version: 66.06
glider: 172
mission: 3
dive: 70
start: 11 1 109 5 41 44
data:
$ID,172
$MISSION,3
$DIVE,70
$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,450
$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,-5564.0132
$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,20
$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
$GPS1,053607,6648.073,-5857.443,35,2.0,35,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-75.8
$GPS2,054138,6648.029,-5857.420,16,2.0,16,-37.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD3_EB
$TGT_LATLONG,6655.000,-5823.000
$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,55.5,28130,-17.5,-10.000
$D_GRID,944
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-68.45,0.000,2,0.000,0.000,131,1865,2364,0,0,0,0,0,0
$GC,85,-0.64,-146.0,3.2,-2.4,13,142,10.70,2.38,-38.15,0.000,4,0.247,0.089,2801,3249,3537,0,0,0,0,0,0
$GC,158,-0.47,-146.0,12.6,-17.5,29,164,0.22,2.30,0.00,0.000,6,0.160,0.067,2865,1850,3538,0,0,0,0,0,0
$GC,483,-0.50,-146.0,59.9,-13.2,90,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1850,3538,0,0,0,0,0,0
$GC,804,-0.59,-146.0,96.6,-11.3,150,809,0.00,2.35,0.00,0.000,4,0.000,0.077,2866,445,3538,0,0,0,0,0,0
$GC,865,-0.68,-146.0,103.9,-11.7,161,869,0.15,2.20,0.00,0.000,6,0.095,0.058,2793,1842,3538,0,0,0,0,0,0
$GC,1184,-0.57,-146.0,155.1,-15.3,192,1188,0.17,2.30,0.00,0.000,4,0.166,0.077,2843,439,3538,0,0,0,0,0,0
$GC,1227,-0.63,-146.0,160.7,-11.2,197,1231,0.00,2.25,0.00,0.000,6,0.000,0.058,2837,1845,3538,0,0,0,0,0,0
$GC,1546,-0.68,-146.0,195.2,-11.4,228,1549,0.00,2.33,0.00,0.000,4,0.000,0.077,2837,3250,3538,0,0,0,0,0,0
$GC,1576,-0.80,-146.0,198.6,-11.1,231,1583,0.20,2.25,0.00,0.000,6,0.083,0.066,2752,1845,3538,0,0,0,0,0,0
$GC,1890,-0.60,-146.0,258.0,-19.3,262,1894,0.25,2.28,0.00,0.000,4,0.163,0.078,2827,440,3537,0,0,0,0,0,0
$GC,1968,-0.65,-146.0,268.9,-12.4,271,1972,0.00,2.22,0.00,0.000,6,0.000,0.058,2819,1857,3537,0,0,0,0,0,0
$GC,2287,-0.65,-146.0,308.3,-12.3,302,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1857,3537,0,0,0,0,0,0
$GC,2598,-0.69,-146.0,345.9,-11.9,332,2601,0.00,2.28,0.00,0.000,4,0.000,0.075,2819,434,3537,0,0,0,0,0,0
$GC,2631,-0.72,-146.0,350.1,-12.2,335,2638,0.00,2.25,0.00,0.000,6,0.000,0.057,2819,1853,3537,0,0,0,0,0,0
$GC,2946,-0.76,-146.0,386.0,-11.2,366,2947,0.12,0.00,0.00,0.000,6,0.104,0.000,2763,1853,3538,0,0,0,0,0,0
$GC,3257,-0.64,-146.0,434.7,-15.8,396,3260,0.17,2.28,0.00,0.000,4,0.163,0.076,2814,440,3538,0,0,0,0,0,0
$GC,3308,-0.68,-146.0,441.8,-12.6,402,3311,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1848,3538,0,0,0,0,0,0
$GC,3626,-0.68,-146.0,480.2,-11.9,433,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1847,3538,0,0,0,0,0,0
$GC,3937,-0.68,-146.0,516.2,-11.5,463,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3538,0,0,0,0,0,0
$GC,4247,-0.68,-146.0,551.3,-11.2,493,4251,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,441,3539,0,0,0,0,0,0
$GC,4273,-0.68,-146.0,554.4,-12.8,496,4277,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1853,3539,0,0,0,0,0,0
$GC,4592,-0.68,-146.0,589.2,-10.6,527,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3539,0,0,0,0,0,0
$GC,4908,-0.68,-146.0,622.6,-10.5,544,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3539,0,0,0,0,0,0
$GC,5211,-0.72,-146.0,654.8,-10.7,554,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1853,3540,0,0,0,0,0,0
$GC,5515,-0.72,-146.0,686.6,-10.7,564,5518,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,432,3540,0,0,0,0,0,0
$GC,5545,-0.72,-146.0,690.1,-11.3,565,5548,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1848,3540,0,0,0,0,0,0
$GC,5879,-0.75,-146.0,725.4,-10.5,576,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1848,3540,0,0,0,0,0,0
$GC,6182,-0.79,-146.0,756.7,-10.2,586,6186,0.10,2.28,0.00,0.000,4,0.118,0.074,2758,448,3541,0,0,0,0,0,0
$GC,6216,-0.67,-146.0,761.2,-14.0,587,6220,0.15,2.20,0.00,0.000,6,0.144,0.056,2805,1848,3541,0,0,0,0,0,0
$GC,6546,-0.71,-146.0,795.5,-10.2,598,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1848,3541,0,0,0,0,0,0
$GC,6849,-0.75,-146.0,826.5,-10.3,608,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1848,3541,0,0,0,0,0,0
$GC,7153,-0.80,-146.0,857.7,-10.3,618,7156,0.12,2.25,0.00,0.000,4,0.102,0.074,2747,439,3541,0,0,0,0,0,0
$GC,7187,-0.65,-146.0,862.4,-15.4,619,7190,0.25,2.17,0.00,0.000,6,0.154,0.057,2816,1852,3541,0,0,0,0,0,0
$GC,7515,-0.74,-146.0,894.3,-9.4,630,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1852,3541,0,0,0,0,0,0
$GC,7819,-0.82,-146.0,922.2,-9.1,640,7820,0.15,0.00,0.00,0.000,6,0.094,0.000,2749,1852,3541,0,0,0,0,0,0
$STATE,8000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8000,begin apogee
$GC,8002,-0.13,0.0,947.1,14.2,646,8130,0.70,0.00,125.32,1.241,6,0.143,0.000,2975,1696,2940,0,0,0,0,0,0
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8131,begin climb
$GC,8132,0.64,146.0,951.9,0.0,650,8270,0.73,2.47,130.32,1.206,4,0.087,0.064,3225,3108,2342,0,0,0,0,0,0
$GC,8304,0.59,210.5,950.7,7.0,655,8368,0.00,2.45,59.67,1.179,6,0.000,0.061,3236,1715,2080,0,0,1,0,0,0
$GC,8670,0.50,210.5,908.2,12.0,668,8674,0.17,2.42,0.00,0.000,4,0.171,0.074,3200,285,2070,0,0,0,0,0,0
$GC,8721,0.50,210.5,902.6,12.4,669,8725,0.00,2.33,0.00,0.000,6,0.000,0.051,3200,1694,2069,0,0,0,0,0,0
$GC,9033,0.50,210.5,871.1,10.3,680,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1694,2068,0,0,0,0,0,0
$GC,9338,0.51,220.0,841.4,9.6,690,9347,0.00,0.00,7.55,0.974,6,0.000,0.000,3200,1695,2043,0,0,0,0,0,0
$GC,9641,0.51,221.0,811.4,10.0,700,9644,0.00,2.33,0.00,0.000,4,0.000,0.076,3210,281,2041,0,0,0,0,0,0
$GC,9666,0.51,221.0,808.7,11.3,700,9672,0.00,2.28,0.00,0.000,6,0.000,0.051,3210,1705,2040,0,0,0,0,0,0
$GC,9973,0.51,221.0,775.6,10.8,711,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,1704,2040,0,0,0,0,0,0
$GC,10279,0.51,221.0,743.2,10.5,721,10282,0.00,2.30,0.00,0.000,4,0.000,0.076,3220,285,2039,0,0,0,0,0,0
$GC,10303,0.51,221.0,740.5,10.8,722,10307,0.00,2.22,0.00,0.000,6,0.000,0.052,3220,1693,2040,0,0,0,0,0,0
$GC,10639,0.51,221.0,703.8,10.7,733,10640,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1693,2039,0,0,0,0,0,0
$GC,10940,0.51,221.0,670.8,10.9,743,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1693,2039,0,0,0,0,0,0
$GC,11245,0.51,221.0,638.3,10.6,753,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1693,2039,0,0,0,0,0,0
$GC,11547,0.48,221.0,606.8,10.3,763,11548,0.15,0.00,0.00,0.000,6,0.176,0.000,3179,1693,2039,0,0,0,0,0,0
$GC,11856,0.66,283.6,583.2,7.1,787,11918,0.17,0.00,57.22,1.003,6,0.091,0.000,3253,1693,1781,0,0,0,0,0,0
$GC,12227,0.58,283.6,534.7,13.7,823,12230,0.15,2.33,0.00,0.000,4,0.161,0.076,3221,283,1771,0,0,0,0,0,0
$GC,12260,0.63,283.6,530.7,10.8,827,12264,0.00,2.28,0.00,0.000,6,0.000,0.052,3221,1698,1771,0,0,0,0,0,0
$GC,12579,0.67,283.6,495.2,11.2,858,12583,0.00,2.35,0.00,0.000,4,0.000,0.077,3229,285,1769,0,0,0,0,0,0
$GC,12613,0.67,283.6,491.3,11.8,862,12617,0.00,2.25,0.00,0.000,6,0.000,0.051,3229,1699,1769,0,0,0,0,0,0
$GC,12931,0.67,283.6,453.4,12.2,893,12935,0.00,2.35,0.00,0.000,4,0.000,0.077,3237,282,1768,0,0,0,0,0,0
$GC,12962,0.67,283.6,449.7,12.5,896,12967,0.00,2.20,0.00,0.000,6,0.000,0.051,3237,1702,1768,0,0,0,0,0,0
$GC,13276,0.67,283.6,410.2,12.6,927,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1702,1768,0,0,0,0,0,0
$GC,13587,0.67,283.6,371.7,12.4,957,13588,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1703,1767,0,0,0,0,0,0
$GC,13898,0.67,283.6,334.1,12.2,987,13901,0.00,2.30,0.00,0.000,4,0.000,0.077,3247,283,1767,0,0,0,0,0,0
$GC,13927,0.67,283.6,330.2,12.1,990,13933,0.00,2.17,0.00,0.000,6,0.000,0.051,3247,1701,1767,0,0,0,0,0,0
$GC,14241,0.67,283.6,291.7,11.3,1021,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1701,1767,0,0,0,0,0,0
$GC,14553,0.67,283.6,257.4,10.4,1051,14556,0.00,2.28,0.00,0.000,4,0.000,0.076,3257,285,1767,0,0,0,0,0,0
$GC,14599,0.67,283.6,251.9,11.9,1056,14605,0.00,2.22,0.00,0.000,6,0.000,0.052,3257,1701,1767,0,0,0,0,0,0
$GC,14914,0.67,283.6,215.4,11.8,1087,14918,0.00,2.30,0.00,0.000,4,0.000,0.077,3265,291,1766,0,0,0,0,0,0
$GC,14944,0.67,283.6,211.8,11.6,1090,14950,0.00,2.20,0.00,0.000,6,0.000,0.051,3265,1700,1766,0,0,0,0,0,0
$GC,15258,0.67,283.6,177.0,10.5,1121,15259,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1700,1767,0,0,0,0,0,0
$GC,15569,0.67,283.6,142.3,11.5,1151,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1701,1766,0,0,0,0,0,0
$GC,15880,0.70,310.4,109.4,8.8,1181,15908,0.00,2.33,21.60,0.726,4,0.000,0.079,3275,282,1673,0,0,0,0,0,0
$GC,15929,0.73,332.5,104.9,9.0,1186,15955,0.00,2.25,20.85,0.705,6,0.000,0.054,3275,1700,1584,0,0,0,0,0,0
$GC,16279,0.77,332.5,69.0,10.7,1248,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1700,1574,0,0,0,0,0,0
$GC,16600,0.88,359.6,37.1,8.7,1308,16630,0.10,2.35,23.35,0.690,4,0.121,0.081,3331,288,1472,0,0,0,0,0,0
$GC,16669,0.84,359.6,28.7,12.8,1323,16675,0.12,2.25,0.00,0.000,6,0.173,0.054,3297,1703,1469,0,0,0,0,0,0
$STATE,16875,end climb,SURFACE_DEPTH_REACHED
$STATE,16875,begin surface coast
$FINISH,1.5,1.024953
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
$SM_CCo,16920,75.53,0.669,0,0,1104,450.13
$SM_GC,2.28,0.00,0.00,75.53,0.000,0.000,0.669,143,1859,1104,-9.01,0.28,450.13
$RAFOS_CLK,873
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5811.79,260199,000046
$TT8_MAMPS,0.051389
$HUMID,39.25
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.6,134.3
$24V_AH,22.5,14.513
$10V_AH,10.2,6.291
$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,23.325,105.450,445.900,75.525,0.000,21.967,31.987,178.113,2.750,0.000,16.767,0.000,13554.240,638.775,2739.669,370.684,0.000,1779.983,0.000,2191.541,2471.000,24.652,0.000
$DEVICE_MAMPS,246.974,88.972,1241.006,668.824,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.495,1025.720,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150368
$DATA_FILE_SIZE,53546,1368
$CAP_FILE_SIZE,162675,0
$CFSIZE,260165632,246870016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.1
$CURRENT,0.131,114.8,1
$GPS,011109,102630,6650.076,-5852.654,66,1.5,66,-37.8