version: 66.06
glider: 172
mission: 3
dive: 90
start: 11 5 109 1 31 13
data:
$ID,172
$MISSION,3
$DIVE,90
$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,-5932.4854
$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,32
$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
$GPS1,011232,6701.096,-5709.958,37,1.4,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-75.0
$GPS2,013050,6701.343,-5710.315,14,1.0,14,-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,132.3,16405,-17.5,-10.000
$D_GRID,735
$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,13,begin dive
$GC,14,-0.64,-146.0,0.0,0.0,0,68,0.00,0.00,-50.70,0.000,2,0.000,0.000,121,1863,2576,0,0,0,0,0,0
$GC,70,-0.64,-146.0,3.0,-0.6,10,118,10.48,2.33,-30.90,0.000,4,0.239,0.081,2815,442,3537,0,0,0,0,0,0
$GC,188,-0.56,-146.0,19.5,-16.1,35,194,0.12,2.22,0.00,0.000,6,0.175,0.053,2845,1848,3538,0,0,0,0,0,0
$GC,532,-0.59,-146.0,64.6,-10.9,96,537,0.00,2.28,0.00,0.000,4,0.000,0.071,2845,438,3538,0,0,0,0,0,0
$GC,570,-0.64,-146.0,69.2,-12.2,104,575,0.00,2.20,0.00,0.000,6,0.000,0.053,2845,1852,3538,0,0,0,0,0,0
$GC,914,-0.72,-146.0,107.1,-11.0,160,919,0.15,2.28,0.00,0.000,4,0.088,0.071,2770,3257,3537,0,0,0,0,0,0
$GC,932,-0.72,-146.0,109.5,-12.9,161,939,0.00,2.22,0.00,0.000,6,0.000,0.058,2770,1849,3537,0,0,0,0,0,0
$GC,1258,-0.59,-146.0,161.8,-15.3,192,1263,0.20,2.25,0.00,0.000,4,0.156,0.069,2831,438,3537,0,0,0,0,0,0
$GC,1305,-0.64,-146.0,168.1,-11.2,196,1310,0.00,2.17,0.00,0.000,6,0.000,0.051,2822,1852,3536,0,0,0,0,0,0
$GC,1629,-0.68,-146.0,203.2,-10.2,227,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1852,3537,0,0,0,0,0,0
$GC,1948,-0.73,-146.0,239.7,-11.4,257,1952,0.00,2.25,0.00,0.000,4,0.000,0.069,2822,437,3537,0,0,0,0,0,0
$GC,2007,-0.78,-146.0,246.5,-11.3,263,2012,0.15,2.17,0.00,0.000,6,0.091,0.051,2752,1855,3537,0,0,0,0,0,0
$GC,2331,-0.63,-146.0,299.0,-16.4,293,2336,0.22,2.25,0.00,0.000,4,0.148,0.067,2821,440,3537,0,0,0,0,0,0
$GC,2377,-0.68,-146.0,305.3,-12.2,297,2384,0.00,2.15,0.00,0.000,6,0.000,0.051,2812,1851,3537,0,0,0,0,0,0
$GC,2700,-0.68,-146.0,341.8,-11.3,328,2704,0.00,2.22,0.00,0.000,4,0.000,0.070,2812,441,3537,0,0,0,0,0,0
$GC,2718,-0.68,-146.0,343.9,-11.1,329,2725,0.00,2.15,0.00,0.000,6,0.000,0.051,2812,1850,3537,0,0,0,0,0,0
$GC,3043,-0.71,-146.0,381.1,-11.7,360,3047,0.00,2.25,0.00,0.000,4,0.000,0.069,2812,437,3538,0,0,0,0,0,0
$GC,3094,-0.75,-146.0,387.4,-12.1,365,3098,0.00,2.15,0.00,0.000,6,0.000,0.051,2812,1850,3538,0,0,0,0,0,0
$GC,3422,-0.78,-146.0,424.2,-11.2,396,3427,0.12,2.25,0.00,0.000,4,0.097,0.069,2749,436,3538,0,0,0,0,0,0
$GC,3456,-0.62,-146.0,428.9,-15.2,399,3461,0.28,2.15,0.00,0.000,6,0.144,0.051,2825,1850,3538,0,0,0,0,0,0
$GC,3780,-0.70,-146.0,461.0,-9.1,429,3784,0.00,2.25,0.00,0.000,4,0.000,0.068,2825,436,3539,0,0,0,0,0,0
$GC,3816,-0.77,-146.0,464.6,-10.1,432,3822,0.15,2.15,0.00,0.000,6,0.089,0.051,2755,1850,3538,0,0,0,0,0,0
$GC,4140,-0.64,-146.0,511.6,-14.6,463,4145,0.20,2.22,0.00,0.000,4,0.147,0.067,2816,438,3539,0,0,0,0,0,0
$GC,4174,-0.68,-146.0,515.8,-11.4,466,4178,0.00,2.15,0.00,0.000,6,0.000,0.051,2812,1851,3539,0,0,0,0,0,0
$GC,4503,-0.72,-146.0,548.9,-9.8,497,4507,0.00,2.20,0.00,0.000,4,0.000,0.067,2812,440,3539,0,0,0,0,0,0
$GC,4529,-0.72,-146.0,551.8,-10.8,499,4533,0.00,2.15,0.00,0.000,6,0.000,0.051,2811,1854,3539,0,0,0,0,0,0
$GC,4860,-0.78,-146.0,583.6,-9.3,530,4865,0.10,2.25,0.00,0.000,4,0.113,0.068,2758,434,3539,0,0,0,0,0,0
$GC,4912,-0.66,-146.0,590.7,-15.0,535,4917,0.17,2.17,0.00,0.000,6,0.152,0.052,2811,1856,3539,0,0,0,0,0,0
$GC,5248,-0.72,-146.0,623.4,-9.8,551,5252,0.00,2.22,0.00,0.000,4,0.000,0.069,2811,439,3539,0,0,0,0,0,0
$GC,5285,-0.78,-146.0,627.3,-10.5,552,5289,0.10,2.15,0.00,0.000,6,0.112,0.052,2760,1855,3539,0,0,0,0,0,0
$GC,5610,-0.68,-146.0,671.2,-13.4,563,5615,0.15,2.25,0.00,0.000,4,0.155,0.070,2805,436,3539,0,0,0,0,0,0
$GC,5643,-0.68,-146.0,675.3,-12.2,564,5647,0.00,2.15,0.00,0.000,6,0.000,0.052,2805,1852,3539,0,0,0,0,0,0
$GC,5973,-0.73,-146.0,708.6,-10.4,575,5977,0.00,2.22,0.00,0.000,4,0.000,0.069,2805,436,3540,0,0,0,0,0,0
$GC,6013,-0.73,-146.0,713.5,-11.6,576,6017,0.00,2.15,0.00,0.000,6,0.000,0.051,2805,1853,3540,0,0,0,0,0,0
$STATE,6214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6214,begin apogee
$GC,6218,-0.13,0.0,736.0,11.2,583,6343,0.52,0.00,121.57,1.076,6,0.127,0.000,2981,1695,2940,0,0,0,0,0,0
$STATE,6344,end apogee,CONTROL_FINISHED_OK
$STATE,6344,begin climb
$GC,6345,0.64,146.0,740.4,0.0,587,6478,0.73,2.45,125.07,1.048,4,0.071,0.068,3253,291,2343,0,0,0,0,0,0
$GC,6544,0.41,146.0,735.0,11.6,593,6549,0.32,2.30,0.00,0.000,6,0.157,0.046,3163,1707,2338,0,0,0,0,0,0
$GC,6880,0.60,227.0,712.6,6.3,604,6959,0.15,2.38,70.05,1.029,4,0.088,0.060,3230,3105,2013,0,0,0,0,0,0
$GC,6987,0.54,227.0,701.1,13.4,607,6992,0.15,2.33,0.00,0.000,6,0.162,0.056,3202,1706,2008,0,0,0,0,0,0
$GC,7304,0.57,227.0,668.6,10.3,618,7308,0.00,2.33,0.00,0.000,4,0.000,0.070,3211,282,2003,0,0,0,0,0,0
$GC,7340,0.57,227.0,664.4,11.1,619,7344,0.00,2.25,0.00,0.000,6,0.000,0.047,3210,1701,2002,0,0,0,0,0,0
$GC,7675,0.57,227.0,629.5,10.1,630,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1701,2002,0,0,0,0,0,0
$GC,7980,0.57,227.0,598.8,10.0,640,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1701,2001,0,0,0,0,0,0
$GC,8300,0.57,227.0,565.5,10.3,670,8304,0.00,2.22,0.00,0.000,4,0.000,0.063,3211,3108,2001,0,0,0,0,0,0
$GC,8323,0.57,227.0,562.9,12.0,672,8327,0.00,2.22,0.00,0.000,6,0.000,0.058,3219,1700,2001,0,0,0,0,0,0
$GC,8648,0.57,227.0,528.5,10.9,702,8652,0.00,2.25,0.00,0.000,4,0.000,0.071,3230,282,2000,0,0,0,0,0,0
$GC,8693,0.57,227.0,523.0,11.5,706,8699,0.00,2.15,0.00,0.000,6,0.000,0.048,3230,1702,2000,0,0,0,0,0,0
$GC,9016,0.57,227.0,485.5,11.6,737,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1703,2000,0,0,0,0,0,0
$GC,9345,0.57,227.0,447.4,11.8,767,9349,0.00,2.20,0.00,0.000,4,0.000,0.062,3230,3106,1999,0,0,0,0,0,0
$GC,9367,0.54,227.0,444.5,12.8,769,9374,0.15,2.20,0.00,0.000,6,0.169,0.058,3197,1699,1999,0,0,0,0,0,0
$GC,9701,0.63,242.4,412.7,9.3,800,9721,0.10,2.28,11.90,0.825,4,0.112,0.071,3256,281,1950,0,0,0,0,0,0
$GC,9769,0.56,242.4,404.0,13.9,807,9774,0.17,2.17,0.00,0.000,6,0.156,0.048,3205,1704,1949,0,0,0,0,0,0
$GC,10104,0.63,254.1,370.9,9.5,837,10117,0.00,0.00,11.32,0.795,6,0.000,0.000,3205,1705,1904,0,0,0,0,0,0
$GC,10434,0.71,261.7,340.7,9.6,868,10447,0.15,2.22,7.82,0.734,4,0.094,0.063,3273,3103,1873,0,0,0,0,0,0
$GC,10476,0.59,261.7,334.9,15.8,872,10481,0.22,2.22,0.00,0.000,6,0.160,0.058,3217,1699,1871,0,0,0,0,0,0
$GC,10810,0.65,261.7,298.4,11.3,902,10814,0.00,2.25,0.00,0.000,4,0.000,0.071,3226,281,1870,0,0,0,0,0,0
$GC,10855,0.68,261.7,292.8,11.5,906,10861,0.00,2.17,0.00,0.000,6,0.000,0.047,3227,1706,1869,0,0,0,0,0,0
$GC,11189,0.68,261.7,254.9,10.9,937,11193,0.00,2.20,0.00,0.000,4,0.000,0.061,3227,3108,1869,0,0,0,0,0,0
$GC,11215,0.68,261.7,251.7,11.5,939,11221,0.00,2.22,0.00,0.000,6,0.000,0.058,3236,1695,1869,0,0,0,0,0,0
$GC,11539,0.68,261.7,215.2,11.5,970,11543,0.00,2.22,0.00,0.000,4,0.000,0.070,3244,285,1869,0,0,0,0,0,0
$GC,11575,0.68,261.7,210.7,12.4,973,11581,0.00,2.15,0.00,0.000,6,0.000,0.047,3244,1701,1869,0,0,0,0,0,0
$GC,11908,0.68,261.7,171.6,11.4,1004,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1702,1869,0,0,0,0,0,0
$GC,12228,0.68,261.7,134.9,11.2,1034,12232,0.00,2.20,0.00,0.000,4,0.000,0.063,3244,3106,1868,0,0,0,0,0,0
$GC,12261,0.68,261.7,130.5,12.7,1035,12267,0.00,2.20,0.00,0.000,6,0.000,0.058,3254,1699,1868,0,0,0,0,0,0
$GC,12589,0.68,261.7,90.5,10.9,1073,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1698,1869,0,0,0,0,0,0
$GC,12933,0.78,313.0,58.7,7.6,1134,12984,0.00,2.28,44.78,0.658,4,0.000,0.063,3254,3103,1661,0,0,0,0,0,0
$GC,13058,0.92,353.3,48.2,8.1,1161,13102,0.17,2.25,35.03,0.634,6,0.081,0.058,3338,1698,1497,0,0,0,0,0,0
$STATE,13354,end climb,SURFACE_DEPTH_REACHED
$STATE,13354,begin surface coast
$FINISH,1.5,1.015056
$STATE,13383,end surface coast,CONTROL_FINISHED_OK
$STATE,13383,begin surface
$SM_CCo,13458,0.00,0.000,0,0,1483,357.40
$SM_GC,2.37,8.43,0.00,0.00,0.054,0.000,0.000,139,1853,1483,-8.93,0.08,357.40
$RAFOS_CLK,645
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5714.90,290199,212127
$TT8_MAMPS,0.026078
$HUMID,38.10
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,200.8
$24V_AH,23.4,17.861
$10V_AH,10.2,7.873
$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,23.875,129.475,427.550,0.000,0.000,23.245,32.165,936.495,1.250,0.000,14.146,2370.921,8474.099,516.926,2062.751,1126.428,0.000,1626.551,0.000,2028.734,1069.000,12.911,0.000
$DEVICE_MAMPS,238.537,80.535,1076.101,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,846.433,898.664,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188680
$DATA_FILE_SIZE,50453,1220
$CAP_FILE_SIZE,156130,0
$CFSIZE,260165632,244797440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$CURRENT,0.252,294.0,1
$GPS,051109,051643,6701.997,-5709.614,26,1.6,32,-37.6