version: 66.06
glider: 172
mission: 3
dive: 52
start: 10 28 109 22 59 57
data:
$ID,172
$MISSION,3
$DIVE,52
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5149.3828
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,225207,6645.280,-6007.596,99,1.0,99,-38.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-76.3
$GPS2,225950,6645.307,-6007.773,15,1.1,15,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,98.6,43366,-17.5,-10.000
$D_GRID,597
$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,-146.0,0.0,0.0,0,55,0.00,0.00,-41.88,0.000,2,0.000,0.000,123,1858,2349,0,0,0,0,0,0
$GC,56,-0.64,-146.0,3.1,-0.5,8,112,10.75,2.38,-37.40,0.000,4,0.250,0.091,2802,3245,3538,0,0,0,0,0,0
$GC,163,-0.54,-146.0,20.4,-19.9,32,169,0.12,2.33,0.00,0.000,6,0.153,0.068,2843,1858,3539,0,0,0,0,0,0
$GC,488,-0.50,-146.0,74.3,-15.6,93,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1857,3540,0,0,0,0,0,0
$GC,809,-0.50,-146.0,120.6,-13.2,139,812,0.00,2.33,0.00,0.000,4,0.000,0.078,2843,429,3539,0,0,0,0,0,0
$GC,839,-0.50,-146.0,125.0,-15.6,142,845,0.00,2.28,0.00,0.000,6,0.000,0.059,2835,1841,3539,0,0,0,0,0,0
$GC,1153,-0.50,-146.0,166.9,-12.4,173,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1841,3539,0,0,0,0,0,0
$GC,1464,-0.50,-146.0,207.0,-12.3,203,1467,0.00,2.28,0.00,0.000,4,0.000,0.078,2835,439,3539,0,0,0,0,0,0
$GC,1484,-0.50,-146.0,209.8,-13.6,205,1490,0.00,2.25,0.00,0.000,6,0.000,0.059,2835,1843,3539,0,0,0,0,0,0
$GC,1799,-0.54,-146.0,247.4,-11.2,236,1803,0.00,2.30,0.00,0.000,4,0.000,0.078,2835,445,3539,0,0,0,0,0,0
$GC,1825,-0.58,-146.0,250.5,-12.7,239,1829,0.00,2.22,0.00,0.000,6,0.000,0.059,2835,1858,3539,0,0,0,0,0,0
$GC,2144,-0.62,-146.0,285.4,-10.9,270,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1859,3539,0,0,0,0,0,0
$GC,2455,-0.68,-146.0,318.3,-10.2,300,2458,0.00,2.30,0.00,0.000,4,0.000,0.078,2835,436,3538,0,0,0,0,0,0
$GC,2489,-0.74,-146.0,322.1,-11.2,304,2493,0.15,2.25,0.00,0.000,6,0.099,0.059,2770,1849,3538,0,0,0,0,0,0
$GC,2808,-0.65,-146.0,370.3,-15.8,335,2811,0.15,2.30,0.00,0.000,4,0.169,0.078,2812,436,3538,0,0,0,0,0,0
$GC,2860,-0.68,-146.0,377.4,-13.5,341,2863,0.00,2.25,0.00,0.000,6,0.000,0.060,2807,1850,3538,0,0,0,0,0,0
$GC,3178,-0.68,-146.0,418.7,-12.8,372,3181,0.00,2.35,0.00,0.000,4,0.000,0.079,2807,434,3538,0,0,0,0,0,0
$GC,3208,-0.68,-146.0,422.5,-13.5,375,3213,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1848,3538,0,0,0,0,0,0
$GC,3522,-0.68,-146.0,460.9,-12.2,406,3526,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,3255,3538,0,0,0,0,0,0
$GC,3561,-0.78,-146.0,465.6,-11.7,410,3568,0.08,2.28,0.00,0.000,6,0.070,0.066,2758,1846,3538,0,0,0,0,0,0
$GC,3876,-0.67,-146.0,513.8,-15.1,441,3877,0.17,0.00,0.00,0.000,6,0.166,0.000,2809,1846,3538,0,0,0,0,0,0
$GC,4186,-0.67,-146.0,549.2,-11.4,471,4190,0.00,2.28,0.00,0.000,4,0.000,0.077,2809,442,3539,0,0,0,0,0,0
$GC,4208,-0.67,-146.0,551.9,-12.6,473,4213,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,4523,-0.70,-146.0,587.4,-11.2,504,4526,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,3258,3539,0,0,0,0,0,0
$GC,4548,-0.81,-146.0,590.1,-9.8,507,4552,0.05,2.25,0.00,0.000,6,0.081,0.062,2750,1851,3539,0,0,0,0,0,0
$STATE,4607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4607,begin apogee
$GC,4610,-0.13,0.0,598.4,14.6,513,4733,0.70,0.00,120.18,1.020,6,0.143,0.000,2975,1696,2940,0,0,0,0,0,0
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4733,begin climb
$GC,4734,0.64,146.0,603.2,0.0,519,4867,0.73,2.53,124.50,0.986,4,0.087,0.074,3236,294,2342,0,0,0,0,0,0
$GC,4966,0.57,189.8,597.0,8.0,529,5009,0.00,2.33,38.38,0.954,6,0.000,0.051,3237,1707,2166,0,0,0,0,0,0
$GC,5318,0.51,195.8,563.3,9.7,564,5328,0.17,2.35,5.35,0.729,4,0.168,0.066,3190,3107,2142,0,0,0,0,0,0
$GC,5354,0.61,228.9,560.2,8.5,568,5389,0.00,2.35,31.00,0.939,6,0.000,0.065,3195,1704,2006,0,0,0,0,0,0
$GC,5697,0.73,256.1,531.9,8.7,602,5725,0.20,2.47,24.00,0.921,4,0.086,0.076,3285,287,1895,0,0,0,0,0,0
$GC,5764,0.59,256.1,522.8,15.6,609,5769,0.25,2.33,0.00,0.000,6,0.159,0.051,3215,1700,1892,0,0,0,0,0,0
$GC,6078,0.64,256.1,489.6,10.1,640,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1700,1888,0,0,0,0,0,0
$GC,6388,0.69,256.1,458.0,10.1,670,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1700,1887,0,0,0,0,0,0
$GC,6699,0.76,261.0,427.0,9.8,700,6709,0.15,2.30,4.53,0.658,4,0.094,0.067,3280,3106,1876,0,0,0,0,0,0
$GC,6717,0.71,261.0,424.7,12.7,702,6721,0.12,2.28,0.00,0.000,6,0.190,0.064,3258,1699,1874,0,0,0,0,0,0
$GC,7036,0.66,261.0,386.0,12.3,733,7039,0.00,2.30,0.00,0.000,4,0.000,0.077,3269,284,1874,0,0,0,0,0,0
$GC,7079,0.60,261.0,380.3,13.2,738,7083,0.15,2.22,0.00,0.000,6,0.146,0.051,3219,1691,1874,0,0,0,0,0,0
$GC,7398,0.68,274.5,349.1,9.4,769,7416,0.00,2.30,13.77,0.821,4,0.000,0.075,3229,287,1819,0,0,0,0,0,0
$GC,7472,0.74,274.5,341.6,10.3,777,7478,0.08,2.25,0.00,0.000,6,0.074,0.051,3275,1694,1816,0,0,0,0,0,0
$GC,7786,0.69,274.5,299.7,13.0,808,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1695,1814,0,0,0,0,0,0
$GC,8097,0.65,274.5,262.1,12.3,838,8098,0.12,0.00,0.00,0.000,6,0.172,0.000,3239,1695,1814,0,0,0,0,0,0
$GC,8407,0.75,292.9,231.8,9.1,868,8428,0.00,2.33,17.05,0.779,4,0.000,0.079,3250,285,1744,0,0,0,0,0,0
$GC,8476,0.82,292.9,225.0,10.6,875,8482,0.10,2.22,0.00,0.000,6,0.118,0.052,3295,1705,1742,0,0,0,0,0,0
$GC,8790,0.76,292.9,187.6,11.5,906,8794,0.00,2.28,0.00,0.000,4,0.000,0.069,3295,3096,1740,0,0,0,0,0,0
$GC,8833,0.70,292.9,182.3,12.0,911,8837,0.20,2.25,0.00,0.000,6,0.173,0.067,3249,1699,1739,0,0,0,0,0,0
$GC,9152,0.87,354.0,157.1,7.2,942,9211,0.17,0.00,54.72,0.755,6,0.093,0.000,3321,1698,1496,0,0,0,0,0,0
$GC,9518,0.87,354.0,109.9,13.1,978,9522,0.00,2.38,0.00,0.000,4,0.000,0.080,3332,284,1485,0,0,0,0,0,0
$GC,9579,0.83,354.0,101.6,13.9,985,9583,0.10,2.28,0.00,0.000,6,0.150,0.054,3298,1697,1485,0,0,0,0,0,0
$GC,9908,0.87,354.0,64.2,11.7,1045,9913,0.00,2.33,0.00,0.000,4,0.000,0.081,3309,285,1482,0,0,0,0,0,0
$GC,9947,0.92,354.0,59.6,12.3,1054,9953,0.00,2.25,0.00,0.000,6,0.000,0.055,3309,1714,1482,0,0,0,0,0,0
$GC,10272,0.98,354.0,25.6,10.0,1115,10278,0.00,2.33,0.00,0.000,4,0.000,0.080,3319,288,1481,0,0,0,0,0,0
$GC,10338,1.01,354.0,18.7,11.0,1130,10344,0.00,2.25,0.00,0.000,6,0.000,0.055,3319,1699,1480,0,0,0,0,0,0
$STATE,10486,end climb,SURFACE_DEPTH_REACHED
$STATE,10486,begin surface coast
$FINISH,1.5,1.024322
$STATE,10523,end surface coast,CONTROL_FINISHED_OK
$STATE,10523,begin surface
$SM_CCo,10595,0.00,0.000,0,0,1476,359.36
$SM_GC,2.76,8.43,0.00,0.00,0.061,0.000,0.000,145,1853,1476,-8.93,0.08,359.36
$RAFOS_CLK,551
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6018.68,220199,191906
$TT8_MAMPS,0.049855
$HUMID,40.31
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.2,90.9
$24V_AH,23.3,11.462
$10V_AH,10.2,4.955
$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,23.150,97.025,433.475,0.000,0.000,27.345,42.514,304.648,1.500,0.000,15.657,0.000,7721.156,563.665,2333.983,420.213,0.000,1484.241,0.000,1855.678,2491.000,14.671,0.000
$DEVICE_MAMPS,250.042,91.273,1020.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.403,861.191,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150800
$DATA_FILE_SIZE,47325,1165
$CAP_FILE_SIZE,150247,0
$CFSIZE,260165632,248401920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.4
$CURRENT,0.298,178.0,1
$GPS,291009,015731,6644.381,-6003.929,38,1.0,38,-38.0