version: 66.06
glider: 172
mission: 3
dive: 58
start: 10 29 109 20 2 25
data:
$ID,172
$MISSION,3
$DIVE,58
$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,-5244.8506
$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,30
$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
$GPS1,195707,6645.295,-5948.755,35,1.1,35,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-77.8
$GPS2,200219,6645.231,-5948.864,11,1.2,16,-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,73.6,30246,-17.5,-10.000
$D_GRID,777
$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,-51.65,0.000,2,0.000,0.000,144,1859,2484,0,0,0,0,0,0
$GC,67,-0.64,-146.0,3.3,-2.5,10,113,10.52,2.40,-28.23,0.000,4,0.249,0.091,2808,442,3539,0,0,0,0,0,0
$GC,181,-0.51,-146.0,26.8,-20.7,36,188,0.17,2.28,0.00,0.000,6,0.147,0.060,2857,1841,3540,0,0,0,0,0,0
$GC,507,-0.51,-146.0,74.8,-14.3,97,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1841,3541,0,0,0,0,0,0
$GC,828,-0.51,-146.0,117.2,-12.6,145,832,0.00,2.33,0.00,0.000,4,0.000,0.078,2857,436,3541,0,0,0,0,0,0
$GC,854,-0.51,-146.0,120.6,-13.1,148,858,0.00,2.28,0.00,0.000,6,0.000,0.059,2848,1850,3540,0,0,0,0,0,0
$GC,1173,-0.55,-146.0,160.4,-12.3,179,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1850,3541,0,0,0,0,0,0
$GC,1484,-0.62,-146.0,197.6,-11.5,209,1488,0.00,2.30,0.00,0.000,4,0.000,0.079,2848,440,3540,0,0,0,0,0,0
$GC,1527,-0.70,-146.0,202.8,-11.8,213,1532,0.10,2.25,0.00,0.000,6,0.071,0.058,2793,1845,3540,0,0,0,0,0,0
$GC,1843,-0.63,-146.0,249.5,-15.0,244,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1845,3540,0,0,0,0,0,0
$GC,2152,-0.57,-146.0,295.0,-14.1,274,2156,0.15,2.28,0.00,0.000,4,0.171,0.079,2836,441,3539,0,0,0,0,0,0
$GC,2177,-0.57,-146.0,298.2,-12.0,277,2181,0.00,2.25,0.00,0.000,6,0.000,0.058,2826,1850,3539,0,0,0,0,0,0
$GC,2496,-0.62,-146.0,333.4,-10.6,308,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1850,3539,0,0,0,0,0,0
$GC,2807,-0.67,-146.0,365.1,-10.3,338,2811,0.00,2.30,0.00,0.000,4,0.000,0.079,2826,436,3539,0,0,0,0,0,0
$GC,2871,-0.75,-146.0,372.3,-10.9,345,2876,0.08,2.25,0.00,0.000,6,0.077,0.059,2775,1846,3539,0,0,0,0,0,0
$GC,3190,-0.68,-146.0,416.9,-14.2,376,3194,0.00,2.30,0.00,0.000,4,0.000,0.077,2775,442,3539,0,0,0,0,0,0
$GC,3251,-0.62,-146.0,425.7,-14.7,383,3255,0.15,2.25,0.00,0.000,6,0.149,0.059,2818,1854,3539,0,0,0,0,0,0
$GC,3570,-0.67,-146.0,460.3,-10.4,414,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1855,3539,0,0,0,0,0,0
$GC,3881,-0.74,-146.0,492.7,-10.7,444,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1854,3539,0,0,0,0,0,0
$GC,4190,-0.80,-146.0,524.1,-9.8,474,4195,0.15,2.33,0.00,0.000,4,0.095,0.077,2752,438,3540,0,0,0,0,0,0
$GC,4216,-0.67,-146.0,527.5,-14.8,477,4220,0.22,2.22,0.00,0.000,6,0.155,0.058,2810,1869,3540,0,0,0,0,0,0
$GC,4535,-0.71,-146.0,560.9,-10.3,508,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1869,3540,0,0,0,0,0,0
$GC,4846,-0.75,-146.0,591.7,-10.3,538,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1870,3541,0,0,0,0,0,0
$GC,5171,-0.79,-146.0,626.2,-10.5,554,5175,0.12,2.28,0.00,0.000,4,0.102,0.074,2752,3254,3542,0,0,0,0,0,0
$GC,5197,-0.73,-146.0,629.5,-13.5,554,5202,0.10,2.25,0.00,0.000,6,0.143,0.062,2800,1850,3541,0,0,0,0,0,0
$GC,5504,-0.73,-146.0,665.6,-11.8,565,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1850,3542,0,0,0,0,0,0
$GC,5808,-0.73,-146.0,701.2,-11.9,575,5812,0.00,2.25,0.00,0.000,4,0.000,0.074,2800,439,3542,0,0,0,0,0,0
$GC,5846,-0.73,-146.0,706.0,-12.7,576,5850,0.00,2.22,0.00,0.000,6,0.000,0.056,2798,1854,3542,0,0,0,0,0,0
$GC,6166,-0.73,-146.0,744.2,-11.6,587,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1854,3542,0,0,0,0,0,0
$STATE,6469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6469,begin apogee
$GC,6472,-0.13,0.0,780.0,11.7,597,6597,0.55,0.00,122.97,1.131,6,0.137,0.000,2977,1694,2940,0,0,0,0,0,0
$STATE,6598,end apogee,CONTROL_FINISHED_OK
$STATE,6598,begin climb
$GC,6599,0.64,146.0,785.2,0.0,601,6733,0.75,2.50,127.62,1.099,4,0.087,0.073,3243,289,2343,0,0,0,0,0,0
$GC,6801,0.50,169.0,782.0,8.9,607,6827,0.20,2.35,20.80,1.032,6,0.160,0.050,3191,1707,2251,0,0,0,0,0,0
$GC,7151,0.56,221.1,755.6,7.6,619,7205,0.00,2.42,47.28,1.068,4,0.000,0.066,3191,3109,2036,0,0,0,0,0,0
$GC,7222,0.64,232.0,749.6,9.5,621,7241,0.00,2.42,10.73,0.946,6,0.000,0.062,3198,1715,1993,0,0,0,0,0,0
$GC,7542,0.71,245.5,719.5,9.4,632,7559,0.15,2.42,12.52,0.979,4,0.095,0.075,3271,284,1938,0,0,0,0,0,0
$GC,7615,0.58,245.5,709.8,13.8,634,7619,0.20,2.28,0.00,0.000,6,0.160,0.050,3216,1702,1935,0,0,0,0,0,0
$GC,7926,0.58,245.5,676.4,10.7,645,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1703,1933,0,0,0,0,0,0
$GC,8229,0.58,245.5,644.3,10.5,655,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1933,0,0,0,0,0,0
$GC,8533,0.58,245.5,612.8,10.5,665,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1932,0,0,0,0,0,0
$GC,8840,0.58,245.5,580.3,10.4,687,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1932,0,0,0,0,0,0
$GC,9151,0.58,245.5,547.4,10.4,717,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1931,0,0,0,0,0,0
$GC,9462,0.59,251.7,516.2,9.7,747,9472,0.00,0.00,5.82,0.786,6,0.000,0.000,3216,1703,1914,0,0,0,0,0,0
$GC,9781,0.59,251.7,484.0,10.4,778,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1703,1914,0,0,0,0,0,0
$GC,10092,0.64,263.0,452.9,9.5,808,10110,0.00,2.33,11.77,0.869,4,0.000,0.077,3226,284,1866,0,0,0,0,0,0
$GC,10127,0.64,263.0,449.4,10.2,812,10130,0.00,2.25,0.00,0.000,6,0.000,0.051,3226,1700,1866,0,0,0,0,0,0
$GC,10446,0.68,271.2,417.4,9.6,843,10458,0.00,2.35,8.35,0.807,4,0.000,0.077,3234,288,1834,0,0,0,0,0,0
$GC,10479,0.68,271.2,414.0,10.4,847,10483,0.00,2.25,0.00,0.000,6,0.000,0.051,3234,1702,1833,0,0,0,0,0,0
$GC,10798,0.68,271.2,381.9,10.2,878,10802,0.00,2.33,0.00,0.000,4,0.000,0.075,3242,291,1831,0,0,0,0,0,0
$GC,10863,0.68,271.2,374.9,11.1,885,10869,0.00,2.22,0.00,0.000,6,0.000,0.051,3242,1702,1831,0,0,0,0,0,0
$GC,11177,0.68,271.2,338.5,11.6,916,11181,0.00,2.33,0.00,0.000,4,0.000,0.076,3248,285,1831,0,0,0,0,0,0
$GC,11246,0.68,271.2,329.8,12.7,924,11250,0.00,2.22,0.00,0.000,6,0.000,0.051,3248,1704,1831,0,0,0,0,0,0
$GC,11565,0.68,271.2,292.7,11.0,955,11566,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1704,1831,0,0,0,0,0,0
$GC,11876,0.68,271.2,261.0,10.1,985,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1705,1831,0,0,0,0,0,0
$GC,12187,0.70,287.1,232.9,9.3,1015,12207,0.00,2.30,15.40,0.775,4,0.000,0.070,3248,3096,1768,0,0,0,0,0,0
$GC,12246,0.75,287.1,227.1,10.6,1022,12250,0.00,2.28,0.00,0.000,6,0.000,0.064,3257,1702,1765,0,0,0,0,0,0
$GC,12565,0.76,292.1,195.1,9.8,1053,12576,0.00,2.30,5.43,0.643,4,0.000,0.076,3265,285,1748,0,0,0,0,0,0
$GC,12670,0.76,292.1,183.4,11.2,1065,12674,0.00,2.22,0.00,0.000,6,0.000,0.052,3265,1691,1747,0,0,0,0,0,0
$GC,12989,0.81,302.0,151.0,9.5,1096,13001,0.00,0.00,10.32,0.720,6,0.000,0.000,3266,1691,1707,0,0,0,0,0,0
$GC,13309,0.91,327.1,121.7,8.8,1127,13335,0.15,0.00,23.92,0.734,6,0.100,0.000,3329,1691,1606,0,0,0,0,0,0
$GC,13645,0.83,327.1,78.5,12.4,1174,13651,0.12,2.30,0.00,0.000,4,0.175,0.078,3305,286,1599,0,0,0,0,0,0
$GC,13698,0.83,327.1,72.4,11.7,1186,13703,0.00,2.25,0.00,0.000,6,0.000,0.054,3305,1691,1598,0,0,0,0,0,0
$GC,14022,0.83,327.1,37.8,10.8,1247,14028,0.00,2.30,0.00,0.000,4,0.000,0.073,3305,3110,1596,0,0,0,0,0,0
$GC,14118,0.83,327.1,27.8,10.4,1269,14124,0.00,2.33,0.00,0.000,6,0.000,0.067,3315,1697,1595,0,0,0,0,0,0
$STATE,14362,end climb,SURFACE_DEPTH_REACHED
$STATE,14362,begin surface coast
$FINISH,1.4,1.023881
$STATE,14394,end surface coast,CONTROL_FINISHED_OK
$STATE,14394,begin surface
$SM_CCo,14467,0.00,0.000,0,0,1590,331.15
$SM_GC,2.66,8.43,0.00,0.00,0.061,0.000,0.000,143,1860,1590,-8.95,0.28,331.15
$RAFOS_CLK,745
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5944.22,230199,161646
$TT8_MAMPS,0.051389
$HUMID,39.84
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.5,90.5
$24V_AH,23.1,12.312
$10V_AH,10.2,5.349
$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,22.325,92.450,422.950,0.000,0.000,29.071,33.875,157.428,2.250,0.000,16.721,0.000,11279.716,525.705,2617.412,334.829,0.000,1599.248,0.000,2105.510,2471.000,21.543,0.000
$DEVICE_MAMPS,248.508,91.273,1130.558,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.225,983.306,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150456
$DATA_FILE_SIZE,50502,1321
$CAP_FILE_SIZE,148117,0
$CFSIZE,260165632,247963648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$CURRENT,0.041,143.0,1
$GPS,301009,000455,6646.770,-5945.062,62,1.8,62,-38.0