version: 66.06
glider: 172
mission: 3
dive: 44
start: 10 27 109 23 25 56
data:
$ID,172
$MISSION,3
$DIVE,44
$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,-5005.5601
$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,23
$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
$GPS1,231201,6643.354,-6024.995,79,1.7,79,-38.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.8
$GPS2,232549,6643.160,-6025.126,16,1.6,31,-38.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD1_EB
$TGT_LATLONG,6647.000,-5956.000
$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,65.0,22422,-17.5,-10.000
$D_GRID,525
$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,11,-0.64,-146.0,0.0,0.0,0,67,0.00,0.00,-53.47,0.000,2,0.000,0.000,120,1852,2301,0,0,0,0,0,0
$GC,68,-0.64,-146.0,3.0,-2.4,10,125,10.52,2.38,-39.55,0.000,4,0.238,0.091,2810,433,3538,0,0,0,0,0,0
$GC,237,-0.53,-146.0,38.3,-23.0,48,242,0.17,2.30,0.00,0.000,6,0.175,0.061,2856,1857,3539,0,0,0,0,0,0
$GC,561,-0.53,-146.0,87.2,-13.6,109,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1857,3539,0,0,0,0,0,0
$GC,875,-0.57,-146.0,128.3,-13.0,148,879,0.00,2.33,0.00,0.000,4,0.000,0.077,2856,432,3539,0,0,0,0,0,0
$GC,909,-0.63,-146.0,133.0,-13.1,152,913,0.00,2.30,0.00,0.000,6,0.000,0.059,2853,1853,3539,0,0,0,0,0,0
$GC,1228,-0.69,-146.0,172.9,-11.7,183,1229,0.15,0.00,0.00,0.000,6,0.100,0.000,2790,1853,3540,0,0,0,0,0,0
$GC,1538,-0.61,-146.0,222.0,-15.3,213,1542,0.12,2.35,0.00,0.000,4,0.178,0.078,2813,3257,3539,0,0,0,0,0,0
$GC,1590,-0.67,-146.0,228.8,-11.9,219,1594,0.00,2.30,0.00,0.000,6,0.000,0.065,2813,1845,3540,0,0,0,0,0,0
$GC,1909,-0.67,-146.0,272.2,-13.1,250,1913,0.00,2.30,0.00,0.000,4,0.000,0.077,2813,443,3539,0,0,0,0,0,0
$GC,1934,-0.64,-146.0,275.8,-15.0,253,1938,0.00,2.25,0.00,0.000,6,0.000,0.059,2810,1847,3539,0,0,0,0,0,0
$GC,2253,-0.64,-146.0,321.0,-14.1,284,2257,0.00,2.33,0.00,0.000,4,0.000,0.077,2810,3257,3539,0,0,0,0,0,0
$GC,2279,-0.70,-146.0,324.4,-12.6,287,2283,0.00,2.28,0.00,0.000,6,0.000,0.064,2809,1854,3539,0,0,0,0,0,0
$GC,2598,-0.70,-146.0,365.7,-12.3,318,2602,0.00,2.30,0.00,0.000,4,0.000,0.077,2810,445,3538,0,0,0,0,0,0
$GC,2671,-0.70,-146.0,374.8,-12.1,326,2677,0.00,2.25,0.00,0.000,6,0.000,0.059,2810,1852,3539,0,0,0,0,0,0
$GC,2986,-0.70,-146.0,411.0,-11.4,357,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1851,3538,0,0,0,0,0,0
$GC,3296,-0.70,-146.0,445.7,-11.0,387,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1852,3539,0,0,0,0,0,0
$GC,3606,-0.70,-146.0,479.8,-11.1,417,3610,0.00,2.30,0.00,0.000,4,0.000,0.077,2809,443,3538,0,0,0,0,0,0
$GC,3671,-0.70,-146.0,487.3,-11.0,424,3677,0.00,2.22,0.00,0.000,6,0.000,0.059,2809,1843,3538,0,0,0,0,0,0
$GC,3986,-0.70,-146.0,521.7,-10.8,455,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1843,3539,0,0,0,0,0,0
$STATE,4016,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4016,begin apogee
$GC,4019,-0.13,0.0,525.6,12.4,458,4140,0.52,0.00,118.97,0.977,6,0.142,0.000,2978,1690,2940,0,0,0,0,0,0
$STATE,4141,end apogee,CONTROL_FINISHED_OK
$STATE,4141,begin climb
$GC,4142,0.64,146.0,529.8,0.0,470,4272,0.75,2.53,123.50,0.943,4,0.095,0.075,3239,295,2343,0,0,0,0,0,0
$GC,4519,0.57,184.8,511.7,8.2,512,4559,0.05,2.33,32.92,0.913,6,0.143,0.053,3209,1703,2187,0,0,0,0,0,0
$GC,4870,0.62,227.0,482.8,8.0,547,4909,0.00,0.00,37.45,0.907,6,0.000,0.000,3209,1703,2014,0,0,0,0,0,0
$GC,5218,0.69,245.9,451.5,9.1,581,5240,0.12,2.45,16.60,0.864,4,0.108,0.077,3271,295,1936,0,0,0,0,0,0
$GC,5270,0.60,245.9,445.4,12.7,587,5274,0.17,2.30,0.00,0.000,6,0.147,0.051,3216,1697,1934,0,0,0,0,0,0
$GC,5589,0.66,249.2,414.0,9.8,618,5592,0.00,2.35,0.00,0.000,4,0.000,0.067,3216,3106,1931,0,0,0,0,0,0
$GC,5606,0.70,249.2,412.1,10.7,620,5610,0.00,2.33,0.00,0.000,6,0.000,0.064,3224,1708,1931,0,0,0,0,0,0
$GC,5925,0.75,255.9,379.7,9.7,651,5939,0.12,2.40,9.50,0.798,4,0.107,0.076,3289,284,1896,0,0,0,0,0,0
$GC,5964,0.62,255.9,374.7,14.1,655,5971,0.17,2.28,0.00,0.000,6,0.152,0.051,3231,1700,1895,0,0,0,0,0,0
$GC,6278,0.65,255.9,342.9,10.0,686,6282,0.00,2.38,0.00,0.000,4,0.000,0.077,3242,288,1893,0,0,0,0,0,0
$GC,6317,0.65,255.9,338.8,10.8,690,6323,0.00,2.25,0.00,0.000,6,0.000,0.051,3242,1697,1893,0,0,0,0,0,0
$GC,6632,0.67,268.4,308.2,9.4,721,6650,0.00,2.38,12.18,0.795,4,0.000,0.078,3249,291,1844,0,0,0,0,0,0
$GC,6666,0.67,271.1,304.9,9.9,725,6676,0.00,2.25,3.97,0.558,6,0.000,0.051,3250,1699,1834,0,0,0,0,0,0
$GC,6985,0.71,271.1,273.5,10.1,756,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1700,1831,0,0,0,0,0,0
$GC,7296,0.78,287.6,244.2,9.2,786,7318,0.00,0.00,16.12,0.783,6,0.000,0.000,3249,1700,1765,0,0,0,0,0,0
$GC,7626,0.84,291.2,212.1,9.8,818,7636,0.12,2.33,3.80,0.544,4,0.110,0.070,3303,3099,1753,0,0,0,0,0,0
$GC,7714,0.74,291.2,201.0,12.9,828,7717,0.17,2.28,0.00,0.000,6,0.183,0.065,3267,1696,1752,0,0,0,0,0,0
$GC,8032,0.78,291.2,169.7,10.1,859,8036,0.00,2.33,0.00,0.000,4,0.000,0.079,3277,289,1751,0,0,0,0,0,0
$GC,8101,0.78,291.2,162.2,11.3,867,8105,0.00,2.25,0.00,0.000,6,0.000,0.054,3277,1701,1751,0,0,0,0,0,0
$GC,8420,0.82,292.5,129.1,9.9,898,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1702,1750,0,0,0,0,0,0
$GC,8730,0.88,306.8,100.3,9.3,928,8754,0.00,2.38,15.23,0.729,4,0.000,0.081,3288,292,1689,0,0,0,0,0,0
$GC,8783,0.88,306.8,95.0,10.8,939,8789,0.00,2.25,0.00,0.000,6,0.000,0.055,3287,1696,1688,0,0,0,0,0,0
$GC,9109,0.94,324.2,62.6,9.2,1000,9131,0.12,0.00,16.67,0.708,6,0.110,0.000,3338,1696,1617,0,0,0,0,0,0
$GC,9451,0.88,324.2,23.3,10.8,1064,9456,0.00,2.33,0.00,0.000,4,0.000,0.075,3339,3114,1611,0,0,0,0,0,0
$GC,9533,0.82,324.2,12.3,11.3,1083,9540,0.17,2.33,0.00,0.000,6,0.178,0.067,3295,1703,1610,0,0,0,0,0,0
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,1.5,1.023557
$STATE,9645,end surface coast,CONTROL_FINISHED_OK
$STATE,9645,begin surface
$SM_CCo,9717,0.00,0.000,0,0,1605,327.23
$SM_GC,2.52,8.27,0.00,0.00,0.053,0.000,0.000,148,1852,1605,-8.94,0.06,327.23
$RAFOS_CLK,528
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6026.10,210199,232345
$TT8_MAMPS,0.050622
$HUMID,40.27
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.1,94.3
$24V_AH,23.4,10.358
$10V_AH,10.2,4.464
$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,21.775,79.325,406.925,0.000,0.000,95.852,115.113,376.501,1.000,0.000,31.535,0.000,7151.188,504.513,2174.908,696.149,0.000,1407.658,0.000,1734.682,2471.000,10.656,0.000
$DEVICE_MAMPS,237.770,90.506,977.158,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.096,813.534,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150240
$DATA_FILE_SIZE,44156,1104
$CAP_FILE_SIZE,128527,0
$CFSIZE,260165632,248958976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.325,170.9,1
$GPS,281009,021107,6642.788,-6022.715,173,1.3,173,-38.0