version: 66.06
glider: 172
mission: 3
dive: 57
start: 10 29 109 16 13 43
data:
$ID,172
$MISSION,3
$DIVE,57
$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,-5227.5015
$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
$GPS1,160831,6644.476,-5951.329,63,0.8,63,-38.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-77.9
$GPS2,161337,6644.434,-5951.340,11,1.1,16,-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,61.0,32463,-17.5,-10.000
$D_GRID,744
$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,-146.0,0.0,0.0,0,62,0.00,0.00,-48.20,0.000,2,0.000,0.000,132,1861,2451,0,0,0,0,0,0
$GC,64,-0.64,-146.0,3.1,-0.8,9,110,10.62,2.38,-31.52,0.000,4,0.251,0.090,2802,3250,3538,0,0,0,0,0,0
$GC,166,-0.58,-146.0,21.2,-18.0,32,171,0.10,2.33,0.00,0.000,6,0.151,0.067,2836,1855,3539,0,0,0,0,0,0
$GC,490,-0.54,-146.0,75.2,-15.5,93,496,0.00,2.35,0.00,0.000,4,0.000,0.078,2836,439,3540,0,0,0,0,0,0
$GC,534,-0.54,-146.0,82.1,-14.9,103,540,0.00,2.25,0.00,0.000,6,0.000,0.059,2826,1835,3540,0,0,0,0,0,0
$GC,857,-0.50,-146.0,130.5,-14.9,145,859,0.12,0.00,0.00,0.000,6,0.176,0.000,2862,1835,3539,0,0,0,0,0,0
$GC,1169,-0.58,-146.0,167.6,-11.3,175,1172,0.00,2.28,0.00,0.000,4,0.000,0.078,2862,436,3539,0,0,0,0,0,0
$GC,1237,-0.69,-146.0,175.3,-10.8,182,1243,0.08,2.25,0.00,0.000,6,0.074,0.058,2791,1842,3539,0,0,0,0,0,0
$GC,1551,-0.62,-146.0,223.6,-15.5,213,1553,0.12,0.00,0.00,0.000,6,0.176,0.000,2824,1842,3540,0,0,0,0,0,0
$GC,1862,-0.62,-146.0,262.7,-12.2,243,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1842,3539,0,0,0,0,0,0
$GC,2173,-0.65,-146.0,299.2,-11.4,273,2176,0.00,2.28,0.00,0.000,4,0.000,0.080,2825,435,3538,0,0,0,0,0,0
$GC,2211,-0.69,-146.0,303.9,-12.1,277,2217,0.00,2.25,0.00,0.000,6,0.000,0.059,2816,1847,3538,0,0,0,0,0,0
$GC,2525,-0.69,-146.0,342.8,-12.5,308,2529,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,3251,3539,0,0,0,0,0,0
$GC,2551,-0.76,-146.0,346.0,-12.9,311,2555,0.00,2.28,0.00,0.000,6,0.000,0.067,2808,1848,3538,0,0,0,0,0,0
$GC,2870,-0.76,-146.0,385.8,-12.3,342,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3538,0,0,0,0,0,0
$GC,3180,-0.76,-146.0,423.0,-11.4,372,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3538,0,0,0,0,0,0
$GC,3491,-0.76,-146.0,457.4,-11.1,402,3495,0.00,2.30,0.00,0.000,4,0.000,0.078,2807,438,3539,0,0,0,0,0,0
$GC,3547,-0.76,-146.0,464.3,-12.1,408,3553,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1850,3538,0,0,0,0,0,0
$GC,3861,-0.76,-146.0,499.3,-10.7,439,3865,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,442,3539,0,0,0,0,0,0
$GC,3900,-0.76,-146.0,503.8,-11.4,443,3907,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1847,3539,0,0,0,0,0,0
$GC,4215,-0.76,-146.0,537.7,-10.8,474,4218,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,445,3539,0,0,0,0,0,0
$GC,4254,-0.76,-146.0,542.1,-11.4,478,4259,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,4568,-0.76,-146.0,576.4,-11.2,509,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,4887,-0.76,-146.0,610.9,-10.8,534,4890,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,439,3541,0,0,0,0,0,0
$GC,4943,-0.80,-146.0,617.2,-10.8,535,4950,0.08,2.22,0.00,0.000,6,0.071,0.057,2759,1848,3540,0,0,0,0,0,0
$GC,5251,-0.71,-146.0,660.3,-14.1,546,5254,0.12,2.25,0.00,0.000,4,0.167,0.074,2795,439,3540,0,0,0,0,0,0
$GC,5280,-0.71,-146.0,664.3,-12.0,547,5284,0.00,2.22,0.00,0.000,6,0.000,0.057,2794,1850,3540,0,0,0,0,0,0
$GC,5617,-0.71,-146.0,703.6,-11.7,558,5620,0.00,2.28,0.00,0.000,4,0.000,0.075,2794,438,3541,0,0,0,0,0,0
$GC,5642,-0.71,-146.0,706.9,-12.4,559,5645,0.00,2.22,0.00,0.000,6,0.000,0.056,2794,1852,3541,0,0,0,0,0,0
$STATE,5974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5974,begin apogee
$GC,5977,-0.13,0.0,745.5,11.5,570,6101,0.57,0.00,122.40,1.111,6,0.133,0.000,2983,1693,2940,0,0,0,0,0,0
$STATE,6102,end apogee,CONTROL_FINISHED_OK
$STATE,6102,begin climb
$GC,6103,0.64,146.0,750.4,0.0,574,6237,0.73,2.50,127.15,1.079,4,0.084,0.073,3247,290,2342,0,0,0,0,0,0
$GC,6271,0.50,190.7,750.1,7.9,579,6317,0.17,2.40,40.35,1.046,6,0.153,0.049,3184,1703,2163,0,0,0,0,0,0
$GC,6638,0.64,241.0,722.6,7.7,592,6686,0.15,0.00,45.67,1.044,6,0.090,0.000,3246,1703,1956,0,0,0,0,0,0
$GC,6971,0.58,241.0,682.8,12.2,603,6972,0.12,0.00,0.00,0.000,6,0.165,0.000,3213,1703,1948,0,0,0,0,0,0
$GC,7275,0.61,243.2,652.5,9.9,613,7278,0.00,2.33,0.00,0.000,4,0.000,0.076,3223,294,1946,0,0,0,0,0,0
$GC,7330,0.61,243.2,646.5,11.5,614,7336,0.00,2.28,0.00,0.000,6,0.000,0.051,3223,1704,1945,0,0,0,0,0,0
$GC,7638,0.61,243.2,614.0,10.5,625,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1705,1945,0,0,0,0,0,0
$GC,7945,0.61,243.2,581.5,10.2,645,7948,0.00,2.35,0.00,0.000,4,0.000,0.077,3232,293,1944,0,0,0,0,0,0
$GC,8001,0.61,243.2,575.4,10.7,651,8007,0.00,2.22,0.00,0.000,6,0.000,0.051,3232,1691,1944,0,0,0,0,0,0
$GC,8315,0.61,243.2,540.4,11.1,682,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1691,1944,0,0,0,0,0,0
$GC,8626,0.61,243.2,506.4,11.1,712,8629,0.00,2.28,0.00,0.000,4,0.000,0.066,3232,3116,1944,0,0,0,0,0,0
$GC,8652,0.61,243.2,503.5,11.9,715,8656,0.00,2.30,0.00,0.000,6,0.000,0.064,3241,1706,1943,0,0,0,0,0,0
$GC,8970,0.61,243.2,467.1,11.6,746,8974,0.00,2.30,0.00,0.000,4,0.000,0.076,3250,295,1943,0,0,0,0,0,0
$GC,9035,0.57,243.2,459.2,12.1,753,9041,0.10,2.20,0.00,0.000,6,0.152,0.051,3216,1697,1943,0,0,0,0,0,0
$GC,9349,0.63,257.6,428.8,9.3,784,9364,0.00,0.00,13.70,0.867,6,0.000,0.000,3215,1697,1889,0,0,0,0,0,0
$GC,9670,0.70,264.7,398.5,9.7,815,9681,0.10,0.00,7.53,0.780,6,0.117,0.000,3262,1698,1860,0,0,0,0,0,0
$GC,9988,0.64,264.7,359.3,12.8,846,9992,0.00,2.30,0.00,0.000,4,0.000,0.077,3273,281,1857,0,0,0,0,0,0
$GC,10023,0.57,264.7,354.7,14.2,850,10027,0.20,2.20,0.00,0.000,6,0.160,0.051,3214,1700,1857,0,0,0,0,0,0
$GC,10342,0.67,279.8,323.9,9.3,881,10360,0.00,2.38,14.40,0.815,4,0.000,0.077,3223,288,1799,0,0,0,0,0,0
$GC,10389,0.77,279.9,319.4,10.0,886,10395,0.10,2.25,0.00,0.000,6,0.072,0.051,3277,1697,1798,0,0,0,0,0,0
$GC,10704,0.71,279.9,278.3,12.7,917,10708,0.00,2.30,0.00,0.000,4,0.000,0.067,3277,3107,1796,0,0,0,0,0,0
$GC,10725,0.65,279.9,275.6,12.5,919,10732,0.15,2.30,0.00,0.000,6,0.150,0.064,3237,1696,1795,0,0,0,0,0,0
$GC,11040,0.76,303.4,245.2,8.9,950,11067,0.00,2.33,22.33,0.792,4,0.000,0.077,3248,284,1701,0,0,0,0,0,0
$GC,11084,0.85,314.6,241.1,9.5,955,11103,0.10,2.28,11.73,0.738,6,0.074,0.052,3302,1703,1656,0,0,0,0,0,0
$GC,11411,0.80,314.6,196.9,13.2,987,11415,0.00,2.35,0.00,0.000,4,0.000,0.077,3313,296,1649,0,0,0,0,0,0
$GC,11467,0.72,314.6,189.3,14.7,993,11473,0.15,2.25,0.00,0.000,6,0.142,0.053,3262,1701,1649,0,0,0,0,0,0
$GC,11782,0.79,317.6,158.7,9.9,1024,11785,0.00,2.30,0.00,0.000,4,0.000,0.078,3274,284,1647,0,0,0,0,0,0
$GC,11825,0.86,328.3,154.5,9.5,1029,11843,0.00,2.22,12.20,0.728,6,0.000,0.054,3273,1706,1600,0,0,0,0,0,0
$GC,12152,0.95,343.2,122.9,9.3,1061,12172,0.15,2.30,14.18,0.725,4,0.096,0.072,3335,3108,1541,0,0,0,0,0,0
$GC,12189,0.85,343.2,118.0,14.4,1065,12192,0.17,2.30,0.00,0.000,6,0.180,0.066,3299,1693,1538,0,0,0,0,0,0
$GC,12512,0.85,343.2,82.0,10.6,1111,12518,0.00,2.30,0.00,0.000,4,0.000,0.078,3308,281,1535,0,0,0,0,0,0
$GC,12600,0.85,343.2,71.4,11.8,1131,12606,0.00,2.25,0.00,0.000,6,0.000,0.055,3309,1690,1534,0,0,0,0,0,0
$GC,12925,0.85,343.2,34.5,10.7,1192,12930,0.00,2.30,0.00,0.000,4,0.000,0.074,3308,3113,1533,0,0,0,0,0,0
$GC,13021,0.86,351.0,24.5,9.6,1214,13032,0.00,2.33,7.18,0.649,6,0.000,0.067,3319,1669,1508,0,0,0,0,0,0
$STATE,13232,end climb,SURFACE_DEPTH_REACHED
$STATE,13232,begin surface coast
$FINISH,1.4,1.010124
$STATE,13275,end surface coast,CONTROL_FINISHED_OK
$STATE,13275,begin surface
$SM_CCo,13348,0.00,0.000,0,0,1501,352.74
$SM_GC,2.72,8.38,0.00,0.00,0.058,0.000,0.000,144,1859,1501,-8.93,0.25,352.74
$RAFOS_CLK,686
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5951.67,230199,121248
$TT8_MAMPS,0.050622
$HUMID,40.15
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,703.6,88.3
$24V_AH,23.1,12.176
$10V_AH,10.2,5.281
$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,22.600,114.900,438.800,0.000,0.000,27.209,32.162,153.819,2.000,0.000,16.150,0.000,10201.924,568.543,2532.946,329.333,0.000,1620.254,0.000,2032.706,1765.000,17.724,0.000
$DEVICE_MAMPS,250.809,89.739,1110.616,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.927,937.755,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150428
$DATA_FILE_SIZE,50393,1262
$CAP_FILE_SIZE,148240,0
$CFSIZE,260165632,248037376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.5
$CURRENT,0.147,169.7,1
$GPS,291009,195707,6645.295,-5948.755,35,1.1,35,-38.0