version: 66.06
glider: 172
mission: 3
dive: 41
start: 10 27 109 14 39 3
data:
$ID,172
$MISSION,3
$DIVE,41
$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,-4942.0034
$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,22
$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
$GPS1,141945,6643.332,-6013.551,48,3.4,67,-38.0
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-73.5
$GPS2,143857,6643.164,-6013.525,32,4.3,51,-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,2.6,9257,-17.5,-10.000
$D_GRID,544
$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,-146.0,0.0,0.0,0,64,0.00,0.00,-50.50,0.000,2,0.000,0.000,121,1842,2521,0,0,0,0,0,0
$GC,65,-0.64,-146.0,3.3,-1.2,9,106,10.70,0.00,-27.55,0.000,6,0.247,0.000,2809,1843,3538,0,0,0,0,0,0
$GC,426,-0.51,-146.0,74.4,-18.3,77,427,0.17,0.00,0.00,0.000,6,0.176,0.000,2860,1843,3540,0,0,0,0,0,0
$GC,742,-0.55,-146.0,116.6,-12.9,125,745,0.00,2.33,0.00,0.000,4,0.000,0.077,2861,439,3540,0,0,0,0,0,0
$GC,811,-0.62,-146.0,125.6,-12.7,133,815,0.00,2.22,0.00,0.000,6,0.000,0.058,2853,1850,3540,0,0,0,0,0,0
$GC,1130,-0.66,-146.0,165.7,-12.0,164,1131,0.12,0.00,0.00,0.000,6,0.107,0.000,2798,1851,3540,0,0,0,0,0,0
$GC,1440,-0.59,-146.0,213.3,-14.8,194,1444,0.12,2.33,0.00,0.000,4,0.179,0.078,2832,450,3540,0,0,0,0,0,0
$GC,1531,-0.63,-146.0,225.1,-12.8,204,1537,0.00,2.25,0.00,0.000,6,0.000,0.058,2825,1852,3540,0,0,0,0,0,0
$GC,1845,-0.63,-146.0,262.8,-11.5,235,1849,0.00,2.33,0.00,0.000,4,0.000,0.078,2825,442,3539,0,0,0,0,0,0
$GC,1871,-0.63,-146.0,265.8,-12.8,238,1875,0.00,2.25,0.00,0.000,6,0.000,0.060,2824,1848,3540,0,0,0,0,0,0
$GC,2189,-0.63,-146.0,303.5,-11.6,269,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1849,3539,0,0,0,0,0,0
$GC,2500,-0.67,-146.0,338.3,-11.0,299,2504,0.00,2.28,0.00,0.000,4,0.000,0.079,2824,439,3539,0,0,0,0,0,0
$GC,2552,-0.72,-146.0,344.1,-10.7,305,2556,0.00,2.20,0.00,0.000,6,0.000,0.060,2824,1852,3539,0,0,0,0,0,0
$GC,2871,-0.78,-146.0,378.6,-10.8,336,2875,0.15,2.33,0.00,0.000,4,0.097,0.078,2757,3257,3539,0,0,0,0,0,0
$GC,2940,-0.73,-146.0,388.1,-14.1,344,2944,0.12,2.25,0.00,0.000,6,0.177,0.064,2791,1832,3539,0,0,0,0,0,0
$GC,3259,-0.69,-146.0,430.7,-12.8,375,3262,0.00,2.25,0.00,0.000,4,0.000,0.077,2791,445,3539,0,0,0,0,0,0
$GC,3302,-0.69,-146.0,436.5,-13.4,380,3306,0.00,2.22,0.00,0.000,6,0.000,0.058,2783,1848,3539,0,0,0,0,0,0
$GC,3621,-0.63,-146.0,479.6,-13.6,411,3622,0.12,0.00,0.00,0.000,6,0.179,0.000,2817,1847,3539,0,0,0,0,0,0
$GC,3931,-0.68,-146.0,513.8,-10.5,441,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1848,3540,0,0,0,0,0,0
$STATE,4220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4220,begin apogee
$GC,4223,-0.13,0.0,544.1,10.1,469,4345,0.50,0.00,119.65,0.986,6,0.136,0.000,2980,1696,2940,0,0,0,0,0,0
$STATE,4346,end apogee,CONTROL_FINISHED_OK
$STATE,4346,begin climb
$GC,4347,0.64,146.0,548.9,0.0,481,4480,0.75,2.53,123.60,0.952,4,0.087,0.074,3247,292,2342,0,0,0,0,0,0
$GC,4570,0.50,170.0,544.5,8.9,506,4596,0.22,2.33,21.15,0.902,6,0.162,0.051,3187,1708,2245,0,0,0,0,0,0
$GC,4911,0.63,233.3,519.7,7.1,540,4974,0.12,2.40,55.30,0.926,4,0.106,0.066,3239,3105,1985,0,0,0,0,0,0
$GC,5004,0.58,233.3,509.8,11.5,550,5010,0.10,2.40,0.00,0.000,6,0.154,0.062,3218,1715,1982,0,0,0,0,0,0
$GC,5319,0.58,233.3,477.1,10.1,581,5323,0.00,2.42,0.00,0.000,4,0.000,0.076,3228,285,1976,0,0,0,0,0,0
$GC,5349,0.58,233.3,473.9,11.0,584,5356,0.00,2.30,0.00,0.000,6,0.000,0.051,3228,1701,1975,0,0,0,0,0,0
$GC,5663,0.58,233.3,439.2,11.1,615,5667,0.00,2.33,0.00,0.000,4,0.000,0.067,3228,3103,1975,0,0,0,0,0,0
$GC,5702,0.58,233.3,434.6,11.7,619,5708,0.00,2.33,0.00,0.000,6,0.000,0.063,3237,1700,1974,0,0,0,0,0,0
$GC,6016,0.58,233.3,399.4,11.0,650,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1700,1974,0,0,0,0,0,0
$GC,6327,0.58,233.3,366.3,10.7,680,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1700,1974,0,0,0,0,0,0
$GC,6638,0.62,262.9,336.3,8.6,710,6667,0.00,2.38,24.38,0.831,4,0.000,0.067,3237,3107,1868,0,0,0,0,0,0
$GC,6684,0.62,267.9,331.9,9.8,715,6699,0.00,2.33,5.95,0.673,6,0.000,0.063,3246,1706,1847,0,0,0,0,0,0
$GC,7007,0.62,267.9,298.0,10.4,747,7010,0.00,2.35,0.00,0.000,4,0.000,0.075,3255,287,1842,0,0,0,0,0,0
$GC,7102,0.62,267.9,287.4,10.4,758,7106,0.00,2.25,0.00,0.000,6,0.000,0.052,3255,1698,1841,0,0,0,0,0,0
$GC,7421,0.62,269.4,254.5,9.9,789,7424,0.00,2.30,0.00,0.000,4,0.000,0.068,3255,3128,1841,0,0,0,0,0,0
$GC,7485,0.62,269.4,247.7,10.4,796,7492,0.10,2.33,0.00,0.000,6,0.154,0.064,3228,1702,1840,0,0,0,0,0,0
$GC,7802,0.78,333.0,223.1,7.1,827,7865,0.12,2.40,58.17,0.781,4,0.108,0.076,3292,281,1581,0,0,0,0,0,0
$GC,7960,0.78,333.0,205.0,13.0,845,7965,0.00,2.30,0.00,0.000,6,0.000,0.051,3292,1696,1574,0,0,0,0,0,0
$GC,8274,0.78,333.0,166.7,11.7,876,8278,0.00,2.35,0.00,0.000,4,0.000,0.070,3292,3108,1569,0,0,0,0,0,0
$GC,8339,0.78,333.0,158.4,13.3,883,8345,0.00,2.33,0.00,0.000,6,0.000,0.065,3302,1703,1568,0,0,0,0,0,0
$GC,8653,0.78,333.0,120.0,11.7,914,8657,0.00,2.35,0.00,0.000,4,0.000,0.077,3312,287,1567,0,0,0,0,0,0
$GC,8753,0.74,333.0,107.7,12.5,925,8760,0.12,2.25,0.00,0.000,6,0.146,0.054,3255,1693,1566,0,0,0,0,0,0
$GC,9076,0.95,387.0,81.4,7.5,978,9127,0.20,2.38,45.65,0.712,4,0.086,0.077,3346,282,1360,0,0,0,0,0,0
$GC,9157,0.88,387.0,71.5,14.1,996,9164,0.10,2.33,0.00,0.000,6,0.157,0.054,3315,1703,1357,0,0,0,0,0,0
$GC,9483,0.95,403.8,37.5,9.2,1057,9502,0.00,2.35,14.27,0.670,4,0.000,0.074,3315,3112,1291,0,0,0,0,0,0
$GC,9536,1.03,403.8,31.1,13.9,1069,9542,0.00,2.33,0.00,0.000,6,0.000,0.068,3324,1699,1289,0,0,0,0,0,0
$STATE,9758,end climb,SURFACE_DEPTH_REACHED
$STATE,9758,begin surface coast
$FINISH,1.4,1.012401
$STATE,9779,end surface coast,CONTROL_FINISHED_OK
$STATE,9780,begin surface
$SM_CCo,9853,0.00,0.000,0,0,1282,406.71
$SM_GC,2.20,8.77,0.00,0.00,0.076,0.000,0.000,140,1863,1282,-8.94,0.34,406.71
$RAFOS_CLK,542
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6013.96,210199,141459
$TT8_MAMPS,0.051389
$HUMID,40.43
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.4,118.5
$24V_AH,23.4,9.942
$10V_AH,10.2,4.280
$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,22.650,84.025,468.125,0.000,0.000,128.390,158.908,528.341,0.750,0.000,52.161,0.000,7268.750,517.341,2256.804,942.469,0.000,1467.190,0.000,1797.584,2471.000,7.724,0.000
$DEVICE_MAMPS,246.974,85.904,985.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.292,823.973,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150172
$DATA_FILE_SIZE,44216,1115
$CAP_FILE_SIZE,135897,0
$CFSIZE,260165632,249151488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$CURRENT,0.151,219.2,1
$GPS,271009,172425,6643.786,-6017.141,48,1.5,48,-38.0