version: 66.06
glider: 172
mission: 3
dive: 104
start: 11 7 109 2 11 19
data:
$ID,172
$MISSION,3
$DIVE,104
$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,-6222.4907
$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,31
$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
$GPS1,020530,6703.483,-5650.397,95,0.9,95,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-72.7
$GPS2,021055,6703.516,-5650.330,12,2.0,16,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD4_WB
$TGT_LATLONG,6659.000,-5735.000
$TGT_RADIUS,10000.000
$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,308.7,33411,-17.5,-10.000
$D_GRID,528
$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,-146.0,0.0,0.0,0,58,0.00,0.00,-41.80,0.000,2,0.000,0.000,129,1857,2590,0,0,0,0,0,0
$GC,61,-0.64,-146.0,3.2,-1.4,8,109,10.18,2.38,-28.75,0.000,4,0.234,0.084,2808,438,3539,0,0,0,0,0,0
$GC,232,-0.57,-146.0,31.3,-15.8,45,238,0.12,2.20,0.00,0.000,6,0.172,0.053,2835,1843,3540,0,0,0,0,0,0
$GC,576,-0.61,-146.0,76.2,-12.8,106,582,0.00,2.28,0.00,0.000,4,0.000,0.069,2836,435,3540,0,0,0,0,0,0
$GC,597,-0.65,-146.0,79.2,-13.4,110,603,0.00,2.20,0.00,0.000,6,0.000,0.053,2836,1850,3539,0,0,0,0,0,0
$GC,938,-0.71,-146.0,118.2,-10.9,157,942,0.12,2.28,0.00,0.000,4,0.097,0.070,2770,3257,3539,0,0,0,0,0,0
$GC,974,-0.67,-146.0,123.4,-14.6,160,980,0.12,2.22,0.00,0.000,6,0.160,0.058,2805,1848,3538,0,0,0,0,0,0
$GC,1300,-0.67,-146.0,163.9,-11.1,191,1304,0.00,2.25,0.00,0.000,4,0.000,0.071,2805,440,3538,0,0,0,0,0,0
$GC,1360,-0.67,-146.0,171.2,-11.6,197,1364,0.00,2.20,0.00,0.000,6,0.000,0.052,2797,1859,3537,0,0,0,0,0,0
$GC,1685,-0.64,-146.0,212.4,-13.2,227,1689,0.00,2.25,0.00,0.000,4,0.000,0.068,2797,442,3537,0,0,0,0,0,0
$GC,1727,-0.64,-146.0,218.7,-14.5,231,1730,0.00,2.17,0.00,0.000,6,0.000,0.052,2797,1851,3538,0,0,0,0,0,0
$GC,2054,-0.64,-146.0,261.2,-12.5,262,2058,0.00,2.25,0.00,0.000,4,0.000,0.070,2797,3262,3538,0,0,0,0,0,0
$GC,2081,-0.68,-146.0,264.5,-11.5,264,2086,0.00,2.22,0.00,0.000,6,0.000,0.057,2797,1840,3538,0,0,0,0,0,0
$GC,2405,-0.68,-146.0,307.4,-13.9,295,2408,0.00,2.20,0.00,0.000,4,0.000,0.068,2797,442,3538,0,0,0,0,0,0
$GC,2469,-0.68,-146.0,317.1,-15.2,302,2473,0.00,2.17,0.00,0.000,6,0.000,0.051,2797,1855,3538,0,0,0,0,0,0
$GC,2797,-0.68,-146.0,359.9,-12.8,333,2801,0.00,2.25,0.00,0.000,4,0.000,0.069,2797,438,3538,0,0,0,0,0,0
$GC,2832,-0.68,-146.0,364.7,-12.5,336,2838,0.00,2.17,0.00,0.000,6,0.000,0.051,2797,1852,3538,0,0,0,0,0,0
$GC,3156,-0.68,-146.0,405.4,-11.7,367,3160,0.00,2.22,0.00,0.000,4,0.000,0.067,2797,441,3538,0,0,0,0,0,0
$GC,3184,-0.68,-146.0,408.6,-12.1,370,3188,0.00,2.17,0.00,0.000,6,0.000,0.051,2797,1858,3539,0,0,0,0,0,0
$GC,3513,-0.68,-146.0,444.8,-11.1,401,3517,0.00,2.22,0.00,0.000,4,0.000,0.067,2797,441,3538,0,0,0,0,0,0
$GC,3567,-0.68,-146.0,451.3,-11.3,406,3574,0.00,2.15,0.00,0.000,6,0.000,0.050,2797,1850,3539,0,0,0,0,0,0
$GC,3891,-0.68,-146.0,486.4,-10.6,437,3895,0.00,2.20,0.00,0.000,4,0.000,0.068,2797,440,3539,0,0,0,0,0,0
$GC,3936,-0.68,-146.0,491.8,-11.6,441,3942,0.00,2.17,0.00,0.000,6,0.000,0.051,2797,1859,3539,0,0,0,0,0,0
$GC,4260,-0.68,-146.0,525.7,-10.6,472,4264,0.00,2.25,0.00,0.000,4,0.000,0.067,2797,434,3540,0,0,0,0,0,0
$STATE,4282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4282,begin apogee
$GC,4287,-0.13,0.0,528.3,13.0,474,4408,0.55,0.00,117.45,0.945,6,0.123,0.000,2981,1708,2940,0,0,0,0,0,0
$STATE,4409,end apogee,CONTROL_FINISHED_OK
$STATE,4409,begin climb
$GC,4411,0.64,146.0,532.4,0.0,486,4542,0.70,2.50,121.18,0.918,4,0.081,0.067,3243,288,2342,0,0,0,0,0,0
$GC,4645,0.49,146.0,518.9,10.3,512,4650,0.20,2.28,0.00,0.000,6,0.155,0.046,3188,1702,2337,0,0,0,0,0,0
$GC,4970,0.56,203.3,493.5,7.4,542,5025,0.00,2.35,48.03,0.892,4,0.000,0.061,3188,3112,2109,0,0,0,0,0,0
$GC,5081,0.62,203.3,484.4,10.3,554,5085,0.00,2.33,0.00,0.000,6,0.000,0.057,3191,1696,2105,0,0,0,0,0,0
$GC,5407,0.70,210.8,453.9,9.7,584,5421,0.17,2.33,6.65,0.727,4,0.084,0.068,3278,293,2079,0,0,0,0,0,0
$GC,5472,0.54,210.8,444.3,15.2,591,5477,0.28,2.20,0.00,0.000,6,0.151,0.047,3197,1702,2078,0,0,0,0,0,0
$GC,5797,0.61,230.5,412.6,9.1,621,5824,0.00,2.33,17.88,0.830,4,0.000,0.068,3207,281,2000,0,0,0,0,0,0
$GC,5848,0.68,230.5,407.5,10.4,626,5854,0.10,2.22,0.00,0.000,6,0.112,0.046,3255,1699,1998,0,0,0,0,0,0
$GC,6172,0.61,230.5,366.6,12.7,657,6173,0.12,0.00,0.00,0.000,6,0.163,0.000,3220,1701,1996,0,0,0,0,0,0
$GC,6490,0.61,232.9,334.2,9.9,687,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1701,1995,0,0,0,0,0,0
$GC,6809,0.61,232.9,302.6,10.0,717,6813,0.00,2.30,0.00,0.000,4,0.000,0.071,3229,288,1995,0,0,0,0,0,0
$GC,6832,0.61,232.9,300.1,10.6,719,6836,0.00,2.17,0.00,0.000,6,0.000,0.048,3229,1706,1994,0,0,0,0,0,0
$GC,7160,0.61,232.9,266.8,10.2,750,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1706,1994,0,0,0,0,0,0
$GC,7480,0.62,235.9,235.4,9.9,780,7490,0.00,2.20,5.35,0.612,4,0.000,0.061,3230,3104,1977,0,0,0,0,0,0
$GC,7531,0.62,235.9,229.8,11.3,785,7537,0.00,2.22,0.00,0.000,6,0.000,0.057,3239,1696,1976,0,0,0,0,0,0
$GC,7855,0.62,235.9,196.5,10.6,816,7859,0.00,2.22,0.00,0.000,4,0.000,0.069,3247,283,1976,0,0,0,0,0,0
$GC,7924,0.62,235.9,188.5,11.9,823,7928,0.00,2.17,0.00,0.000,6,0.000,0.047,3247,1705,1976,0,0,0,0,0,0
$GC,8247,0.62,235.9,151.1,11.2,853,8251,0.00,2.17,0.00,0.000,4,0.000,0.062,3246,3104,1976,0,0,0,0,0,0
$GC,8293,0.62,235.9,145.6,12.7,857,8299,0.12,2.20,0.00,0.000,6,0.171,0.057,3220,1700,1975,0,0,0,0,0,0
$GC,8618,0.73,269.7,116.9,8.4,888,8654,0.12,2.35,29.77,0.686,4,0.100,0.069,3291,284,1839,0,0,0,0,0,0
$GC,8684,0.63,269.7,109.2,13.3,895,8688,0.20,2.20,0.00,0.000,6,0.152,0.046,3231,1704,1836,0,0,0,0,0,0
$GC,9021,0.72,280.1,74.6,9.5,947,9037,0.00,2.22,9.60,0.619,4,0.000,0.061,3231,3103,1796,0,0,0,0,0,0
$GC,9075,0.78,280.1,69.4,10.0,958,9081,0.12,2.25,0.00,0.000,6,0.098,0.057,3299,1699,1794,0,0,0,0,0,0
$GC,9419,0.71,280.1,27.0,12.5,1019,9426,0.15,2.25,0.00,0.000,4,0.156,0.069,3265,289,1792,0,0,0,0,0,0
$GC,9477,0.83,313.7,22.5,8.5,1031,9512,0.00,2.17,29.85,0.631,6,0.000,0.048,3265,1700,1660,0,0,0,0,0,0
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,1.5,1.020968
$STATE,9707,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9783,0.00,0.000,0,0,1648,316.68
$SM_GC,2.56,8.23,0.00,0.00,0.054,0.000,0.000,128,1861,1648,-8.94,0.31,316.68
$RAFOS_CLK,435
$RAFOS,5,1257568893,4.700000,4.692500,40,38,36,0,0,0,199,562,79,0,0,0
$RAFOS,4,1257568421,4.566667,4.561389,45,43,43,0,0,0,25,324,436,0,0,0
$RAFOS,3,1257567934,4.433333,4.426111,45,41,39,0,0,0,420,150,309,0,0,0
$RAFOS,2,1257567456,4.300000,4.293334,42,42,39,0,0,0,385,610,528,0,0,0
$RAFOS,1,1257566974,4.166667,4.159444,42,39,39,0,0,0,147,505,520,0,0,0
$RAFOS,0,1257566495,4.033333,4.026389,43,39,38,0,0,0,360,457,39,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5655.33,310199,232352
$TT8_MAMPS,0.027612
$HUMID,39.40
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.4,133.4
$24V_AH,23.8,19.555
$10V_AH,10.3,8.820
$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,21.625,102.950,385.750,0.000,0.000,28.748,29.666,158.993,0.500,0.000,16.392,1908.252,5657.779,449.065,1762.040,332.867,0.000,1389.979,0.000,1734.870,840.000,6.228,0.000
$DEVICE_MAMPS,233.935,83.603,944.944,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,742.670,785.024,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188348
$DATA_FILE_SIZE,40974,1073
$CAP_FILE_SIZE,122766,0
$CFSIZE,260165632,242995200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.6
$CURRENT,0.023,285.9,1
$GPS,071109,045616,6703.521,-5654.271,52,2.4,71,-37.6