version: 66.06
glider: 172
mission: 3
dive: 54
start: 10 29 109 5 26 38
data:
$ID,172
$MISSION,3
$DIVE,54
$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,-5181.0361
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,051637,6643.754,-6001.177,72,1.3,72,-38.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-73.9
$GPS2,052632,6643.640,-6001.222,14,1.3,14,-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,62.9,39707,-17.5,-10.000
$D_GRID,648
$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,-146.0,0.0,0.0,0,65,0.00,0.00,-50.97,0.000,2,0.000,0.000,131,1842,2341,0,0,0,0,0,0
$GC,66,-0.64,-146.0,3.1,-1.2,10,123,10.82,2.45,-36.85,0.000,4,0.252,0.091,2804,3265,3539,0,0,0,0,0,0
$GC,253,-0.55,-146.0,35.6,-17.1,52,258,0.15,2.30,0.00,0.000,6,0.173,0.064,2844,1849,3540,0,0,0,0,0,0
$GC,577,-0.55,-146.0,85.5,-15.1,113,583,0.00,2.33,0.00,0.000,4,0.000,0.076,2845,446,3540,0,0,0,0,0,0
$GC,617,-0.55,-146.0,91.5,-15.7,122,623,0.00,2.30,0.00,0.000,6,0.000,0.060,2837,1857,3540,0,0,0,0,0,0
$GC,938,-0.55,-146.0,138.8,-14.7,159,942,0.00,2.35,0.00,0.000,4,0.000,0.077,2837,443,3540,0,0,0,0,0,0
$GC,968,-0.55,-146.0,143.4,-15.1,162,974,0.00,2.28,0.00,0.000,6,0.000,0.059,2837,1852,3540,0,0,0,0,0,0
$GC,1283,-0.55,-146.0,185.9,-12.9,193,1286,0.00,2.33,0.00,0.000,4,0.000,0.078,2837,446,3540,0,0,0,0,0,0
$GC,1326,-0.55,-146.0,191.8,-14.0,198,1330,0.00,2.25,0.00,0.000,6,0.000,0.060,2829,1847,3539,0,0,0,0,0,0
$GC,1644,-0.55,-146.0,233.6,-12.5,229,1648,0.00,2.33,0.00,0.000,4,0.000,0.078,2828,440,3539,0,0,0,0,0,0
$GC,1666,-0.55,-146.0,236.6,-13.7,231,1672,0.00,2.25,0.00,0.000,6,0.000,0.059,2825,1843,3539,0,0,0,0,0,0
$GC,1980,-0.55,-146.0,277.1,-13.1,262,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1844,3539,0,0,0,0,0,0
$GC,2292,-0.59,-146.0,316.1,-12.3,292,2295,0.00,2.28,0.00,0.000,4,0.000,0.078,2826,439,3539,0,0,0,0,0,0
$GC,2334,-0.63,-146.0,321.5,-12.9,296,2339,0.00,2.25,0.00,0.000,6,0.000,0.060,2826,1844,3539,0,0,0,0,0,0
$GC,2648,-0.68,-146.0,360.3,-12.3,327,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1844,3539,0,0,0,0,0,0
$GC,2959,-0.73,-146.0,396.9,-11.2,357,2960,0.10,0.00,0.00,0.000,6,0.120,0.000,2780,1844,3538,0,0,0,0,0,0
$GC,3269,-0.68,-146.0,440.4,-13.8,387,3273,0.00,2.30,0.00,0.000,4,0.000,0.077,2780,441,3538,0,0,0,0,0,0
$GC,3290,-0.60,-146.0,443.6,-15.3,389,3297,0.15,2.25,0.00,0.000,6,0.147,0.060,2831,1849,3538,0,0,0,0,0,0
$GC,3605,-0.68,-146.0,472.9,-8.7,420,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1850,3539,0,0,0,0,0,0
$GC,3916,-0.76,-146.0,501.1,-9.2,450,3919,0.15,2.28,0.00,0.000,4,0.097,0.077,2766,441,3539,0,0,0,0,0,0
$GC,3936,-0.70,-146.0,503.8,-13.4,452,3942,0.10,2.25,0.00,0.000,6,0.155,0.058,2797,1853,3538,0,0,0,0,0,0
$GC,4251,-0.70,-146.0,540.5,-11.6,483,4255,0.00,2.30,0.00,0.000,4,0.000,0.077,2797,442,3539,0,0,0,0,0,0
$GC,4272,-0.70,-146.0,543.1,-12.2,485,4279,0.00,2.22,0.00,0.000,6,0.000,0.058,2795,1849,3539,0,0,0,0,0,0
$GC,4586,-0.70,-146.0,580.1,-11.6,516,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1849,3540,0,0,0,0,0,0
$GC,4915,-0.70,-146.0,619.1,-12.1,538,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1849,3541,0,0,0,0,0,0
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5159,-0.13,0.0,648.5,12.4,546,5282,0.57,0.00,120.97,1.053,6,0.139,0.000,2981,1695,2941,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5283,begin climb
$GC,5284,0.64,146.0,653.4,0.0,550,5413,0.73,0.00,126.32,1.019,6,0.084,0.000,3230,1694,2344,0,0,0,0,0,0
$GC,5699,0.60,184.3,633.0,8.2,564,5734,0.00,0.00,33.67,0.985,6,0.000,0.000,3230,1695,2188,0,0,0,0,0,0
$GC,6033,0.56,191.5,600.9,9.7,575,6041,0.00,0.00,6.70,0.818,6,0.000,0.000,3230,1695,2159,0,0,0,0,0,0
$GC,6343,0.51,195.1,570.5,9.8,603,6353,0.15,2.35,4.80,0.720,4,0.173,0.067,3190,3111,2143,0,0,0,0,0,0
$GC,6387,0.59,210.2,566.7,9.3,608,6406,0.00,2.33,14.70,0.927,6,0.000,0.065,3198,1703,2083,0,0,0,0,0,0
$GC,6713,0.69,247.7,539.6,8.3,640,6752,0.15,2.45,33.60,0.953,4,0.097,0.076,3271,290,1929,0,0,0,0,0,0
$GC,6838,0.58,247.7,523.4,14.7,654,6844,0.17,2.33,0.00,0.000,6,0.146,0.051,3215,1706,1924,0,0,0,0,0,0
$GC,7153,0.62,252.6,491.6,9.8,685,7159,0.00,0.00,4.68,0.686,6,0.000,0.000,3215,1706,1910,0,0,0,0,0,0
$GC,7464,0.67,255.3,461.0,9.9,715,7473,0.00,2.35,3.83,0.601,4,0.000,0.077,3225,288,1898,0,0,0,0,0,0
$GC,7516,0.71,255.3,455.5,11.3,721,7520,0.00,2.28,0.00,0.000,6,0.000,0.052,3225,1703,1898,0,0,0,0,0,0
$GC,7835,0.71,258.7,423.4,9.8,752,7844,0.00,2.33,4.72,0.678,4,0.000,0.077,3232,288,1885,0,0,0,0,0,0
$GC,7874,0.71,258.7,419.3,10.7,756,7879,0.00,2.25,0.00,0.000,6,0.000,0.051,3232,1700,1884,0,0,0,0,0,0
$GC,8188,0.71,258.7,388.1,10.0,787,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1700,1883,0,0,0,0,0,0
$GC,8499,0.71,258.8,356.7,10.0,817,8503,0.00,2.33,0.00,0.000,4,0.000,0.077,3240,281,1883,0,0,0,0,0,0
$GC,8559,0.71,258.8,350.1,11.2,824,8563,0.00,2.22,0.00,0.000,6,0.000,0.051,3240,1693,1882,0,0,0,0,0,0
$GC,8878,0.71,258.8,316.9,10.1,855,8882,0.00,2.30,0.00,0.000,4,0.000,0.077,3246,291,1882,0,0,0,0,0,0
$GC,8925,0.71,258.8,312.0,10.7,860,8931,0.00,2.22,0.00,0.000,6,0.000,0.052,3247,1701,1883,0,0,0,0,0,0
$GC,9240,0.71,258.8,278.7,10.7,891,9244,0.00,2.33,0.00,0.000,4,0.000,0.077,3253,285,1882,0,0,0,0,0,0
$GC,9287,0.71,258.8,273.4,11.8,896,9293,0.00,2.22,0.00,0.000,6,0.000,0.052,3253,1700,1882,0,0,0,0,0,0
$GC,9602,0.73,272.8,241.7,9.4,927,9620,0.00,0.00,13.70,0.779,6,0.000,0.000,3253,1700,1827,0,0,0,0,0,0
$GC,9929,0.78,283.5,209.6,9.5,959,9940,0.00,0.00,10.55,0.745,6,0.000,0.000,3253,1700,1783,0,0,0,0,0,0
$GC,10249,0.87,290.9,178.7,9.7,990,10262,0.15,2.38,7.70,0.701,4,0.099,0.079,3328,285,1754,0,0,0,0,0,0
$GC,10331,0.73,290.9,167.5,13.6,999,10336,0.22,2.22,0.00,0.000,6,0.164,0.053,3263,1705,1752,0,0,0,0,0,0
$GC,10645,0.83,313.6,136.7,8.9,1030,10668,0.00,0.00,21.80,0.748,6,0.000,0.000,3263,1705,1660,0,0,0,0,0,0
$GC,10976,0.97,346.1,107.7,8.5,1062,11011,0.20,2.38,29.62,0.729,4,0.085,0.077,3354,289,1527,0,0,0,0,0,0
$GC,11024,0.85,346.1,102.0,13.9,1067,11029,0.20,2.25,0.00,0.000,6,0.169,0.053,3299,1700,1525,0,0,0,0,0,0
$GC,11348,0.89,346.1,67.2,11.0,1126,11353,0.00,2.33,0.00,0.000,4,0.000,0.080,3309,289,1519,0,0,0,0,0,0
$GC,11400,0.89,346.1,61.4,11.4,1138,11405,0.00,2.25,0.00,0.000,6,0.000,0.054,3309,1690,1519,0,0,0,0,0,0
$GC,11725,0.99,385.1,27.7,8.2,1199,11762,0.10,2.42,33.25,0.693,4,0.123,0.071,3350,3109,1369,0,0,0,0,0,0
$GC,11831,0.99,385.1,15.7,11.9,1223,11837,0.00,2.35,0.00,0.000,6,0.000,0.067,3361,1709,1363,0,0,0,0,0,0
$STATE,11930,end climb,SURFACE_DEPTH_REACHED
$STATE,11930,begin surface coast
$FINISH,1.5,1.011401
$STATE,11968,end surface coast,CONTROL_FINISHED_OK
$STATE,11968,begin surface
$SM_CCo,12041,0.00,0.000,0,0,1357,388.31
$SM_GC,2.49,8.73,0.00,0.00,0.064,0.000,0.000,141,1853,1357,-8.95,0.08,388.31
$RAFOS_CLK,633
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6006.54,230199,050557
$TT8_MAMPS,0.052923
$HUMID,40.27
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.9,92.9
$24V_AH,23.3,11.757
$10V_AH,10.2,5.086
$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,22.850,92.625,470.625,0.000,0.000,58.018,68.551,305.093,1.750,0.000,14.399,0.000,9074.504,655.110,2385.277,500.635,0.000,1582.727,0.000,1916.015,2138.000,17.035,0.000
$DEVICE_MAMPS,252.343,91.273,1053.091,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.037,927.523,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150644
$DATA_FILE_SIZE,50558,1249
$CAP_FILE_SIZE,140191,0
$CFSIZE,260165632,248262656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.7
$CURRENT,0.098,166.9,1
$GPS,291009,084807,6644.733,-5958.817,27,1.0,27,-38.0