version: 66.06
glider: 172
mission: 3
dive: 13
start: 10 22 109 5 50 10
data:
$ID,172
$MISSION,3
$DIVE,13
$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,-3
$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,-4415.5361
$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,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,054037,6657.995,-5735.118,46,1.6,46,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-76.7
$GPS2,055004,6658.020,-5735.202,15,2.7,34,-37.6
$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,296.6,127619,-17.5,-10.000
$D_GRID,835
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-66.45,0.000,2,0.000,0.000,121,1948,2602,0,0,0,0,0,0
$GC,82,-0.64,-146.0,3.2,-2.4,13,124,10.98,2.35,-25.40,0.000,4,0.257,0.092,2803,3354,3538,0,0,0,0,0,0
$GC,371,-0.64,-146.0,53.1,-16.0,79,377,0.00,2.33,0.00,0.000,6,0.000,0.065,2802,1942,3539,0,0,0,0,0,0
$GC,695,-0.56,-146.0,105.0,-15.7,137,699,0.15,2.33,0.00,0.000,4,0.181,0.079,2844,520,3539,0,0,0,0,0,0
$GC,729,-0.61,-146.0,109.8,-13.3,141,733,0.00,2.30,0.00,0.000,6,0.000,0.061,2836,1941,3539,0,0,0,0,0,0
$GC,1048,-0.66,-146.0,147.5,-11.1,172,1052,0.00,2.33,0.00,0.000,4,0.000,0.078,2836,530,3539,0,0,0,0,0,0
$GC,1121,-0.71,-146.0,155.8,-11.1,180,1128,0.08,2.28,0.00,0.000,6,0.078,0.062,2787,1938,3538,0,0,0,0,0,0
$GC,1436,-0.63,-146.0,203.9,-16.4,211,1437,0.12,0.00,0.00,0.000,6,0.179,0.000,2820,1938,3538,0,0,0,0,0,0
$GC,1746,-0.63,-146.0,242.5,-11.2,241,1750,0.00,2.35,0.00,0.000,4,0.000,0.080,2820,523,3538,0,0,0,0,0,0
$GC,1807,-0.67,-146.0,249.7,-11.8,248,1811,0.00,2.25,0.00,0.000,6,0.000,0.062,2813,1933,3538,0,0,0,0,0,0
$GC,2126,-0.67,-146.0,285.2,-10.9,279,2130,0.00,2.30,0.00,0.000,4,0.000,0.078,2813,525,3538,0,0,0,0,0,0
$GC,2173,-0.67,-146.0,290.7,-11.4,284,2179,0.00,2.25,0.00,0.000,6,0.000,0.062,2808,1938,3538,0,0,0,0,0,0
$GC,2488,-0.67,-146.0,326.1,-11.4,315,2492,0.00,2.33,0.00,0.000,4,0.000,0.077,2808,528,3538,0,0,0,0,0,0
$GC,2548,-0.67,-146.0,333.2,-11.0,322,2552,0.00,2.25,0.00,0.000,6,0.000,0.062,2808,1937,3538,0,0,0,0,0,0
$GC,2867,-0.67,-146.0,369.9,-11.4,353,2871,0.00,2.33,0.00,0.000,4,0.000,0.077,2808,523,3538,0,0,0,0,0,0
$GC,2936,-0.67,-146.0,378.1,-12.1,361,2940,0.00,2.25,0.00,0.000,6,0.000,0.061,2808,1941,3538,0,0,0,0,0,0
$GC,3255,-0.67,-146.0,413.9,-11.0,392,3259,0.00,2.30,0.00,0.000,4,0.000,0.077,2808,525,3539,0,0,0,0,0,0
$GC,3354,-0.67,-146.0,425.2,-11.2,403,3361,0.00,2.25,0.00,0.000,6,0.000,0.061,2808,1941,3539,0,0,0,0,0,0
$GC,3669,-0.67,-146.0,459.7,-10.9,434,3673,0.00,2.30,0.00,0.000,4,0.000,0.077,2808,525,3539,0,0,0,0,0,0
$GC,3703,-0.67,-146.0,463.8,-11.5,438,3707,0.00,2.25,0.00,0.000,6,0.000,0.062,2808,1942,3539,0,0,0,0,0,0
$GC,4022,-0.67,-146.0,498.1,-10.6,469,4026,0.00,2.30,0.00,0.000,4,0.000,0.077,2808,523,3539,0,0,0,0,0,0
$GC,4117,-0.67,-146.0,508.7,-11.9,480,4121,0.00,2.25,0.00,0.000,6,0.000,0.061,2808,1940,3539,0,0,0,0,0,0
$GC,4436,-0.71,-146.0,542.0,-10.0,511,4440,0.00,2.30,0.00,0.000,4,0.000,0.077,2808,523,3539,0,0,0,0,0,0
$GC,4510,-0.75,-146.0,550.1,-10.6,519,4516,0.00,2.20,0.00,0.000,6,0.000,0.061,2808,1938,3539,0,0,0,0,0,0
$GC,4824,-0.79,-146.0,582.4,-10.4,550,4828,0.12,2.30,0.00,0.000,4,0.107,0.077,2750,529,3539,0,0,0,0,0,0
$GC,4889,-0.67,-146.0,592.1,-16.0,557,4895,0.15,2.22,0.00,0.000,6,0.151,0.062,2801,1930,3540,0,0,0,0,0,0
$GC,5198,-0.67,-146.0,627.3,-11.3,572,5202,0.00,2.28,0.00,0.000,4,0.000,0.076,2802,522,3540,0,0,0,0,0,0
$GC,5223,-0.67,-146.0,630.4,-12.4,572,5229,0.00,2.22,0.00,0.000,6,0.000,0.060,2796,1931,3540,0,0,0,0,0,0
$GC,5531,-0.67,-146.0,667.2,-12.0,583,5535,0.00,2.28,0.00,0.000,4,0.000,0.077,2796,521,3540,0,0,0,0,0,0
$GC,5566,-0.67,-146.0,671.5,-12.3,584,5569,0.00,2.25,0.00,0.000,6,0.000,0.061,2796,1940,3540,0,0,0,0,0,0
$GC,5895,-0.67,-146.0,710.4,-11.9,595,5899,0.00,2.28,0.00,0.000,4,0.000,0.076,2796,532,3540,0,0,0,0,0,0
$GC,5933,-0.67,-146.0,715.4,-13.3,596,5937,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1939,3540,0,0,0,0,0,0
$GC,6261,-0.67,-146.0,753.0,-11.5,607,6265,0.00,2.25,0.00,0.000,4,0.000,0.076,2796,518,3540,0,0,0,0,0,0
$GC,6325,-0.67,-146.0,761.1,-11.8,609,6329,0.00,2.25,0.00,0.000,6,0.000,0.061,2796,1942,3540,0,0,0,0,0,0
$GC,6650,-0.67,-146.0,798.9,-11.8,620,6654,0.00,2.28,0.00,0.000,4,0.000,0.076,2796,532,3540,0,0,0,0,0,0
$GC,6710,-0.67,-146.0,806.4,-11.9,622,6714,0.00,2.22,0.00,0.000,6,0.000,0.061,2796,1938,3540,0,0,0,0,0,0
$STATE,6982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6982,begin apogee
$GC,6985,-0.13,0.0,837.1,11.2,631,7111,0.57,0.00,123.95,1.163,6,0.140,0.000,2982,1938,2940,0,0,0,0,0,0
$STATE,7111,end apogee,CONTROL_FINISHED_OK
$STATE,7111,begin climb
$GC,7112,0.64,146.0,841.9,0.0,635,7249,0.70,2.53,128.88,1.129,4,0.084,0.071,3227,3347,2342,0,0,0,0,0,0
$GC,7313,0.47,154.3,839.3,9.6,641,7326,0.15,2.42,7.55,0.921,6,0.162,0.062,3182,1936,2311,0,0,0,0,0,0
$GC,7651,0.54,216.5,815.1,7.1,653,7712,0.00,2.50,56.10,1.109,4,0.000,0.075,3193,527,2056,0,0,0,0,0,0
$GC,7786,0.59,226.5,803.6,9.5,657,7800,0.00,2.35,9.82,0.969,6,0.000,0.055,3192,1932,2016,0,0,0,0,0,0
$GC,8101,0.66,244.6,774.6,9.2,668,8122,0.12,2.40,16.67,1.042,4,0.105,0.077,3252,524,1941,0,0,0,0,0,0
$GC,8247,0.55,244.6,755.5,14.5,673,8251,0.15,2.33,0.00,0.000,6,0.154,0.055,3205,1942,1937,0,0,0,0,0,0
$GC,8581,0.55,244.6,720.7,10.2,684,8584,0.00,2.38,0.00,0.000,4,0.000,0.077,3215,526,1934,0,0,0,0,0,0
$GC,8711,0.55,244.6,706.7,11.1,688,8715,0.00,2.28,0.00,0.000,6,0.000,0.057,3215,1936,1934,0,0,0,0,0,0
$GC,9036,0.55,244.6,672.2,10.7,699,9040,0.00,2.35,0.00,0.000,4,0.000,0.077,3224,524,1933,0,0,0,0,0,0
$GC,9152,0.55,244.6,658.6,13.0,702,9158,0.00,2.28,0.00,0.000,6,0.000,0.056,3223,1946,1933,0,0,0,0,0,0
$GC,9460,0.55,244.6,623.4,11.3,713,9464,0.00,2.35,0.00,0.000,4,0.000,0.077,3233,522,1933,0,0,0,0,0,0
$GC,9560,0.50,244.6,611.4,12.0,716,9564,0.12,2.25,0.00,0.000,6,0.156,0.058,3192,1928,1932,0,0,0,0,0,0
$GC,9879,0.57,248.2,580.7,9.8,738,9882,0.00,2.28,0.00,0.000,4,0.000,0.077,3202,519,1932,0,0,0,0,0,0
$GC,9991,0.62,248.2,569.0,10.7,751,9995,0.00,2.25,0.00,0.000,6,0.000,0.058,3202,1932,1932,0,0,0,0,0,0
$GC,10310,0.66,255.4,536.8,9.7,782,10328,0.10,2.30,9.68,0.900,4,0.123,0.077,3257,517,1896,0,0,0,0,0,0
$GC,10458,0.57,255.4,517.2,14.3,799,10462,0.12,2.28,0.00,0.000,6,0.156,0.058,3216,1939,1896,0,0,0,0,0,0
$GC,10776,0.57,255.4,482.5,10.6,830,10780,0.00,2.33,0.00,0.000,4,0.000,0.077,3226,521,1895,0,0,0,0,0,0
$GC,10898,0.57,255.4,468.9,11.2,844,10902,0.00,2.25,0.00,0.000,6,0.000,0.058,3225,1936,1895,0,0,0,0,0,0
$GC,11216,0.57,255.4,434.8,10.2,875,11220,0.00,2.30,0.00,0.000,4,0.000,0.077,3236,526,1895,0,0,0,0,0,0
$GC,11355,0.57,255.4,419.4,10.5,891,11359,0.00,2.22,0.00,0.000,6,0.000,0.058,3236,1928,1894,0,0,0,0,0,0
$GC,11674,0.53,255.4,384.7,11.3,922,11678,0.12,2.30,0.00,0.000,4,0.185,0.076,3212,528,1894,0,0,0,0,0,0
$GC,11761,0.58,265.4,376.0,9.5,932,11774,0.00,2.20,9.62,0.820,6,0.000,0.058,3212,1947,1858,0,0,0,0,0,0
$GC,12084,0.63,265.4,343.7,10.2,963,12087,0.00,2.33,0.00,0.000,4,0.000,0.077,3222,526,1855,0,0,0,0,0,0
$GC,12210,0.63,265.4,330.1,11.4,977,12215,0.00,2.22,0.00,0.000,6,0.000,0.058,3222,1925,1854,0,0,0,0,0,0
$GC,12524,0.63,265.4,296.4,10.9,1008,12528,0.00,2.28,0.00,0.000,4,0.000,0.077,3232,529,1854,0,0,0,0,0,0
$GC,12649,0.63,265.4,282.3,10.7,1022,12655,0.00,2.22,0.00,0.000,6,0.000,0.058,3232,1931,1854,0,0,0,0,0,0
$GC,12964,0.63,265.4,246.9,11.7,1053,12968,0.00,2.28,0.00,0.000,4,0.000,0.077,3242,530,1854,0,0,0,0,0,0
$GC,13042,0.63,265.4,237.5,12.7,1062,13046,0.00,2.22,0.00,0.000,6,0.000,0.058,3242,1941,1854,0,0,0,0,0,0
$GC,13360,0.63,265.4,200.2,11.0,1093,13365,0.00,2.30,0.00,0.000,4,0.000,0.077,3253,526,1853,0,0,0,0,0,0
$GC,13430,0.63,265.4,192.3,11.4,1101,13434,0.00,2.22,0.00,0.000,6,0.000,0.058,3252,1934,1853,0,0,0,0,0,0
$GC,13749,0.63,265.4,157.3,10.8,1132,13753,0.00,2.30,0.00,0.000,4,0.000,0.077,3262,518,1853,0,0,0,0,0,0
$GC,13831,0.63,265.4,147.8,11.3,1141,13837,0.08,2.22,0.00,0.000,6,0.159,0.058,3235,1932,1853,0,0,0,0,0,0
$GC,14146,0.72,295.4,118.9,8.6,1172,14181,0.00,2.35,27.12,0.729,4,0.000,0.077,3246,525,1732,0,0,0,0,0,0
$GC,14271,0.79,310.2,106.9,9.3,1186,14290,0.00,2.28,14.00,0.694,6,0.000,0.058,3246,1944,1674,0,0,0,0,0,0
$GC,14613,0.95,372.6,77.1,7.1,1244,14674,0.22,2.40,54.33,0.696,4,0.085,0.079,3346,526,1419,0,0,0,0,0,0
$GC,14765,0.83,372.6,55.2,17.0,1278,14771,0.15,2.33,0.00,0.000,6,0.163,0.058,3299,1939,1412,0,0,0,0,0,0
$GC,15090,0.83,372.6,16.8,11.4,1339,15096,0.00,2.38,0.00,0.000,4,0.000,0.079,3309,523,1406,0,0,0,0,0,0
$STATE,15194,end climb,SURFACE_DEPTH_REACHED
$STATE,15195,begin surface coast
$FINISH,1.2,1.018128
$STATE,15229,end surface coast,CONTROL_FINISHED_OK
$STATE,15229,begin surface
$SM_CCo,15304,0.00,0.000,0,0,1402,377.27
$SM_GC,1.99,8.55,0.00,0.00,0.067,0.000,0.000,148,1947,1402,-8.93,0.25,377.27
$RAFOS_CLK,785
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5739.31,160199,050556
$TT8_MAMPS,0.050622
$HUMID,39.56
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,753.0,105.2
$24V_AH,23.3,5.646
$10V_AH,10.3,2.163
$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,22.775,165.150,457.725,0.000,0.000,59.145,66.183,263.052,2.250,0.000,35.917,0.000,11500.962,606.174,3230.059,508.606,0.000,1957.715,0.000,2623.583,2520.000,19.787,0.000
$DEVICE_MAMPS,256.945,92.040,1162.772,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.521,1027.268,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150304
$DATA_FILE_SIZE,53632,1371
$CAP_FILE_SIZE,183228,0
$CFSIZE,260165632,251441152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.6
$CURRENT,0.215,154.8,1
$GPS,221009,100607,6656.388,-5738.353,31,1.4,31,-37.6