version: 66.06
glider: 172
mission: 3
dive: 55
start: 10 29 109 8 55 2
data:
$ID,172
$MISSION,3
$DIVE,55
$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,-5198.606
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,084807,6644.733,-5958.817,27,1.0,27,-38.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-75.7
$GPS2,085456,6644.744,-5958.980,16,1.4,16,-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,87.9,37497,-17.5,-10.000
$D_GRID,675
$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,-46.25,0.000,2,0.000,0.000,131,1854,2225,0,0,0,0,0,0
$GC,61,-0.64,-146.0,3.1,-1.9,9,122,10.77,2.38,-44.90,0.000,4,0.251,0.089,2811,432,3537,0,0,0,0,0,0
$GC,369,-0.57,-146.0,59.9,-17.1,79,376,0.10,2.33,0.00,0.000,6,0.164,0.061,2837,1847,3538,0,0,0,0,0,0
$GC,692,-0.57,-146.0,109.9,-14.9,134,696,0.00,2.35,0.00,0.000,4,0.000,0.077,2836,441,3538,0,0,0,0,0,0
$GC,727,-0.57,-146.0,115.2,-14.6,138,730,0.00,2.30,0.00,0.000,6,0.000,0.060,2836,1853,3538,0,0,0,0,0,0
$GC,1045,-0.57,-146.0,157.8,-13.1,169,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1853,3538,0,0,0,0,0,0
$GC,1356,-0.57,-146.0,195.4,-12.1,199,1360,0.00,2.30,0.00,0.000,4,0.000,0.079,2837,438,3538,0,0,0,0,0,0
$GC,1408,-0.60,-146.0,201.8,-11.1,205,1412,0.00,2.22,0.00,0.000,6,0.000,0.060,2834,1853,3537,0,0,0,0,0,0
$GC,1726,-0.60,-146.0,241.0,-12.1,236,1731,0.00,2.33,0.00,0.000,4,0.000,0.079,2834,445,3538,0,0,0,0,0,0
$GC,1757,-0.64,-146.0,244.8,-13.4,239,1763,0.00,2.25,0.00,0.000,6,0.000,0.061,2834,1845,3538,0,0,0,0,0,0
$GC,2071,-0.69,-146.0,282.6,-11.8,270,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1845,3537,0,0,0,0,0,0
$GC,2382,-0.74,-146.0,318.1,-10.6,300,2386,0.15,2.30,0.00,0.000,4,0.098,0.079,2770,435,3537,0,0,0,0,0,0
$GC,2424,-0.64,-146.0,324.5,-15.6,304,2430,0.15,2.28,0.00,0.000,6,0.149,0.061,2817,1852,3536,0,0,0,0,0,0
$GC,2739,-0.64,-146.0,361.9,-11.2,335,2743,0.00,2.30,0.00,0.000,4,0.000,0.078,2817,448,3536,0,0,0,0,0,0
$GC,2817,-0.67,-146.0,371.6,-11.8,344,2821,0.00,2.25,0.00,0.000,6,0.000,0.060,2810,1854,3536,0,0,0,0,0,0
$GC,3136,-0.67,-146.0,410.8,-12.0,375,3139,0.00,2.33,0.00,0.000,4,0.000,0.077,2809,434,3536,0,0,0,0,0,0
$GC,3161,-0.67,-146.0,414.2,-13.3,378,3165,0.00,2.25,0.00,0.000,6,0.000,0.060,2810,1847,3536,0,0,0,0,0,0
$GC,3480,-0.67,-146.0,453.1,-12.1,409,3483,0.00,2.30,0.00,0.000,4,0.000,0.076,2810,436,3536,0,0,0,0,0,0
$GC,3501,-0.67,-146.0,455.9,-13.1,411,3508,0.00,2.25,0.00,0.000,6,0.000,0.058,2809,1850,3536,0,0,0,0,0,0
$GC,3815,-0.67,-146.0,493.0,-11.8,442,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1850,3537,0,0,0,0,0,0
$GC,4126,-0.67,-146.0,529.4,-11.5,472,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1851,3537,0,0,0,0,0,0
$GC,4436,-0.71,-146.0,564.3,-10.9,502,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1850,3537,0,0,0,0,0,0
$GC,4747,-0.71,-146.0,597.7,-10.5,532,4751,0.00,2.30,0.00,0.000,4,0.000,0.077,2810,3264,3538,0,0,0,0,0,0
$GC,4777,-0.82,-146.0,600.7,-10.3,536,4781,0.15,2.22,0.00,0.000,6,0.094,0.062,2740,1844,3538,0,0,0,0,0,0
$GC,5110,-0.68,-146.0,650.6,-15.2,547,5114,0.22,2.25,0.00,0.000,4,0.160,0.074,2807,437,3538,0,0,0,0,0,0
$GC,5141,-0.68,-146.0,654.6,-12.0,548,5144,0.00,2.20,0.00,0.000,6,0.000,0.057,2808,1854,3539,0,0,0,0,0,0
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5351,begin apogee
$GC,5354,-0.13,0.0,677.2,10.7,555,5477,0.52,0.00,120.88,1.069,6,0.136,0.000,2978,1699,2940,0,0,0,0,0,0
$STATE,5477,end apogee,CONTROL_FINISHED_OK
$STATE,5477,begin climb
$GC,5478,0.64,146.0,682.0,0.0,559,5611,0.73,2.50,125.30,1.037,4,0.090,0.065,3228,3110,2343,0,0,0,0,0,0
$GC,5662,0.55,176.3,679.0,8.6,565,5695,0.12,2.40,26.75,0.989,6,0.185,0.060,3208,1703,2222,0,0,0,0,0,0
$GC,6010,0.59,212.9,649.6,8.3,577,6045,0.00,0.00,33.00,0.995,6,0.000,0.000,3208,1703,2072,0,0,0,0,0,0
$GC,6344,0.60,218.4,618.1,9.7,588,6352,0.00,0.00,5.30,0.755,6,0.000,0.000,3208,1702,2050,0,0,0,0,0,0
$GC,6660,0.62,232.5,588.2,9.4,605,6678,0.00,2.38,14.00,0.933,4,0.000,0.073,3218,283,1991,0,0,0,0,0,0
$GC,6707,0.65,232.5,583.5,10.6,610,6713,0.00,2.30,0.00,0.000,6,0.000,0.050,3218,1696,1990,0,0,0,0,0,0
$GC,7022,0.68,254.2,553.8,9.0,641,7049,0.00,2.40,20.17,0.942,4,0.000,0.067,3218,3109,1902,0,0,0,0,0,0
$GC,7078,0.69,261.7,548.3,9.7,647,7093,0.00,2.35,7.93,0.827,6,0.000,0.064,3226,1706,1872,0,0,0,0,0,0
$GC,7402,0.69,261.7,515.3,10.5,679,7406,0.00,2.38,0.00,0.000,4,0.000,0.075,3235,285,1868,0,0,0,0,0,0
$GC,7441,0.69,261.7,510.9,12.1,683,7447,0.00,2.28,0.00,0.000,6,0.000,0.051,3235,1705,1868,0,0,0,0,0,0
$GC,7755,0.69,261.7,475.1,11.5,714,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1704,1867,0,0,0,0,0,0
$GC,8066,0.69,261.7,440.5,10.8,744,8070,0.00,2.30,0.00,0.000,4,0.000,0.067,3235,3108,1866,0,0,0,0,0,0
$GC,8092,0.69,261.7,437.4,11.9,747,8095,0.00,2.30,0.00,0.000,6,0.000,0.064,3244,1701,1866,0,0,0,0,0,0
$GC,8410,0.69,261.7,401.0,11.4,778,8414,0.00,2.33,0.00,0.000,4,0.000,0.075,3253,291,1866,0,0,0,0,0,0
$GC,8466,0.65,261.7,394.3,11.7,784,8472,0.00,2.22,0.00,0.000,6,0.000,0.051,3253,1704,1865,0,0,0,0,0,0
$GC,8781,0.61,261.7,358.9,10.9,815,8785,0.12,2.33,0.00,0.000,4,0.175,0.075,3228,295,1865,0,0,0,0,0,0
$GC,8898,0.66,261.7,347.0,10.4,828,8903,0.00,2.20,0.00,0.000,6,0.000,0.051,3228,1694,1865,0,0,0,0,0,0
$GC,9212,0.71,268.1,316.9,9.7,859,9223,0.00,2.28,6.10,0.713,4,0.000,0.074,3235,287,1846,0,0,0,0,0,0
$GC,9288,0.76,276.7,309.3,9.6,867,9303,0.10,2.22,9.43,0.772,6,0.120,0.051,3282,1724,1811,0,0,0,0,0,0
$GC,9612,0.70,276.7,267.7,13.4,899,9615,0.12,2.22,0.00,0.000,4,0.176,0.067,3247,3106,1807,0,0,0,0,0,0
$GC,9671,0.70,276.7,260.8,11.0,906,9675,0.00,2.28,0.00,0.000,6,0.000,0.063,3256,1707,1807,0,0,0,0,0,0
$GC,9990,0.70,276.7,226.4,10.9,937,9994,0.00,2.33,0.00,0.000,4,0.000,0.076,3265,283,1806,0,0,0,0,0,0
$GC,10063,0.70,276.7,218.1,11.7,945,10069,0.00,2.22,0.00,0.000,6,0.000,0.051,3265,1696,1806,0,0,0,0,0,0
$GC,10378,0.70,276.7,185.5,10.0,976,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1696,1806,0,0,0,0,0,0
$GC,10689,0.73,304.5,156.3,8.7,1006,10719,0.00,2.33,25.45,0.758,4,0.000,0.077,3273,282,1697,0,0,0,0,0,0
$GC,10788,0.77,304.5,146.9,10.3,1017,10791,0.00,2.25,0.00,0.000,6,0.000,0.052,3273,1691,1694,0,0,0,0,0,0
$GC,11107,0.85,324.4,116.6,9.1,1048,11133,0.00,2.33,18.17,0.731,4,0.000,0.067,3273,3112,1616,0,0,0,0,0,0
$GC,11163,0.90,324.4,111.1,10.9,1054,11168,0.10,2.30,0.00,0.000,6,0.119,0.065,3326,1700,1613,0,0,0,0,0,0
$GC,11484,0.84,324.4,71.4,12.3,1106,11490,0.00,2.35,0.00,0.000,4,0.000,0.077,3336,289,1610,0,0,0,0,0,0
$GC,11541,0.75,324.4,64.2,12.9,1119,11547,0.20,2.25,0.00,0.000,6,0.149,0.054,3272,1699,1609,0,0,0,0,0,0
$GC,11867,0.96,397.5,39.0,6.6,1180,11934,0.17,0.00,63.17,0.697,6,0.088,0.000,3344,1699,1320,0,0,0,0,0,0
$STATE,12161,end climb,SURFACE_DEPTH_REACHED
$STATE,12161,begin surface coast
$FINISH,1.5,1.015723
$STATE,12194,end surface coast,CONTROL_FINISHED_OK
$STATE,12194,begin surface
$SM_CCo,12267,0.00,0.000,0,0,1304,401.07
$SM_GC,2.34,8.62,0.00,0.00,0.059,0.000,0.000,144,1853,1304,-8.94,0.08,401.07
$RAFOS_CLK,633
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6003.82,230199,050517
$TT8_MAMPS,0.052156
$HUMID,39.84
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.2,124.6
$24V_AH,23.2,11.903
$10V_AH,10.2,5.151
$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,22.375,106.175,475.650,0.000,0.000,29.366,39.274,250.072,1.500,0.000,16.943,0.000,9144.735,635.640,2508.242,367.538,0.000,1639.854,0.000,2035.532,1079.000,14.444,0.000
$DEVICE_MAMPS,250.809,88.972,1069.198,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.368,919.981,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150668
$DATA_FILE_SIZE,50474,1242
$CAP_FILE_SIZE,141410,0
$CFSIZE,260165632,248193024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1454.0
$CURRENT,0.051,188.9,1
$GPS,291009,122031,6645.590,-5955.643,41,0.9,41,-38.0