version: 66.06
glider: 172
mission: 3
dive: 39
start: 10 27 109 8 12 14
data:
$ID,172
$MISSION,3
$DIVE,39
$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,-4870.1104
$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,29
$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
$GPS1,075631,6644.138,-6004.084,100,1.0,100,-38.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-76.1
$GPS2,081208,6643.955,-6004.418,33,1.9,33,-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,337.1,15789,-17.5,-10.000
$D_GRID,604
$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,-146.0,0.0,0.0,0,57,0.00,0.00,-43.53,0.000,2,0.000,0.000,120,1857,2327,0,0,0,0,0,0
$GC,58,-0.64,-146.0,3.0,-1.6,8,114,10.45,2.33,-38.75,0.000,4,0.239,0.087,2801,3250,3537,0,0,0,0,0,0
$GC,170,-0.54,-146.0,20.7,-18.8,33,176,0.12,2.33,0.00,0.000,6,0.156,0.065,2841,1852,3538,0,0,0,0,0,0
$GC,495,-0.51,-146.0,73.5,-15.1,94,500,0.00,2.33,0.00,0.000,4,0.000,0.078,2841,432,3538,0,0,0,0,0,0
$GC,568,-0.51,-146.0,84.5,-14.4,111,575,0.00,2.28,0.00,0.000,6,0.000,0.059,2835,1835,3538,0,0,0,0,0,0
$GC,886,-0.51,-146.0,131.0,-14.7,152,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1835,3538,0,0,0,0,0,0
$GC,1197,-0.51,-146.0,175.6,-13.6,182,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1835,3538,0,0,0,0,0,0
$GC,1508,-0.51,-146.0,215.4,-12.5,212,1511,0.00,2.28,0.00,0.000,4,0.000,0.079,2834,430,3538,0,0,0,0,0,0
$GC,1555,-0.56,-146.0,221.6,-12.7,217,1560,0.00,2.28,0.00,0.000,6,0.000,0.059,2835,1847,3538,0,0,0,0,0,0
$GC,1869,-0.61,-146.0,259.1,-11.7,248,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1847,3537,0,0,0,0,0,0
$GC,2180,-0.66,-146.0,296.1,-12.2,278,2184,0.00,2.28,0.00,0.000,4,0.000,0.079,2835,438,3537,0,0,0,0,0,0
$GC,2267,-0.74,-146.0,306.7,-12.0,288,2271,0.15,2.22,0.00,0.000,6,0.099,0.060,2770,1856,3537,0,0,0,0,0,0
$GC,2585,-0.62,-146.0,358.4,-15.9,319,2586,0.17,0.00,0.00,0.000,6,0.170,0.000,2820,1858,3537,0,0,0,0,0,0
$GC,2895,-0.66,-146.0,394.2,-11.3,349,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1857,3536,0,0,0,0,0,0
$GC,3206,-0.71,-146.0,428.1,-10.9,379,3209,0.00,2.30,0.00,0.000,4,0.000,0.078,2820,444,3537,0,0,0,0,0,0
$GC,3288,-0.75,-146.0,437.6,-12.1,388,3293,0.00,2.22,0.00,0.000,6,0.000,0.058,2812,1847,3537,0,0,0,0,0,0
$GC,3602,-0.75,-146.0,474.4,-11.7,419,3606,0.00,2.30,0.00,0.000,4,0.000,0.077,2812,439,3537,0,0,0,0,0,0
$GC,3680,-0.78,-146.0,483.8,-12.4,428,3684,0.08,2.22,0.00,0.000,6,0.076,0.059,2767,1842,3537,0,0,0,0,0,0
$GC,3999,-0.69,-146.0,530.2,-13.6,459,4003,0.12,2.30,0.00,0.000,4,0.178,0.077,2801,442,3537,0,0,0,0,0,0
$GC,4051,-0.69,-146.0,536.6,-11.0,465,4054,0.00,2.22,0.00,0.000,6,0.000,0.058,2795,1847,3538,0,0,0,0,0,0
$GC,4369,-0.69,-146.0,576.2,-12.2,496,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1847,3538,0,0,0,0,0,0
$STATE,4606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4606,begin apogee
$GC,4609,-0.13,0.0,604.9,12.3,517,4731,0.57,0.00,120.03,1.021,6,0.142,0.000,2980,1692,2940,0,0,0,0,0,0
$STATE,4731,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4732,0.64,146.0,610.0,0.0,521,4864,0.75,2.47,124.90,0.989,4,0.088,0.075,3245,293,2342,0,0,0,0,0,0
$GC,4976,0.50,168.0,603.0,9.0,529,5001,0.17,2.35,19.45,0.931,6,0.151,0.051,3193,1705,2253,0,0,0,0,0,0
$GC,5316,0.62,235.5,578.2,6.9,559,5380,0.00,2.47,58.60,0.968,4,0.000,0.067,3193,3108,1979,0,0,0,0,0,0
$GC,5411,0.69,238.6,570.3,9.9,570,5415,0.15,2.38,0.00,0.000,6,0.094,0.063,3259,1705,1975,0,0,0,0,0,0
$GC,5729,0.59,238.6,530.3,12.6,601,5733,0.15,2.40,0.00,0.000,4,0.168,0.075,3228,296,1969,0,0,0,0,0,0
$GC,5759,0.59,238.6,527.0,11.4,604,5764,0.00,2.28,0.00,0.000,6,0.000,0.051,3228,1701,1969,0,0,0,0,0,0
$GC,6073,0.59,238.6,493.3,10.6,635,6077,0.00,2.38,0.00,0.000,4,0.000,0.077,3236,293,1968,0,0,0,0,0,0
$GC,6103,0.59,238.6,490.0,11.4,638,6109,0.00,2.25,0.00,0.000,6,0.000,0.051,3236,1696,1968,0,0,0,0,0,0
$GC,6418,0.59,238.6,455.6,10.6,669,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1696,1968,0,0,0,0,0,0
$GC,6729,0.59,238.6,423.3,10.5,699,6732,0.00,2.25,0.00,0.000,4,0.000,0.067,3236,3105,1968,0,0,0,0,0,0
$GC,6758,0.55,238.6,420.1,12.0,702,6764,0.12,2.28,0.00,0.000,6,0.151,0.062,3205,1703,1967,0,0,0,0,0,0
$GC,7073,0.68,283.0,394.1,8.0,733,7120,0.12,2.40,40.65,0.876,4,0.107,0.075,3267,292,1785,0,0,0,0,0,0
$GC,7145,0.61,283.0,386.2,12.3,741,7152,0.12,2.28,0.00,0.000,6,0.144,0.051,3226,1690,1783,0,0,0,0,0,0
$GC,7460,0.68,283.0,355.3,10.0,772,7464,0.00,2.35,0.00,0.000,4,0.000,0.067,3226,3110,1776,0,0,0,0,0,0
$GC,7486,0.74,284.7,352.7,9.9,775,7490,0.00,2.33,0.00,0.000,6,0.000,0.063,3234,1701,1775,0,0,0,0,0,0
$GC,7805,0.80,297.9,321.7,9.4,806,7820,0.15,0.00,13.32,0.802,6,0.098,0.000,3298,1701,1724,0,0,0,0,0,0
$GC,8125,0.69,297.9,276.8,14.1,837,8129,0.17,2.33,0.00,0.000,4,0.163,0.076,3259,281,1721,0,0,0,0,0,0
$GC,8168,0.69,297.9,271.4,12.4,842,8172,0.00,2.25,0.00,0.000,6,0.000,0.051,3259,1693,1720,0,0,0,0,0,0
$GC,8486,0.69,297.9,235.9,10.8,873,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1693,1719,0,0,0,0,0,0
$GC,8798,0.69,300.6,204.3,9.9,903,8801,0.00,2.28,0.00,0.000,4,0.000,0.071,3260,3110,1718,0,0,0,0,0,0
$GC,8818,0.69,300.6,202.0,10.2,905,8822,0.00,2.30,0.00,0.000,6,0.000,0.064,3269,1697,1718,0,0,0,0,0,0
$GC,9136,0.69,300.6,169.5,10.2,936,9141,0.00,2.30,0.00,0.000,4,0.000,0.077,3279,288,1718,0,0,0,0,0,0
$GC,9171,0.69,300.6,165.8,11.5,940,9175,0.00,2.22,0.00,0.000,6,0.000,0.053,3279,1697,1717,0,0,0,0,0,0
$GC,9489,0.69,300.6,131.6,10.2,971,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1697,1717,0,0,0,0,0,0
$GC,9801,0.71,310.5,101.6,9.5,1001,9818,0.00,2.33,11.20,0.708,4,0.000,0.073,3279,3100,1673,0,0,0,0,0,0
$GC,9844,0.71,310.5,97.2,10.9,1008,9849,0.12,2.25,0.00,0.000,6,0.189,0.067,3255,1699,1671,0,0,0,0,0,0
$GC,10169,0.88,356.1,70.8,7.9,1069,10215,0.15,2.35,41.35,0.715,4,0.100,0.078,3329,288,1488,0,0,0,0,0,0
$GC,10275,0.84,356.1,57.8,13.6,1093,10281,0.08,2.28,0.00,0.000,6,0.158,0.054,3303,1688,1483,0,0,0,0,0,0
$GC,10600,0.95,392.0,25.3,8.3,1154,10638,0.00,2.42,31.05,0.682,4,0.000,0.074,3303,3110,1340,0,0,0,0,0,0
$GC,10711,1.06,395.5,13.9,9.8,1179,10718,0.15,2.33,0.00,0.000,6,0.101,0.067,3371,1700,1335,0,0,0,0,0,0
$STATE,10779,end climb,SURFACE_DEPTH_REACHED
$STATE,10779,begin surface coast
$FINISH,1.4,1.002101
$STATE,10801,end surface coast,CONTROL_FINISHED_OK
$STATE,10801,begin surface
$SM_CCo,10874,0.00,0.000,0,0,1329,395.18
$SM_GC,2.86,8.85,0.00,0.00,0.070,0.000,0.000,148,1860,1329,-8.94,0.28,395.18
$RAFOS_CLK,582
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5959.11,210199,080807
$TT8_MAMPS,0.052156
$HUMID,39.44
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.6,75.5
$24V_AH,23.4,9.646
$10V_AH,10.2,4.150
$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,22.950,92.875,460.550,0.000,0.000,84.008,101.003,515.316,1.500,0.000,33.160,0.000,8065.808,542.558,2372.378,810.689,0.000,1529.908,0.000,1899.104,1765.000,14.686,0.000
$DEVICE_MAMPS,239.304,86.671,1020.877,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.280,886.888,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150776
$DATA_FILE_SIZE,47291,1196
$CAP_FILE_SIZE,145417,0
$CFSIZE,260165632,249282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8
$SOUNDSPEED,1453.2
$CURRENT,0.152,201.4,1
$GPS,271009,111431,6643.855,-6009.096,43,1.8,43,-38.0