version: 66.06
glider: 172
mission: 3
dive: 96
start: 11 6 109 0 33 36
data:
$ID,172
$MISSION,3
$DIVE,96
$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,-6040.8843
$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,39
$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
$GPS1,002724,6702.561,-5704.433,37,1.6,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-77.9
$GPS2,003313,6702.614,-5704.517,26,1.1,31,-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,117.0,11949,-17.5,-10.000
$D_GRID,688
$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,-46.08,0.000,2,0.000,0.000,134,1861,2643,0,0,0,0,0,0
$GC,65,-0.64,-146.0,3.0,-0.5,9,109,10.32,2.30,-26.80,0.000,4,0.239,0.081,2809,443,3535,0,0,0,0,0,0
$GC,200,-0.56,-146.0,23.9,-16.4,38,206,0.15,2.20,0.00,0.000,6,0.163,0.052,2843,1838,3537,0,0,0,0,0,0
$GC,543,-0.56,-146.0,68.1,-12.4,99,549,0.00,2.25,0.00,0.000,4,0.000,0.069,2844,442,3536,0,0,0,0,0,0
$GC,568,-0.59,-146.0,71.5,-13.4,104,574,0.00,2.20,0.00,0.000,6,0.000,0.053,2838,1854,3536,0,0,0,0,0,0
$GC,911,-0.64,-146.0,110.5,-10.7,157,915,0.00,2.25,0.00,0.000,4,0.000,0.070,2838,3264,3535,0,0,0,0,0,0
$GC,994,-0.79,-146.0,118.3,-9.1,165,1000,0.20,2.22,0.00,0.000,6,0.077,0.057,2747,1844,3535,0,0,0,0,0,0
$GC,1318,-0.62,-146.0,175.3,-17.9,196,1323,0.25,2.25,0.00,0.000,4,0.148,0.068,2830,440,3534,0,0,0,0,0,0
$GC,1392,-0.69,-146.0,185.4,-11.8,203,1399,0.00,2.17,0.00,0.000,6,0.000,0.051,2822,1851,3535,0,0,0,0,0,0
$GC,1716,-0.74,-146.0,222.8,-11.3,234,1718,0.10,0.00,0.00,0.000,6,0.112,0.000,2770,1851,3534,0,0,0,0,0,0
$GC,2035,-0.65,-146.0,269.6,-14.1,264,2040,0.15,2.25,0.00,0.000,4,0.156,0.068,2814,442,3535,0,0,0,0,0,0
$GC,2087,-0.69,-146.0,276.2,-12.1,269,2091,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1852,3535,0,0,0,0,0,0
$GC,2415,-0.69,-146.0,313.7,-11.1,300,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3535,0,0,0,0,0,0
$GC,2734,-0.69,-146.0,347.4,-10.2,330,2737,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,442,3536,0,0,0,0,0,0
$GC,2764,-0.69,-146.0,350.8,-11.4,333,2770,0.00,2.15,0.00,0.000,6,0.000,0.051,2798,1851,3535,0,0,0,0,0,0
$GC,3090,-0.69,-146.0,383.1,-10.1,364,3094,0.00,2.22,0.00,0.000,4,0.000,0.067,2798,441,3535,0,0,0,0,0,0
$GC,3107,-0.69,-146.0,385.2,-10.3,365,3113,0.00,2.15,0.00,0.000,6,0.000,0.051,2798,1851,3535,0,0,0,0,0,0
$GC,3431,-0.69,-146.0,417.3,-10.1,396,3435,0.00,2.22,0.00,0.000,4,0.000,0.067,2798,440,3536,0,0,0,0,0,0
$GC,3454,-0.69,-146.0,419.8,-11.3,398,3458,0.00,2.17,0.00,0.000,6,0.000,0.051,2798,1858,3536,0,0,0,0,0,0
$GC,3782,-0.69,-146.0,453.6,-10.6,429,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1859,3535,0,0,0,0,0,0
$GC,4101,-0.69,-146.0,486.7,-10.5,459,4105,0.00,2.22,0.00,0.000,4,0.000,0.066,2798,435,3535,0,0,0,0,0,0
$GC,4152,-0.69,-146.0,492.4,-11.2,464,4156,0.00,2.17,0.00,0.000,6,0.000,0.050,2798,1855,3536,0,0,0,0,0,0
$GC,4480,-0.69,-146.0,526.0,-10.2,495,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1855,3536,0,0,0,0,0,0
$GC,4799,-0.69,-146.0,557.4,-9.6,525,4803,0.00,2.22,0.00,0.000,4,0.000,0.067,2798,441,3536,0,0,0,0,0,0
$GC,4813,-0.69,-146.0,558.7,-10.1,526,4817,0.00,2.15,0.00,0.000,6,0.000,0.051,2798,1850,3536,0,0,0,0,0,0
$GC,5142,-0.69,-146.0,590.6,-9.9,557,5146,0.00,2.22,0.00,0.000,4,0.000,0.067,2797,442,3536,0,0,0,0,0,0
$GC,5175,-0.69,-146.0,594.2,-11.1,560,5179,0.00,2.15,0.00,0.000,6,0.000,0.051,2797,1850,3536,0,0,0,0,0,0
$GC,5513,-0.69,-146.0,627.9,-9.9,575,5517,0.00,2.25,0.00,0.000,4,0.000,0.067,2798,440,3536,0,0,0,0,0,0
$GC,5526,-0.69,-146.0,629.4,-9.9,575,5530,0.00,2.15,0.00,0.000,6,0.000,0.050,2798,1851,3536,0,0,0,0,0,0
$GC,5850,-0.69,-146.0,663.7,-10.6,586,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1851,3536,0,0,0,0,0,0
$GC,6158,-1.02,-146.0,668.4,0.0,596,6163,0.25,2.20,0.00,0.000,4,0.079,0.062,2683,436,3536,0,0,0,0,0,0
$STATE,6304,end dive,NO_VERTICAL_VELOCITY
$STATE,6304,begin apogee
$GC,6310,-0.13,0.0,668.4,0.0,600,6433,0.82,0.00,119.62,1.032,6,0.111,0.000,2977,1702,2940,0,0,0,0,0,0
$STATE,6434,end apogee,CONTROL_FINISHED_OK
$STATE,6434,begin climb
$GC,6435,0.64,146.0,668.1,0.0,604,6568,0.73,2.40,123.38,1.003,4,0.091,0.058,3227,3106,2343,0,0,0,0,0,0
$GC,6777,0.50,146.0,652.3,10.8,615,6782,0.17,2.30,0.00,0.000,6,0.170,0.054,3191,1700,2335,0,0,0,0,0,0
$GC,7112,0.54,183.1,625.2,8.3,626,7147,0.00,0.00,31.25,0.963,6,0.000,0.000,3191,1700,2193,0,0,0,0,0,0
$GC,7460,0.58,189.8,592.0,9.7,642,7473,0.00,2.35,6.55,0.788,4,0.000,0.060,3191,3110,2166,0,0,0,0,0,0
$GC,7488,0.58,189.8,589.2,10.6,645,7492,0.00,2.30,0.00,0.000,6,0.000,0.058,3200,1698,2164,0,0,0,0,0,0
$GC,7813,0.58,189.8,555.1,11.2,675,7817,0.00,2.28,0.00,0.000,4,0.000,0.069,3210,289,2163,0,0,0,0,0,0
$GC,7844,0.58,189.8,551.2,11.7,678,7848,0.00,2.20,0.00,0.000,6,0.000,0.046,3210,1706,2162,0,0,0,0,0,0
$GC,8172,0.58,189.8,513.9,11.1,709,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1706,2162,0,0,0,0,0,0
$GC,8492,0.58,189.8,479.9,10.7,739,8496,0.00,2.22,0.00,0.000,4,0.000,0.062,3210,3104,2162,0,0,0,0,0,0
$GC,8546,0.58,189.8,473.7,11.6,744,8552,0.00,2.22,0.00,0.000,6,0.000,0.058,3219,1700,2161,0,0,0,0,0,0
$GC,8871,0.55,192.2,440.3,9.9,775,8875,0.00,2.25,0.00,0.000,4,0.000,0.070,3229,290,2161,0,0,0,0,0,0
$GC,8907,0.50,192.2,436.5,10.6,778,8913,0.15,2.17,0.00,0.000,6,0.159,0.047,3186,1708,2161,0,0,0,0,0,0
$GC,9231,0.64,254.9,411.7,7.1,809,9293,0.12,0.00,55.90,0.868,6,0.098,0.000,3246,1708,1899,0,0,0,0,0,0
$GC,9611,0.60,254.9,368.8,11.8,846,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1708,1889,0,0,0,0,0,0
$GC,9930,0.56,254.9,332.0,11.6,876,9935,0.12,2.30,0.00,0.000,4,0.158,0.069,3220,288,1888,0,0,0,0,0,0
$GC,9976,0.62,254.9,326.7,10.2,880,9981,0.00,2.15,0.00,0.000,6,0.000,0.046,3220,1701,1887,0,0,0,0,0,0
$GC,10299,0.67,254.9,293.8,10.6,911,10303,0.00,2.22,0.00,0.000,4,0.000,0.061,3220,3103,1887,0,0,0,0,0,0
$GC,10341,0.71,254.9,289.1,11.0,915,10345,0.00,2.25,0.00,0.000,6,0.000,0.058,3228,1693,1887,0,0,0,0,0,0
$GC,10665,0.71,254.9,251.3,11.6,945,10669,0.00,2.25,0.00,0.000,4,0.000,0.071,3238,288,1887,0,0,0,0,0,0
$GC,10714,0.71,254.9,244.9,12.9,950,10718,0.00,2.17,0.00,0.000,6,0.000,0.047,3238,1706,1886,0,0,0,0,0,0
$GC,11042,0.71,254.9,204.8,11.4,981,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1706,1886,0,0,0,0,0,0
$GC,11362,0.71,255.8,171.7,10.0,1011,11365,0.00,2.20,0.00,0.000,4,0.000,0.061,3238,3104,1886,0,0,0,0,0,0
$GC,11411,0.71,255.8,166.0,11.9,1016,11416,0.00,2.22,0.00,0.000,6,0.000,0.058,3245,1693,1885,0,0,0,0,0,0
$GC,11734,0.71,255.8,130.8,11.0,1047,11738,0.00,2.25,0.00,0.000,4,0.000,0.071,3255,285,1885,0,0,0,0,0,0
$GC,11793,0.68,255.8,123.8,11.3,1053,11799,0.00,2.17,0.00,0.000,6,0.000,0.046,3255,1707,1886,0,0,0,0,0,0
$GC,12123,0.68,255.8,86.6,10.7,1094,12129,0.00,2.20,0.00,0.000,4,0.000,0.061,3255,3110,1885,0,0,0,0,0,0
$GC,12156,0.68,255.8,82.9,11.4,1101,12162,0.00,2.22,0.00,0.000,6,0.000,0.058,3261,1700,1885,0,0,0,0,0,0
$GC,12498,0.68,255.8,47.0,10.1,1162,12504,0.00,2.25,0.00,0.000,4,0.000,0.071,3271,284,1885,0,0,0,0,0,0
$GC,12550,0.68,263.3,41.7,9.7,1173,12561,0.00,2.15,6.15,0.567,6,0.000,0.046,3271,1702,1866,0,0,0,0,0,0
$GC,12898,0.73,300.9,9.8,8.3,1235,12941,0.00,2.35,33.28,0.627,4,0.000,0.071,3280,291,1711,0,0,0,0,0,0
$STATE,12962,end climb,SURFACE_DEPTH_REACHED
$STATE,12962,begin surface coast
$FINISH,2.2,1.025370
$STATE,12976,end surface coast,CONTROL_FINISHED_OK
$STATE,12976,begin surface
$SM_CCo,13053,0.00,0.000,0,0,1702,303.68
$SM_GC,2.82,8.23,0.00,0.00,0.054,0.000,0.000,142,1847,1702,-8.93,-0.08,303.68
$RAFOS_CLK,591
$RAFOS,0,1257480097,4.033333,4.026945,47,43,42,0,0,0,532,375,40,0,0,0
$RAFOS,6,1257468576,0.833333,0.826667,38,35,33,0,0,0,84,166,28,0,0,0
$RAFOS,5,1257468096,0.700000,0.693333,43,37,36,0,0,0,25,40,589,0,0,0
$RAFOS,2,1257466652,0.300000,0.292222,41,39,38,0,0,0,215,511,233,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5702.96,300199,202051
$TT8_MAMPS,0.026845
$HUMID,39.36
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,77.8
$24V_AH,23.6,18.640
$10V_AH,10.2,8.311
$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,21.775,115.700,376.125,0.000,0.000,27.166,36.335,158.611,1.750,0.000,31.589,2288.684,8129.695,452.348,2169.346,359.457,0.000,1572.576,0.000,2113.103,480.000,16.738,0.000
$DEVICE_MAMPS,238.537,81.302,1031.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.773,921.235,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188492
$DATA_FILE_SIZE,50482,1251
$CAP_FILE_SIZE,146380,0
$CFSIZE,260165632,243507200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7
$SOUNDSPEED,1471.2
$CURRENT,0.203,312.8,1
$GPS,061109,041231,6703.913,-5702.738,42,1.1,42,-37.6