version: 66.06
glider: 172
mission: 3
dive: 51
start: 10 28 109 19 54 26
data:
$ID,172
$MISSION,3
$DIVE,51
$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,-5133.0996
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,194754,6644.836,-6010.659,49,1.2,57,-38.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-77.9
$GPS2,195420,6644.805,-6010.780,11,1.3,11,-38.1
$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,93.6,11531,-17.5,-10.000
$D_GRID,579
$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,12,-0.64,-146.0,0.0,0.0,0,55,0.00,0.00,-41.35,0.000,2,0.000,0.000,122,1856,2250,0,0,0,0,0,0
$GC,56,-0.64,-146.0,3.0,-1.1,8,117,10.82,2.38,-43.72,0.000,4,0.252,0.093,2813,435,3539,0,0,0,0,0,0
$GC,181,-0.50,-146.0,22.3,-19.8,36,187,0.12,2.30,0.00,0.000,6,0.146,0.060,2860,1842,3540,0,0,0,0,0,0
$GC,506,-0.50,-146.0,67.5,-12.8,97,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1842,3541,0,0,0,0,0,0
$GC,830,-0.50,-146.0,107.9,-11.6,152,833,0.00,2.35,0.00,0.000,4,0.000,0.077,2851,3250,3541,0,0,0,0,0,0
$GC,856,-0.58,-146.0,110.8,-11.3,155,859,0.00,2.30,0.00,0.000,6,0.000,0.065,2851,1845,3540,0,0,0,0,0,0
$GC,1174,-0.62,-146.0,149.3,-11.8,186,1178,0.00,2.33,0.00,0.000,4,0.000,0.077,2851,436,3541,0,0,0,0,0,0
$GC,1239,-0.67,-146.0,157.1,-12.4,193,1248,0.00,2.28,0.00,0.000,6,0.000,0.059,2842,1852,3540,0,0,0,0,0,0
$GC,1553,-0.67,-146.0,195.9,-12.0,224,1557,0.00,2.33,0.00,0.000,4,0.000,0.078,2842,442,3540,0,0,0,0,0,0
$GC,1597,-0.71,-146.0,201.3,-12.0,229,1601,0.10,2.25,0.00,0.000,6,0.073,0.060,2769,1844,3540,0,0,0,0,0,0
$GC,1916,-0.58,-146.0,256.6,-17.2,260,1917,0.22,0.00,0.00,0.000,6,0.166,0.000,2835,1844,3540,0,0,0,0,0,0
$GC,2226,-0.63,-146.0,293.2,-10.9,290,2230,0.00,2.30,0.00,0.000,4,0.000,0.078,2835,443,3539,0,0,0,0,0,0
$GC,2273,-0.69,-146.0,298.5,-10.7,295,2280,0.00,2.25,0.00,0.000,6,0.000,0.060,2834,1852,3539,0,0,0,0,0,0
$GC,2588,-0.75,-146.0,332.6,-10.9,326,2592,0.15,2.35,0.00,0.000,4,0.097,0.079,2771,410,3539,0,0,0,0,0,0
$GC,2661,-0.66,-146.0,344.2,-16.2,334,2667,0.12,2.30,0.00,0.000,6,0.151,0.061,2809,1847,3539,0,0,0,0,0,0
$GC,2976,-0.66,-146.0,386.3,-13.1,365,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1848,3539,0,0,0,0,0,0
$GC,3286,-0.66,-146.0,424.6,-11.9,395,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1847,3539,0,0,0,0,0,0
$GC,3596,-0.66,-146.0,460.3,-11.2,425,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1848,3539,0,0,0,0,0,0
$GC,3908,-0.66,-146.0,495.0,-11.1,455,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1847,3539,0,0,0,0,0,0
$GC,4217,-0.66,-146.0,530.7,-11.5,485,4221,0.00,2.30,0.00,0.000,4,0.000,0.077,2809,439,3539,0,0,0,0,0,0
$GC,4239,-0.66,-146.0,533.3,-11.9,487,4245,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1846,3539,0,0,0,0,0,0
$GC,4553,-0.69,-146.0,569.4,-11.2,518,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1846,3540,0,0,0,0,0,0
$STATE,4645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4646,begin apogee
$GC,4649,-0.13,0.0,579.9,11.7,527,4771,0.52,0.00,119.80,1.011,6,0.137,0.000,2977,1694,2940,0,0,0,0,0,0
$STATE,4771,end apogee,CONTROL_FINISHED_OK
$STATE,4771,begin climb
$GC,4772,0.64,146.0,585.0,0.0,539,4907,0.73,2.50,124.47,0.976,4,0.086,0.064,3231,3113,2342,0,0,0,0,0,0
$GC,5154,0.55,176.6,567.7,8.6,582,5186,0.15,2.35,25.90,0.934,6,0.183,0.064,3204,1706,2220,0,0,0,0,0,0
$GC,5494,0.62,232.9,542.8,7.4,616,5550,0.00,2.47,49.70,0.944,4,0.000,0.067,3204,3111,1988,0,0,0,0,0,0
$GC,5597,0.69,247.8,533.8,9.3,628,5617,0.08,2.42,13.88,0.871,6,0.077,0.064,3253,1701,1929,0,0,0,0,0,0
$GC,5925,0.64,247.8,492.6,12.7,660,5929,0.00,2.40,0.00,0.000,4,0.000,0.076,3262,284,1921,0,0,0,0,0,0
$GC,5981,0.56,247.8,485.5,12.6,666,5987,0.17,2.30,0.00,0.000,6,0.147,0.051,3206,1705,1921,0,0,0,0,0,0
$GC,6296,0.66,269.7,456.2,9.0,697,6322,0.00,2.38,19.33,0.878,4,0.000,0.068,3206,3108,1840,0,0,0,0,0,0
$GC,6360,0.75,269.7,449.9,10.8,704,6367,0.10,2.38,0.00,0.000,6,0.073,0.064,3282,1694,1837,0,0,0,0,0,0
$GC,6674,0.65,269.7,403.3,14.5,735,6679,0.17,2.35,0.00,0.000,4,0.163,0.075,3243,292,1833,0,0,0,0,0,0
$GC,6700,0.65,269.7,399.8,13.3,738,6704,0.00,2.25,0.00,0.000,6,0.000,0.051,3243,1699,1833,0,0,0,0,0,0
$GC,7019,0.65,269.7,362.3,11.8,769,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1701,1833,0,0,0,0,0,0
$GC,7330,0.65,269.7,328.8,11.0,799,7333,0.00,2.33,0.00,0.000,4,0.000,0.077,3252,283,1833,0,0,0,0,0,0
$GC,7429,0.65,269.7,317.4,11.7,810,7435,0.00,2.25,0.00,0.000,6,0.000,0.051,3252,1705,1833,0,0,0,0,0,0
$GC,7743,0.65,269.7,283.0,10.5,841,7747,0.00,2.33,0.00,0.000,4,0.000,0.076,3258,291,1833,0,0,0,0,0,0
$GC,7821,0.65,269.7,274.3,11.4,850,7825,0.00,2.22,0.00,0.000,6,0.000,0.051,3258,1700,1833,0,0,0,0,0,0
$GC,8140,0.65,269.7,241.3,10.4,881,8144,0.00,2.28,0.00,0.000,4,0.000,0.067,3258,3091,1833,0,0,0,0,0,0
$GC,8175,0.65,269.7,237.5,11.1,885,8179,0.08,2.25,0.00,0.000,6,0.161,0.064,3240,1704,1832,0,0,0,0,0,0
$GC,8494,0.78,318.1,209.9,7.8,916,8542,0.10,2.35,42.92,0.777,4,0.122,0.077,3295,288,1642,0,0,0,0,0,0
$GC,8654,0.78,318.1,190.7,12.9,934,8659,0.00,2.28,0.00,0.000,6,0.000,0.051,3295,1699,1636,0,0,0,0,0,0
$GC,8968,0.78,318.1,155.0,10.7,965,8972,0.00,2.35,0.00,0.000,4,0.000,0.078,3304,293,1632,0,0,0,0,0,0
$GC,9015,0.78,318.1,149.4,11.9,970,9021,0.00,2.25,0.00,0.000,6,0.000,0.054,3305,1696,1632,0,0,0,0,0,0
$GC,9330,0.78,318.1,113.0,11.0,1001,9334,0.00,2.33,0.00,0.000,4,0.000,0.071,3304,3107,1631,0,0,0,0,0,0
$GC,9360,0.74,318.1,109.6,11.6,1004,9367,0.10,2.30,0.00,0.000,6,0.162,0.065,3268,1703,1630,0,0,0,0,0,0
$GC,9681,0.87,338.8,82.4,9.0,1054,9705,0.10,2.38,17.40,0.712,4,0.122,0.079,3323,288,1557,0,0,0,0,0,0
$GC,9745,0.84,338.8,74.8,13.6,1068,9750,0.00,2.22,0.00,0.000,6,0.000,0.054,3323,1701,1555,0,0,0,0,0,0
$GC,10069,0.84,338.8,35.9,10.4,1129,10074,0.00,2.30,0.00,0.000,4,0.000,0.074,3323,3114,1552,0,0,0,0,0,0
$GC,10112,0.84,338.8,31.2,10.6,1139,10118,0.10,2.33,0.00,0.000,6,0.166,0.068,3301,1705,1552,0,0,0,0,0,0
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,1.5,1.024392
$STATE,10468,end surface coast,CONTROL_FINISHED_OK
$STATE,10468,begin surface
$SM_CCo,10541,0.00,0.000,0,0,1547,341.70
$SM_GC,2.87,8.32,0.00,0.00,0.058,0.000,0.000,144,1859,1547,-8.94,0.23,341.70
$RAFOS_CLK,545
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6013.96,220199,171753
$TT8_MAMPS,0.051389
$HUMID,40.07
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.9,110.4
$24V_AH,23.4,11.325
$10V_AH,10.2,4.893
$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,22.275,93.250,413.400,0.000,0.000,27.782,39.752,235.587,1.000,0.000,11.961,0.000,7622.634,544.998,2400.029,340.505,0.000,1508.961,0.000,1948.322,2491.000,9.716,0.000
$DEVICE_MAMPS,252.343,92.807,1010.906,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.497,887.598,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150796
$DATA_FILE_SIZE,47364,1206
$CAP_FILE_SIZE,130558,0
$CFSIZE,260165632,248496128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$CURRENT,0.075,187.1,1
$GPS,281009,225207,6645.280,-6007.596,99,1.0,99,-38.1