version: 66.06
glider: 172
mission: 3
dive: 50
start: 10 28 109 16 58 57
data:
$ID,172
$MISSION,3
$DIVE,50
$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,-2
$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,-5120.5083
$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,15
$R_STBD_OVSHOOT,32
$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
$GPS1,165237,6643.933,-6012.935,66,1.1,66,-38.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-78.7
$GPS2,165850,6643.869,-6012.966,12,1.5,12,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$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,70.7,13676,-17.5,-10.000
$D_GRID,560
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.64,-146.0,0.0,0.0,0,37,0.00,0.00,-24.42,0.000,2,0.000,0.000,121,1865,2048,0,0,0,0,0,0
$GC,39,-0.64,-146.0,3.1,-3.4,4,115,10.50,2.38,-59.38,0.000,4,0.244,0.089,2814,435,3538,0,0,0,0,0,0
$GC,218,-0.52,-146.0,29.5,-20.0,44,224,0.10,2.30,0.00,0.000,6,0.158,0.061,2853,1838,3538,0,0,0,0,0,0
$GC,543,-0.52,-146.0,76.4,-13.8,105,548,0.00,2.35,0.00,0.000,4,0.000,0.077,2843,3251,3538,0,0,0,0,0,0
$GC,565,-0.56,-146.0,79.4,-13.8,110,571,0.00,2.30,0.00,0.000,6,0.000,0.064,2844,1845,3539,0,0,0,0,0,0
$GC,889,-0.56,-146.0,126.0,-14.0,155,893,0.00,2.30,0.00,0.000,4,0.000,0.077,2843,446,3539,0,0,0,0,0,0
$GC,937,-0.56,-146.0,132.5,-13.0,160,943,0.00,2.25,0.00,0.000,6,0.000,0.059,2836,1846,3538,0,0,0,0,0,0
$GC,1251,-0.56,-146.0,175.7,-13.4,191,1255,0.00,2.33,0.00,0.000,4,0.000,0.077,2836,441,3538,0,0,0,0,0,0
$GC,1277,-0.56,-146.0,179.4,-14.2,194,1281,0.00,2.25,0.00,0.000,6,0.000,0.058,2836,1842,3538,0,0,0,0,0,0
$GC,1596,-0.56,-146.0,219.1,-11.3,225,1600,0.00,2.30,0.00,0.000,4,0.000,0.078,2836,445,3538,0,0,0,0,0,0
$GC,1635,-0.61,-146.0,224.0,-12.3,229,1640,0.00,2.25,0.00,0.000,6,0.000,0.059,2836,1850,3538,0,0,0,0,0,0
$GC,1949,-0.66,-146.0,260.4,-12.1,260,1953,0.00,2.35,0.00,0.000,4,0.000,0.080,2835,438,3538,0,0,0,0,0,0
$GC,1975,-0.66,-146.0,263.6,-12.8,263,1979,0.00,2.25,0.00,0.000,6,0.000,0.059,2835,1845,3537,0,0,0,0,0,0
$GC,2294,-0.71,-146.0,301.3,-12.2,294,2298,0.12,2.33,0.00,0.000,4,0.107,0.079,2780,445,3537,0,0,0,0,0,0
$GC,2324,-0.61,-146.0,305.9,-16.5,297,2330,0.12,2.25,0.00,0.000,6,0.151,0.060,2827,1850,3537,0,0,0,0,0,0
$GC,2638,-0.66,-146.0,344.8,-11.7,328,2642,0.00,2.33,0.00,0.000,4,0.000,0.080,2827,447,3538,0,0,0,0,0,0
$GC,2695,-0.72,-146.0,351.9,-12.6,334,2701,0.00,2.22,0.00,0.000,6,0.000,0.060,2823,1843,3537,0,0,0,0,0,0
$GC,3009,-0.76,-146.0,388.4,-11.2,365,3010,0.12,0.00,0.00,0.000,6,0.105,0.000,2767,1843,3537,0,0,0,0,0,0
$GC,3319,-0.66,-146.0,435.2,-14.8,395,3321,0.15,0.00,0.00,0.000,6,0.167,0.000,2809,1844,3537,0,0,0,0,0,0
$GC,3630,-0.66,-146.0,472.1,-11.3,425,3634,0.00,2.28,0.00,0.000,4,0.000,0.077,2810,445,3537,0,0,0,0,0,0
$GC,3677,-0.66,-146.0,478.0,-12.7,430,3684,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3537,0,0,0,0,0,0
$GC,3992,-0.66,-146.0,513.5,-10.8,461,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3537,0,0,0,0,0,0
$GC,4302,-0.66,-146.0,546.9,-10.6,491,4306,0.00,2.33,0.00,0.000,4,0.000,0.077,2807,441,3538,0,0,0,0,0,0
$GC,4337,-0.66,-146.0,551.0,-12.7,495,4340,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3538,0,0,0,0,0,0
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4430,-0.13,0.0,560.8,10.5,504,4551,0.52,0.00,119.03,1.001,6,0.134,0.000,2979,1696,2940,0,0,0,0,0,0
$STATE,4552,end apogee,CONTROL_FINISHED_OK
$STATE,4552,begin climb
$GC,4553,0.64,146.0,565.0,0.0,516,4685,0.73,0.00,124.50,0.966,6,0.084,0.000,3233,1696,2343,0,0,0,0,0,0
$GC,4993,0.60,186.3,542.3,8.1,560,5032,0.00,2.45,34.33,0.934,4,0.000,0.066,3233,3117,2179,0,0,0,0,0,0
$GC,5135,0.51,186.3,528.6,10.9,576,5139,0.15,2.40,0.00,0.000,6,0.151,0.062,3197,1708,2174,0,0,0,0,0,0
$GC,5454,0.62,229.0,503.3,8.0,607,5497,0.00,2.45,37.17,0.920,4,0.000,0.076,3207,278,2005,0,0,0,0,0,0
$GC,5523,0.71,253.0,497.4,8.9,615,5551,0.12,2.33,22.40,0.886,6,0.105,0.051,3258,1707,1907,0,0,0,0,0,0
$GC,5865,0.65,253.0,454.7,12.2,649,5869,0.00,2.42,0.00,0.000,4,0.000,0.076,3266,282,1899,0,0,0,0,0,0
$GC,5930,0.58,253.0,446.5,12.6,656,5936,0.12,2.30,0.00,0.000,6,0.146,0.051,3212,1703,1897,0,0,0,0,0,0
$GC,6245,0.70,287.3,418.9,8.4,687,6277,0.12,0.00,30.33,0.873,6,0.107,0.000,3266,1704,1767,0,0,0,0,0,0
$GC,6585,0.66,287.3,375.8,13.0,720,6589,0.00,2.38,0.00,0.000,4,0.000,0.077,3277,293,1759,0,0,0,0,0,0
$GC,6624,0.60,287.3,370.3,14.3,724,6630,0.15,2.25,0.00,0.000,6,0.144,0.051,3226,1695,1759,0,0,0,0,0,0
$GC,6938,0.69,294.5,338.1,9.7,755,6949,0.00,2.33,6.22,0.709,4,0.000,0.076,3236,284,1739,0,0,0,0,0,0
$GC,6982,0.76,294.5,333.7,10.5,760,6986,0.08,2.25,0.00,0.000,6,0.078,0.051,3280,1691,1739,0,0,0,0,0,0
$GC,7301,0.72,294.5,292.6,12.4,791,7305,0.00,2.33,0.00,0.000,4,0.000,0.077,3288,294,1737,0,0,0,0,0,0
$GC,7361,0.66,294.5,284.7,13.2,798,7365,0.12,2.22,0.00,0.000,6,0.150,0.052,3245,1694,1737,0,0,0,0,0,0
$GC,7680,0.72,294.5,250.6,11.1,829,7683,0.00,2.33,0.00,0.000,4,0.000,0.077,3255,287,1736,0,0,0,0,0,0
$GC,7727,0.76,294.5,245.3,11.5,834,7733,0.00,2.22,0.00,0.000,6,0.000,0.052,3255,1691,1737,0,0,0,0,0,0
$GC,8042,0.82,297.2,212.3,9.9,865,8046,0.10,2.33,0.00,0.000,4,0.122,0.079,3309,272,1736,0,0,0,0,0,0
$GC,8072,0.73,297.2,208.8,12.9,868,8078,0.12,2.25,0.00,0.000,6,0.150,0.053,3266,1700,1735,0,0,0,0,0,0
$GC,8386,0.80,316.5,179.3,9.1,899,8413,0.00,2.35,20.73,0.761,4,0.000,0.079,3278,281,1649,0,0,0,0,0,0
$GC,8473,0.82,330.9,171.0,9.3,909,8492,0.00,2.22,14.07,0.732,6,0.000,0.052,3278,1702,1590,0,0,0,0,0,0
$GC,8799,0.89,339.1,139.5,9.6,941,8812,0.00,2.40,7.82,0.686,4,0.000,0.080,3286,286,1557,0,0,0,0,0,0
$GC,8855,0.95,349.5,133.9,9.5,947,8872,0.12,2.25,11.20,0.706,6,0.107,0.054,3336,1690,1514,0,0,0,0,0,0
$GC,9189,0.89,349.5,88.6,14.6,987,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1690,1507,0,0,0,0,0,0
$GC,9510,0.84,349.5,45.9,11.8,1047,9515,0.15,2.30,0.00,0.000,4,0.176,0.070,3294,3114,1506,0,0,0,0,0,0
$GC,9527,0.84,349.5,44.0,10.6,1051,9533,0.00,2.33,0.00,0.000,6,0.000,0.067,3304,1698,1505,0,0,0,0,0,0
$GC,9853,0.93,360.8,13.3,9.5,1112,9868,0.00,2.33,9.82,0.668,4,0.000,0.079,3315,281,1467,0,0,0,0,0,0
$GC,9919,0.99,360.8,6.7,10.2,1127,9924,0.00,2.28,0.00,0.000,6,0.000,0.055,3315,1700,1466,0,0,0,0,0,0
$STATE,9948,end climb,SURFACE_DEPTH_REACHED
$STATE,9948,begin surface coast
$FINISH,1.5,1.024329
$STATE,9986,end surface coast,CONTROL_FINISHED_OK
$STATE,9986,begin surface
$SM_CCo,10059,0.00,0.000,0,0,1463,362.31
$SM_GC,2.79,8.50,0.00,0.00,0.065,0.000,0.000,141,1854,1463,-8.93,0.11,362.31
$RAFOS_CLK,521
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6013.96,220199,141438
$TT8_MAMPS,0.051389
$HUMID,40.35
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,501.1,88.7
$24V_AH,23.4,11.197
$10V_AH,10.2,4.831
$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,22.250,101.950,437.625,0.000,0.000,28.575,34.254,220.440,1.000,0.000,12.730,0.000,7281.470,524.185,2220.444,388.392,0.000,1482.682,0.000,1806.389,0.000,9.655,0.000
$DEVICE_MAMPS,243.906,88.972,1000.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.178,842.764,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150372
$DATA_FILE_SIZE,44153,1140
$CAP_FILE_SIZE,129320,0
$CFSIZE,260165632,248569856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$CURRENT,0.065,174.1,1
$GPS,281009,194754,6644.836,-6010.659,49,1.2,57,-38.1