version: 66.06
glider: 172
mission: 3
dive: 56
start: 10 29 109 12 26 20
data:
$ID,172
$MISSION,3
$DIVE,56
$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,-5210.7231
$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,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
$GPS1,122031,6645.590,-5955.643,41,0.9,41,-38.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-75.9
$GPS2,122614,6645.607,-5955.732,11,1.1,11,-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,101.1,34763,-17.5,-10.000
$D_GRID,716
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,73,0.00,0.00,-59.03,0.000,2,0.000,0.000,132,1853,2420,0,0,0,0,0,0
$GC,74,-0.64,-146.0,3.1,-0.6,11,125,10.80,2.40,-32.70,0.000,4,0.253,0.090,2811,445,3539,0,0,0,0,0,0
$GC,164,-0.49,-146.0,19.9,-23.1,31,169,0.22,2.28,0.00,0.000,6,0.163,0.060,2867,1852,3540,0,0,0,0,0,0
$GC,488,-0.54,-146.0,66.5,-12.5,92,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1852,3541,0,0,0,0,0,0
$GC,812,-0.60,-146.0,106.8,-12.1,148,813,0.10,0.00,0.00,0.000,6,0.115,0.000,2821,1851,3541,0,0,0,0,0,0
$GC,1122,-0.60,-146.0,152.5,-13.6,178,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1852,3540,0,0,0,0,0,0
$GC,1433,-0.60,-146.0,193.3,-13.5,208,1437,0.00,2.28,0.00,0.000,4,0.000,0.077,2820,441,3540,0,0,0,0,0,0
$GC,1450,-0.60,-146.0,195.8,-14.4,210,1454,0.00,2.25,0.00,0.000,6,0.000,0.058,2813,1843,3540,0,0,0,0,0,0
$GC,1769,-0.60,-146.0,239.6,-14.2,241,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1843,3540,0,0,0,0,0,0
$GC,2080,-0.60,-146.0,282.3,-13.9,271,2083,0.00,2.25,0.00,0.000,4,0.000,0.076,2813,439,3539,0,0,0,0,0,0
$GC,2096,-0.60,-146.0,284.9,-14.9,273,2100,0.00,2.25,0.00,0.000,6,0.000,0.058,2808,1850,3539,0,0,0,0,0,0
$GC,2415,-0.60,-146.0,329.1,-13.6,304,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1850,3539,0,0,0,0,0,0
$GC,2725,-0.60,-146.0,369.6,-13.0,334,2729,0.00,2.33,0.00,0.000,4,0.000,0.077,2808,442,3538,0,0,0,0,0,0
$GC,2769,-0.60,-146.0,375.3,-13.1,339,2772,0.00,2.25,0.00,0.000,6,0.000,0.059,2805,1851,3539,0,0,0,0,0,0
$GC,3087,-0.60,-146.0,414.5,-12.5,370,3091,0.00,2.30,0.00,0.000,4,0.000,0.076,2805,441,3539,0,0,0,0,0,0
$GC,3122,-0.60,-146.0,418.9,-12.9,374,3125,0.00,2.25,0.00,0.000,6,0.000,0.058,2805,1854,3539,0,0,0,0,0,0
$GC,3440,-0.60,-146.0,457.2,-11.8,405,3444,0.00,2.30,0.00,0.000,4,0.000,0.076,2805,3257,3539,0,0,0,0,0,0
$GC,3462,-0.65,-146.0,459.5,-11.0,407,3467,0.00,2.28,0.00,0.000,6,0.000,0.063,2805,1844,3539,0,0,0,0,0,0
$GC,3776,-0.65,-146.0,493.7,-10.4,438,3780,0.00,2.28,0.00,0.000,4,0.000,0.075,2805,442,3539,0,0,0,0,0,0
$GC,3806,-0.65,-146.0,496.9,-10.3,441,3812,0.00,2.22,0.00,0.000,6,0.000,0.056,2797,1850,3539,0,0,0,0,0,0
$GC,4121,-0.65,-146.0,532.2,-11.8,472,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1850,3539,0,0,0,0,0,0
$GC,4432,-0.65,-146.0,567.8,-11.5,502,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1850,3540,0,0,0,0,0,0
$GC,4741,-0.65,-146.0,603.6,-11.5,530,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1850,3541,0,0,0,0,0,0
$GC,5044,-0.65,-146.0,637.5,-11.1,540,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1850,3541,0,0,0,0,0,0
$GC,5348,-0.65,-146.0,670.8,-11.1,550,5352,0.00,2.30,0.00,0.000,4,0.000,0.074,2797,442,3541,0,0,0,0,0,0
$GC,5373,-0.65,-146.0,673.9,-12.2,550,5380,0.00,2.22,0.00,0.000,6,0.000,0.056,2797,1853,3541,0,0,0,0,0,0
$GC,5681,-0.65,-146.0,708.3,-11.2,561,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1853,3542,0,0,0,0,0,0
$STATE,5771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5772,begin apogee
$GC,5775,-0.13,0.0,718.6,11.2,564,5899,0.55,0.00,122.10,1.094,6,0.139,0.000,2975,1695,2940,0,0,0,0,0,0
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5900,0.64,146.0,723.7,0.0,568,6033,0.75,2.50,126.28,1.061,4,0.084,0.072,3242,288,2343,0,0,0,0,0,0
$GC,6093,0.48,152.3,720.3,9.7,574,6105,0.20,2.38,6.15,0.809,6,0.149,0.049,3172,1696,2319,0,0,0,0,0,0
$GC,6405,0.64,227.3,699.7,6.5,585,6477,0.17,2.47,66.88,1.037,4,0.088,0.065,3242,3109,2011,0,0,0,0,0,0
$GC,6486,0.54,227.3,691.7,11.0,587,6490,0.20,2.42,0.00,0.000,6,0.162,0.061,3199,1702,2009,0,0,0,0,0,0
$GC,6793,0.61,240.3,662.1,9.4,597,6809,0.00,2.42,11.10,0.927,4,0.000,0.074,3209,294,1960,0,0,0,0,0,0
$GC,6844,0.66,240.3,657.1,10.6,598,6847,0.00,2.30,0.00,0.000,6,0.000,0.051,3209,1696,1958,0,0,0,0,0,0
$GC,7156,0.70,240.3,625.4,10.1,609,7160,0.12,2.35,0.00,0.000,4,0.104,0.066,3263,3118,1955,0,0,0,0,0,0
$GC,7173,0.64,240.3,623.3,12.7,609,7177,0.08,2.35,0.00,0.000,6,0.162,0.062,3235,1703,1955,0,0,0,0,0,0
$GC,7492,0.60,240.3,585.1,11.7,628,7495,0.00,2.30,0.00,0.000,4,0.000,0.074,3245,287,1954,0,0,0,0,0,0
$GC,7526,0.55,240.3,581.0,12.7,632,7530,0.10,2.25,0.00,0.000,6,0.146,0.051,3212,1693,1954,0,0,0,0,0,0
$GC,7845,0.60,248.5,549.1,9.6,663,7856,0.00,0.00,8.05,0.856,6,0.000,0.000,3212,1693,1926,0,0,0,0,0,0
$GC,8165,0.64,249.2,517.9,10.0,694,8169,0.00,2.33,0.00,0.000,4,0.000,0.074,3222,288,1923,0,0,0,0,0,0
$GC,8186,0.64,249.2,515.6,11.0,696,8192,0.00,2.25,0.00,0.000,6,0.000,0.050,3222,1705,1923,0,0,0,0,0,0
$GC,8501,0.64,249.2,481.9,11.1,727,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1923,0,0,0,0,0,0
$GC,8812,0.64,249.2,448.1,10.6,757,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1705,1922,0,0,0,0,0,0
$GC,9123,0.68,260.3,416.7,9.5,787,9140,0.00,2.33,11.48,0.847,4,0.000,0.076,3232,287,1878,0,0,0,0,0,0
$GC,9156,0.68,260.3,413.1,10.5,791,9160,0.00,2.25,0.00,0.000,6,0.000,0.051,3232,1702,1877,0,0,0,0,0,0
$GC,9475,0.68,260.3,380.1,10.2,822,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1702,1875,0,0,0,0,0,0
$GC,9786,0.68,260.3,346.4,10.9,852,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1702,1875,0,0,0,0,0,0
$GC,10097,0.72,260.3,312.3,10.1,882,10100,0.00,2.28,0.00,0.000,4,0.000,0.077,3240,285,1874,0,0,0,0,0,0
$GC,10117,0.72,260.3,310.1,10.2,884,10123,0.00,2.22,0.00,0.000,6,0.000,0.051,3240,1698,1875,0,0,0,0,0,0
$GC,10432,0.73,269.1,278.2,9.6,915,10443,0.00,0.00,8.75,0.757,6,0.000,0.000,3240,1699,1843,0,0,0,0,0,0
$GC,10752,0.77,269.1,248.0,10.0,946,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1699,1840,0,0,0,0,0,0
$GC,11063,0.84,290.2,217.7,9.0,976,11091,0.15,2.33,20.12,0.781,4,0.097,0.077,3317,284,1755,0,0,0,0,0,0
$GC,11129,0.72,290.2,209.0,14.8,983,11134,0.12,2.25,0.00,0.000,6,0.150,0.052,3260,1696,1753,0,0,0,0,0,0
$GC,11443,0.73,297.2,177.4,9.7,1014,11454,0.00,2.35,6.88,0.683,4,0.000,0.069,3260,3104,1727,0,0,0,0,0,0
$GC,11514,0.78,297.3,170.0,10.0,1022,11518,0.00,2.30,0.00,0.000,6,0.000,0.064,3269,1703,1725,0,0,0,0,0,0
$GC,11833,0.83,309.0,139.0,9.5,1053,11852,0.00,2.35,11.57,0.723,4,0.000,0.077,3279,296,1679,0,0,0,0,0,0
$GC,11860,0.88,309.0,136.3,10.1,1056,11864,0.00,2.22,0.00,0.000,6,0.000,0.053,3278,1691,1679,0,0,0,0,0,0
$GC,12179,0.92,309.0,103.4,10.1,1087,12183,0.12,2.33,0.00,0.000,4,0.106,0.078,3341,279,1676,0,0,0,0,0,0
$GC,12218,0.76,309.0,98.5,13.8,1092,12223,0.22,2.22,0.00,0.000,6,0.168,0.054,3277,1702,1676,0,0,0,0,0,0
$GC,12543,0.87,335.1,68.7,8.8,1153,12572,0.00,2.35,24.00,0.713,4,0.000,0.079,3288,288,1573,0,0,0,0,0,0
$GC,12606,0.92,339.1,62.8,9.8,1167,12616,0.10,2.22,4.78,0.559,6,0.122,0.055,3329,1699,1557,0,0,0,0,0,0
$GC,12935,0.92,339.1,24.1,11.3,1229,12941,0.00,2.38,0.00,0.000,4,0.000,0.080,3339,289,1552,0,0,0,0,0,0
$GC,12979,0.89,339.1,19.2,10.6,1239,12984,0.08,2.25,0.00,0.000,6,0.157,0.055,3314,1693,1552,0,0,0,0,0,0
$STATE,13136,end climb,SURFACE_DEPTH_REACHED
$STATE,13136,begin surface coast
$FINISH,1.4,1.024461
$STATE,13174,end surface coast,CONTROL_FINISHED_OK
$STATE,13174,begin surface
$SM_CCo,13247,0.00,0.000,0,0,1547,341.70
$SM_GC,2.77,8.40,0.00,0.00,0.059,0.000,0.000,141,1861,1547,-8.93,0.31,341.70
$RAFOS_CLK,684
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5959.11,230199,080830
$TT8_MAMPS,0.05369
$HUMID,40.03
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.8,109.8
$24V_AH,23.2,12.038
$10V_AH,10.2,5.215
$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,22.500,101.875,428.125,0.000,0.000,29.767,32.549,182.892,1.750,0.000,11.488,0.000,10184.759,542.740,2472.083,370.018,0.000,1573.885,0.000,1989.059,1412.000,16.125,0.000
$DEVICE_MAMPS,253.110,89.739,1093.742,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.503,948.713,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150388
$DATA_FILE_SIZE,50381,1276
$CAP_FILE_SIZE,144341,0
$CFSIZE,260165632,248115200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$CURRENT,0.284,183.3,1
$GPS,291009,160831,6644.476,-5951.329,63,0.8,63,-38.0