version: 66.06
glider: 172
mission: 3
dive: 99
start: 11 6 109 11 7 50
data:
$ID,172
$MISSION,3
$DIVE,99
$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,-6103.4331
$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,30
$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
$GPS1,110136,6702.688,-5701.178,26,1.6,26,-37.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-75.3
$GPS2,110726,6702.737,-5701.156,14,1.7,14,-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,105.4,9513,-17.5,-10.000
$D_GRID,653
$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,15,-0.64,-146.0,0.0,0.0,0,70,0.00,0.00,-53.05,0.000,2,0.000,0.000,122,1856,2620,0,0,0,0,0,0
$GC,72,-0.64,-146.0,3.1,-0.8,10,120,10.40,2.35,-28.50,0.000,4,0.238,0.083,2809,446,3538,0,0,0,0,0,0
$GC,347,-0.58,-146.0,45.7,-15.7,70,353,0.12,2.20,0.00,0.000,6,0.170,0.051,2834,1850,3539,0,0,0,0,0,0
$GC,690,-0.58,-146.0,91.6,-14.3,131,696,0.00,2.28,0.00,0.000,4,0.000,0.069,2835,436,3539,0,0,0,0,0,0
$GC,709,-0.58,-146.0,94.3,-13.6,135,715,0.00,2.20,0.00,0.000,6,0.000,0.051,2825,1851,3538,0,0,0,0,0,0
$GC,1035,-0.58,-146.0,132.9,-11.2,170,1039,0.00,2.28,0.00,0.000,4,0.000,0.068,2825,436,3538,0,0,0,0,0,0
$GC,1095,-0.62,-146.0,139.5,-10.2,176,1099,0.00,2.20,0.00,0.000,6,0.000,0.051,2820,1851,3538,0,0,0,0,0,0
$GC,1419,-0.62,-146.0,177.0,-11.8,206,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1851,3537,0,0,0,0,0,0
$GC,1738,-0.66,-146.0,214.0,-11.1,236,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1851,3537,0,0,0,0,0,0
$GC,2057,-0.71,-146.0,250.5,-11.1,266,2061,0.00,2.25,0.00,0.000,4,0.000,0.068,2820,440,3537,0,0,0,0,0,0
$GC,2111,-0.76,-146.0,257.1,-11.7,271,2118,0.12,2.17,0.00,0.000,6,0.098,0.051,2759,1853,3537,0,0,0,0,0,0
$GC,2435,-0.64,-146.0,308.3,-16.5,302,2440,0.20,2.22,0.00,0.000,4,0.149,0.066,2810,3258,3537,0,0,0,0,0,0
$GC,2463,-0.70,-146.0,312.4,-12.6,304,2470,0.00,2.20,0.00,0.000,6,0.000,0.057,2810,1850,3537,0,0,0,0,0,0
$GC,2788,-0.73,-146.0,352.4,-13.0,335,2792,0.00,2.22,0.00,0.000,4,0.000,0.068,2810,442,3536,0,0,0,0,0,0
$GC,2869,-0.73,-146.0,363.3,-12.5,343,2875,0.00,2.17,0.00,0.000,6,0.000,0.051,2807,1858,3537,0,0,0,0,0,0
$GC,3195,-0.73,-146.0,399.7,-10.5,374,3200,0.00,2.22,0.00,0.000,4,0.000,0.066,2807,438,3537,0,0,0,0,0,0
$GC,3233,-0.73,-146.0,404.1,-11.4,378,3237,0.00,2.15,0.00,0.000,6,0.000,0.050,2807,1852,3537,0,0,0,0,0,0
$GC,3557,-0.78,-146.0,436.7,-9.8,408,3561,0.00,2.22,0.00,0.000,4,0.000,0.067,2807,440,3538,0,0,0,0,0,0
$GC,3616,-0.81,-146.0,443.0,-10.4,414,3621,0.12,2.17,0.00,0.000,6,0.097,0.051,2745,1857,3538,0,0,0,0,0,0
$GC,3940,-0.68,-146.0,490.1,-15.0,444,3945,0.20,2.25,0.00,0.000,4,0.145,0.065,2806,439,3538,0,0,0,0,0,0
$GC,3973,-0.68,-146.0,494.4,-12.6,447,3977,0.00,2.17,0.00,0.000,6,0.000,0.050,2806,1856,3538,0,0,0,0,0,0
$GC,4298,-0.73,-146.0,525.9,-9.5,477,4302,0.00,2.25,0.00,0.000,4,0.000,0.067,2806,435,3538,0,0,0,0,0,0
$GC,4378,-0.77,-146.0,534.3,-11.1,485,4382,0.00,2.17,0.00,0.000,6,0.000,0.050,2807,1851,3538,0,0,0,0,0,0
$GC,4702,-0.83,-146.0,565.6,-9.4,515,4707,0.15,2.22,0.00,0.000,4,0.089,0.068,2730,440,3539,0,0,0,0,0,0
$GC,4735,-0.63,-146.0,570.0,-15.1,518,4740,0.30,2.17,0.00,0.000,6,0.142,0.051,2815,1859,3538,0,0,0,0,0,0
$GC,5059,-0.72,-146.0,600.1,-8.7,548,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1859,3539,0,0,0,0,0,0
$GC,5366,-1.10,-146.0,617.6,0.0,558,5371,0.35,2.22,0.00,0.000,4,0.076,0.063,2670,433,3539,0,0,0,0,0,0
$GC,5395,-1.21,-146.0,617.5,0.3,559,5399,0.00,2.15,0.00,0.000,6,0.000,0.051,2669,1850,3539,0,0,0,0,0,0
$STATE,5671,end dive,NO_VERTICAL_VELOCITY
$STATE,5671,begin apogee
$GC,5676,-0.13,0.0,617.4,0.0,568,5798,0.85,0.00,119.18,0.998,6,0.086,0.000,2983,1688,2940,0,0,0,0,0,0
$STATE,5799,end apogee,CONTROL_FINISHED_OK
$STATE,5799,begin climb
$GC,5800,0.64,146.0,616.9,0.0,572,5931,0.68,2.45,122.18,0.970,4,0.076,0.054,3230,3104,2343,0,0,0,0,0,0
$GC,6194,0.99,368.9,617.0,-0.3,584,6400,0.28,2.28,195.82,0.962,6,0.067,0.056,3351,1706,1436,0,0,0,0,0,0
$GC,6716,0.71,368.9,503.1,26.9,624,6721,0.30,2.30,0.00,0.000,4,0.159,0.058,3260,3110,1423,0,0,0,0,0,0
$GC,6790,0.75,368.9,489.2,15.7,631,6795,0.00,2.33,0.00,0.000,6,0.000,0.058,3269,1695,1420,0,0,0,0,0,0
$GC,7115,0.71,368.9,435.7,16.5,662,7119,0.00,2.30,0.00,0.000,4,0.000,0.068,3280,282,1419,0,0,0,0,0,0
$GC,7179,0.71,368.9,424.6,16.2,668,7185,0.00,2.20,0.00,0.000,6,0.000,0.045,3280,1701,1419,0,0,0,0,0,0
$GC,7503,0.66,368.9,368.9,17.0,699,7508,0.15,2.28,0.00,0.000,4,0.163,0.068,3246,288,1419,0,0,0,0,0,0
$GC,7530,0.66,368.9,364.5,14.8,701,7536,0.00,2.17,0.00,0.000,6,0.000,0.045,3246,1703,1418,0,0,0,0,0,0
$GC,7853,0.66,368.9,320.2,14.1,732,7857,0.00,2.25,0.00,0.000,4,0.000,0.070,3254,288,1418,0,0,0,0,0,0
$GC,7881,0.69,368.9,316.3,15.6,734,7886,0.00,2.17,0.00,0.000,6,0.000,0.045,3254,1701,1418,0,0,0,0,0,0
$GC,8204,0.69,368.9,269.2,14.3,765,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1702,1418,0,0,0,0,0,0
$GC,8523,0.69,368.9,224.1,14.0,795,8527,0.00,2.25,0.00,0.000,4,0.000,0.070,3261,285,1418,0,0,0,0,0,0
$GC,8584,0.76,368.9,215.7,13.7,801,8588,0.00,2.17,0.00,0.000,6,0.000,0.046,3261,1706,1417,0,0,0,0,0,0
$GC,8908,0.76,368.9,169.1,14.5,831,8912,0.00,2.28,0.00,0.000,4,0.000,0.070,3268,282,1417,0,0,0,0,0,0
$GC,8935,0.76,368.9,165.0,15.3,833,8940,0.00,2.17,0.00,0.000,6,0.000,0.045,3268,1708,1417,0,0,0,0,0,0
$GC,9258,0.76,368.9,118.3,14.0,864,9262,0.00,2.28,0.00,0.000,4,0.000,0.069,3276,282,1417,0,0,0,0,0,0
$GC,9282,0.76,368.9,114.9,15.8,866,9286,0.00,2.15,0.00,0.000,6,0.000,0.044,3276,1702,1417,0,0,0,0,0,0
$GC,9623,0.81,368.9,63.2,13.6,918,9629,0.00,2.25,0.00,0.000,4,0.000,0.070,3282,288,1417,0,0,0,0,0,0
$GC,9658,0.87,368.9,59.1,11.9,925,9664,0.00,2.15,0.00,0.000,6,0.000,0.046,3283,1702,1417,0,0,0,0,0,0
$GC,10001,0.94,368.9,18.5,12.8,986,10007,0.12,2.25,0.00,0.000,4,0.100,0.070,3348,287,1417,0,0,0,0,0,0
$GC,10022,0.94,368.9,15.1,15.6,990,10027,0.00,2.15,0.00,0.000,6,0.000,0.046,3348,1702,1417,0,0,0,0,0,0
$STATE,10082,end climb,SURFACE_DEPTH_REACHED
$STATE,10082,begin surface coast
$FINISH,1.8,1.025304
$STATE,10099,end surface coast,CONTROL_FINISHED_OK
$STATE,10099,begin surface
$SM_CCo,10175,0.00,0.000,0,0,1412,374.57
$SM_GC,2.54,8.23,0.00,0.00,0.050,0.000,0.000,137,1860,1412,-8.95,0.28,374.57
$RAFOS_CLK,457
$RAFOS,6,1257511775,12.833333,12.826389,36,36,35,0,0,0,23,115,396,0,0,0
$RAFOS,5,1257511311,12.700000,12.697500,42,36,36,0,0,0,329,39,286,0,0,0
$RAFOS,3,1257510338,12.433333,12.427222,42,40,38,0,0,0,245,31,193,0,0,0
$RAFOS,2,1257509859,12.300000,12.294167,41,40,38,0,0,0,528,39,613,0,0,0
$RAFOS,1,1257509375,12.166667,12.159722,41,38,36,0,0,0,625,374,154,0,0,0
$RAFOS,0,1257508892,12.033333,12.025556,43,39,39,0,0,0,179,25,574,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5707.59,310199,070712
$TT8_MAMPS,0.026845
$HUMID,39.25
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,71.7
$24V_AH,23.3,19.013
$10V_AH,10.3,8.506
$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,22.575,98.450,437.175,0.000,0.000,25.168,40.354,176.930,1.250,0.000,16.053,1839.415,6049.375,479.053,1793.764,363.398,0.000,1446.798,0.000,1763.271,720.000,11.718,0.000
$DEVICE_MAMPS,237.770,82.836,997.867,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,697.961,737.624,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188376
$DATA_FILE_SIZE,41049,1004
$CAP_FILE_SIZE,124640,0
$CFSIZE,260165632,243318784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.3
$CURRENT,0.073,267.0,1
$GPS,061109,135854,6703.425,-5658.609,46,1.0,46,-37.6