version: 66.06
glider: 172
mission: 3
dive: 95
start: 11 5 109 20 47 23
data:
$ID,172
$MISSION,3
$DIVE,95
$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,-6008.667
$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,38
$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
$GPS1,204302,6702.763,-5708.307,8,1.7,8,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-77.8
$GPS2,204638,6702.790,-5708.316,10,1.4,10,-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,126.1,14677,-17.5,-10.000
$D_GRID,703
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.64,-146.0,0.0,0.0,0,73,0.00,0.00,-56.30,0.000,2,0.000,0.000,143,1862,2636,0,0,0,0,0,0
$GC,75,-0.64,-146.0,3.1,-1.4,11,118,10.30,2.40,-27.42,0.000,4,0.238,0.083,2808,439,3538,0,0,0,0,0,0
$GC,237,-0.56,-146.0,28.4,-17.5,46,243,0.15,2.22,0.00,0.000,6,0.159,0.053,2842,1842,3540,0,0,0,0,0,0
$GC,582,-0.56,-146.0,77.8,-12.8,107,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1843,3540,0,0,0,0,0,0
$GC,916,-0.61,-146.0,116.0,-11.2,155,920,0.00,2.28,0.00,0.000,4,0.000,0.069,2832,3257,3539,0,0,0,0,0,0
$GC,958,-0.73,-146.0,120.8,-11.0,159,962,0.12,2.22,0.00,0.000,6,0.097,0.057,2771,1849,3539,0,0,0,0,0,0
$GC,1281,-0.62,-146.0,176.3,-17.0,189,1286,0.17,2.25,0.00,0.000,4,0.153,0.069,2823,439,3539,0,0,0,0,0,0
$GC,1305,-0.62,-146.0,180.3,-15.3,191,1309,0.00,2.20,0.00,0.000,6,0.000,0.051,2813,1856,3538,0,0,0,0,0,0
$GC,1628,-0.62,-146.0,223.4,-13.3,221,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1856,3538,0,0,0,0,0,0
$GC,1948,-0.62,-146.0,263.5,-11.6,251,1952,0.00,2.28,0.00,0.000,4,0.000,0.068,2814,435,3538,0,0,0,0,0,0
$GC,1993,-0.62,-146.0,269.3,-12.6,255,1999,0.00,2.20,0.00,0.000,6,0.000,0.052,2807,1856,3538,0,0,0,0,0,0
$GC,2317,-0.62,-146.0,305.9,-11.0,286,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1856,3538,0,0,0,0,0,0
$GC,2636,-0.62,-146.0,342.7,-11.9,316,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1856,3540,0,0,0,0,0,0
$GC,2956,-0.62,-146.0,378.4,-10.6,346,2960,0.00,2.22,0.00,0.000,4,0.000,0.068,2807,440,3539,0,0,0,0,0,0
$GC,2989,-0.62,-146.0,382.4,-11.7,349,2993,0.00,2.17,0.00,0.000,6,0.000,0.052,2807,1850,3540,0,0,0,0,0,0
$GC,3313,-0.62,-146.0,417.1,-10.7,379,3317,0.00,2.28,0.00,0.000,4,0.000,0.068,2807,434,3540,0,0,0,0,0,0
$GC,3339,-0.62,-146.0,420.0,-11.0,381,3346,0.00,2.20,0.00,0.000,6,0.000,0.051,2807,1858,3540,0,0,0,0,0,0
$GC,3663,-0.62,-146.0,453.3,-10.1,412,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1859,3540,0,0,0,0,0,0
$GC,3983,-0.65,-146.0,485.6,-10.1,442,3987,0.00,2.25,0.00,0.000,4,0.000,0.067,2807,438,3541,0,0,0,0,0,0
$GC,4010,-0.65,-146.0,488.8,-11.1,444,4016,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1855,3540,0,0,0,0,0,0
$GC,4334,-0.69,-146.0,521.8,-10.3,475,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1855,3541,0,0,0,0,0,0
$GC,4653,-0.73,-146.0,552.8,-9.5,505,4657,0.00,2.25,0.00,0.000,4,0.000,0.068,2807,435,3541,0,0,0,0,0,0
$GC,4695,-0.76,-146.0,557.3,-10.6,509,4701,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1855,3541,0,0,0,0,0,0
$GC,5019,-0.81,-146.0,589.8,-9.8,540,5024,0.12,2.25,0.00,0.000,4,0.098,0.068,2741,441,3541,0,0,0,0,0,0
$GC,5040,-0.74,-146.0,592.2,-11.7,542,5045,0.17,2.17,0.00,0.000,6,0.153,0.051,2785,1857,3541,0,0,0,0,0,0
$GC,5354,-0.74,-146.0,629.0,-11.8,556,5358,0.00,2.25,0.00,0.000,4,0.000,0.067,2785,435,3541,0,0,0,0,0,0
$GC,5389,-0.74,-146.0,633.6,-12.2,557,5393,0.00,2.17,0.00,0.000,6,0.000,0.051,2785,1853,3541,0,0,0,0,0,0
$GC,5719,-0.74,-146.0,671.5,-11.6,568,5723,0.00,2.22,0.00,0.000,4,0.000,0.068,2785,440,3541,0,0,0,0,0,0
$GC,5755,-0.74,-146.0,676.1,-12.2,569,5759,0.00,2.15,0.00,0.000,6,0.000,0.051,2785,1849,3541,0,0,0,0,0,0
$STATE,5991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,5996,-0.13,0.0,704.4,12.1,577,6120,0.57,0.00,120.88,1.052,6,0.127,0.000,2978,1690,2940,0,0,0,0,0,0
$STATE,6120,end apogee,CONTROL_FINISHED_OK
$STATE,6121,begin climb
$GC,6122,0.64,146.0,708.7,0.0,581,6253,0.73,2.42,123.95,1.027,4,0.077,0.067,3245,295,2343,0,0,0,0,0,0
$GC,6327,0.46,146.0,701.7,10.6,588,6333,0.25,2.28,0.00,0.000,6,0.152,0.046,3176,1703,2338,0,0,0,0,0,0
$GC,6658,0.57,200.6,676.6,7.5,599,6711,0.00,2.38,46.83,0.995,4,0.000,0.061,3176,3095,2121,0,0,0,0,0,0
$GC,6740,0.66,207.1,669.0,9.7,601,6755,0.15,2.33,7.10,0.806,6,0.087,0.057,3249,1701,2094,0,0,0,0,0,0
$GC,7090,0.55,207.1,624.3,12.9,613,7095,0.15,2.30,0.00,0.000,4,0.157,0.071,3216,288,2089,0,0,0,0,0,0
$GC,7154,0.55,207.1,617.1,11.0,615,7158,0.00,2.20,0.00,0.000,6,0.000,0.047,3216,1701,2087,0,0,0,0,0,0
$GC,7474,0.55,207.1,583.2,10.8,634,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1701,2087,0,0,0,0,0,0
$GC,7794,0.56,215.4,551.0,9.6,664,7806,0.00,2.25,7.65,0.815,4,0.000,0.061,3216,3105,2060,0,0,0,0,0,0
$GC,7816,0.56,215.4,548.6,10.3,666,7820,0.00,2.25,0.00,0.000,6,0.000,0.058,3225,1699,2059,0,0,0,0,0,0
$GC,8140,0.56,215.4,514.7,10.6,696,8144,0.00,2.28,0.00,0.000,4,0.000,0.071,3236,286,2058,0,0,0,0,0,0
$GC,8181,0.51,215.4,510.0,12.2,700,8186,0.15,2.17,0.00,0.000,6,0.160,0.047,3193,1702,2057,0,0,0,0,0,0
$GC,8505,0.60,236.4,481.2,9.0,730,8526,0.00,0.00,19.00,0.883,6,0.000,0.000,3193,1702,1975,0,0,0,0,0,0
$GC,8844,0.69,245.4,449.1,9.6,762,8862,0.15,2.30,8.82,0.792,4,0.091,0.069,3272,282,1938,0,0,0,0,0,0
$GC,8876,0.57,245.4,444.8,13.7,765,8883,0.20,2.20,0.00,0.000,6,0.155,0.047,3213,1699,1937,0,0,0,0,0,0
$GC,9202,0.61,245.4,408.7,10.9,796,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1699,1934,0,0,0,0,0,0
$GC,9520,0.64,245.4,374.1,10.9,826,9524,0.00,2.25,0.00,0.000,4,0.000,0.063,3213,3108,1934,0,0,0,0,0,0
$GC,9537,0.64,245.4,371.7,12.8,827,9543,0.00,2.25,0.00,0.000,6,0.000,0.058,3222,1690,1934,0,0,0,0,0,0
$GC,9861,0.64,245.4,335.1,10.9,858,9865,0.00,2.25,0.00,0.000,4,0.000,0.070,3232,283,1934,0,0,0,0,0,0
$GC,9924,0.64,245.4,327.7,11.4,864,9930,0.00,2.17,0.00,0.000,6,0.000,0.046,3232,1706,1933,0,0,0,0,0,0
$GC,10249,0.64,245.4,292.6,10.9,895,10253,0.00,2.20,0.00,0.000,4,0.000,0.060,3232,3104,1933,0,0,0,0,0,0
$GC,10309,0.64,245.4,285.9,11.6,901,10313,0.00,2.22,0.00,0.000,6,0.000,0.057,3240,1697,1933,0,0,0,0,0,0
$GC,10632,0.64,245.4,251.4,10.4,931,10636,0.00,2.25,0.00,0.000,4,0.000,0.070,3250,281,1933,0,0,0,0,0,0
$GC,10683,0.60,245.4,245.7,11.0,936,10688,0.10,2.15,0.00,0.000,6,0.174,0.046,3223,1700,1933,0,0,0,0,0,0
$GC,11008,0.65,253.4,215.2,9.6,966,11020,0.00,2.28,7.93,0.678,4,0.000,0.071,3233,289,1905,0,0,0,0,0,0
$GC,11039,0.66,262.2,212.0,9.6,969,11054,0.00,2.17,8.95,0.679,6,0.000,0.047,3233,1707,1871,0,0,0,0,0,0
$GC,11372,0.70,262.2,176.5,10.8,1001,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1708,1867,0,0,0,0,0,0
$GC,11691,0.70,262.2,141.8,11.0,1031,11695,0.00,2.25,0.00,0.000,4,0.000,0.070,3243,286,1867,0,0,0,0,0,0
$GC,11746,0.70,262.2,135.2,11.3,1037,11750,0.00,2.17,0.00,0.000,6,0.000,0.047,3242,1705,1867,0,0,0,0,0,0
$GC,12070,0.70,262.2,97.7,11.3,1068,12075,0.00,2.22,0.00,0.000,4,0.000,0.062,3243,3113,1867,0,0,0,0,0,0
$GC,12130,0.70,262.2,91.2,10.5,1081,12138,0.00,2.22,0.00,0.000,6,0.000,0.058,3252,1700,1867,0,0,0,0,0,0
$GC,12476,0.75,263.2,54.3,10.0,1142,12481,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1700,1866,0,0,0,0,0,0
$GC,12819,0.85,293.7,24.3,8.6,1203,12854,0.12,2.35,27.92,0.636,4,0.100,0.071,3325,284,1742,0,0,0,0,0,0
$GC,12918,0.74,293.7,12.3,12.9,1224,12924,0.20,2.20,0.00,0.000,6,0.150,0.047,3265,1701,1738,0,0,0,0,0,0
$STATE,13001,end climb,SURFACE_DEPTH_REACHED
$STATE,13001,begin surface coast
$FINISH,1.5,1.012967
$STATE,13047,end surface coast,CONTROL_FINISHED_OK
$STATE,13047,begin surface
$SM_CCo,13122,0.00,0.000,0,0,1730,296.81
$SM_GC,3.00,8.15,0.00,0.00,0.054,0.000,0.000,139,1861,1730,-8.93,0.31,296.81
$RAFOS_CLK,591
$RAFOS,1,1257466177,0.166667,0.160278,43,38,36,0,0,0,28,441,276,0,0,0
$RAFOS,0,1257465700,0.033333,0.027778,39,39,36,0,0,0,40,354,102,0,0,0
$RAFOS,6,1257454174,20.833334,20.826111,42,36,36,0,0,0,39,25,137,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5707.59,300199,202004
$TT8_MAMPS,0.026078
$HUMID,39.28
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.2,79.8
$24V_AH,23.5,18.526
$10V_AH,10.3,8.238
$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,21.975,112.450,379.025,0.000,0.000,27.228,37.956,82.763,1.750,0.000,10.967,2225.853,8303.767,469.834,2085.944,297.928,0.000,1564.798,0.000,2053.172,480.000,16.233,0.000
$DEVICE_MAMPS,237.770,82.836,1052.324,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.993,918.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,190280
$DATA_FILE_SIZE,50462,1247
$CAP_FILE_SIZE,145091,0
$CFSIZE,260165632,243585024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.5
$CURRENT,0.067,237.6,1
$GPS,061109,002724,6702.561,-5704.433,37,1.6,37,-37.6