version: 66.06
glider: 172
mission: 3
dive: 65
start: 10 31 109 4 20 12
data:
$ID,172
$MISSION,3
$DIVE,65
$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,608.34399
$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,-5482.7861
$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,26
$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
$GPS1,035524,6646.172,-5921.417,27,1.4,45,-37.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-71.0
$GPS2,042006,6645.842,-5921.462,35,2.0,40,-37.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$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,34.0,12684,-17.5,-10.000
$D_GRID,932
$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,13,-0.64,-146.0,0.0,0.0,0,82,0.00,0.00,-67.12,0.000,2,0.000,0.000,120,1858,2332,0,0,0,0,0,0
$GC,83,-0.64,-146.0,3.1,-1.2,13,145,10.50,2.45,-42.65,0.000,4,0.241,0.091,2810,434,3538,0,0,0,0,0,0
$GC,278,-0.51,-146.0,35.7,-17.9,57,284,0.15,2.30,0.00,0.000,6,0.150,0.059,2851,1836,3539,0,0,0,0,0,0
$GC,603,-0.51,-146.0,81.0,-13.2,118,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1836,3539,0,0,0,0,0,0
$GC,918,-0.51,-146.0,120.6,-11.9,162,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1836,3539,0,0,0,0,0,0
$GC,1229,-0.56,-146.0,156.8,-11.4,192,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1836,3539,0,0,0,0,0,0
$GC,1540,-0.62,-146.0,193.1,-12.0,222,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1836,3539,0,0,0,0,0,0
$GC,1850,-0.71,-146.0,229.6,-11.9,252,1854,0.15,2.28,0.00,0.000,4,0.094,0.077,2785,439,3539,0,0,0,0,0,0
$GC,1901,-0.59,-146.0,238.1,-17.5,257,1907,0.15,2.28,0.00,0.000,6,0.146,0.060,2825,1854,3538,0,0,0,0,0,0
$GC,2216,-0.59,-146.0,279.0,-12.4,288,2220,0.00,2.33,0.00,0.000,4,0.000,0.078,2825,439,3538,0,0,0,0,0,0
$GC,2250,-0.59,-146.0,283.5,-13.0,292,2254,0.00,2.25,0.00,0.000,6,0.000,0.059,2820,1848,3538,0,0,0,0,0,0
$GC,2569,-0.59,-146.0,321.7,-11.7,323,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1848,3538,0,0,0,0,0,0
$GC,2880,-0.59,-146.0,356.8,-10.8,353,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1848,3538,0,0,0,0,0,0
$GC,3190,-0.63,-146.0,388.7,-10.3,383,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1848,3538,0,0,0,0,0,0
$GC,3500,-0.67,-146.0,420.7,-10.2,413,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1848,3539,0,0,0,0,0,0
$GC,3811,-0.72,-146.0,452.9,-10.3,443,3814,0.00,2.30,0.00,0.000,4,0.000,0.076,2821,438,3539,0,0,0,0,0,0
$GC,3849,-0.76,-146.0,457.4,-12.0,447,3856,0.08,2.22,0.00,0.000,6,0.071,0.058,2771,1844,3539,0,0,0,0,0,0
$GC,4164,-0.66,-146.0,502.8,-14.3,478,4168,0.12,2.30,0.00,0.000,4,0.168,0.075,2807,442,3539,0,0,0,0,0,0
$GC,4202,-0.66,-146.0,507.8,-13.3,482,4208,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3540,0,0,0,0,0,0
$GC,4517,-0.66,-146.0,542.7,-10.9,513,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,4827,-0.66,-146.0,577.5,-11.2,543,4831,0.00,2.30,0.00,0.000,4,0.000,0.075,2807,443,3540,0,0,0,0,0,0
$GC,4870,-0.66,-146.0,582.6,-12.6,548,4874,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1853,3540,0,0,0,0,0,0
$GC,5186,-0.66,-146.0,617.9,-11.1,569,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3540,0,0,0,0,0,0
$GC,5491,-0.66,-146.0,651.9,-11.2,579,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3542,0,0,0,0,0,0
$GC,5793,-0.66,-146.0,685.1,-10.9,589,5796,0.00,2.30,0.00,0.000,4,0.000,0.074,2807,438,3541,0,0,0,0,0,0
$GC,5823,-0.66,-146.0,688.6,-11.8,590,5827,0.00,2.22,0.00,0.000,6,0.000,0.056,2807,1849,3542,0,0,0,0,0,0
$GC,6157,-0.66,-146.0,724.6,-10.7,601,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1849,3542,0,0,0,0,0,0
$GC,6460,-0.66,-146.0,756.5,-10.7,611,6464,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,439,3542,0,0,0,0,0,0
$GC,6520,-0.66,-146.0,763.4,-11.4,613,6524,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1850,3542,0,0,0,0,0,0
$GC,6855,-0.70,-146.0,800.3,-11.2,624,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3542,0,0,0,0,0,0
$GC,7157,-0.70,-146.0,832.5,-10.5,634,7161,0.00,2.30,0.00,0.000,4,0.000,0.075,2807,437,3542,0,0,0,0,0,0
$GC,7196,-0.73,-146.0,836.8,-10.9,635,7200,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1854,3542,0,0,0,0,0,0
$GC,7521,-0.77,-146.0,870.4,-10.2,646,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1855,3543,0,0,0,0,0,0
$GC,7824,-0.81,-146.0,901.0,-10.1,656,7828,0.12,2.28,0.00,0.000,4,0.102,0.074,2745,432,3543,0,0,0,0,0,0
$GC,7867,-0.67,-146.0,906.9,-14.4,657,7871,0.15,2.25,0.00,0.000,6,0.145,0.058,2806,1853,3542,0,0,0,0,0,0
$STATE,8125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8126,begin apogee
$GC,8128,-0.13,0.0,932.7,9.7,666,8256,0.52,0.00,125.43,1.228,6,0.130,0.000,2982,1693,2940,0,0,0,0,0,0
$STATE,8256,end apogee,CONTROL_FINISHED_OK
$STATE,8256,begin climb
$GC,8258,0.64,146.0,937.5,0.0,670,8391,0.73,0.00,131.23,1.194,6,0.075,0.000,3236,1693,2345,0,0,0,0,0,0
$GC,8671,0.52,162.0,915.0,9.3,684,8686,0.15,0.00,14.25,1.086,6,0.175,0.000,3198,1693,2279,0,0,0,0,0,0
$GC,8974,0.57,203.1,890.5,8.1,694,9013,0.00,0.00,38.08,1.151,6,0.000,0.000,3198,1693,2111,0,0,0,0,0,0
$GC,9308,0.59,218.4,860.1,9.3,705,9323,0.00,0.00,14.07,1.077,6,0.000,0.000,3198,1693,2049,0,0,0,0,0,0
$GC,9611,0.65,241.3,832.7,8.9,715,9634,0.12,0.00,21.67,1.108,6,0.100,0.000,3251,1693,1956,0,0,0,0,0,0
$GC,9915,0.55,241.3,793.9,13.0,725,9916,0.17,0.00,0.00,0.000,6,0.160,0.000,3203,1693,1949,0,0,0,0,0,0
$GC,10218,0.60,251.0,764.2,9.6,735,10233,0.00,2.33,9.32,0.989,4,0.000,0.075,3213,294,1915,0,0,0,0,0,0
$GC,10267,0.60,251.0,759.0,11.0,736,10271,0.00,2.28,0.00,0.000,6,0.000,0.051,3212,1700,1914,0,0,0,0,0,0
$GC,10579,0.60,251.0,725.5,11.1,747,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1701,1912,0,0,0,0,0,0
$GC,10882,0.60,251.0,692.0,11.2,757,10886,0.00,2.35,0.00,0.000,4,0.000,0.077,3223,299,1912,0,0,0,0,0,0
$GC,10921,0.60,251.0,687.5,12.2,758,10925,0.00,2.22,0.00,0.000,6,0.000,0.052,3223,1699,1911,0,0,0,0,0,0
$GC,11246,0.60,251.0,649.8,11.4,769,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1700,1911,0,0,0,0,0,0
$GC,11549,0.60,251.0,614.7,11.7,779,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1700,1911,0,0,0,0,0,0
$GC,11856,0.60,251.0,579.8,11.0,799,11860,0.00,2.33,0.00,0.000,4,0.000,0.077,3232,297,1910,0,0,0,0,0,0
$GC,11891,0.60,251.0,575.8,10.7,803,11895,0.00,2.20,0.00,0.000,6,0.000,0.052,3232,1693,1910,0,0,0,0,0,0
$GC,12209,0.60,251.0,538.2,12.1,834,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1694,1910,0,0,0,0,0,0
$GC,12521,0.60,251.0,501.5,11.8,864,12524,0.00,2.25,0.00,0.000,4,0.000,0.077,3240,287,1910,0,0,0,0,0,0
$GC,12572,0.56,251.0,495.0,13.0,870,12576,0.08,2.22,0.00,0.000,6,0.148,0.052,3213,1705,1909,0,0,0,0,0,0
$GC,12891,0.59,251.0,460.6,10.5,901,12895,0.00,2.30,0.00,0.000,4,0.000,0.077,3224,294,1909,0,0,0,0,0,0
$GC,12934,0.59,251.0,455.7,12.2,906,12938,0.00,2.20,0.00,0.000,6,0.000,0.052,3223,1697,1909,0,0,0,0,0,0
$GC,13254,0.59,251.0,419.0,11.5,937,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1698,1909,0,0,0,0,0,0
$GC,13563,0.59,251.0,384.3,11.1,967,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1698,1909,0,0,0,0,0,0
$GC,13873,0.59,251.0,351.3,10.4,997,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1698,1909,0,0,0,0,0,0
$GC,14184,0.62,272.3,322.3,9.0,1027,14206,0.00,0.00,19.17,0.829,6,0.000,0.000,3224,1698,1829,0,0,0,0,0,0
$GC,14514,0.72,297.1,291.0,8.9,1059,14542,0.00,2.33,22.77,0.810,4,0.000,0.076,3234,294,1728,0,0,0,0,0,0
$GC,14580,0.78,297.1,285.0,10.4,1066,14586,0.12,2.22,0.00,0.000,6,0.107,0.052,3287,1707,1726,0,0,0,0,0,0
$GC,14894,0.70,297.1,244.2,13.5,1097,14898,0.12,2.35,0.00,0.000,4,0.170,0.076,3264,275,1722,0,0,0,0,0,0
$GC,14920,0.70,297.1,241.1,11.3,1100,14924,0.00,2.25,0.00,0.000,6,0.000,0.053,3264,1696,1721,0,0,0,0,0,0
$GC,15238,0.70,297.1,203.3,12.3,1131,15242,0.00,2.30,0.00,0.000,4,0.000,0.077,3273,302,1721,0,0,0,0,0,0
$GC,15269,0.70,297.1,199.6,11.9,1134,15274,0.00,2.20,0.00,0.000,6,0.000,0.052,3273,1699,1721,0,0,0,0,0,0
$GC,15583,0.70,297.1,159.8,11.8,1165,15584,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1699,1720,0,0,0,0,0,0
$GC,15894,0.70,297.1,124.1,11.7,1195,15898,0.00,2.30,0.00,0.000,4,0.000,0.072,3273,3120,1720,0,0,0,0,0,0
$GC,15963,0.70,297.1,116.1,10.2,1203,15967,0.08,2.30,0.00,0.000,6,0.162,0.068,3255,1710,1719,0,0,0,0,0,0
$GC,16286,0.85,351.1,89.7,7.5,1247,16339,0.12,0.00,47.40,0.719,6,0.107,0.000,3311,1710,1506,0,0,0,0,0,0
$GC,16657,0.85,351.1,48.2,11.8,1317,16663,0.00,2.38,0.00,0.000,4,0.000,0.079,3321,290,1496,0,0,0,0,0,0
$GC,16723,0.85,351.1,39.2,12.6,1332,16728,0.00,2.22,0.00,0.000,6,0.000,0.056,3321,1698,1495,0,0,0,0,0,0
$STATE,17009,end climb,SURFACE_DEPTH_REACHED
$STATE,17009,begin surface coast
$FINISH,1.6,1.024795
$STATE,17047,end surface coast,CONTROL_FINISHED_OK
$STATE,17047,begin surface
$SM_CCo,17060,211.32,0.650,1,0,460,608.34
$SM_GC,2.29,0.00,0.00,211.32,0.000,0.000,0.650,130,1852,460,-9.03,0.06,608.34
$RAFOS_CLK,937
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5924.61,250199,040402
$TT8_MAMPS,0.050622
$HUMID,37.99
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.8,115.3
$24V_AH,22.9,13.624
$10V_AH,10.1,5.904
$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,22.075,91.550,443.400,211.325,0.000,140.650,247.918,646.697,2.750,0.000,40.285,0.000,13901.887,821.976,2766.334,1245.443,0.000,1915.328,0.000,2178.451,3883.000,24.531,0.000
$DEVICE_MAMPS,240.838,91.273,1227.967,650.416,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.979,1041.396,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150768
$DATA_FILE_SIZE,56760,1393
$CAP_FILE_SIZE,172226,0
$CFSIZE,260165632,247345152
$ERRORS,0,0,12,0,0,48,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1457.1
$CURRENT,0.127,162.9,1
$GPS,311009,090906,6647.325,-5920.980,35,1.2,35,-37.9