version: 66.06
glider: 172
mission: 3
dive: 49
start: 10 28 109 14 2 52
data:
$ID,172
$MISSION,3
$DIVE,49
$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,-5107.1484
$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,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
$GPS1,135637,6643.325,-6014.354,57,1.9,57,-38.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-77.5
$GPS2,140246,6643.284,-6014.364,13,2.1,32,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$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,56.4,15070,-17.5,-10.000
$D_GRID,550
$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,-146.0,0.0,0.0,0,55,0.00,0.00,-41.67,0.000,2,0.000,0.000,121,1855,2268,0,0,0,0,0,0
$GC,57,-0.64,-146.0,3.0,-0.4,8,117,10.57,2.40,-41.90,0.000,4,0.247,0.094,2809,443,3539,0,0,0,0,0,0
$GC,150,-0.46,-146.0,17.4,-21.6,29,156,0.20,2.30,0.00,0.000,6,0.146,0.061,2867,1845,3540,0,0,0,0,0,0
$GC,475,-0.49,-146.0,63.2,-13.7,90,481,0.00,2.35,0.00,0.000,4,0.000,0.079,2867,439,3541,0,0,0,0,0,0
$GC,519,-0.55,-146.0,69.0,-13.1,100,524,0.00,2.25,0.00,0.000,6,0.000,0.059,2865,1853,3541,0,0,0,0,0,0
$GC,841,-0.59,-146.0,109.1,-12.0,154,845,0.00,2.35,0.00,0.000,4,0.000,0.079,2865,442,3540,0,0,0,0,0,0
$GC,876,-0.65,-146.0,113.5,-12.8,158,879,0.08,2.28,0.00,0.000,6,0.049,0.059,2802,1849,3540,0,0,0,0,0,0
$GC,1194,-0.57,-146.0,165.9,-15.7,189,1198,0.12,2.35,0.00,0.000,4,0.179,0.078,2825,3254,3540,0,0,0,0,0,0
$GC,1224,-0.63,-146.0,170.1,-13.0,192,1230,0.00,2.30,0.00,0.000,6,0.000,0.065,2826,1847,3540,0,0,0,0,0,0
$GC,1538,-0.63,-146.0,211.7,-12.8,223,1542,0.00,2.30,0.00,0.000,4,0.000,0.079,2825,448,3540,0,0,0,0,0,0
$GC,1581,-0.63,-146.0,217.3,-12.2,228,1585,0.00,2.25,0.00,0.000,6,0.000,0.060,2821,1849,3540,0,0,0,0,0,0
$GC,1899,-0.63,-146.0,259.5,-13.1,259,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1849,3540,0,0,0,0,0,0
$GC,2211,-0.63,-146.0,300.2,-12.7,289,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1849,3539,0,0,0,0,0,0
$GC,2521,-0.63,-146.0,339.3,-12.6,319,2525,0.00,2.33,0.00,0.000,4,0.000,0.078,2812,3255,3539,0,0,0,0,0,0
$GC,2573,-0.72,-146.0,345.5,-12.2,325,2576,0.00,2.25,0.00,0.000,6,0.000,0.066,2812,1840,3539,0,0,0,0,0,0
$GC,2891,-0.72,-146.0,383.2,-11.7,356,2894,0.00,2.28,0.00,0.000,4,0.000,0.078,2812,446,3538,0,0,0,0,0,0
$GC,2938,-0.72,-146.0,389.2,-12.9,361,2944,0.00,2.22,0.00,0.000,6,0.000,0.059,2808,1845,3539,0,0,0,0,0,0
$GC,3252,-0.72,-146.0,428.1,-12.6,392,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1845,3538,0,0,0,0,0,0
$GC,3563,-0.72,-146.0,464.8,-11.6,422,3567,0.00,2.30,0.00,0.000,4,0.000,0.077,2808,440,3539,0,0,0,0,0,0
$GC,3645,-0.72,-146.0,474.9,-11.8,431,3652,0.00,2.22,0.00,0.000,6,0.000,0.058,2808,1845,3539,0,0,0,0,0,0
$GC,3960,-0.72,-146.0,509.7,-11.1,462,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1846,3539,0,0,0,0,0,0
$GC,4271,-0.72,-146.0,543.5,-11.0,492,4274,0.00,2.25,0.00,0.000,4,0.000,0.077,2808,439,3540,0,0,0,0,0,0
$GC,4301,-0.72,-146.0,547.0,-11.7,495,4307,0.00,2.22,0.00,0.000,6,0.000,0.058,2808,1849,3540,0,0,0,0,0,0
$STATE,4334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4334,begin apogee
$GC,4337,-0.13,0.0,550.8,11.0,499,4459,0.52,0.00,119.45,0.996,6,0.135,0.000,2980,1699,2939,0,0,0,0,0,0
$STATE,4459,end apogee,CONTROL_FINISHED_OK
$STATE,4459,begin climb
$GC,4461,0.64,146.0,555.6,0.0,511,4595,0.73,2.50,124.12,0.962,4,0.083,0.074,3241,284,2341,0,0,0,0,0,0
$GC,4751,0.54,168.2,543.2,9.0,544,4774,0.12,2.35,18.90,0.904,6,0.149,0.051,3203,1699,2254,0,0,0,0,0,0
$GC,5083,0.59,210.5,516.9,8.0,576,5128,0.00,2.42,37.30,0.928,4,0.000,0.068,3203,3113,2080,0,0,0,0,0,0
$GC,5157,0.64,223.9,510.4,9.4,584,5175,0.00,2.38,12.52,0.854,6,0.000,0.064,3210,1702,2028,0,0,0,0,0,0
$GC,5490,0.71,242.5,479.2,9.1,617,5511,0.12,2.40,16.98,0.881,4,0.105,0.075,3274,282,1950,0,0,0,0,0,0
$GC,5571,0.59,242.5,468.8,13.2,626,5575,0.17,2.33,0.00,0.000,6,0.149,0.051,3219,1701,1948,0,0,0,0,0,0
$GC,5890,0.64,257.1,437.6,9.3,657,5908,0.00,2.38,13.52,0.854,4,0.000,0.076,3229,287,1890,0,0,0,0,0,0
$GC,5968,0.64,257.1,429.9,10.8,666,5972,0.00,2.30,0.00,0.000,6,0.000,0.051,3228,1703,1888,0,0,0,0,0,0
$GC,6286,0.64,257.1,396.9,10.4,697,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1705,1886,0,0,0,0,0,0
$GC,6597,0.69,257.1,364.4,10.5,727,6601,0.00,2.33,0.00,0.000,4,0.000,0.077,3237,285,1886,0,0,0,0,0,0
$GC,6640,0.69,257.1,359.8,11.7,732,6644,0.00,2.25,0.00,0.000,6,0.000,0.051,3237,1696,1885,0,0,0,0,0,0
$GC,6959,0.72,257.1,326.1,10.5,763,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1697,1885,0,0,0,0,0,0
$GC,7270,0.75,257.1,293.4,10.7,793,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1697,1885,0,0,0,0,0,0
$GC,7580,0.84,278.5,263.3,9.0,823,7607,0.15,2.38,19.45,0.800,4,0.099,0.077,3313,286,1802,0,0,0,0,0,0
$GC,7645,0.70,278.5,254.6,14.6,830,7651,0.17,2.25,0.00,0.000,6,0.149,0.052,3243,1693,1800,0,0,0,0,0,0
$GC,7960,0.81,300.2,224.1,9.0,861,7986,0.12,2.38,19.85,0.774,4,0.104,0.077,3310,287,1714,0,0,0,0,0,0
$GC,8016,0.71,300.2,217.4,13.6,867,8022,0.20,2.25,0.00,0.000,6,0.160,0.052,3253,1707,1713,0,0,0,0,0,0
$GC,8330,0.81,320.4,187.8,9.1,898,8357,0.00,2.35,18.58,0.755,4,0.000,0.077,3262,288,1632,0,0,0,0,0,0
$GC,8387,0.88,320.4,182.3,10.0,904,8393,0.10,2.28,0.00,0.000,6,0.071,0.053,3316,1698,1630,0,0,0,0,0,0
$GC,8701,0.82,320.4,141.7,12.6,935,8705,0.00,2.33,0.00,0.000,4,0.000,0.079,3326,281,1626,0,0,0,0,0,0
$GC,8732,0.73,320.4,137.8,13.6,938,8737,0.22,2.25,0.00,0.000,6,0.160,0.053,3261,1708,1626,0,0,0,0,0,0
$GC,9046,0.85,328.3,107.5,9.6,969,9057,0.10,0.00,7.60,0.676,6,0.119,0.000,3308,1709,1600,0,0,0,0,0,0
$GC,9377,0.85,328.3,69.4,10.7,1024,9382,0.00,2.33,0.00,0.000,4,0.000,0.080,3318,285,1596,0,0,0,0,0,0
$GC,9455,0.85,328.3,59.7,12.8,1042,9461,0.00,2.25,0.00,0.000,6,0.000,0.056,3318,1690,1596,0,0,0,0,0,0
$GC,9780,0.85,328.8,24.2,10.0,1103,9785,0.00,2.33,0.00,0.000,4,0.000,0.074,3318,3122,1594,0,0,0,0,0,0
$GC,9819,0.85,328.8,19.9,10.7,1112,9825,0.00,2.33,0.00,0.000,6,0.000,0.070,3329,1705,1594,0,0,0,0,0,0
$STATE,9983,end climb,SURFACE_DEPTH_REACHED
$STATE,9983,begin surface coast
$FINISH,1.7,1.024009
$STATE,10026,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10098,0.00,0.000,0,0,1589,331.40
$SM_GC,2.68,8.38,0.00,0.00,0.057,0.000,0.000,139,1864,1589,-8.94,0.40,331.40
$RAFOS_CLK,524
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6021.37,220199,111109
$TT8_MAMPS,0.052156
$HUMID,40.11
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.7,75.5
$24V_AH,23.4,11.066
$10V_AH,10.2,4.773
$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,22.100,93.000,408.275,0.000,0.000,29.011,83.854,152.908,1.000,0.000,33.995,0.000,7311.602,498.254,2278.919,360.615,0.000,1456.381,0.000,1823.373,2471.000,9.620,0.000
$DEVICE_MAMPS,246.974,94.341,996.333,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.875,847.251,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150376
$DATA_FILE_SIZE,44167,1151
$CAP_FILE_SIZE,125774,0
$CFSIZE,260165632,248643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$CURRENT,0.152,179.9,1
$GPS,281009,165237,6643.933,-6012.935,66,1.1,66,-38.0