version: 66.06
glider: 172
mission: 3
dive: 47
start: 10 28 109 8 16 9
data:
$ID,172
$MISSION,3
$DIVE,47
$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,-5057.4243
$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,31
$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
$GPS1,080321,6643.138,-6019.810,123,2.2,142,-38.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-73.8
$GPS2,081603,6643.024,-6020.000,14,2.0,15,-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,88.5,19006,-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,-146.0,0.0,0.0,0,56,0.00,0.00,-42.70,0.000,2,0.000,0.000,120,1857,2236,0,0,0,0,0,0
$GC,58,-0.64,-146.0,3.0,-2.0,8,118,10.43,2.38,-45.00,0.000,4,0.236,0.093,2808,441,3537,0,0,0,0,0,0
$GC,309,-0.55,-146.0,46.1,-19.6,65,315,0.17,2.25,0.00,0.000,6,0.161,0.061,2849,1840,3538,0,0,0,0,0,0
$GC,634,-0.55,-146.0,92.1,-13.2,126,639,0.00,2.30,0.00,0.000,4,0.000,0.077,2849,438,3538,0,0,0,0,0,0
$GC,655,-0.55,-146.0,95.2,-14.0,131,661,0.00,2.28,0.00,0.000,6,0.000,0.058,2843,1843,3539,0,0,0,0,0,0
$GC,976,-0.55,-146.0,138.6,-13.6,166,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1844,3539,0,0,0,0,0,0
$GC,1287,-0.55,-146.0,179.1,-12.3,196,1290,0.00,2.30,0.00,0.000,4,0.000,0.078,2844,432,3538,0,0,0,0,0,0
$GC,1347,-0.59,-146.0,187.0,-12.3,203,1351,0.00,2.28,0.00,0.000,6,0.000,0.059,2836,1849,3539,0,0,0,0,0,0
$GC,1666,-0.59,-146.0,226.5,-11.5,234,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1849,3538,0,0,0,0,0,0
$GC,1978,-0.63,-146.0,263.6,-12.2,264,1982,0.00,2.28,0.00,0.000,4,0.000,0.078,2836,439,3538,0,0,0,0,0,0
$GC,2047,-0.66,-146.0,272.0,-11.8,271,2052,0.00,2.25,0.00,0.000,6,0.000,0.059,2828,1846,3538,0,0,0,0,0,0
$GC,2361,-0.66,-146.0,309.0,-11.5,302,2365,0.00,2.30,0.00,0.000,4,0.000,0.079,2828,445,3537,0,0,0,0,0,0
$GC,2391,-0.66,-146.0,312.8,-13.4,305,2397,0.00,2.25,0.00,0.000,6,0.000,0.059,2824,1852,3538,0,0,0,0,0,0
$GC,2706,-0.70,-146.0,350.0,-11.6,336,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1852,3537,0,0,0,0,0,0
$GC,3016,-0.74,-146.0,385.4,-11.7,366,3018,0.12,0.00,0.00,0.000,6,0.104,0.000,2767,1852,3537,0,0,0,0,0,0
$GC,3327,-0.64,-146.0,432.9,-15.4,396,3331,0.17,2.33,0.00,0.000,4,0.158,0.079,2819,420,3537,0,0,0,0,0,0
$GC,3370,-0.70,-146.0,438.5,-12.0,401,3374,0.00,2.28,0.00,0.000,6,0.000,0.059,2809,1848,3537,0,0,0,0,0,0
$GC,3688,-0.70,-146.0,475.1,-10.9,432,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1847,3537,0,0,0,0,0,0
$GC,3999,-0.70,-146.0,510.9,-11.9,462,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1847,3538,0,0,0,0,0,0
$STATE,4184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4184,begin apogee
$GC,4187,-0.13,0.0,532.5,11.0,480,4309,0.52,0.00,119.07,0.986,6,0.133,0.000,2980,1695,2940,0,0,0,0,0,0
$STATE,4309,end apogee,CONTROL_FINISHED_OK
$STATE,4309,begin climb
$GC,4310,0.64,146.0,538.5,0.0,492,4443,0.70,2.53,124.05,0.949,4,0.084,0.066,3227,3103,2342,0,0,0,0,0,0
$GC,4691,0.59,203.6,523.2,7.3,535,4748,0.00,2.33,49.03,0.928,6,0.000,0.064,3237,1703,2109,0,0,0,0,0,0
$GC,5055,0.55,203.6,487.4,10.2,572,5059,0.12,2.35,0.00,0.000,4,0.179,0.067,3205,3109,2100,0,0,0,0,0,0
$GC,5093,0.55,208.4,483.7,9.8,576,5102,0.00,2.38,4.32,0.639,6,0.000,0.064,3213,1701,2089,0,0,0,0,0,0
$GC,5416,0.58,228.6,454.9,9.1,608,5443,0.00,2.38,19.25,0.882,4,0.000,0.077,3223,289,2006,0,0,0,0,0,0
$GC,5490,0.59,239.3,447.8,9.5,616,5505,0.00,2.30,10.25,0.820,6,0.000,0.051,3223,1703,1964,0,0,0,0,0,0
$GC,5813,0.63,242.4,416.2,9.9,648,5816,0.00,2.33,0.00,0.000,4,0.000,0.067,3223,3103,1958,0,0,0,0,0,0
$GC,5855,0.63,242.4,411.6,11.0,653,5860,0.00,2.33,0.00,0.000,6,0.000,0.064,3231,1705,1958,0,0,0,0,0,0
$GC,6174,0.64,248.6,379.2,9.7,684,6187,0.00,2.35,8.62,0.791,4,0.000,0.076,3241,282,1926,0,0,0,0,0,0
$GC,6217,0.64,248.6,374.6,11.4,689,6221,0.00,2.28,0.00,0.000,6,0.000,0.051,3240,1701,1924,0,0,0,0,0,0
$GC,6535,0.64,248.6,341.6,10.4,720,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1701,1923,0,0,0,0,0,0
$GC,6847,0.64,248.6,309.6,10.3,750,6850,0.00,2.30,0.00,0.000,4,0.000,0.077,3248,287,1923,0,0,0,0,0,0
$GC,6872,0.64,248.6,307.0,10.3,753,6876,0.00,2.22,0.00,0.000,6,0.000,0.051,3248,1693,1923,0,0,0,0,0,0
$GC,7191,0.66,263.7,277.2,9.3,784,7210,0.00,2.30,14.48,0.794,4,0.000,0.066,3248,3110,1863,0,0,0,0,0,0
$GC,7231,0.66,264.5,273.4,10.0,788,7236,0.00,2.33,0.00,0.000,6,0.000,0.064,3255,1699,1861,0,0,0,0,0,0
$GC,7545,0.68,281.0,243.7,9.2,819,7566,0.00,2.38,15.93,0.777,4,0.000,0.077,3264,288,1793,0,0,0,0,0,0
$GC,7648,0.68,281.0,233.0,10.5,831,7653,0.00,2.25,0.00,0.000,6,0.000,0.052,3264,1697,1791,0,0,0,0,0,0
$GC,7968,0.72,283.4,200.4,9.9,862,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1697,1788,0,0,0,0,0,0
$GC,8278,0.80,307.2,170.4,8.9,892,8308,0.00,2.38,23.65,0.759,4,0.000,0.079,3272,297,1687,0,0,0,0,0,0
$GC,8352,0.86,307.5,163.4,10.0,900,8357,0.00,2.22,0.00,0.000,6,0.000,0.054,3272,1699,1684,0,0,0,0,0,0
$GC,8666,0.93,323.9,134.0,9.2,931,8687,0.15,2.40,15.32,0.730,4,0.098,0.079,3343,287,1618,0,0,0,0,0,0
$GC,8721,0.79,323.9,126.9,14.1,937,8728,0.22,2.28,0.00,0.000,6,0.166,0.054,3279,1693,1616,0,0,0,0,0,0
$GC,9037,0.88,342.9,95.0,9.1,972,9061,0.00,2.38,17.35,0.716,4,0.000,0.080,3290,298,1540,0,0,0,0,0,0
$GC,9090,0.93,342.9,89.6,11.1,984,9096,0.08,2.28,0.00,0.000,6,0.077,0.056,3331,1699,1540,0,0,0,0,0,0
$GC,9415,0.91,352.7,50.5,9.5,1045,9430,0.00,2.35,9.32,0.667,4,0.000,0.081,3340,289,1501,0,0,0,0,0,0
$GC,9451,0.84,352.7,46.3,11.5,1053,9458,0.12,2.28,0.00,0.000,6,0.157,0.055,3300,1694,1499,0,0,0,0,0,0
$GC,9777,0.98,384.7,14.1,8.5,1114,9815,0.12,2.40,28.90,0.686,4,0.108,0.076,3351,3100,1369,0,0,0,0,0,0
$GC,9836,0.98,388.1,7.4,9.8,1127,9841,0.00,2.30,0.00,0.000,6,0.000,0.067,3361,1700,1366,0,0,0,0,0,0
$STATE,9865,end climb,SURFACE_DEPTH_REACHED
$STATE,9865,begin surface coast
$FINISH,1.6,1.012269
$STATE,9892,end surface coast,CONTROL_FINISHED_OK
$STATE,9892,begin surface
$SM_CCo,9965,0.00,0.000,0,0,1359,387.57
$SM_GC,2.41,8.82,0.00,0.00,0.068,0.000,0.000,149,1857,1359,-8.94,0.20,387.57
$RAFOS_CLK,537
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6023.41,220199,080853
$TT8_MAMPS,0.050622
$HUMID,39.95
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.4,101.3
$24V_AH,23.4,10.819
$10V_AH,10.2,4.655
$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,21.775,88.500,459.550,0.000,0.000,76.823,115.824,346.443,0.750,0.000,15.937,0.000,7302.446,517.114,2236.042,653.285,0.000,1484.031,0.000,1812.122,1765.000,7.676,0.000
$DEVICE_MAMPS,236.236,92.807,985.595,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.352,837.066,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150224
$DATA_FILE_SIZE,44230,1138
$CAP_FILE_SIZE,131802,0
$CFSIZE,260165632,248766464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.8
$CURRENT,0.071,189.9,1
$GPS,281009,110400,6643.656,-6017.357,85,1.7,85,-38.0