11.7,352,2955,0.10,2.20,0.00,0.000,6,0.114,0.055,2772,1854,3540,0,0,0,0,0,0
$GC,3280,-0.63,-146.0,419.6,-15.0,383,3285,0.17,2.28,0.00,0.000,4,0.155,0.073,2824,434,3540,0,0,0,0,0,0
$GC,3335,-0.69,-146.0,426.5,-11.2,388,3341,0.00,2.17,0.00,0.000,6,0.000,0.055,2821,1852,3540,0,0,0,0,0,0
$GC,3660,-0.73,-146.0,461.0,-10.5,419,3664,0.00,2.25,0.00,0.000,4,0.000,0.073,2822,439,3540,0,0,0,0,0,0
$GC,3710,-0.79,-146.0,466.9,-11.8,424,3716,0.15,2.17,0.00,0.000,6,0.092,0.054,2752,1856,3540,0,0,0,0,0,0
$GC,4034,-0.63,-146.0,518.8,-15.9,455,4039,0.22,2.25,0.00,0.000,4,0.150,0.071,2822,440,3540,0,0,0,0,0,0
$GC,4080,-0.69,-146.0,524.9,-11.0,459,4086,0.00,2.17,0.00,0.000,6,0.000,0.054,2821,1857,3539,0,0,0,0,0,0
$GC,4404,-0.75,-146.0,558.0,-9.9,490,4409,0.12,2.28,0.00,0.000,4,0.098,0.072,2761,435,3540,0,0,0,0,0,0
$GC,4461,-0.62,-146.0,566.0,-15.0,495,4467,0.22,2.17,0.00,0.000,6,0.153,0.055,2821,1852,3540,0,0,0,0,0,0
$GC,4787,-0.68,-146.0,600.5,-10.4,526,4791,0.00,2.25,0.00,0.000,4,0.000,0.074,2822,435,3540,0,0,0,0,0,0
$GC,4819,-0.73,-146.0,604.2,-10.7,527,4823,0.00,2.17,0.00,0.000,6,0.000,0.054,2821,1849,3540,0,0,0,0,0,0
$GC,5149,-0.80,-146.0,634.7,-8.9,538,5154,0.15,2.25,0.00,0.000,4,0.091,0.074,2752,438,3540,0,0,0,0,0,0
$GC,5204,-0.65,-146.0,642.2,-14.1,539,5210,0.20,2.17,0.00,0.000,6,0.154,0.056,2813,1855,3540,0,0,0,0,0,0
$GC,5516,-0.71,-146.0,673.9,-9.9,550,5520,0.00,2.25,0.00,0.000,4,0.000,0.074,2813,434,3539,0,0,0,0,0,0
$GC,5557,-0.76,-146.0,678.4,-10.5,551,5561,0.00,2.17,0.00,0.000,6,0.000,0.056,2811,1853,3539,0,0,0,0,0,0
$GC,5878,-0.80,-146.0,710.6,-10.0,562,5882,0.12,2.25,0.00,0.000,4,0.100,0.074,2750,439,3539,0,0,0,0,0,0
$GC,5915,-0.65,-146.0,715.8,-14.9,563,5920,0.25,2.15,0.00,0.000,6,0.147,0.055,2817,1849,3539,0,0,0,0,0,0
$GC,6241,-0.70,-146.0,747.8,-9.9,574,6245,0.00,2.25,0.00,0.000,4,0.000,0.074,2817,439,3539,0,0,0,0,0,0
$GC,6286,-0.77,-146.0,752.6,-9.9,575,6291,0.12,2.15,0.00,0.000,6,0.100,0.054,2760,1850,3539,0,0,0,0,0,0
$STATE,6479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6479,begin apogee
$GC,6483,-0.13,0.0,778.9,14.1,582,6609,0.68,0.00,122.70,1.130,6,0.137,0.000,2979,1695,2940,0,0,0,0,0,0
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6611,0.64,146.0,783.7,0.0,586,6750,0.73,2.50,127.75,1.098,4,0.075,0.071,3247,291,2342,0,0,0,0,0,0
$GC,6773,0.53,213.6,783.5,6.9,591,6841,0.17,2.35,61.20,1.073,6,0.163,0.048,3201,1702,2069,0,0,0,0,0,0
$GC,7145,0.54,222.6,749.7,9.6,604,7155,0.00,0.00,8.00,0.907,6,0.000,0.000,3201,1703,2032,0,0,0,0,0,0
$GC,7452,0.58,224.9,719.4,9.9,614,7456,0.00,2.33,0.00,0.000,4,0.000,0.074,3211,293,2029,0,0,0,0,0,0
$GC,7497,0.58,224.9,714.6,10.7,615,7501,0.00,2.22,0.00,0.000,6,0.000,0.051,3211,1703,2028,0,0,0,0,0,0
$GC,7816,0.58,224.9,682.0,10.2,626,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1703,2027,0,0,0,0,0,0
$GC,8123,0.58,226.8,651.1,9.9,636,8134,0.00,2.28,4.62,0.749,4,0.000,0.065,3210,3105,2015,0,0,0,0,0,0
$GC,8153,0.58,226.8,647.8,10.9,637,8158,0.00,2.25,0.00,0.000,6,0.000,0.061,3220,1703,2014,0,0,0,0,0,0
$GC,8487,0.58,226.8,613.4,10.2,648,8491,0.00,2.28,0.00,0.000,4,0.000,0.076,3230,289,2013,0,0,0,0,0,0
$GC,8548,0.58,226.8,607.0,10.9,650,8552,0.00,2.20,0.00,0.000,6,0.000,0.051,3230,1705,2013,0,0,0,0,0,0
$GC,8871,0.58,226.8,573.5,10.0,675,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1705,2013,0,0,0,0,0,0
$GC,9189,0.58,227.9,541.2,10.0,705,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1705,2013,0,0,0,0,0,0
$GC,9509,0.58,227.9,508.4,10.4,735,9513,0.00,2.28,0.00,0.000,4,0.000,0.076,3239,289,2012,0,0,0,0,0,0
$GC,9541,0.53,227.9,504.6,12.4,738,9546,0.15,2.17,0.00,0.000,6,0.166,0.052,3198,1702,2012,0,0,0,0,0,0
$GC,9865,0.63,250.6,475.6,9.0,768,9893,0.00,2.28,21.95,0.927,4,0.000,0.067,3198,3103,1917,0,0,0,0,0,0
$GC,9913,0.73,260.9,471.2,9.5,773,9933,0.15,2.28,10.82,0.854,6,0.095,0.062,3270,1695,1874,0,0,0,0,0,0
$GC,10249,0.62,260.9,423.9,14.4,805,10254,0.15,2.30,0.00,0.000,4,0.166,0.075,3238,284,1868,0,0,0,0,0,0
$GC,10292,0.62,260.9,418.4,11.6,809,10296,0.00,2.20,0.00,0.000,6,0.000,0.051,3238,1700,1868,0,0,0,0,0,0
$GC,10616,0.62,260.9,380.7,11.2,839,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1701,1867,0,0,0,0,0,0
$GC,10934,0.62,260.9,343.3,12.0,869,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1701,1866,0,0,0,0,0,0
$GC,11255,0.62,260.9,303.3,12.7,899,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1701,1866,0,0,0,0,0,0
$GC,11572,0.62,260.9,264.7,11.7,929,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1701,1866,0,0,0,0,0,0
$GC,11900,0.62,260.9,228.4,10.6,959,11904,0.00,2.28,0.00,0.000,4,0.000,0.077,3249,289,1866,0,0,0,0,0,0
$GC,11933,0.62,260.9,224.6,11.7,962,11937,0.00,2.17,0.00,0.000,6,0.000,0.052,3249,1701,1866,0,0,0,0,0,0
$GC,12256,0.62,260.9,189.0,11.0,992,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1701,1866,0,0,0,0,0,0
$GC,12584,0.62,260.9,153.1,10.9,1022,12588,0.00,2.25,0.00,0.000,4,0.000,0.068,3249,3108,1866,0,0,0,0,0,0
$GC,12663,0.62,260.9,144.4,11.0,1030,12667,0.12,2.22,0.00,0.000,6,0.176,0.064,3223,1700,1865,0,0,0,0,0,0
$GC,12996,0.75,299.9,114.2,8.2,1060,13036,0.12,2.30,33.58,0.723,4,0.106,0.075,3290,289,1716,0,0,0,0,0,0
$GC,13105,0.68,299.9,99.9,15.2,1072,13111,0.15,2.20,0.00,0.000,6,0.162,0.052,3247,1699,1711,0,0,0,0,0,0
$GC,13463,0.74,303.7,59.7,9.8,1133,13469,0.00,2.30,0.00,0.000,4,0.000,0.070,3247,3111,1707,0,0,0,0,0,0
$GC,13492,0.79,303.7,56.4,11.4,1139,13498,0.00,2.28,0.00,0.000,6,0.000,0.064,3257,1693,1706,0,0,0,0,0,0
$GC,13851,0.89,319.9,21.3,9.2,1200,13872,0.15,0.00,17.33,0.657,6,0.094,0.000,3323,1693,1634,0,0,0,0,0,0
$STATE,13983,end climb,SURFACE_DEPTH_REACHED
$STATE,13983,begin surface coast
$FINISH,1.6,1.021137
$STATE,14012,end surface coast,CONTROL_FINISHED_OK
$STATE,14012,begin surface
$SM_CCo,14087,0.00,0.000,0,0,1625,322.32
$SM_GC,2.99,8.38,0.00,0.00,0.054,0.000,0.000,131,1847,1625,-8.95,-0.08,322.32
$RAFOS_CLK,709
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5707.31,290199,080809
$TT8_MAMPS,0.026845
$HUMID,39.64
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,72.0
$24V_AH,22.8,17.264
$10V_AH,10.2,7.569
$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,24.075,117.250,407.950,0.000,0.000,53.673,84.874,512.241,2.250,0.000,15.510,2369.739,9141.619,623.233,2109.841,669.675,0.000,1604.550,0.000,2068.640,862.000,19.814,0.000
$DEVICE_MAMPS,234.702,85.904,1129.791,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.247,914.781,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188784
$DATA_FILE_SIZE,47261,1229
$CAP_FILE_SIZE,163078,0
$CFSIZE,260165632,244744192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.6
$CURRENT,0.053, 85.9,1
$GPS,041109,124154,6658.919,-5720.052,38,1.9,38,-37.6