version: 66.06
glider: 172
mission: 3
dive: 42
start: 10 27 109 17 35 8
data:
$ID,172
$MISSION,3
$DIVE,42
$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,-4958.1689
$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,18
$R_STBD_OVSHOOT,33
$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
$GPS1,172425,6643.786,-6017.141,48,1.5,48,-38.0
$_CALLS,2
$_XMS_NAKs,29
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.7
$GPS2,173502,6643.626,-6017.075,15,1.1,15,-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,343.1,6566,-17.5,-10.000
$D_GRID,532
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-69.15,0.000,2,0.000,0.000,120,1864,2574,0,0,0,0,0,0
$GC,85,-0.64,-146.0,3.3,-1.7,13,127,10.68,2.38,-26.55,0.000,4,0.245,0.090,2806,439,3538,0,0,0,0,0,0
$GC,157,-0.46,-146.0,18.5,-25.7,29,163,0.25,2.28,0.00,0.000,6,0.163,0.060,2870,1840,3540,0,0,0,0,0,0
$GC,482,-0.50,-146.0,64.6,-12.3,90,487,0.00,2.38,0.00,0.000,4,0.000,0.076,2865,3258,3540,0,0,0,0,0,0
$GC,529,-0.64,-146.0,70.2,-11.5,101,535,0.10,2.33,0.00,0.000,6,0.071,0.065,2809,1850,3540,0,0,0,0,0,0
$GC,855,-0.55,-146.0,125.7,-17.0,149,859,0.12,2.35,0.00,0.000,4,0.188,0.078,2843,440,3540,0,0,0,0,0,0
$GC,937,-0.55,-146.0,137.8,-14.5,158,943,0.00,2.28,0.00,0.000,6,0.000,0.059,2833,1850,3540,0,0,0,0,0,0
$GC,1251,-0.55,-146.0,182.4,-13.6,189,1255,0.00,2.35,0.00,0.000,4,0.000,0.077,2824,3255,3540,0,0,0,0,0,0
$GC,1325,-0.61,-146.0,191.9,-12.7,197,1330,0.00,2.30,0.00,0.000,6,0.000,0.067,2823,1850,3540,0,0,0,0,0,0
$GC,1639,-0.61,-146.0,233.3,-13.1,228,1643,0.00,2.35,0.00,0.000,4,0.000,0.079,2823,436,3539,0,0,0,0,0,0
$GC,1695,-0.61,-146.0,241.5,-14.0,234,1701,0.00,2.25,0.00,0.000,6,0.000,0.059,2814,1844,3539,0,0,0,0,0,0
$GC,2010,-0.61,-146.0,285.4,-13.9,265,2014,0.00,2.33,0.00,0.000,4,0.000,0.077,2807,3258,3539,0,0,0,0,0,0
$GC,2057,-0.67,-146.0,291.7,-12.3,270,2063,0.00,2.28,0.00,0.000,6,0.000,0.066,2807,1853,3539,0,0,0,0,0,0
$GC,2372,-0.67,-146.0,334.4,-13.4,301,2376,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,3250,3539,0,0,0,0,0,0
$GC,2393,-0.71,-146.0,337.2,-13.3,303,2400,0.00,2.28,0.00,0.000,6,0.000,0.067,2807,1848,3538,0,0,0,0,0,0
$GC,2708,-0.71,-146.0,377.4,-12.2,334,2712,0.00,2.30,0.00,0.000,4,0.000,0.079,2807,442,3538,0,0,0,0,0,0
$GC,2816,-0.71,-146.0,391.3,-12.5,346,2822,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1845,3538,0,0,0,0,0,0
$GC,3130,-0.71,-146.0,429.5,-12.1,377,3135,0.00,2.30,0.00,0.000,4,0.000,0.076,2807,3253,3538,0,0,0,0,0,0
$GC,3165,-0.81,-146.0,433.6,-11.1,381,3169,0.10,2.25,0.00,0.000,6,0.071,0.066,2752,1855,3538,0,0,0,0,0,0
$GC,3484,-0.67,-146.0,484.1,-15.9,412,3488,0.17,2.30,0.00,0.000,4,0.173,0.077,2802,424,3538,0,0,0,0,0,0
$GC,3526,-0.67,-146.0,490.2,-12.7,417,3531,0.00,2.25,0.00,0.000,6,0.000,0.058,2795,1843,3538,0,0,0,0,0,0
$GC,3845,-0.67,-146.0,530.8,-12.5,448,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1843,3539,0,0,0,0,0,0
$STATE,3855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3855,begin apogee
$GC,3857,-0.13,0.0,532.1,12.7,449,3980,0.57,0.00,119.47,0.984,6,0.142,0.000,2979,1692,2939,0,0,0,0,0,0
$STATE,3980,end apogee,CONTROL_FINISHED_OK
$STATE,3980,begin climb
$GC,3981,0.64,146.0,537.6,0.0,461,4116,0.73,2.50,123.25,0.948,4,0.094,0.074,3238,303,2342,0,0,0,0,0,0
$GC,4258,0.59,214.5,532.5,6.8,492,4324,0.00,2.33,59.12,0.930,6,0.000,0.051,3237,1704,2064,0,0,0,0,0,0
$GC,4631,0.54,214.5,495.5,10.1,530,4632,0.15,0.00,0.00,0.000,6,0.170,0.000,3198,1705,2054,0,0,0,0,0,0
$GC,4942,0.65,257.5,469.8,8.0,560,4983,0.10,0.00,37.15,0.900,6,0.120,0.000,3240,1705,1888,0,0,0,0,0,0
$GC,5290,0.65,257.5,432.9,10.6,594,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1705,1881,0,0,0,0,0,0
$GC,5601,0.65,257.5,400.9,10.2,624,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1705,1880,0,0,0,0,0,0
$GC,5911,0.65,257.5,367.7,10.7,654,5915,0.00,2.35,0.00,0.000,4,0.000,0.077,3251,294,1880,0,0,0,0,0,0
$GC,5968,0.65,257.5,361.5,11.6,660,5973,0.00,2.22,0.00,0.000,6,0.000,0.052,3251,1694,1880,0,0,0,0,0,0
$GC,6282,0.65,257.5,328.4,10.1,691,6286,0.00,2.33,0.00,0.000,4,0.000,0.077,3259,289,1880,0,0,0,0,0,0
$GC,6321,0.61,257.5,324.2,10.6,695,6327,0.10,2.22,0.00,0.000,6,0.146,0.052,3225,1693,1879,0,0,0,0,0,0
$GC,6635,0.70,287.5,296.9,8.6,726,6665,0.00,2.33,26.15,0.815,4,0.000,0.067,3225,3110,1766,0,0,0,0,0,0
$GC,6730,0.78,287.5,288.2,10.2,736,6736,0.08,2.33,0.00,0.000,6,0.077,0.062,3280,1707,1762,0,0,0,0,0,0
$GC,7044,0.74,287.5,251.5,12.0,767,7048,0.00,2.30,0.00,0.000,4,0.000,0.066,3280,3109,1760,0,0,0,0,0,0
$GC,7070,0.69,287.5,248.3,12.8,770,7074,0.12,2.33,0.00,0.000,6,0.156,0.064,3248,1697,1760,0,0,0,0,0,0
$GC,7389,0.77,301.4,217.0,9.4,801,7407,0.00,2.33,12.55,0.754,4,0.000,0.077,3258,284,1710,0,0,0,0,0,0
$GC,7445,0.83,301.4,211.4,10.4,807,7451,0.00,2.25,0.00,0.000,6,0.000,0.051,3258,1693,1709,0,0,0,0,0,0
$GC,7760,0.91,324.2,180.8,8.9,838,7787,0.17,2.33,21.65,0.755,4,0.092,0.067,3330,3113,1617,0,0,0,0,0,0
$GC,7843,0.79,324.2,169.2,14.7,847,7850,0.17,2.35,0.00,0.000,6,0.165,0.064,3285,1700,1614,0,0,0,0,0,0
$GC,8157,0.79,324.2,135.1,10.5,878,8161,0.00,2.35,0.00,0.000,4,0.000,0.077,3296,285,1610,0,0,0,0,0,0
$GC,8200,0.79,324.2,130.5,11.0,883,8204,0.00,2.25,0.00,0.000,6,0.000,0.053,3296,1697,1610,0,0,0,0,0,0
$GC,8519,0.79,325.2,99.0,10.0,914,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1697,1609,0,0,0,0,0,0
$GC,8840,0.79,325.2,65.6,10.4,974,8846,0.00,2.33,0.00,0.000,4,0.000,0.079,3306,293,1608,0,0,0,0,0,0
$GC,8914,0.79,325.2,57.6,10.9,991,8920,0.00,2.25,0.00,0.000,6,0.000,0.054,3306,1703,1608,0,0,0,0,0,0
$GC,9239,0.72,325.2,27.7,13.5,1052,9240,0.17,0.00,0.00,0.000,6,0.169,0.000,3256,1705,1607,0,0,0,0,0,0
$GC,9560,0.92,395.9,5.7,6.7,1112,9586,0.17,0.00,24.08,0.685,2,0.094,0.000,3326,1705,1505,0,0,0,0,0,0
$STATE,9586,end climb,SURFACE_DEPTH_REACHED
$STATE,9586,begin surface coast
$FINISH,1.6,1.024614
$STATE,9620,end surface coast,CONTROL_FINISHED_OK
$STATE,9621,begin surface
$SM_CCo,9693,0.00,0.000,0,0,1498,353.72
$SM_GC,2.41,8.48,0.00,0.00,0.059,0.000,0.000,144,1858,1498,-8.93,0.23,353.72
$RAFOS_CLK,513
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6023.41,210199,171735
$TT8_MAMPS,0.050622
$HUMID,40.15
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.0,107.3
$24V_AH,23.4,10.079
$10V_AH,10.2,4.340
$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,22.450,88.175,423.425,0.000,0.000,49.598,71.624,358.702,0.750,0.000,15.541,0.000,7001.866,514.220,2215.595,578.896,0.000,1464.957,0.000,1802.061,706.000,7.693,0.000
$DEVICE_MAMPS,244.673,89.739,984.061,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.029,822.384,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,44259,1124
$CAP_FILE_SIZE,128946,0
$CFSIZE,260165632,249094144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.5
$CURRENT,0.102,224.0,1
$GPS,271009,201837,6644.083,-6021.061,95,1.2,95,-38.1