version: 66.06
glider: 172
mission: 3
dive: 40
start: 10 27 109 11 24 56
data:
$ID,172
$MISSION,3
$DIVE,40
$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,-4889.2139
$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,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
$GPS1,111431,6643.855,-6009.096,43,1.8,43,-38.0
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-79.4
$GPS2,112450,6643.759,-6009.281,18,1.8,18,-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,343.5,12239,-17.5,-10.000
$D_GRID,568
$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,-146.0,0.0,0.0,0,66,0.00,0.00,-52.42,0.000,2,0.000,0.000,121,1860,2295,0,0,0,0,0,0
$GC,67,-0.64,-146.0,3.2,-2.2,10,128,10.77,2.42,-41.55,0.000,4,0.249,0.095,2804,3257,3538,0,0,0,0,0,0
$GC,210,-0.55,-146.0,27.1,-19.3,42,215,0.08,2.35,0.00,0.000,6,0.165,0.065,2842,1849,3540,0,0,0,0,0,0
$GC,534,-0.55,-146.0,78.6,-14.7,103,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1848,3540,0,0,0,0,0,0
$GC,849,-0.55,-146.0,124.1,-13.7,147,853,0.00,2.33,0.00,0.000,4,0.000,0.077,2842,444,3540,0,0,0,0,0,0
$GC,958,-0.55,-146.0,138.8,-13.3,159,963,0.00,2.25,0.00,0.000,6,0.000,0.060,2838,1842,3540,0,0,0,0,0,0
$GC,1272,-0.55,-146.0,180.6,-13.0,190,1276,0.00,2.33,0.00,0.000,4,0.000,0.077,2837,439,3540,0,0,0,0,0,0
$GC,1302,-0.55,-146.0,184.8,-14.0,193,1309,0.00,2.28,0.00,0.000,6,0.000,0.059,2838,1854,3540,0,0,0,0,0,0
$GC,1617,-0.58,-146.0,224.7,-12.7,224,1621,0.00,2.33,0.00,0.000,4,0.000,0.079,2837,446,3539,0,0,0,0,0,0
$GC,1704,-0.63,-146.0,235.6,-11.7,234,1708,0.00,2.25,0.00,0.000,6,0.000,0.060,2837,1850,3540,0,0,0,0,0,0
$GC,2022,-0.68,-146.0,271.9,-11.1,265,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1850,3539,0,0,0,0,0,0
$GC,2333,-0.74,-146.0,306.2,-10.8,295,2337,0.15,2.30,0.00,0.000,4,0.099,0.080,2774,439,3539,0,0,0,0,0,0
$GC,2440,-0.63,-146.0,323.2,-16.8,307,2444,0.12,2.25,0.00,0.000,6,0.157,0.061,2823,1845,3539,0,0,0,0,0,0
$GC,2759,-0.67,-146.0,361.9,-11.8,338,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1845,3538,0,0,0,0,0,0
$GC,3070,-0.71,-146.0,398.0,-11.5,368,3073,0.00,2.28,0.00,0.000,4,0.000,0.077,2813,3258,3538,0,0,0,0,0,0
$GC,3104,-0.83,-146.0,402.0,-10.8,372,3108,0.12,2.28,0.00,0.000,6,0.068,0.067,2749,1855,3538,0,0,0,0,0,0
$GC,3422,-0.67,-146.0,454.7,-16.1,403,3426,0.20,2.33,0.00,0.000,4,0.170,0.079,2806,441,3538,0,0,0,0,0,0
$GC,3461,-0.67,-146.0,460.2,-13.7,407,3467,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1852,3538,0,0,0,0,0,0
$GC,3776,-0.67,-146.0,497.9,-11.5,438,3779,0.00,2.33,0.00,0.000,4,0.000,0.078,2807,434,3539,0,0,0,0,0,0
$GC,3828,-0.67,-146.0,504.2,-11.7,444,3832,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1852,3538,0,0,0,0,0,0
$GC,4146,-0.67,-146.0,539.8,-10.8,475,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3539,0,0,0,0,0,0
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4404,begin apogee
$GC,4407,-0.13,0.0,569.1,11.8,500,4529,0.52,0.00,119.62,1.003,6,0.140,0.000,2976,1685,2940,0,0,0,0,0,0
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4531,0.64,146.0,574.4,0.0,512,4665,0.77,2.47,123.78,0.970,4,0.093,0.073,3246,287,2342,0,0,0,0,0,0
$GC,4725,0.53,195.8,571.6,7.7,534,4777,0.10,2.38,43.67,0.943,6,0.148,0.051,3202,1703,2140,0,0,0,0,0,0
$GC,5086,0.58,229.5,541.8,8.4,570,5121,0.00,2.40,29.33,0.927,4,0.000,0.067,3203,3110,2002,0,0,0,0,0,0
$GC,5173,0.61,229.5,533.6,10.0,580,5176,0.00,2.38,0.00,0.000,6,0.000,0.064,3212,1701,1999,0,0,0,0,0,0
$GC,5491,0.61,229.5,501.2,10.1,611,5495,0.00,2.38,0.00,0.000,4,0.000,0.076,3221,294,1996,0,0,0,0,0,0
$GC,5517,0.61,229.5,498.6,10.5,614,5521,0.00,2.28,0.00,0.000,6,0.000,0.051,3221,1698,1995,0,0,0,0,0,0
$GC,5835,0.61,229.5,465.7,10.2,645,5839,0.00,2.38,0.00,0.000,4,0.000,0.076,3229,285,1995,0,0,0,0,0,0
$GC,5857,0.61,229.5,463.5,10.6,647,5862,0.00,2.28,0.00,0.000,6,0.000,0.051,3229,1703,1995,0,0,0,0,0,0
$GC,6171,0.61,229.5,430.2,10.4,678,6175,0.00,2.30,0.00,0.000,4,0.000,0.066,3229,3107,1995,0,0,0,0,0,0
$GC,6219,0.57,229.5,424.9,11.5,683,6224,0.00,2.30,0.00,0.000,6,0.000,0.063,3238,1704,1995,0,0,0,0,0,0
$GC,6533,0.57,229.5,390.4,10.6,714,6537,0.00,2.33,0.00,0.000,4,0.000,0.075,3247,288,1995,0,0,0,0,0,0
$GC,6559,0.53,229.5,387.6,11.6,717,6563,0.12,2.22,0.00,0.000,6,0.149,0.051,3193,1696,1994,0,0,0,0,0,0
$GC,6878,0.70,282.6,361.7,7.6,748,6931,0.17,2.35,46.05,0.855,4,0.087,0.067,3269,3108,1785,0,0,0,0,0,0
$GC,7018,0.65,282.6,343.9,13.9,764,7022,0.12,2.35,0.00,0.000,6,0.153,0.063,3238,1701,1779,0,0,0,0,0,0
$GC,7336,0.69,285.4,310.9,9.9,795,7340,0.00,2.35,0.00,0.000,4,0.000,0.075,3248,288,1776,0,0,0,0,0,0
$GC,7427,0.69,285.4,301.1,11.4,805,7433,0.00,2.25,0.00,0.000,6,0.000,0.052,3249,1693,1775,0,0,0,0,0,0
$GC,7741,0.72,285.4,267.9,10.7,836,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1693,1775,0,0,0,0,0,0
$GC,8052,0.77,285.4,235.5,10.3,866,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1694,1774,0,0,0,0,0,0
$GC,8362,0.85,318.7,206.5,8.5,896,8398,0.15,2.33,31.48,0.772,4,0.099,0.075,3323,287,1639,0,0,0,0,0,0
$GC,8433,0.71,318.7,198.0,14.2,904,8436,0.22,2.25,0.00,0.000,6,0.163,0.054,3259,1706,1636,0,0,0,0,0,0
$GC,8751,0.80,331.0,165.7,9.4,935,8769,0.00,2.40,10.75,0.718,4,0.000,0.079,3269,291,1589,0,0,0,0,0,0
$GC,8820,0.88,331.0,159.1,10.2,943,8824,0.00,2.28,0.00,0.000,6,0.000,0.054,3269,1700,1588,0,0,0,0,0,0
$GC,9139,0.97,336.9,128.1,9.7,974,9149,0.17,2.38,6.28,0.651,4,0.090,0.072,3340,3110,1566,0,0,0,0,0,0
$GC,9183,0.84,336.9,122.1,14.9,979,9187,0.12,2.35,0.00,0.000,6,0.171,0.067,3297,1698,1565,0,0,0,0,0,0
$GC,9506,0.84,336.9,84.1,11.2,1022,9511,0.00,2.33,0.00,0.000,4,0.000,0.079,3307,293,1563,0,0,0,0,0,0
$GC,9610,0.84,336.9,71.7,12.2,1046,9616,0.00,2.25,0.00,0.000,6,0.000,0.055,3307,1700,1562,0,0,0,0,0,0
$GC,9935,0.84,336.9,36.3,10.8,1107,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1701,1561,0,0,0,0,0,0
$GC,10255,0.84,336.9,5.3,10.7,1167,10261,0.00,2.30,0.00,0.000,4,0.000,0.074,3307,3101,1559,0,0,0,0,0,0
$STATE,10272,end climb,SURFACE_DEPTH_REACHED
$STATE,10273,begin surface coast
$FINISH,1.4,1.015214
$STATE,10324,end surface coast,CONTROL_FINISHED_OK
$STATE,10325,begin surface
$SM_CCo,10399,0.00,0.000,0,0,1554,339.74
$SM_GC,2.77,8.52,0.00,0.00,0.074,0.000,0.000,148,1843,1554,-8.93,-0.20,339.74
$RAFOS_CLK,550
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6006.54,210199,111142
$TT8_MAMPS,0.050622
$HUMID,40.70
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.0,90.7
$24V_AH,23.4,9.780
$10V_AH,10.2,4.213
$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,22.475,97.325,410.950,0.000,0.000,53.913,66.698,329.485,1.000,0.000,18.475,0.000,7581.588,493.874,2365.818,556.731,0.000,1494.694,0.000,1903.324,2471.000,9.662,0.000
$DEVICE_MAMPS,248.508,95.108,1003.236,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.689,867.921,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150572
$DATA_FILE_SIZE,47247,1183
$CAP_FILE_SIZE,134133,0
$CFSIZE,260165632,249221120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.8
$CURRENT,0.232,195.6,1
$GPS,271009,141945,6643.332,-6013.551,48,3.4,67,-38.0