version: 66.06
glider: 172
mission: 3
dive: 100
start: 11 6 109 14 4 54
data:
$ID,172
$MISSION,3
$DIVE,100
$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,-6137.2417
$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,22
$R_STBD_OVSHOOT,35
$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
$GPS1,135854,6703.425,-5658.609,46,1.0,46,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-69.2
$GPS2,140431,6703.436,-5658.606,18,1.5,33,-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,131.1,7701,-17.5,-10.000
$D_GRID,592
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-43.90,0.000,2,0.000,0.000,120,1861,2272,0,0,0,0,0,0
$GC,62,-0.64,-146.0,3.0,-2.1,8,132,9.93,2.30,-52.40,0.000,4,0.225,0.080,2806,440,3536,0,0,0,0,0,0
$GC,390,-0.58,-146.0,49.9,-18.6,80,396,0.12,2.17,0.00,0.000,6,0.169,0.051,2834,1841,3537,0,0,0,0,0,0
$GC,735,-0.58,-146.0,97.6,-12.5,141,740,0.00,2.25,0.00,0.000,4,0.000,0.069,2834,438,3536,0,0,0,0,0,0
$GC,800,-0.63,-146.0,106.3,-13.1,150,804,0.00,2.17,0.00,0.000,6,0.000,0.051,2834,1851,3536,0,0,0,0,0,0
$GC,1128,-0.69,-146.0,143.3,-11.1,181,1132,0.00,2.25,0.00,0.000,4,0.000,0.069,2834,440,3536,0,0,0,0,0,0
$GC,1151,-0.74,-146.0,146.0,-12.4,183,1156,0.12,2.17,0.00,0.000,6,0.097,0.051,2774,1858,3535,0,0,0,0,0,0
$GC,1475,-0.64,-146.0,192.8,-14.2,213,1477,0.15,0.00,0.00,0.000,6,0.156,0.000,2818,1859,3535,0,0,0,0,0,0
$GC,1793,-0.64,-146.0,228.7,-11.3,243,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1859,3536,0,0,0,0,0,0
$GC,2113,-0.64,-146.0,265.2,-12.3,273,2117,0.00,2.28,0.00,0.000,4,0.000,0.069,2818,433,3536,0,0,0,0,0,0
$GC,2159,-0.68,-146.0,271.5,-13.5,277,2164,0.00,2.20,0.00,0.000,6,0.000,0.051,2811,1855,3535,0,0,0,0,0,0
$GC,2483,-0.68,-146.0,314.8,-13.5,308,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1855,3535,0,0,0,0,0,0
$GC,2803,-0.68,-146.0,357.4,-12.1,338,2807,0.00,2.22,0.00,0.000,4,0.000,0.069,2811,440,3536,0,0,0,0,0,0
$GC,2876,-0.68,-146.0,367.3,-13.5,345,2881,0.00,2.17,0.00,0.000,6,0.000,0.051,2811,1850,3536,0,0,0,0,0,0
$GC,3200,-0.71,-146.0,406.1,-11.2,376,3204,0.00,2.25,0.00,0.000,4,0.000,0.069,2811,440,3536,0,0,0,0,0,0
$GC,3217,-0.71,-146.0,408.3,-11.3,377,3223,0.00,2.17,0.00,0.000,6,0.000,0.051,2810,1858,3536,0,0,0,0,0,0
$GC,3544,-0.76,-146.0,441.7,-9.6,408,3548,0.00,2.25,0.00,0.000,4,0.000,0.067,2811,433,3536,0,0,0,0,0,0
$GC,3596,-0.79,-146.0,447.1,-9.9,413,3600,0.12,2.15,0.00,0.000,6,0.097,0.051,2749,1850,3536,0,0,0,0,0,0
$GC,3920,-0.67,-146.0,492.3,-14.5,443,3922,0.20,0.00,0.00,0.000,6,0.143,0.000,2810,1850,3536,0,0,0,0,0,0
$GC,4238,-0.72,-146.0,522.4,-9.3,473,4242,0.00,2.25,0.00,0.000,4,0.000,0.068,2811,440,3537,0,0,0,0,0,0
$GC,4272,-0.76,-146.0,525.7,-9.7,476,4276,0.00,2.17,0.00,0.000,6,0.000,0.051,2811,1855,3537,0,0,0,0,0,0
$GC,4598,-0.82,-146.0,556.3,-9.6,506,4603,0.15,2.22,0.00,0.000,4,0.089,0.067,2735,3257,3537,0,0,0,0,0,0
$GC,4617,-0.79,-146.0,559.0,-12.8,507,4624,0.12,2.20,0.00,0.000,6,0.163,0.058,2771,1844,3537,0,0,0,0,0,0
$STATE,4876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4876,begin apogee
$GC,4880,-0.13,0.0,592.9,12.8,532,5001,0.62,0.00,118.00,0.977,6,0.131,0.000,2978,1695,2940,0,0,0,0,0,0
$STATE,5002,end apogee,CONTROL_FINISHED_OK
$STATE,5002,begin climb
$GC,5004,0.64,146.0,594.8,0.0,544,5135,0.73,2.50,121.95,0.952,4,0.091,0.064,3231,3104,2342,0,0,0,0,0,0
$GC,5398,0.52,165.9,583.3,9.1,588,5424,0.17,2.30,17.00,0.890,6,0.181,0.057,3196,1704,2262,0,0,0,0,0,0
$GC,5741,0.60,224.2,557.6,7.3,621,5797,0.00,2.38,50.33,0.929,4,0.000,0.060,3196,3107,2025,0,0,0,0,0,0
$GC,5866,0.67,243.2,546.5,9.1,635,5889,0.10,2.33,17.23,0.872,6,0.112,0.055,3251,1697,1948,0,0,0,0,0,0
$GC,6208,0.61,243.2,501.0,13.5,667,6213,0.10,2.33,0.00,0.000,4,0.172,0.060,3224,3114,1941,0,0,0,0,0,0
$GC,6241,0.61,243.2,496.5,13.5,670,6245,0.00,2.30,0.00,0.000,6,0.000,0.058,3233,1696,1940,0,0,0,0,0,0
$GC,6566,0.61,243.2,455.6,12.8,700,6570,0.00,2.25,0.00,0.000,4,0.000,0.068,3243,288,1939,0,0,0,0,0,0
$GC,6598,0.61,243.2,451.1,13.2,703,6603,0.00,2.20,0.00,0.000,6,0.000,0.047,3243,1706,1939,0,0,0,0,0,0
$GC,6922,0.56,243.2,409.2,13.0,733,6927,0.12,2.20,0.00,0.000,4,0.166,0.061,3208,3107,1938,0,0,0,0,0,0
$GC,6950,0.61,243.2,405.6,12.9,735,6957,0.00,2.22,0.00,0.000,6,0.000,0.058,3215,1699,1938,0,0,0,0,0,0
$GC,7274,0.65,243.2,369.5,10.6,766,7278,0.00,2.22,0.00,0.000,4,0.000,0.069,3225,288,1937,0,0,0,0,0,0
$GC,7316,0.69,243.2,364.9,11.0,770,7320,0.00,2.17,0.00,0.000,6,0.000,0.046,3225,1705,1937,0,0,0,0,0,0
$GC,7640,0.69,243.2,327.7,11.3,800,7644,0.00,2.28,0.00,0.000,4,0.000,0.069,3232,282,1937,0,0,0,0,0,0
$GC,7667,0.69,243.2,324.4,11.9,802,7672,0.00,2.17,0.00,0.000,6,0.000,0.046,3232,1706,1937,0,0,0,0,0,0
$GC,7990,0.69,243.2,287.2,11.1,833,7994,0.00,2.20,0.00,0.000,4,0.000,0.061,3232,3105,1937,0,0,0,0,0,0
$GC,8035,0.69,243.2,282.0,12.0,837,8041,0.00,2.22,0.00,0.000,6,0.000,0.057,3240,1692,1937,0,0,0,0,0,0
$GC,8359,0.69,243.2,245.4,12.4,868,8363,0.00,2.22,0.00,0.000,4,0.000,0.068,3250,288,1937,0,0,0,0,0,0
$GC,8402,0.69,243.2,240.0,13.9,872,8405,0.00,2.15,0.00,0.000,6,0.000,0.046,3249,1701,1937,0,0,0,0,0,0
$GC,8725,0.69,243.2,200.3,12.1,902,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1702,1937,0,0,0,0,0,0
$GC,9045,0.69,243.2,163.1,12.1,932,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1702,1937,0,0,0,0,0,0
$GC,9364,0.69,243.2,125.8,11.9,962,9368,0.00,2.22,0.00,0.000,4,0.000,0.061,3249,3109,1936,0,0,0,0,0,0
$GC,9383,0.69,243.2,123.3,12.1,963,9389,0.00,2.22,0.00,0.000,6,0.000,0.058,3257,1699,1936,0,0,0,0,0,0
$GC,9713,0.72,265.0,87.1,9.0,1005,9737,0.00,2.28,18.05,0.658,4,0.000,0.068,3266,285,1857,0,0,0,0,0,0
$GC,9792,0.72,265.0,79.4,10.8,1022,9797,0.00,2.17,0.00,0.000,6,0.000,0.046,3266,1700,1856,0,0,0,0,0,0
$GC,10136,0.75,290.9,45.3,8.8,1083,10165,0.00,2.33,22.83,0.636,4,0.000,0.071,3273,282,1753,0,0,0,0,0,0
$GC,10184,0.79,290.9,40.6,10.2,1093,10190,0.00,2.20,0.00,0.000,6,0.000,0.046,3273,1701,1752,0,0,0,0,0,0
$GC,10527,0.82,290.9,4.2,10.2,1154,10532,0.00,2.22,0.00,0.000,4,0.000,0.060,3273,3107,1748,0,0,0,0,0,0
$STATE,10537,end climb,SURFACE_DEPTH_REACHED
$STATE,10537,begin surface coast
$FINISH,2.3,1.025359
$STATE,10546,end surface coast,CONTROL_FINISHED_OK
$STATE,10546,begin surface
$SM_CCo,10623,0.00,0.000,0,0,1739,294.61
$SM_GC,2.97,8.07,0.00,0.00,0.047,0.000,0.000,140,1842,1739,-8.94,-0.20,294.61
$RAFOS_CLK,473
$RAFOS,6,1257526174,16.833334,16.826111,42,42,40,0,0,0,206,445,166,0,0,0
$RAFOS,5,1257525701,16.700001,16.694723,43,40,40,0,0,0,345,378,642,0,0,0
$RAFOS,4,1257525219,16.566668,16.560833,40,38,38,0,0,0,636,121,232,0,0,0
$RAFOS,3,1257524741,16.433332,16.428055,38,36,34,0,0,0,30,569,10,0,0,0
$RAFOS,2,1257524262,16.299999,16.295000,39,38,38,0,0,0,39,196,608,0,0,0
$RAFOS,1,1257523773,16.166666,16.159166,50,36,34,0,0,0,591,454,237,0,0,0
$RAFOS,0,1257523301,16.033333,16.028055,43,40,38,0,0,0,40,376,318,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5715.22,310199,111101
$TT8_MAMPS,0.026078
$HUMID,38.81
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.9,95.4
$24V_AH,23.7,19.121
$10V_AH,10.3,8.570
$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,20.850,98.450,365.375,0.000,0.000,29.679,33.328,152.806,1.000,0.000,33.181,2019.483,6257.197,435.690,1909.070,340.248,0.000,1437.331,0.000,1862.661,840.000,10.203,0.000
$DEVICE_MAMPS,224.731,79.768,977.158,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.773,847.903,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188324
$DATA_FILE_SIZE,44091,1158
$CAP_FILE_SIZE,128765,0
$CFSIZE,260165632,243249152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$CURRENT,0.260,283.7,1
$GPS,061109,170325,6703.812,-5658.484,46,1.6,46,-37.6