version: 66.06
glider: 172
mission: 3
dive: 103
start: 11 6 109 23 17 19
data:
$ID,172
$MISSION,3
$DIVE,103
$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,-6205.4697
$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,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
$GPS1,231124,6702.533,-5653.672,46,1.2,46,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-75.9
$GPS2,231656,6702.589,-5653.622,15,1.9,15,-37.5
$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,71.9,4131,-17.5,-10.000
$D_GRID,590
$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,13,begin dive
$GC,14,-0.64,-146.0,0.0,0.0,0,47,0.00,0.00,-30.80,0.000,2,0.000,0.000,123,1854,2297,0,0,0,0,0,0
$GC,50,-0.64,-146.0,3.1,-1.4,6,115,10.25,2.35,-47.28,0.000,4,0.233,0.083,2821,436,3538,0,0,0,0,0,0
$GC,361,-0.60,-146.0,43.7,-14.1,74,366,0.00,2.20,0.00,0.000,6,0.000,0.051,2813,1846,3539,0,0,0,0,0,0
$GC,703,-0.60,-146.0,96.2,-13.8,135,709,0.00,2.28,0.00,0.000,4,0.000,0.069,2808,3260,3539,0,0,0,0,0,0
$GC,741,-0.63,-146.0,101.1,-12.3,143,745,0.00,2.22,0.00,0.000,6,0.000,0.058,2808,1846,3539,0,0,0,0,0,0
$GC,1065,-0.63,-146.0,142.7,-13.6,173,1069,0.00,2.25,0.00,0.000,4,0.000,0.068,2807,435,3538,0,0,0,0,0,0
$GC,1169,-0.63,-146.0,157.7,-13.9,184,1173,0.00,2.17,0.00,0.000,6,0.000,0.052,2804,1851,3537,0,0,0,0,0,0
$GC,1497,-0.63,-146.0,199.9,-12.0,215,1501,0.00,2.25,0.00,0.000,4,0.000,0.069,2804,438,3537,0,0,0,0,0,0
$GC,1530,-0.63,-146.0,204.0,-13.4,218,1534,0.00,2.20,0.00,0.000,6,0.000,0.052,2804,1858,3537,0,0,0,0,0,0
$GC,1853,-0.63,-146.0,245.2,-13.1,248,1857,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,442,3537,0,0,0,0,0,0
$GC,1880,-0.63,-146.0,248.9,-13.6,250,1886,0.00,2.17,0.00,0.000,6,0.000,0.051,2804,1852,3537,0,0,0,0,0,0
$GC,2203,-0.63,-146.0,290.6,-12.6,281,2207,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,442,3537,0,0,0,0,0,0
$GC,2245,-0.63,-146.0,296.1,-13.0,285,2249,0.00,2.17,0.00,0.000,6,0.000,0.051,2804,1852,3537,0,0,0,0,0,0
$GC,2569,-0.63,-146.0,336.6,-12.8,315,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1852,3537,0,0,0,0,0,0
$GC,2888,-0.63,-146.0,376.9,-12.2,345,2892,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,442,3538,0,0,0,0,0,0
$GC,2920,-0.63,-146.0,381.2,-13.3,348,2924,0.00,2.15,0.00,0.000,6,0.000,0.051,2804,1853,3537,0,0,0,0,0,0
$GC,3243,-0.63,-146.0,421.0,-11.9,378,3247,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,441,3538,0,0,0,0,0,0
$GC,3312,-0.63,-146.0,429.4,-11.4,385,3316,0.00,2.17,0.00,0.000,6,0.000,0.051,2804,1853,3538,0,0,0,0,0,0
$GC,3635,-0.63,-146.0,468.3,-12.5,415,3639,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,442,3538,0,0,0,0,0,0
$GC,3707,-0.63,-146.0,478.2,-13.7,422,3713,0.00,2.15,0.00,0.000,6,0.000,0.051,2804,1858,3539,0,0,0,0,0,0
$GC,4030,-0.63,-146.0,516.5,-11.0,453,4034,0.00,2.25,0.00,0.000,4,0.000,0.067,2804,435,3539,0,0,0,0,0,0
$GC,4085,-0.63,-146.0,522.5,-10.6,458,4091,0.00,2.17,0.00,0.000,6,0.000,0.051,2804,1855,3539,0,0,0,0,0,0
$GC,4409,-1.08,-146.0,545.3,0.1,489,4414,0.32,2.22,0.00,0.000,4,0.082,0.070,2672,3257,3540,0,0,0,0,0,0
$STATE,4657,end dive,NO_VERTICAL_VELOCITY
$STATE,4657,begin apogee
$GC,4664,-0.13,0.0,545.4,0.0,515,4789,0.82,0.00,117.95,0.949,6,0.090,0.000,2977,1699,2939,0,0,0,0,0,0
$STATE,4789,end apogee,CONTROL_FINISHED_OK
$STATE,4790,begin climb
$GC,4791,0.64,146.0,545.3,0.0,528,4922,0.73,2.45,121.12,0.923,4,0.089,0.067,3242,285,2343,0,0,0,0,0,0
$GC,5009,0.49,148.7,531.6,9.9,552,5015,0.20,2.30,0.00,0.000,6,0.156,0.046,3187,1706,2337,0,0,0,0,0,0
$GC,5333,0.61,203.3,507.1,7.5,583,5388,0.00,2.38,48.05,0.896,4,0.000,0.062,3188,3099,2110,0,0,0,0,0,0
$GC,5431,0.68,217.6,499.2,9.3,594,5450,0.15,2.33,13.43,0.825,6,0.089,0.058,3257,1702,2052,0,0,0,0,0,0
$GC,5768,0.59,217.6,455.0,13.1,626,5773,0.15,2.33,0.00,0.000,4,0.156,0.069,3224,287,2045,0,0,0,0,0,0
$GC,5838,0.59,217.6,447.1,11.1,633,5842,0.00,2.20,0.00,0.000,6,0.000,0.048,3224,1704,2045,0,0,0,0,0,0
$GC,6163,0.61,233.6,414.4,9.3,663,6182,0.00,2.30,13.68,0.813,4,0.000,0.068,3233,287,1987,0,0,0,0,0,0
$GC,6204,0.61,233.6,410.1,10.4,667,6210,0.00,2.22,0.00,0.000,6,0.000,0.047,3233,1707,1986,0,0,0,0,0,0
$GC,6528,0.61,233.6,376.4,11.4,698,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1708,1984,0,0,0,0,0,0
$GC,6847,0.61,233.6,341.0,11.5,728,6851,0.00,2.28,0.00,0.000,4,0.000,0.069,3242,287,1983,0,0,0,0,0,0
$GC,6919,0.61,233.6,332.0,12.6,735,6925,0.00,2.17,0.00,0.000,6,0.000,0.047,3241,1702,1983,0,0,0,0,0,0
$GC,7243,0.61,233.6,293.1,12.2,766,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1702,1983,0,0,0,0,0,0
$GC,7562,0.61,233.6,257.4,11.8,796,7566,0.00,2.22,0.00,0.000,4,0.000,0.063,3242,3103,1983,0,0,0,0,0,0
$GC,7580,0.57,233.6,255.1,12.1,797,7587,0.15,2.22,0.00,0.000,6,0.164,0.058,3207,1697,1982,0,0,0,0,0,0
$GC,7906,0.68,259.4,227.0,8.8,828,7935,0.12,2.25,22.90,0.742,4,0.099,0.067,3276,289,1881,0,0,0,0,0,0
$GC,8001,0.62,259.4,215.1,13.2,838,8006,0.17,2.20,0.00,0.000,6,0.153,0.046,3224,1708,1877,0,0,0,0,0,0
$GC,8325,0.73,289.4,185.2,8.6,868,8354,0.10,0.00,26.58,0.714,6,0.111,0.000,3276,1707,1760,0,0,0,0,0,0
$GC,8671,0.68,289.4,141.5,13.2,901,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1707,1753,0,0,0,0,0,0
$GC,8990,0.65,289.4,100.9,12.9,931,8992,0.12,0.00,0.00,0.000,6,0.161,0.000,3239,1707,1751,0,0,0,0,0,0
$GC,9327,0.72,289.4,63.4,11.4,990,9332,0.00,2.28,0.00,0.000,4,0.000,0.070,3250,291,1750,0,0,0,0,0,0
$GC,9388,0.81,289.4,56.6,11.0,1003,9394,0.10,2.17,0.00,0.000,6,0.111,0.048,3302,1701,1750,0,0,0,0,0,0
$GC,9732,0.76,289.4,14.8,11.4,1064,9738,0.12,0.00,0.00,0.000,6,0.164,0.000,3266,1702,1750,0,0,0,0,0,0
$STATE,9837,end climb,SURFACE_DEPTH_REACHED
$STATE,9837,begin surface coast
$FINISH,1.6,1.017007
$STATE,9878,end surface coast,CONTROL_FINISHED_OK
$STATE,9879,begin surface
$SM_CCo,9953,0.00,0.000,0,0,1746,292.64
$SM_GC,2.94,8.00,0.00,0.00,0.048,0.000,0.000,136,1854,1746,-8.93,0.11,292.64
$RAFOS_CLK,445
$RAFOS,6,1257554981,0.833333,0.828056,38,37,36,0,0,0,583,141,25,0,0,0
$RAFOS,5,1257554494,0.700000,0.692778,38,38,36,0,0,0,59,283,481,0,0,0
$RAFOS,4,1257554014,0.566667,0.559444,47,47,44,0,0,0,291,476,25,0,0,0
$RAFOS,3,1257553538,0.433333,0.427222,42,40,39,0,0,0,30,640,242,0,0,0
$RAFOS,2,1257553062,0.300000,0.295000,38,37,36,0,0,0,518,311,483,0,0,0
$RAFOS,1,1257552575,0.166667,0.159722,39,36,36,0,0,0,417,33,84,0,0,0
$RAFOS,0,1257552102,0.033333,0.028333,39,38,36,0,0,0,40,412,372,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5655.33,310199,202055
$TT8_MAMPS,0.026078
$HUMID,38.81
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.7,105.1
$24V_AH,23.7,19.448
$10V_AH,10.2,8.758
$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,21.525,85.525,363.700,0.000,0.000,31.626,37.384,157.606,1.000,0.000,15.333,1914.446,5788.426,414.492,1824.314,344.342,0.000,1370.036,0.000,1792.535,840.000,10.746,0.000
$DEVICE_MAMPS,233.168,82.836,948.779,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.699,794.009,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188348
$DATA_FILE_SIZE,41002,1090
$CAP_FILE_SIZE,119425,0
$CFSIZE,260165632,243060736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$CURRENT,0.097,121.9,1
$GPS,071109,020530,6703.483,-5650.397,95,0.9,95,-37.6