version: 66.06
glider: 172
mission: 3
dive: 93
start: 11 5 109 13 17 38
data:
$ID,172
$MISSION,3
$DIVE,93
$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,-5980.5225
$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,36
$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
$GPS1,130836,6701.989,-5706.281,30,1.0,30,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-75.6
$GPS2,131714,6702.081,-5706.525,14,1.1,14,-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,127.6,13486,-17.5,-10.000
$D_GRID,710
$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,-146.0,0.0,0.0,0,62,0.00,0.00,-46.38,0.000,2,0.000,0.000,121,1860,2517,0,0,0,0,0,0
$GC,65,-0.64,-146.0,3.1,-2.1,9,118,10.43,2.35,-32.92,0.000,4,0.238,0.082,2809,449,3538,0,0,0,0,0,0
$GC,160,-0.56,-146.0,15.4,-16.0,29,166,0.15,2.17,0.00,0.000,6,0.162,0.053,2843,1839,3539,0,0,0,0,0,0
$GC,502,-0.56,-146.0,62.1,-13.3,90,508,0.00,2.25,0.00,0.000,4,0.000,0.070,2843,441,3539,0,0,0,0,0,0
$GC,535,-0.56,-146.0,66.4,-13.6,97,540,0.00,2.20,0.00,0.000,6,0.000,0.053,2841,1858,3539,0,0,0,0,0,0
$GC,880,-0.61,-146.0,107.2,-10.8,153,884,0.00,2.28,0.00,0.000,4,0.000,0.069,2840,437,3538,0,0,0,0,0,0
$GC,922,-0.68,-146.0,111.8,-11.2,157,926,0.00,2.20,0.00,0.000,6,0.000,0.052,2840,1855,3538,0,0,0,0,0,0
$GC,1246,-0.75,-146.0,145.7,-10.8,187,1250,0.17,2.28,0.00,0.000,4,0.081,0.070,2759,438,3537,0,0,0,0,0,0
$GC,1261,-0.75,-146.0,147.6,-11.8,188,1266,0.12,2.17,0.00,0.000,6,0.171,0.052,2784,1851,3537,0,0,0,0,0,0
$GC,1585,-0.68,-146.0,193.3,-13.7,218,1589,0.00,2.22,0.00,0.000,4,0.000,0.067,2774,3258,3537,0,0,0,0,0,0
$GC,1594,-0.60,-146.0,194.7,-13.7,218,1600,0.17,2.20,0.00,0.000,6,0.150,0.055,2826,1841,3537,0,0,0,0,0,0
$GC,1918,-0.66,-146.0,226.0,-9.7,249,1922,0.00,2.20,0.00,0.000,4,0.000,0.068,2827,442,3537,0,0,0,0,0,0
$GC,1972,-0.72,-146.0,231.9,-10.5,254,1978,0.00,2.15,0.00,0.000,6,0.000,0.051,2821,1851,3537,0,0,0,0,0,0
$GC,2296,-0.77,-146.0,264.2,-10.0,285,2298,0.12,0.00,0.00,0.000,6,0.097,0.000,2760,1852,3538,0,0,0,0,0,0
$GC,2615,-0.65,-146.0,310.1,-15.0,315,2619,0.17,2.25,0.00,0.000,4,0.149,0.068,2813,436,3538,0,0,0,0,0,0
$GC,2669,-0.69,-146.0,317.1,-12.1,320,2675,0.00,2.15,0.00,0.000,6,0.000,0.051,2808,1853,3538,0,0,0,0,0,0
$GC,2993,-0.69,-146.0,353.1,-10.9,351,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1852,3538,0,0,0,0,0,0
$GC,3312,-0.69,-146.0,387.0,-10.6,381,3316,0.00,2.22,0.00,0.000,4,0.000,0.067,2808,438,3538,0,0,0,0,0,0
$GC,3345,-0.69,-146.0,390.8,-11.9,384,3349,0.00,2.15,0.00,0.000,6,0.000,0.050,2808,1850,3538,0,0,0,0,0,0
$GC,3668,-0.69,-146.0,427.4,-11.5,414,3672,0.00,2.22,0.00,0.000,4,0.000,0.067,2808,442,3539,0,0,0,0,0,0
$GC,3686,-0.69,-146.0,429.8,-13.2,415,3692,0.00,2.15,0.00,0.000,6,0.000,0.050,2808,1859,3539,0,0,0,0,0,0
$GC,4011,-0.73,-146.0,466.2,-10.7,446,4015,0.00,2.20,0.00,0.000,4,0.000,0.065,2808,442,3539,0,0,0,0,0,0
$GC,4038,-0.73,-146.0,469.6,-11.9,448,4044,0.00,2.15,0.00,0.000,6,0.000,0.049,2809,1858,3539,0,0,0,0,0,0
$GC,4362,-0.77,-146.0,503.3,-10.3,479,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1858,3540,0,0,0,0,0,0
$GC,4682,-0.81,-146.0,537.1,-10.8,509,4686,0.12,2.25,0.00,0.000,4,0.097,0.067,2744,436,3540,0,0,0,0,0,0
$GC,4727,-0.66,-146.0,543.9,-16.0,513,4733,0.25,2.15,0.00,0.000,6,0.143,0.051,2812,1849,3540,0,0,0,0,0,0
$GC,5052,-0.72,-146.0,576.4,-10.1,544,5056,0.00,2.22,0.00,0.000,4,0.000,0.068,2814,442,3540,0,0,0,0,0,0
$GC,5066,-0.77,-146.0,578.0,-9.9,545,5071,0.10,2.15,0.00,0.000,6,0.111,0.051,2758,1852,3539,0,0,0,0,0,0
$GC,5389,-0.67,-146.0,622.9,-14.1,566,5394,0.17,2.22,0.00,0.000,4,0.149,0.068,2811,443,3540,0,0,0,0,0,0
$GC,5423,-0.71,-146.0,627.2,-11.6,567,5427,0.00,2.12,0.00,0.000,6,0.000,0.051,2811,1849,3540,0,0,0,0,0,0
$GC,5753,-0.77,-146.0,659.6,-9.6,578,5758,0.10,2.22,0.00,0.000,4,0.110,0.068,2758,442,3540,0,0,0,0,0,0
$GC,5776,-0.71,-146.0,662.6,-12.9,578,5783,0.12,2.15,0.00,0.000,6,0.165,0.052,2794,1855,3540,0,0,0,0,0,0
$GC,6088,-0.71,-146.0,696.6,-10.5,589,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1855,3540,0,0,0,0,0,0
$STATE,6209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6209,begin apogee
$GC,6213,-0.13,0.0,710.2,11.1,593,6337,0.55,0.00,120.65,1.057,6,0.126,0.000,2980,1693,2940,0,0,0,0,0,0
$STATE,6337,end apogee,CONTROL_FINISHED_OK
$STATE,6337,begin climb
$GC,6339,0.64,146.0,713.4,0.0,597,6473,0.70,2.42,124.28,1.029,4,0.079,0.060,3230,3104,2342,0,0,0,0,0,0
$GC,6505,0.46,146.0,708.4,10.9,602,6511,0.22,2.35,0.00,0.000,6,0.157,0.056,3181,1706,2339,0,0,0,0,0,0
$GC,6824,0.54,206.2,684.6,7.2,613,6881,0.00,0.00,51.25,1.002,6,0.000,0.000,3181,1707,2100,0,0,0,0,0,0
$GC,7188,0.68,246.3,654.1,8.2,625,7226,0.17,0.00,35.60,0.979,6,0.081,0.000,3257,1706,1936,0,0,0,0,0,0
$GC,7524,0.60,246.3,608.7,13.4,636,7529,0.12,2.33,0.00,0.000,4,0.160,0.071,3232,290,1928,0,0,0,0,0,0
$GC,7556,0.60,246.3,604.3,13.2,637,7560,0.00,2.20,0.00,0.000,6,0.000,0.048,3232,1701,1928,0,0,0,0,0,0
$GC,7882,0.60,246.3,566.3,11.7,664,7886,0.00,2.25,0.00,0.000,4,0.000,0.062,3232,3109,1927,0,0,0,0,0,0
$GC,7896,0.60,246.3,564.4,12.0,665,7900,0.00,2.25,0.00,0.000,6,0.000,0.059,3241,1701,1926,0,0,0,0,0,0
$GC,8219,0.60,246.3,525.6,11.6,695,8223,0.00,2.25,0.00,0.000,4,0.000,0.071,3251,288,1926,0,0,0,0,0,0
$GC,8262,0.54,246.3,520.3,13.0,699,8267,0.17,2.17,0.00,0.000,6,0.156,0.048,3201,1704,1925,0,0,0,0,0,0
$GC,8586,0.63,257.3,490.8,9.5,729,8597,0.00,0.00,9.48,0.831,6,0.000,0.000,3201,1704,1890,0,0,0,0,0,0
$GC,8915,0.71,260.9,459.3,9.8,760,8925,0.15,0.00,4.55,0.650,6,0.091,0.000,3269,1704,1876,0,0,0,0,0,0
$GC,9243,0.61,260.9,413.4,14.0,791,9248,0.15,2.30,0.00,0.000,4,0.160,0.071,3235,282,1875,0,0,0,0,0,0
$GC,9275,0.61,260.9,409.4,12.1,794,9279,0.00,2.17,0.00,0.000,6,0.000,0.047,3235,1705,1875,0,0,0,0,0,0
$GC,9601,0.61,260.9,372.6,10.8,824,9605,0.00,2.20,0.00,0.000,4,0.000,0.061,3236,3105,1875,0,0,0,0,0,0
$GC,9618,0.61,260.9,370.2,11.7,825,9624,0.00,2.22,0.00,0.000,6,0.000,0.058,3243,1694,1874,0,0,0,0,0,0
$GC,9953,0.61,260.9,333.7,10.7,856,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1694,1874,0,0,0,0,0,0
$GC,10272,0.61,260.9,300.8,10.4,886,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1694,1874,0,0,0,0,0,0
$GC,10600,0.61,260.9,265.7,10.7,916,10604,0.00,2.25,0.00,0.000,4,0.000,0.072,3255,281,1874,0,0,0,0,0,0
$GC,10639,0.61,260.9,261.4,11.9,920,10643,0.12,2.15,0.00,0.000,6,0.161,0.048,3218,1701,1873,0,0,0,0,0,0
$GC,10973,0.69,275.7,229.2,9.3,950,10991,0.00,0.00,13.98,0.731,6,0.000,0.000,3218,1701,1815,0,0,0,0,0,0
$GC,11309,0.79,292.0,197.1,9.2,982,11331,0.17,0.00,15.57,0.713,6,0.084,0.000,3299,1702,1749,0,0,0,0,0,0
$GC,11657,0.67,292.0,144.0,15.4,1014,11662,0.20,2.22,0.00,0.000,4,0.150,0.061,3238,3104,1745,0,0,0,0,0,0
$GC,11676,0.64,292.0,141.0,14.9,1015,11682,0.00,2.22,0.00,0.000,6,0.000,0.057,3247,1698,1744,0,0,0,0,0,0
$GC,12010,0.67,292.0,103.3,11.0,1046,12014,0.00,2.25,0.00,0.000,4,0.000,0.071,3257,282,1743,0,0,0,0,0,0
$GC,12095,0.72,292.0,94.4,10.6,1060,12100,0.00,2.15,0.00,0.000,6,0.000,0.047,3256,1701,1743,0,0,0,0,0,0
$GC,12438,0.79,313.1,60.5,9.0,1121,12476,0.00,0.00,19.02,0.646,6,0.000,0.000,3256,1701,1661,0,0,0,0,0,0
$GC,12813,0.92,335.1,27.0,9.0,1185,12842,0.17,2.35,19.90,0.624,4,0.082,0.071,3347,288,1573,0,0,0,0,0,0
$GC,12933,0.81,335.1,9.3,13.7,1211,12940,0.20,2.17,0.00,0.000,6,0.153,0.048,3288,1698,1569,0,0,0,0,0,0
$STATE,12978,end climb,SURFACE_DEPTH_REACHED
$STATE,12978,begin surface coast
$FINISH,1.5,1.025087
$STATE,13019,end surface coast,CONTROL_FINISHED_OK
$STATE,13019,begin surface
$SM_CCo,13094,0.00,0.000,0,0,1564,337.29
$SM_GC,2.31,8.12,0.00,0.00,0.046,0.000,0.000,137,1860,1564,-8.93,0.28,337.29
$RAFOS_CLK,604
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5658.34,300199,131312
$TT8_MAMPS,0.027612
$HUMID,38.14
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.9,78.0
$24V_AH,23.5,18.290
$10V_AH,10.3,8.098
$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,23.475,107.050,414.275,0.000,0.000,54.238,70.896,218.115,2.000,0.000,14.284,2303.001,8313.844,523.480,1983.792,484.984,0.000,1578.601,0.000,1936.090,1069.000,18.763,0.000
$DEVICE_MAMPS,237.770,82.069,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.290,902.515,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188240
$DATA_FILE_SIZE,50472,1226
$CAP_FILE_SIZE,151707,0
$CFSIZE,260165632,243683328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.8
$CURRENT,0.373,298.7,1
$GPS,051109,165726,6703.284,-5707.648,33,2.3,52,-37.6