version: 66.06
glider: 172
mission: 3
dive: 38
start: 10 27 109 4 43 36
data:
$ID,172
$MISSION,3
$DIVE,38
$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,-4836.3203
$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,21
$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
$GPS1,043255,6643.887,-5958.906,59,1.4,59,-38.0
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-74.8
$GPS2,044330,6643.698,-5959.044,11,3.8,30,-38.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,2000.000
$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,354.6,19728,-17.5,-10.000
$D_GRID,644
$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,-146.0,0.0,0.0,0,69,0.00,0.00,-55.75,0.000,2,0.000,0.000,120,1859,2425,0,0,0,0,0,0
$GC,71,-0.64,-146.0,3.3,-1.5,10,117,10.60,0.00,-31.02,0.000,6,0.243,0.000,2809,1859,3536,0,0,0,0,0,0
$GC,435,-0.49,-146.0,80.6,-20.2,79,436,0.20,0.00,0.00,0.000,6,0.173,0.000,2866,1859,3538,0,0,0,0,0,0
$GC,755,-0.54,-146.0,123.3,-13.1,123,759,0.00,2.35,0.00,0.000,4,0.000,0.078,2868,441,3538,0,0,0,0,0,0
$GC,820,-0.61,-146.0,131.9,-12.9,130,826,0.08,2.25,0.00,0.000,6,0.077,0.060,2820,1835,3538,0,0,0,0,0,0
$GC,1134,-0.55,-146.0,180.4,-14.0,161,1138,0.00,2.35,0.00,0.000,4,0.000,0.076,2811,3258,3538,0,0,0,0,0,0
$GC,1156,-0.55,-146.0,183.8,-14.9,163,1162,0.08,2.28,0.00,0.000,6,0.153,0.063,2837,1856,3538,0,0,0,0,0,0
$GC,1470,-0.55,-146.0,224.5,-12.5,194,1474,0.00,2.33,0.00,0.000,4,0.000,0.077,2838,442,3538,0,0,0,0,0,0
$GC,1518,-0.61,-146.0,230.5,-12.0,199,1523,0.00,2.25,0.00,0.000,6,0.000,0.059,2834,1849,3537,0,0,0,0,0,0
$GC,1832,-0.61,-146.0,267.3,-11.4,230,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1849,3537,0,0,0,0,0,0
$GC,2144,-0.64,-146.0,303.8,-11.6,260,2147,0.00,2.28,0.00,0.000,4,0.000,0.079,2834,441,3537,0,0,0,0,0,0
$GC,2173,-0.64,-146.0,307.5,-12.0,263,2177,0.00,2.25,0.00,0.000,6,0.000,0.059,2833,1850,3537,0,0,0,0,0,0
$GC,2492,-0.68,-146.0,342.5,-10.6,294,2496,0.00,2.28,0.00,0.000,4,0.000,0.079,2834,436,3537,0,0,0,0,0,0
$GC,2548,-0.74,-146.0,348.7,-10.5,300,2554,0.10,2.25,0.00,0.000,6,0.073,0.059,2780,1849,3536,0,0,0,0,0,0
$GC,2862,-0.64,-146.0,395.9,-15.2,331,2866,0.12,2.33,0.00,0.000,4,0.183,0.078,2813,438,3537,0,0,0,0,0,0
$GC,2893,-0.64,-146.0,400.1,-12.9,334,2898,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1859,3537,0,0,0,0,0,0
$GC,3207,-0.64,-146.0,438.6,-11.9,365,3211,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,448,3536,0,0,0,0,0,0
$GC,3254,-0.64,-146.0,444.6,-12.6,370,3260,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1847,3537,0,0,0,0,0,0
$GC,3569,-0.64,-146.0,482.3,-12.1,401,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3537,0,0,0,0,0,0
$GC,3879,-0.64,-146.0,521.9,-12.7,431,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3537,0,0,0,0,0,0
$GC,4189,-0.64,-146.0,559.5,-11.8,461,4194,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,449,3538,0,0,0,0,0,0
$GC,4241,-0.64,-146.0,565.8,-11.5,467,4245,0.00,2.22,0.00,0.000,6,0.000,0.059,2807,1850,3538,0,0,0,0,0,0
$GC,4580,-0.64,-146.0,603.8,-11.1,498,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1850,3538,0,0,0,0,0,0
$GC,4884,-0.64,-146.0,638.2,-11.4,508,4888,0.00,2.33,0.00,0.000,4,0.000,0.078,2807,439,3539,0,0,0,0,0,0
$STATE,4935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4935,begin apogee
$GC,4939,-0.13,0.0,644.2,11.9,509,5062,0.50,0.00,120.45,1.040,6,0.136,0.000,2975,1704,2940,0,0,0,0,0,0
$STATE,5062,end apogee,CONTROL_FINISHED_OK
$STATE,5062,begin climb
$GC,5063,0.64,146.0,648.7,0.0,513,5195,0.75,2.55,124.15,1.010,4,0.095,0.075,3239,292,2342,0,0,0,0,0,0
$GC,5321,0.55,185.9,643.9,8.2,521,5360,0.10,2.33,34.78,0.981,6,0.152,0.052,3209,1691,2182,0,0,0,0,0,0
$GC,5662,0.58,208.7,613.6,9.0,533,5685,0.00,0.00,20.17,0.953,6,0.000,0.000,3208,1691,2088,0,0,0,0,0,0
$GC,5997,0.65,233.7,583.9,8.8,554,6021,0.00,0.00,22.70,0.951,6,0.000,0.000,3208,1691,1987,0,0,0,0,0,0
$GC,6327,0.74,265.2,555.1,8.5,586,6358,0.17,0.00,28.98,0.947,6,0.091,0.000,3280,1691,1858,0,0,0,0,0,0
$GC,6666,0.62,265.2,508.3,14.6,619,6670,0.17,2.35,0.00,0.000,4,0.164,0.067,3230,3116,1851,0,0,0,0,0,0
$GC,6700,0.62,265.2,503.9,12.2,623,6704,0.00,2.35,0.00,0.000,6,0.000,0.063,3240,1703,1850,0,0,0,0,0,0
$GC,7018,0.62,265.2,466.8,11.5,654,7023,0.00,2.35,0.00,0.000,4,0.000,0.076,3250,291,1849,0,0,0,0,0,0
$GC,7044,0.62,265.2,463.6,12.8,657,7048,0.00,2.25,0.00,0.000,6,0.000,0.052,3250,1696,1849,0,0,0,0,0,0
$GC,7363,0.62,265.2,425.8,12.2,688,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1697,1848,0,0,0,0,0,0
$GC,7674,0.62,265.2,390.9,10.9,718,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1697,1848,0,0,0,0,0,0
$GC,7984,0.62,265.2,356.5,10.9,748,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1697,1848,0,0,0,0,0,0
$GC,8295,0.62,265.2,322.9,10.8,778,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1697,1847,0,0,0,0,0,0
$GC,8605,0.62,265.2,290.8,10.1,808,8609,0.00,2.25,0.00,0.000,4,0.000,0.068,3249,3111,1847,0,0,0,0,0,0
$GC,8683,0.62,265.2,282.3,11.3,817,8687,0.08,2.28,0.00,0.000,6,0.159,0.063,3232,1698,1847,0,0,0,0,0,0
$GC,9002,0.74,289.2,253.2,8.9,848,9025,0.00,0.00,20.52,0.793,6,0.000,0.000,3232,1698,1760,0,0,0,0,0,0
$GC,9332,0.89,330.3,224.0,8.1,880,9377,0.22,2.40,37.55,0.780,4,0.084,0.077,3334,288,1592,0,0,0,0,0,0
$GC,9389,0.76,330.3,216.7,14.9,886,9395,0.22,2.25,0.00,0.000,6,0.161,0.052,3270,1700,1590,0,0,0,0,0,0
$GC,9703,0.82,330.3,182.5,11.0,917,9707,0.00,2.28,0.00,0.000,4,0.000,0.068,3270,3106,1584,0,0,0,0,0,0
$GC,9747,0.88,330.3,177.6,12.0,922,9750,0.00,2.28,0.00,0.000,6,0.000,0.064,3280,1700,1582,0,0,0,0,0,0
$GC,10065,0.94,336.9,144.6,9.7,953,10077,0.15,0.00,5.53,0.630,6,0.096,0.000,3340,1700,1566,0,0,0,0,0,0
$GC,10385,0.84,336.9,101.8,13.2,984,10386,0.15,0.00,0.00,0.000,6,0.173,0.000,3299,1700,1563,0,0,0,0,0,0
$GC,10705,0.88,336.9,67.4,10.7,1042,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1700,1562,0,0,0,0,0,0
$GC,11026,0.96,346.6,35.3,9.6,1102,11041,0.10,2.30,9.32,0.670,4,0.122,0.073,3340,3105,1525,0,0,0,0,0,0
$GC,11062,0.92,346.6,31.0,13.3,1110,11068,0.12,2.28,0.00,0.000,6,0.193,0.066,3320,1695,1525,0,0,0,0,0,0
$STATE,11343,end climb,SURFACE_DEPTH_REACHED
$STATE,11343,begin surface coast
$FINISH,1.3,1.022683
$STATE,11381,end surface coast,CONTROL_FINISHED_OK
$STATE,11381,begin surface
$SM_CCo,11454,0.00,0.000,0,0,1520,348.57
$SM_GC,2.58,8.43,0.00,0.00,0.062,0.000,0.000,140,1857,1520,-8.95,0.20,348.57
$RAFOS_CLK,602
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5954.40,210199,040410
$TT8_MAMPS,0.050622
$HUMID,39.95
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.4,75.1
$24V_AH,23.4,9.486
$10V_AH,10.2,4.082
$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,22.350,73.475,424.150,0.000,0.000,58.641,63.082,343.631,1.750,0.000,31.765,0.000,8678.034,494.651,2329.751,566.601,0.000,1465.110,0.000,1876.160,353.000,16.700,0.000
$DEVICE_MAMPS,243.139,79.001,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.237,869.029,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150288
$DATA_FILE_SIZE,47246,1170
$CAP_FILE_SIZE,132986,0
$CFSIZE,260165632,249360384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$CURRENT,0.163,220.3,1
$GPS,271009,075631,6644.138,-6004.084,100,1.0,100,-38.0