version: 66.06
glider: 172
mission: 3
dive: 94
start: 11 5 109 17 3 19
data:
$ID,172
$MISSION,3
$DIVE,94
$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,-5996.4487
$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,37
$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
$GPS1,165726,6703.284,-5707.648,33,2.3,52,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-76.2
$GPS2,170255,6703.358,-5707.868,13,1.3,13,-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,169.3,14363,-17.5,-10.000
$D_GRID,693
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-47.92,0.000,2,0.000,0.000,128,1859,2503,0,0,0,0,0,0
$GC,66,-0.64,-146.0,3.1,-2.5,6,119,10.18,2.33,-34.85,0.000,4,0.232,0.084,2809,436,3538,0,0,0,0,0,0
$GC,274,-0.58,-146.0,34.0,-16.4,51,280,0.12,2.20,0.00,0.000,6,0.169,0.052,2835,1846,3539,0,0,0,0,0,0
$GC,617,-0.58,-146.0,82.8,-13.7,112,623,0.00,2.25,0.00,0.000,4,0.000,0.069,2835,441,3539,0,0,0,0,0,0
$GC,637,-0.58,-146.0,85.4,-13.6,116,642,0.00,2.20,0.00,0.000,6,0.000,0.053,2830,1854,3538,0,0,0,0,0,0
$GC,967,-0.61,-146.0,125.7,-11.2,157,971,0.00,2.25,0.00,0.000,4,0.000,0.070,2830,442,3537,0,0,0,0,0,0
$GC,991,-0.61,-146.0,128.4,-12.1,159,995,0.00,2.17,0.00,0.000,6,0.000,0.053,2830,1853,3537,0,0,0,0,0,0
$GC,1316,-0.66,-146.0,164.6,-10.9,189,1320,0.00,2.25,0.00,0.000,4,0.000,0.069,2830,439,3537,0,0,0,0,0,0
$GC,1342,-0.70,-146.0,168.1,-12.5,191,1348,0.00,2.17,0.00,0.000,6,0.000,0.053,2830,1855,3537,0,0,0,0,0,0
$GC,1666,-0.77,-146.0,201.3,-10.0,222,1668,0.15,0.00,0.00,0.000,6,0.087,0.000,2759,1855,3537,0,0,0,0,0,0
$GC,1986,-0.64,-146.0,250.3,-15.9,252,1988,0.20,0.00,0.00,0.000,6,0.147,0.000,2820,1855,3537,0,0,0,0,0,0
$GC,2304,-0.69,-146.0,285.8,-10.8,282,2308,0.00,2.25,0.00,0.000,4,0.000,0.068,2821,435,3538,0,0,0,0,0,0
$GC,2349,-0.74,-146.0,291.2,-12.4,286,2355,0.00,2.17,0.00,0.000,6,0.000,0.052,2812,1852,3537,0,0,0,0,0,0
$GC,2672,-0.74,-146.0,329.5,-11.9,317,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1852,3538,0,0,0,0,0,0
$GC,2992,-0.78,-146.0,366.7,-11.0,347,2994,0.12,0.00,0.00,0.000,6,0.097,0.000,2748,1852,3537,0,0,0,0,0,0
$GC,3310,-0.65,-146.0,416.8,-15.4,377,3315,0.22,2.25,0.00,0.000,4,0.143,0.067,2818,432,3537,0,0,0,0,0,0
$GC,3319,-0.54,-146.0,418.5,-15.6,377,3325,0.15,2.17,0.00,0.000,6,0.156,0.051,2855,1858,3538,0,0,0,0,0,0
$GC,3643,-0.72,-146.0,444.9,-7.8,408,3648,0.17,2.25,0.00,0.000,4,0.081,0.067,2771,439,3538,0,0,0,0,0,0
$GC,3677,-0.63,-146.0,448.8,-13.3,411,3682,0.17,2.15,0.00,0.000,6,0.151,0.052,2820,1848,3538,0,0,0,0,0,0
$GC,4001,-0.71,-146.0,481.8,-10.4,441,4005,0.00,2.20,0.00,0.000,4,0.000,0.067,2821,440,3538,0,0,0,0,0,0
$GC,4015,-0.77,-146.0,483.4,-10.6,442,4020,0.12,2.15,0.00,0.000,6,0.096,0.051,2759,1852,3538,0,0,0,0,0,0
$GC,4339,-0.69,-146.0,530.7,-14.7,472,4344,0.15,2.22,0.00,0.000,4,0.153,0.067,2794,3257,3539,0,0,0,0,0,0
$GC,4357,-0.69,-146.0,533.2,-13.5,473,4363,0.00,2.17,0.00,0.000,6,0.000,0.054,2794,1848,3538,0,0,0,0,0,0
$GC,4681,-0.69,-146.0,571.4,-11.6,504,4685,0.00,2.20,0.00,0.000,4,0.000,0.069,2794,440,3539,0,0,0,0,0,0
$GC,4735,-0.69,-146.0,578.3,-13.2,509,4741,0.00,2.15,0.00,0.000,6,0.000,0.051,2793,1852,3539,0,0,0,0,0,0
$GC,5074,-0.69,-146.0,619.0,-12.2,532,5078,0.00,2.20,0.00,0.000,4,0.000,0.067,2793,3256,3539,0,0,0,0,0,0
$GC,5124,-0.77,-146.0,624.9,-11.4,533,5128,0.00,2.20,0.00,0.000,6,0.000,0.056,2793,1839,3539,0,0,0,0,0,0
$GC,5436,-0.77,-146.0,662.8,-12.3,543,5440,0.00,2.17,0.00,0.000,4,0.000,0.069,2793,443,3539,0,0,0,0,0,0
$GC,5481,-0.77,-146.0,669.1,-13.7,544,5485,0.00,2.15,0.00,0.000,6,0.000,0.052,2793,1855,3539,0,0,0,0,0,0
$STATE,5703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5703,begin apogee
$GC,5707,-0.13,0.0,696.0,11.9,552,5831,0.55,0.00,120.47,1.048,6,0.124,0.000,2978,1695,2939,0,0,0,0,0,0
$STATE,5832,end apogee,CONTROL_FINISHED_OK
$STATE,5832,begin climb
$GC,5833,0.64,146.0,700.7,0.0,556,5967,0.70,2.42,124.03,1.020,4,0.081,0.066,3238,292,2343,0,0,0,0,0,0
$GC,5986,0.56,209.9,699.5,7.1,561,6049,0.12,2.30,56.47,0.997,6,0.165,0.045,3207,1706,2083,0,0,0,0,0,0
$GC,6380,0.57,219.9,661.0,9.5,574,6396,0.00,2.35,8.95,0.858,4,0.000,0.067,3217,296,2041,0,0,0,0,0,0
$GC,6411,0.57,219.9,658.1,10.0,575,6415,0.00,2.22,0.00,0.000,6,0.000,0.047,3217,1702,2040,0,0,0,0,0,0
$GC,6745,0.57,219.9,622.7,10.4,586,6749,0.00,2.25,0.00,0.000,4,0.000,0.061,3217,3109,2038,0,0,0,0,0,0
$GC,6804,0.57,219.9,616.3,11.4,588,6808,0.00,2.25,0.00,0.000,6,0.000,0.058,3225,1706,2038,0,0,0,0,0,0
$GC,7124,0.57,219.9,581.7,11.0,607,7128,0.00,2.22,0.00,0.000,4,0.000,0.061,3225,3104,2037,0,0,0,0,0,0
$GC,7148,0.53,219.9,578.8,12.2,609,7153,0.12,2.25,0.00,0.000,6,0.175,0.058,3201,1692,2037,0,0,0,0,0,0
$GC,7472,0.57,219.9,545.4,10.6,639,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1692,2037,0,0,0,0,0,0
$GC,7791,0.61,219.9,512.8,10.1,669,7795,0.00,2.22,0.00,0.000,4,0.000,0.070,3210,288,2037,0,0,0,0,0,0
$GC,7835,0.61,219.9,507.7,10.6,673,7841,0.00,2.15,0.00,0.000,6,0.000,0.047,3210,1701,2035,0,0,0,0,0,0
$GC,8159,0.61,221.2,473.8,9.9,704,8163,0.00,2.20,0.00,0.000,4,0.000,0.061,3211,3104,2036,0,0,0,0,0,0
$GC,8192,0.61,221.2,470.3,11.1,707,8196,0.00,2.20,0.00,0.000,6,0.000,0.058,3219,1699,2036,0,0,0,0,0,0
$GC,8517,0.61,221.2,437.0,10.2,737,8521,0.00,2.22,0.00,0.000,4,0.000,0.071,3229,288,2036,0,0,0,0,0,0
$GC,8562,0.58,221.2,432.0,11.4,741,8567,0.00,2.12,0.00,0.000,6,0.000,0.047,3229,1701,2036,0,0,0,0,0,0
$GC,8886,0.54,221.2,396.8,11.2,772,8890,0.00,2.20,0.00,0.000,4,0.000,0.061,3229,3113,2036,0,0,0,0,0,0
$GC,8912,0.50,221.2,393.5,12.2,774,8919,0.17,2.20,0.00,0.000,6,0.162,0.058,3188,1699,2036,0,0,0,0,0,0
$GC,9237,0.64,255.0,365.0,8.4,805,9273,0.12,2.28,30.12,0.828,4,0.097,0.068,3257,288,1898,0,0,0,0,0,0
$GC,9312,0.57,255.0,355.9,13.8,813,9316,0.15,2.17,0.00,0.000,6,0.157,0.046,3213,1701,1896,0,0,0,0,0,0
$GC,9636,0.62,255.0,320.4,10.7,843,9640,0.00,2.22,0.00,0.000,4,0.000,0.061,3213,3103,1892,0,0,0,0,0,0
$GC,9679,0.68,255.0,315.4,11.8,847,9683,0.00,2.25,0.00,0.000,6,0.000,0.059,3218,1693,1891,0,0,0,0,0,0
$GC,10004,0.73,255.0,280.2,10.8,877,10009,0.12,2.22,0.00,0.000,4,0.101,0.071,3288,288,1891,0,0,0,0,0,0
$GC,10056,0.58,255.0,272.7,16.4,882,10061,0.25,2.15,0.00,0.000,6,0.153,0.047,3213,1702,1891,0,0,0,0,0,0
$GC,10380,0.66,255.0,238.8,10.1,912,10384,0.00,2.25,0.00,0.000,4,0.000,0.071,3223,287,1890,0,0,0,0,0,0
$GC,10422,0.72,255.0,234.4,10.9,916,10427,0.10,2.15,0.00,0.000,6,0.110,0.047,3273,1702,1890,0,0,0,0,0,0
$GC,10756,0.63,255.0,191.6,12.6,946,10760,0.15,2.20,0.00,0.000,4,0.163,0.061,3229,3110,1890,0,0,0,0,0,0
$GC,10802,0.67,255.0,186.3,10.0,950,10809,0.00,2.20,0.00,0.000,6,0.000,0.058,3239,1699,1890,0,0,0,0,0,0
$GC,11125,0.67,255.0,152.4,11.3,981,11129,0.00,2.22,0.00,0.000,4,0.000,0.071,3247,288,1890,0,0,0,0,0,0
$GC,11188,0.67,255.0,144.7,12.3,987,11193,0.00,2.12,0.00,0.000,6,0.000,0.047,3247,1697,1890,0,0,0,0,0,0
$GC,11521,0.67,255.0,106.9,10.7,1018,11525,0.00,2.22,0.00,0.000,4,0.000,0.063,3247,3113,1890,0,0,0,0,0,0
$GC,11613,0.67,255.0,96.6,11.3,1031,11619,0.00,2.22,0.00,0.000,6,0.000,0.058,3257,1694,1890,0,0,0,0,0,0
$GC,11971,0.70,277.8,63.3,8.9,1092,11992,0.00,0.00,19.10,0.647,6,0.000,0.000,3257,1693,1806,0,0,0,0,0,0
$GC,12344,0.80,320.2,30.6,8.0,1156,12386,0.00,2.35,37.40,0.636,4,0.000,0.071,3266,289,1633,0,0,0,0,0,0
$GC,12407,0.92,339.0,25.0,9.1,1169,12432,0.15,2.20,17.15,0.602,6,0.089,0.048,3333,1702,1557,0,0,0,0,0,0
$STATE,12555,end climb,SURFACE_DEPTH_REACHED
$STATE,12555,begin surface coast
$FINISH,1.5,1.025300
$STATE,12583,end surface coast,CONTROL_FINISHED_OK
$STATE,12583,begin surface
$SM_CCo,12658,0.00,0.000,0,0,1545,342.19
$SM_GC,2.49,8.43,0.00,0.00,0.054,0.000,0.000,139,1863,1545,-8.92,0.37,342.19
$RAFOS_CLK,569
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5658.34,300199,131311
$TT8_MAMPS,0.026078
$HUMID,39.44
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.1,167.1
$24V_AH,23.4,18.413
$10V_AH,10.3,8.168
$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,22.925,124.625,413.700,0.000,0.000,31.347,33.519,158.856,1.250,0.000,15.296,2242.228,7866.428,487.427,2032.290,355.614,0.000,1580.402,0.000,1983.013,297.000,11.955,0.000
$DEVICE_MAMPS,232.401,83.603,1047.722,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,834.147,885.165,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188208
$DATA_FILE_SIZE,47316,1201
$CAP_FILE_SIZE,149827,0
$CFSIZE,260165632,243617792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.5
$CURRENT,0.236,287.0,1
$GPS,051109,203536,6702.708,-5708.277,41,1.2,41,-37.6