version: 66.06
glider: 172
mission: 3
dive: 53
start: 10 29 109 2 6 50
data:
$ID,172
$MISSION,3
$DIVE,53
$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,-5166.0078
$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,23
$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
$GPS1,015731,6644.381,-6003.929,38,1.0,38,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-77.0
$GPS2,020644,6644.302,-6003.973,15,1.2,15,-38.0
$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,65.5,41209,-17.5,-10.000
$D_GRID,629
$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,-146.0,0.0,0.0,0,60,0.00,0.00,-46.03,0.000,2,0.000,0.000,131,1854,2346,0,0,0,0,0,0
$GC,61,-0.64,-146.0,3.0,-0.8,9,118,10.75,2.40,-37.53,0.000,4,0.252,0.092,2811,446,3538,0,0,0,0,0,0
$GC,365,-0.54,-146.0,59.0,-18.2,78,371,0.10,2.30,0.00,0.000,6,0.156,0.061,2842,1849,3539,0,0,0,0,0,0
$GC,693,-0.54,-146.0,108.6,-15.0,135,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1849,3540,0,0,0,0,0,0
$GC,1004,-0.54,-146.0,153.1,-13.3,165,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1849,3539,0,0,0,0,0,0
$GC,1314,-0.59,-146.0,192.0,-11.5,195,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1849,3539,0,0,0,0,0,0
$GC,1625,-0.64,-146.0,226.9,-11.1,225,1629,0.00,2.33,0.00,0.000,4,0.000,0.080,2838,3267,3539,0,0,0,0,0,0
$GC,1646,-0.74,-146.0,229.2,-10.7,227,1650,0.10,2.30,0.00,0.000,6,0.065,0.065,2780,1855,3539,0,0,0,0,0,0
$GC,1965,-0.64,-146.0,281.1,-16.9,258,1969,0.12,2.35,0.00,0.000,4,0.178,0.080,2814,441,3538,0,0,0,0,0,0
$GC,2012,-0.64,-146.0,288.2,-14.0,263,2018,0.00,2.25,0.00,0.000,6,0.000,0.061,2807,1842,3538,0,0,0,0,0,0
$GC,2326,-0.64,-146.0,329.3,-12.6,294,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1843,3538,0,0,0,0,0,0
$GC,2637,-0.64,-146.0,367.3,-12.1,324,2641,0.00,2.33,0.00,0.000,4,0.000,0.079,2798,3251,3538,0,0,0,0,0,0
$GC,2698,-0.70,-146.0,374.3,-10.4,331,2701,0.00,2.25,0.00,0.000,6,0.000,0.069,2798,1838,3538,0,0,0,0,0,0
$GC,3016,-0.70,-146.0,412.6,-11.9,362,3020,0.00,2.28,0.00,0.000,4,0.000,0.079,2798,443,3537,0,0,0,0,0,0
$GC,3072,-0.70,-146.0,419.9,-13.2,368,3079,0.00,2.25,0.00,0.000,6,0.000,0.061,2795,1854,3538,0,0,0,0,0,0
$GC,3386,-0.70,-146.0,458.2,-12.7,399,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1855,3538,0,0,0,0,0,0
$GC,3698,-0.70,-146.0,497.1,-12.3,429,3701,0.00,2.28,0.00,0.000,4,0.000,0.077,2795,438,3538,0,0,0,0,0,0
$GC,3797,-0.70,-146.0,510.0,-13.0,440,3803,0.00,2.25,0.00,0.000,6,0.000,0.059,2795,1854,3538,0,0,0,0,0,0
$GC,4111,-0.70,-146.0,547.5,-11.7,471,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1854,3538,0,0,0,0,0,0
$GC,4422,-0.70,-146.0,584.1,-11.6,501,4426,0.00,2.30,0.00,0.000,4,0.000,0.077,2795,414,3539,0,0,0,0,0,0
$GC,4474,-0.70,-146.0,590.3,-12.0,507,4478,0.00,2.28,0.00,0.000,6,0.000,0.058,2795,1850,3539,0,0,0,0,0,0
$STATE,4807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4807,begin apogee
$GC,4809,-0.13,0.0,629.6,11.8,524,4932,0.57,0.00,120.50,1.039,6,0.139,0.000,2981,1697,2940,0,0,0,0,0,0
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4933,begin climb
$GC,4934,0.64,146.0,633.6,0.0,528,5065,0.73,2.42,125.20,1.006,4,0.084,0.073,3240,294,2342,0,0,0,0,0,0
$GC,5281,0.53,169.3,615.1,8.9,539,5306,0.12,2.33,20.08,0.946,6,0.151,0.051,3202,1701,2249,0,0,0,0,0,0
$GC,5621,0.58,209.1,587.6,8.2,559,5659,0.00,0.00,35.47,0.969,6,0.000,0.000,3202,1701,2087,0,0,0,0,0,0
$GC,5967,0.64,217.5,556.1,9.6,593,5980,0.00,2.42,7.55,0.828,4,0.000,0.077,3212,289,2053,0,0,0,0,0,0
$GC,6041,0.64,217.5,549.0,10.2,601,6046,0.00,2.30,0.00,0.000,6,0.000,0.052,3212,1702,2052,0,0,0,0,0,0
$GC,6355,0.65,228.0,518.7,9.5,632,6368,0.00,0.00,10.55,0.877,6,0.000,0.000,3212,1703,2010,0,0,0,0,0,0
$GC,6676,0.71,245.8,488.9,9.2,663,6698,0.12,2.40,16.62,0.903,4,0.107,0.075,3277,295,1937,0,0,0,0,0,0
$GC,6776,0.57,245.8,475.8,13.9,674,6782,0.20,2.28,0.00,0.000,6,0.148,0.051,3213,1703,1934,0,0,0,0,0,0
$GC,7090,0.65,261.7,445.2,9.3,705,7111,0.00,2.40,15.27,0.874,4,0.000,0.076,3223,294,1871,0,0,0,0,0,0
$GC,7154,0.69,261.7,439.1,10.6,712,7161,0.00,2.28,0.00,0.000,6,0.000,0.051,3223,1705,1868,0,0,0,0,0,0
$GC,7469,0.75,268.0,408.0,9.7,743,7480,0.12,0.00,6.43,0.749,6,0.106,0.000,3278,1705,1846,0,0,0,0,0,0
$GC,7789,0.66,268.0,364.7,14.1,774,7793,0.12,2.38,0.00,0.000,4,0.172,0.077,3253,293,1844,0,0,0,0,0,0
$GC,7845,0.66,268.0,357.5,12.4,780,7852,0.00,2.22,0.00,0.000,6,0.000,0.051,3253,1690,1844,0,0,0,0,0,0
$GC,8159,0.66,268.0,320.9,11.7,811,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1691,1843,0,0,0,0,0,0
$GC,8470,0.66,268.0,286.2,10.6,841,8474,0.00,2.28,0.00,0.000,4,0.000,0.067,3253,3107,1843,0,0,0,0,0,0
$GC,8500,0.66,268.0,282.7,11.5,844,8506,0.00,2.30,0.00,0.000,6,0.000,0.065,3262,1701,1843,0,0,0,0,0,0
$GC,8814,0.66,268.0,248.4,11.1,875,8818,0.00,2.30,0.00,0.000,4,0.000,0.077,3271,293,1843,0,0,0,0,0,0
$GC,8853,0.63,268.0,243.9,12.2,879,8859,0.12,2.22,0.00,0.000,6,0.150,0.052,3228,1704,1843,0,0,0,0,0,0
$GC,9168,0.78,309.1,216.0,8.1,910,9212,0.15,2.40,37.25,0.785,4,0.100,0.077,3303,292,1678,0,0,0,0,0,0
$GC,9233,0.71,309.1,208.4,13.9,917,9239,0.12,2.28,0.00,0.000,6,0.147,0.052,3248,1699,1676,0,0,0,0,0,0
$GC,9547,0.85,330.8,178.5,9.0,948,9575,0.15,2.35,19.50,0.750,4,0.097,0.077,3321,288,1589,0,0,0,0,0,0
$GC,9644,0.77,330.8,166.1,14.1,959,9648,0.15,2.28,0.00,0.000,6,0.146,0.053,3273,1700,1586,0,0,0,0,0,0
$GC,9963,0.83,330.8,134.8,10.1,990,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1700,1583,0,0,0,0,0,0
$GC,10273,0.90,330.8,104.5,10.1,1020,10277,0.12,2.38,0.00,0.000,4,0.103,0.081,3339,261,1581,0,0,0,0,0,0
$GC,10364,0.82,330.8,92.0,13.9,1036,10371,0.17,2.25,0.00,0.000,6,0.167,0.054,3289,1699,1581,0,0,0,0,0,0
$GC,10690,0.87,330.8,58.2,11.7,1097,10695,0.00,2.28,0.00,0.000,4,0.000,0.074,3289,3109,1580,0,0,0,0,0,0
$GC,10720,0.93,330.8,54.9,10.6,1104,10726,0.00,2.30,0.00,0.000,6,0.000,0.068,3299,1704,1579,0,0,0,0,0,0
$GC,11046,1.07,379.1,24.8,7.8,1165,11094,0.20,2.38,41.58,0.699,4,0.093,0.078,3389,284,1392,0,0,0,0,0,0
$STATE,11196,end climb,SURFACE_DEPTH_REACHED
$STATE,11196,begin surface coast
$FINISH,1.5,1.014480
$STATE,11218,end surface coast,CONTROL_FINISHED_OK
$STATE,11218,begin surface
$SM_CCo,11293,0.00,0.000,0,0,1382,382.18
$SM_GC,2.77,8.80,0.00,0.00,0.064,0.000,0.000,144,1842,1382,-8.95,-0.23,382.18
$RAFOS_CLK,590
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5954.40,220199,232325
$TT8_MAMPS,0.050622
$HUMID,39.95
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.5,160.3
$24V_AH,23.3,11.609
$10V_AH,10.2,5.020
$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,23.075,88.375,456.000,0.000,0.000,25.331,30.208,381.434,1.000,0.000,15.999,0.000,8280.374,596.413,2435.786,497.348,0.000,1561.296,0.000,1969.537,2491.000,10.194,0.000
$DEVICE_MAMPS,251.576,92.040,1038.518,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,845.099,892.245,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150740
$DATA_FILE_SIZE,47311,1204
$CAP_FILE_SIZE,137578,0
$CFSIZE,260165632,248340480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.5
$CURRENT,0.326,171.5,1
$GPS,291009,051637,6643.754,-6001.177,72,1.3,72,-38.0