version: 66.06
glider: 172
mission: 3
dive: 46
start: 10 28 109 5 17 55
data:
$ID,172
$MISSION,3
$DIVE,46
$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,-5040.8569
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,051206,6642.262,-6020.954,61,1.4,72,-38.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-67.0
$GPS2,051749,6642.173,-6020.970,13,1.9,13,-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,56.9,20304,-17.5,-10.000
$D_GRID,530
$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,-146.0,0.0,0.0,0,90,0.00,0.00,-76.03,0.000,2,0.000,0.000,120,1860,1986,0,0,0,0,0,0
$GC,92,-0.64,-146.0,3.1,-3.0,14,175,10.57,2.45,-68.05,0.000,4,0.235,0.092,2815,442,3538,0,0,0,0,0,0
$GC,248,-0.53,-146.0,21.6,-22.5,48,254,0.12,2.30,0.00,0.000,6,0.157,0.060,2848,1832,3540,0,0,0,0,0,0
$GC,573,-0.53,-146.0,72.7,-13.5,109,579,0.00,2.38,0.00,0.000,4,0.000,0.077,2837,3269,3540,0,0,0,0,0,0
$GC,599,-0.53,-146.0,76.2,-13.8,115,605,0.00,2.35,0.00,0.000,6,0.000,0.064,2837,1850,3540,0,0,0,0,0,0
$GC,919,-0.53,-146.0,121.4,-13.6,161,923,0.00,2.33,0.00,0.000,4,0.000,0.078,2838,441,3540,0,0,0,0,0,0
$GC,970,-0.53,-146.0,128.6,-13.5,167,974,0.00,2.28,0.00,0.000,6,0.000,0.058,2835,1846,3540,0,0,0,0,0,0
$GC,1289,-0.53,-146.0,170.9,-12.7,198,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1846,3539,0,0,0,0,0,0
$GC,1600,-0.53,-146.0,212.2,-13.2,228,1604,0.00,2.33,0.00,0.000,4,0.000,0.078,2835,440,3540,0,0,0,0,0,0
$GC,1621,-0.53,-146.0,215.1,-14.1,230,1628,0.00,2.28,0.00,0.000,6,0.000,0.058,2834,1853,3539,0,0,0,0,0,0
$GC,1936,-0.56,-146.0,256.3,-12.2,261,1939,0.00,2.33,0.00,0.000,4,0.000,0.079,2834,446,3539,0,0,0,0,0,0
$GC,1988,-0.61,-146.0,262.6,-11.7,267,1991,0.00,2.25,0.00,0.000,6,0.000,0.059,2834,1850,3539,0,0,0,0,0,0
$GC,2306,-0.65,-146.0,299.2,-11.2,298,2310,0.00,2.35,0.00,0.000,4,0.000,0.079,2835,439,3538,0,0,0,0,0,0
$GC,2336,-0.65,-146.0,302.7,-12.0,301,2342,0.00,2.25,0.00,0.000,6,0.000,0.059,2834,1845,3538,0,0,0,0,0,0
$GC,2651,-0.71,-146.0,336.4,-10.0,332,2655,0.12,2.30,0.00,0.000,4,0.110,0.079,2781,439,3538,0,0,0,0,0,0
$GC,2707,-0.66,-146.0,344.0,-14.2,338,2714,0.10,2.25,0.00,0.000,6,0.156,0.060,2806,1848,3538,0,0,0,0,0,0
$GC,3021,-0.66,-146.0,381.4,-12.2,369,3025,0.00,2.33,0.00,0.000,4,0.000,0.077,2797,3263,3538,0,0,0,0,0,0
$GC,3091,-0.72,-146.0,389.6,-12.0,377,3095,0.00,2.30,0.00,0.000,6,0.000,0.064,2797,1843,3538,0,0,0,0,0,0
$GC,3409,-0.72,-146.0,430.2,-12.9,408,3413,0.00,2.28,0.00,0.000,4,0.000,0.077,2797,449,3538,0,0,0,0,0,0
$GC,3465,-0.72,-146.0,437.6,-13.2,414,3472,0.00,2.22,0.00,0.000,6,0.000,0.058,2793,1847,3538,0,0,0,0,0,0
$GC,3780,-0.72,-146.0,477.8,-12.8,445,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1848,3538,0,0,0,0,0,0
$GC,4091,-0.72,-146.0,518.1,-12.9,475,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1848,3538,0,0,0,0,0,0
$STATE,4183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4185,-0.13,0.0,530.3,13.0,484,4307,0.57,0.00,119.28,0.980,6,0.143,0.000,2977,1696,2940,0,0,0,0,0,0
$STATE,4308,end apogee,CONTROL_FINISHED_OK
$STATE,4308,begin climb
$GC,4309,0.64,146.0,535.9,0.0,496,4442,0.73,2.53,124.53,0.945,4,0.092,0.074,3236,295,2342,0,0,0,0,0,0
$GC,4611,0.54,157.3,524.2,9.5,530,4625,0.12,2.33,9.75,0.831,6,0.173,0.051,3205,1726,2298,0,0,0,0,0,0
$GC,4934,0.62,220.4,500.5,7.1,562,4995,0.00,2.38,55.10,0.920,4,0.000,0.067,3205,3107,2039,0,0,0,0,0,0
$GC,5033,0.68,241.6,492.5,9.0,573,5057,0.00,2.40,19.48,0.872,6,0.000,0.064,3213,1715,1954,0,0,0,0,0,0
$GC,5365,0.78,262.6,461.0,9.0,606,5392,0.17,2.42,18.50,0.868,4,0.091,0.074,3294,284,1866,0,0,0,0,0,0
$GC,5413,0.61,262.6,454.6,15.3,611,5419,0.22,2.33,0.00,0.000,6,0.153,0.050,3225,1700,1865,0,0,0,0,0,0
$GC,5728,0.66,270.7,422.4,9.6,642,5739,0.00,0.00,7.30,0.764,6,0.000,0.000,3225,1701,1836,0,0,0,0,0,0
$GC,6048,0.74,286.5,391.7,9.3,673,6069,0.10,2.42,15.68,0.838,4,0.117,0.077,3281,286,1771,0,0,0,0,0,0
$GC,6117,0.66,286.5,383.3,13.2,681,6121,0.15,2.25,0.00,0.000,6,0.164,0.051,3239,1703,1769,0,0,0,0,0,0
$GC,6435,0.66,287.1,350.1,10.0,712,6439,0.00,2.30,0.00,0.000,4,0.000,0.067,3239,3097,1765,0,0,0,0,0,0
$GC,6478,0.66,287.1,345.4,11.3,717,6482,0.00,2.30,0.00,0.000,6,0.000,0.063,3248,1704,1764,0,0,0,0,0,0
$GC,6797,0.66,287.1,311.8,10.4,748,6801,0.00,2.35,0.00,0.000,4,0.000,0.077,3258,285,1764,0,0,0,0,0,0
$GC,6918,0.66,287.1,297.9,12.0,762,6922,0.00,2.22,0.00,0.000,6,0.000,0.051,3258,1693,1764,0,0,0,0,0,0
$GC,7237,0.66,287.1,262.6,10.9,793,7241,0.00,2.30,0.00,0.000,4,0.000,0.077,3265,298,1763,0,0,0,0,0,0
$GC,7262,0.66,287.1,259.6,11.8,796,7266,0.00,2.20,0.00,0.000,6,0.000,0.052,3265,1691,1763,0,0,0,0,0,0
$GC,7581,0.66,287.1,224.1,10.1,827,7585,0.00,2.30,0.00,0.000,4,0.000,0.077,3270,295,1763,0,0,0,0,0,0
$GC,7637,0.66,287.1,218.2,10.9,833,7643,0.08,2.22,0.00,0.000,6,0.148,0.052,3243,1705,1763,0,0,0,0,0,0
$GC,7952,0.80,317.7,190.4,8.6,864,7984,0.12,0.00,27.52,0.771,6,0.110,0.000,3299,1705,1646,0,0,0,0,0,0
$GC,8292,0.80,317.7,149.1,11.9,897,8296,0.00,2.35,0.00,0.000,4,0.000,0.079,3309,295,1639,0,0,0,0,0,0
$GC,8357,0.76,317.7,141.3,12.5,904,8364,0.10,2.25,0.00,0.000,6,0.146,0.054,3276,1701,1638,0,0,0,0,0,0
$GC,8672,0.82,317.7,109.8,10.2,935,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1702,1637,0,0,0,0,0,0
$GC,8989,0.93,350.1,79.6,8.5,985,9022,0.15,2.42,28.70,0.719,4,0.096,0.081,3347,285,1511,0,0,0,0,0,0
$GC,9073,0.84,350.1,68.1,15.7,1004,9080,0.15,2.28,0.00,0.000,6,0.155,0.054,3300,1693,1508,0,0,0,0,0,0
$GC,9400,0.93,369.1,35.4,9.1,1065,9423,0.00,2.38,16.55,0.690,4,0.000,0.072,3300,3103,1432,0,0,0,0,0,0
$GC,9470,1.03,369.1,28.4,10.2,1081,9476,0.10,2.33,0.00,0.000,6,0.074,0.067,3359,1706,1431,0,0,0,0,0,0
$STATE,9660,end climb,SURFACE_DEPTH_REACHED
$STATE,9660,begin surface coast
$FINISH,1.7,1.024418
$STATE,9687,end surface coast,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$SM_CCo,9760,0.00,0.000,0,0,1423,371.87
$SM_GC,2.56,8.73,0.00,0.00,0.068,0.000,0.000,151,1856,1423,-8.92,0.17,371.87
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6026.10,220199,020230
$TT8_MAMPS,0.051389
$HUMID,40.70
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.1,100.2
$24V_AH,23.4,10.675
$10V_AH,10.2,4.591
$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,22.425,93.250,442.375,0.000,0.000,30.414,46.502,184.936,0.750,0.000,13.200,0.000,6968.095,563.882,2201.419,354.055,0.000,1525.470,0.000,1798.213,0.000,7.671,0.000
$DEVICE_MAMPS,235.469,92.040,980.226,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.248,823.189,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150264
$DATA_FILE_SIZE,44151,1122
$CAP_FILE_SIZE,123195,0
$CFSIZE,260165632,248836096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$CURRENT,0.083,183.2,1
$GPS,281009,080321,6643.138,-6019.810,123,2.2,142,-38.0