version: 66.06
glider: 172
mission: 3
dive: 48
start: 10 28 109 11 9 38
data:
$ID,172
$MISSION,3
$DIVE,48
$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,-5072.5254
$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,28
$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
$GPS1,110400,6643.656,-6017.357,85,1.7,85,-38.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-71.2
$GPS2,110932,6643.640,-6017.444,14,1.8,14,-38.0
$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,92.8,16847,-17.5,-10.000
$D_GRID,539
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,58,0.00,0.00,-44.05,0.000,2,0.000,0.000,120,1857,2206,0,0,0,0,0,0
$GC,60,-0.64,-146.0,3.1,-1.5,8,121,10.65,2.38,-45.25,0.000,4,0.245,0.091,2805,438,3537,0,0,0,0,0,0
$GC,216,-0.50,-146.0,28.0,-20.4,43,222,0.15,2.30,0.00,0.000,6,0.137,0.062,2861,1834,3539,0,0,0,0,0,0
$GC,541,-0.50,-146.0,75.5,-13.5,104,546,0.00,2.35,0.00,0.000,4,0.000,0.077,2850,3267,3538,0,0,0,0,0,0
$GC,567,-0.57,-146.0,78.9,-12.6,110,573,0.00,2.33,0.00,0.000,6,0.000,0.064,2850,1851,3538,0,0,0,0,0,0
$GC,891,-0.57,-146.0,122.4,-13.1,156,895,0.00,2.33,0.00,0.000,4,0.000,0.078,2850,445,3538,0,0,0,0,0,0
$GC,973,-0.61,-146.0,133.4,-12.7,165,979,0.00,2.25,0.00,0.000,6,0.000,0.058,2841,1843,3538,0,0,0,0,0,0
$GC,1288,-0.61,-146.0,175.3,-12.9,196,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1843,3538,0,0,0,0,0,0
$GC,1599,-0.66,-146.0,212.9,-12.6,226,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1843,3538,0,0,0,0,0,0
$GC,1910,-0.72,-146.0,249.2,-11.2,256,1911,0.15,0.00,0.00,0.000,6,0.094,0.000,2775,1843,3538,0,0,0,0,0,0
$GC,2219,-0.61,-146.0,298.7,-15.5,286,2220,0.17,0.00,0.00,0.000,6,0.165,0.000,2825,1844,3537,0,0,0,0,0,0
$GC,2530,-0.61,-146.0,334.8,-11.6,316,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1843,3537,0,0,0,0,0,0
$GC,2841,-0.66,-146.0,371.4,-11.6,346,2844,0.00,2.28,0.00,0.000,4,0.000,0.079,2825,435,3537,0,0,0,0,0,0
$GC,2892,-0.71,-146.0,377.8,-12.7,352,2896,0.00,2.22,0.00,0.000,6,0.000,0.060,2820,1853,3537,0,0,0,0,0,0
$GC,3211,-0.75,-146.0,414.0,-11.5,383,3215,0.12,2.30,0.00,0.000,4,0.101,0.080,2763,440,3537,0,0,0,0,0,0
$GC,3241,-0.64,-146.0,418.2,-15.7,386,3247,0.17,2.25,0.00,0.000,6,0.145,0.060,2813,1849,3536,0,0,0,0,0,0
$GC,3555,-0.64,-146.0,455.4,-11.3,417,3559,0.00,2.33,0.00,0.000,4,0.000,0.077,2804,3253,3537,0,0,0,0,0,0
$GC,3585,-0.71,-146.0,458.7,-11.0,420,3590,0.00,2.25,0.00,0.000,6,0.000,0.064,2804,1857,3537,0,0,0,0,0,0
$GC,3899,-0.71,-146.0,495.6,-12.0,451,3903,0.00,2.30,0.00,0.000,4,0.000,0.077,2804,439,3537,0,0,0,0,0,0
$GC,3928,-0.71,-146.0,498.9,-13.1,454,3931,0.00,2.20,0.00,0.000,6,0.000,0.058,2797,1853,3537,0,0,0,0,0,0
$GC,4241,-0.71,-146.0,536.6,-12.8,484,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1853,3538,0,0,0,0,0,0
$STATE,4261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4261,begin apogee
$GC,4264,-0.13,0.0,539.2,12.4,486,4385,0.55,0.00,118.78,0.990,6,0.137,0.000,2975,1697,2940,0,0,0,0,0,0
$STATE,4386,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4387,0.64,146.0,544.3,0.0,498,4521,0.75,2.53,124.38,0.953,4,0.087,0.074,3241,294,2342,0,0,0,0,0,0
$GC,4546,0.53,202.4,545.0,7.4,515,4602,0.12,2.38,49.47,0.930,6,0.150,0.051,3204,1697,2113,0,0,0,0,0,0
$GC,4917,0.64,246.9,516.3,7.9,552,4956,0.00,0.00,38.30,0.919,6,0.000,0.000,3204,1697,1933,0,0,0,0,0,0
$GC,5262,0.75,269.6,485.2,9.0,586,5289,0.17,2.45,20.60,0.890,4,0.087,0.077,3284,295,1839,0,0,0,0,0,0
$GC,5310,0.63,269.6,478.9,14.6,591,5317,0.17,2.33,0.00,0.000,6,0.148,0.051,3229,1698,1837,0,0,0,0,0,0
$GC,5624,0.66,269.6,444.6,10.8,622,5628,0.00,2.35,0.00,0.000,4,0.000,0.068,3229,3099,1833,0,0,0,0,0,0
$GC,5641,0.66,269.6,442.6,11.4,624,5645,0.00,2.33,0.00,0.000,6,0.000,0.065,3238,1712,1833,0,0,0,0,0,0
$GC,5960,0.66,269.6,408.6,10.9,655,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1712,1832,0,0,0,0,0,0
$GC,6271,0.66,269.6,376.1,10.3,685,6274,0.00,2.38,0.00,0.000,4,0.000,0.077,3249,264,1831,0,0,0,0,0,0
$GC,6366,0.66,269.6,365.3,11.1,696,6370,0.00,2.28,0.00,0.000,6,0.000,0.052,3249,1693,1831,0,0,0,0,0,0
$GC,6684,0.66,269.6,330.4,10.4,727,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1694,1831,0,0,0,0,0,0
$GC,6995,0.66,269.6,297.7,10.3,757,6999,0.00,2.28,0.00,0.000,4,0.000,0.067,3249,3106,1831,0,0,0,0,0,0
$GC,7055,0.66,269.6,291.1,10.6,764,7060,0.00,2.30,0.00,0.000,6,0.000,0.064,3258,1697,1830,0,0,0,0,0,0
$GC,7374,0.66,269.6,256.8,11.1,795,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1697,1830,0,0,0,0,0,0
$GC,7685,0.66,269.6,224.5,10.1,825,7689,0.00,2.28,0.00,0.000,4,0.000,0.076,3267,279,1830,0,0,0,0,0,0
$GC,7724,0.66,269.6,220.6,10.4,829,7729,0.00,2.22,0.00,0.000,6,0.000,0.053,3267,1691,1830,0,0,0,0,0,0
$GC,8038,0.69,294.0,191.2,8.9,860,8061,0.00,0.00,21.35,0.772,6,0.000,0.000,3267,1692,1741,0,0,0,0,0,0
$GC,8369,0.76,307.3,159.7,9.4,892,8382,0.00,0.00,12.40,0.735,6,0.000,0.000,3267,1691,1687,0,0,0,0,0,0
$GC,8689,0.85,329.9,130.4,9.0,923,8716,0.00,2.38,21.12,0.739,4,0.000,0.071,3267,3099,1594,0,0,0,0,0,0
$GC,8737,0.94,329.9,126.1,10.1,928,8743,0.10,2.33,0.00,0.000,6,0.072,0.065,3329,1708,1590,0,0,0,0,0,0
$GC,9055,0.87,329.9,86.5,12.8,969,9060,0.00,2.35,0.00,0.000,4,0.000,0.079,3339,294,1588,0,0,0,0,0,0
$GC,9121,0.77,329.9,77.6,13.3,984,9126,0.20,2.25,0.00,0.000,6,0.153,0.055,3275,1696,1587,0,0,0,0,0,0
$GC,9446,0.90,356.6,48.5,8.8,1045,9473,0.12,0.00,23.58,0.708,6,0.106,0.000,3329,1697,1485,0,0,0,0,0,0
$GC,9791,0.90,356.6,9.8,11.4,1110,9797,0.00,2.38,0.00,0.000,4,0.000,0.081,3340,286,1477,0,0,0,0,0,0
$STATE,9843,end climb,SURFACE_DEPTH_REACHED
$STATE,9843,begin surface coast
$FINISH,1.6,1.024397
$STATE,9865,end surface coast,CONTROL_FINISHED_OK
$STATE,9865,begin surface
$SM_CCo,9940,0.00,0.000,0,0,1472,360.10
$SM_GC,2.74,8.57,0.00,0.00,0.062,0.000,0.000,147,1854,1472,-8.95,0.11,360.10
$RAFOS_CLK,517
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6026.10,220199,080812
$TT8_MAMPS,0.051389
$HUMID,40.03
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.8,64.9
$24V_AH,23.3,10.945
$10V_AH,10.2,4.713
$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,22.200,74.600,429.975,0.000,0.000,24.758,31.077,187.738,1.250,0.000,14.472,0.000,7265.795,512.831,2137.094,338.351,0.000,1404.626,0.000,1715.027,2471.000,12.621,0.000
$DEVICE_MAMPS,244.673,90.506,990.197,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.760,831.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150296
$DATA_FILE_SIZE,44185,1127
$CAP_FILE_SIZE,117512,0
$CFSIZE,260165632,248713216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$CURRENT,0.211,183.2,1
$GPS,281009,135637,6643.325,-6014.354,57,1.9,57,-38.0