version: 66.06
glider: 172
mission: 3
dive: 73
start: 11 1 109 20 45 9
data:
$ID,172
$MISSION,3
$DIVE,73
$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,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,-5599.6221
$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,23
$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
$GPS1,203125,6649.819,-5837.619,87,1.4,87,-37.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-68.7
$GPS2,204414,6649.602,-5837.414,9,1.2,9,-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,39.1,14474,-17.5,-10.000
$D_GRID,860
$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,-146.0,0.0,0.0,0,83,0.00,0.00,-69.68,0.000,2,0.000,0.000,121,1857,2362,0,0,0,0,0,0
$GC,85,-0.64,-146.0,3.0,-0.8,13,142,10.45,2.38,-41.97,0.000,4,0.237,0.089,2808,438,3537,0,0,0,0,0,0
$GC,198,-0.52,-146.0,20.3,-18.5,38,204,0.15,2.30,0.00,0.000,6,0.145,0.058,2850,1846,3538,0,0,0,0,0,0
$GC,522,-0.52,-146.0,64.4,-11.7,99,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1847,3538,0,0,0,0,0,0
$GC,848,-0.56,-146.0,102.7,-11.1,158,851,0.00,2.33,0.00,0.000,4,0.000,0.077,2849,445,3538,0,0,0,0,0,0
$GC,912,-0.61,-146.0,110.3,-11.1,165,918,0.00,2.25,0.00,0.000,6,0.000,0.058,2841,1845,3538,0,0,0,0,0,0
$GC,1227,-0.61,-146.0,144.2,-10.9,196,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1845,3538,0,0,0,0,0,0
$GC,1538,-0.66,-146.0,178.2,-10.9,226,1541,0.00,2.28,0.00,0.000,4,0.000,0.078,2841,442,3538,0,0,0,0,0,0
$GC,1585,-0.71,-146.0,183.8,-12.1,231,1592,0.05,2.25,0.00,0.000,6,0.087,0.059,2781,1848,3538,0,0,0,0,0,0
$GC,1899,-0.60,-146.0,232.2,-15.2,262,1903,0.17,2.30,0.00,0.000,4,0.160,0.079,2832,437,3538,0,0,0,0,0,0
$GC,1929,-0.60,-146.0,236.2,-12.6,265,1934,0.00,2.22,0.00,0.000,6,0.000,0.058,2823,1856,3538,0,0,0,0,0,0
$GC,2243,-0.64,-146.0,273.7,-11.9,296,2247,0.00,2.33,0.00,0.000,4,0.000,0.077,2823,442,3538,0,0,0,0,0,0
$GC,2282,-0.64,-146.0,278.5,-11.9,300,2288,0.00,2.25,0.00,0.000,6,0.000,0.058,2822,1853,3538,0,0,0,0,0,0
$GC,2597,-0.68,-146.0,314.8,-11.7,331,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1853,3538,0,0,0,0,0,0
$GC,2908,-0.74,-146.0,349.1,-10.3,361,2911,0.10,2.28,0.00,0.000,4,0.117,0.077,2775,442,3538,0,0,0,0,0,0
$GC,2963,-0.65,-146.0,356.8,-14.3,367,2967,0.12,2.22,0.00,0.000,6,0.146,0.059,2810,1842,3538,0,0,0,0,0,0
$GC,3282,-0.65,-146.0,394.2,-12.2,398,3285,0.00,2.28,0.00,0.000,4,0.000,0.076,2810,448,3538,0,0,0,0,0,0
$GC,3312,-0.65,-146.0,398.2,-12.9,401,3317,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3537,0,0,0,0,0,0
$GC,3626,-0.65,-146.0,436.2,-11.9,432,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,3937,-0.65,-146.0,472.4,-11.9,462,3940,0.00,2.30,0.00,0.000,4,0.000,0.076,2807,450,3539,0,0,0,0,0,0
$GC,3963,-0.65,-146.0,475.5,-12.9,465,3966,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1845,3539,0,0,0,0,0,0
$GC,4281,-0.65,-146.0,513.1,-11.4,496,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1845,3539,0,0,0,0,0,0
$GC,4592,-0.65,-146.0,549.2,-11.4,526,4596,0.00,2.28,0.00,0.000,4,0.000,0.075,2808,444,3539,0,0,0,0,0,0
$GC,4656,-0.75,-146.0,556.6,-10.3,533,4662,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1852,3539,0,0,0,0,0,0
$GC,4971,-0.75,-146.0,592.2,-11.6,564,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3540,0,0,0,0,0,0
$GC,5286,-0.75,-146.0,630.3,-12.1,579,5290,0.00,2.28,0.00,0.000,4,0.000,0.075,2807,446,3540,0,0,0,0,0,0
$GC,5351,-0.75,-146.0,638.5,-12.1,581,5355,0.00,2.20,0.00,0.000,6,0.000,0.056,2807,1843,3540,0,0,0,0,0,0
$GC,5681,-0.75,-146.0,676.5,-11.4,592,5684,0.00,2.22,0.00,0.000,4,0.000,0.074,2807,442,3540,0,0,0,0,0,0
$GC,5719,-0.75,-146.0,681.2,-11.4,593,5723,0.00,2.20,0.00,0.000,6,0.000,0.056,2807,1842,3540,0,0,0,0,0,0
$GC,6044,-0.75,-146.0,716.3,-10.5,604,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1842,3541,0,0,0,0,0,0
$GC,6347,-0.75,-146.0,749.3,-10.8,614,6351,0.00,2.25,0.00,0.000,4,0.000,0.075,2807,449,3541,0,0,0,0,0,0
$GC,6416,-0.75,-146.0,757.4,-11.9,616,6420,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1846,3541,0,0,0,0,0,0
$GC,6742,-0.75,-146.0,792.3,-10.7,627,6745,0.00,2.22,0.00,0.000,4,0.000,0.074,2807,442,3541,0,0,0,0,0,0
$GC,6767,-0.75,-146.0,795.2,-11.7,627,6774,0.00,2.20,0.00,0.000,6,0.000,0.056,2807,1842,3541,0,0,0,0,0,0
$GC,7075,-0.79,-146.0,828.3,-10.6,638,7079,0.10,2.28,0.00,0.000,4,0.115,0.074,2757,443,3541,0,0,0,0,0,0
$GC,7109,-0.66,-146.0,832.9,-14.4,639,7113,0.15,2.20,0.00,0.000,6,0.141,0.057,2809,1842,3541,0,0,0,0,0,0
$STATE,7376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7376,begin apogee
$GC,7379,-0.13,0.0,860.2,9.8,648,7505,0.50,0.00,123.88,1.185,6,0.130,0.000,2977,1699,2940,0,0,0,0,0,0
$STATE,7505,end apogee,CONTROL_FINISHED_OK
$STATE,7505,begin climb
$GC,7507,0.64,146.0,864.9,0.0,652,7642,0.73,2.58,128.20,1.151,4,0.078,0.065,3234,3109,2343,0,0,0,0,0,0
$GC,7681,0.52,192.6,864.0,7.9,658,7729,0.20,2.42,42.55,1.118,6,0.166,0.061,3193,1700,2154,0,0,1,0,0,0
$GC,8041,0.55,217.1,834.2,8.9,670,8064,0.00,0.00,21.83,1.087,6,0.000,0.000,3193,1700,2055,0,0,0,0,0,0
$GC,8345,0.61,228.7,805.7,9.5,680,8361,0.00,2.45,11.27,1.021,4,0.000,0.077,3203,285,2007,0,0,0,0,0,0
$GC,8400,0.65,228.7,800.4,10.2,681,8405,0.00,2.33,0.00,0.000,6,0.000,0.051,3203,1699,2005,0,0,0,0,0,0
$GC,8707,0.65,228.7,769.1,10.2,692,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1699,2003,0,0,0,0,0,0
$GC,9011,0.65,230.9,738.6,9.9,702,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1699,2002,0,0,0,0,0,0
$GC,9314,0.66,236.2,709.0,9.8,712,9323,0.00,0.00,7.53,0.930,6,0.000,0.000,3203,1699,1977,0,0,0,0,0,0
$GC,9618,0.69,236.2,678.7,10.1,722,9619,0.12,0.00,0.00,0.000,6,0.106,0.000,3257,1700,1974,0,0,0,0,0,0
$GC,9921,0.58,236.2,637.4,13.7,732,9922,0.15,0.00,0.00,0.000,6,0.163,0.000,3215,1700,1974,0,0,0,0,0,0
$GC,10224,0.58,236.2,604.2,10.8,742,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1700,1973,0,0,0,0,0,0
$GC,10534,0.58,236.2,570.9,10.8,768,10537,0.00,2.35,0.00,0.000,4,0.000,0.077,3225,285,1973,0,0,0,0,0,0
$GC,10563,0.58,236.2,567.5,12.1,771,10569,0.00,2.25,0.00,0.000,6,0.000,0.053,3225,1702,1973,0,0,0,0,0,0
$GC,10878,0.58,236.2,531.0,11.7,802,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1703,1973,0,0,0,0,0,0
$GC,11189,0.58,236.2,497.3,10.2,832,11192,0.00,2.28,0.00,0.000,4,0.000,0.070,3225,3128,1973,0,0,0,0,0,0
$GC,11214,0.58,236.2,494.4,11.5,835,11218,0.00,2.30,0.00,0.000,6,0.000,0.061,3235,1697,1973,0,0,0,0,0,0
$GC,11533,0.54,236.2,460.1,10.9,866,11534,0.12,0.00,0.00,0.000,6,0.174,0.000,3200,1697,1972,0,0,0,0,0,0
$GC,11844,0.65,272.4,434.2,8.3,896,11878,0.10,0.00,32.42,0.913,6,0.120,0.000,3244,1697,1829,0,0,0,0,0,0
$GC,12184,0.61,272.4,394.7,12.2,929,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1697,1821,0,0,0,0,0,0
$GC,12494,0.61,272.4,356.7,11.9,959,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1697,1820,0,0,0,0,0,0
$GC,12804,0.61,272.4,320.1,11.3,989,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1697,1819,0,0,0,0,0,0
$GC,13115,0.61,272.4,285.6,11.8,1019,13119,0.00,2.30,0.00,0.000,4,0.000,0.074,3255,288,1819,0,0,0,0,0,0
$GC,13149,0.61,272.4,281.7,11.8,1023,13154,0.08,2.22,0.00,0.000,6,0.145,0.051,3228,1704,1818,0,0,0,0,0,0
$GC,13468,0.66,272.4,249.7,10.3,1054,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1705,1818,0,0,0,0,0,0
$GC,13779,0.71,272.8,218.1,10.0,1084,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1704,1818,0,0,0,0,0,0
$GC,14089,0.82,306.6,188.9,8.4,1114,14122,0.17,0.00,29.83,0.772,6,0.089,0.000,3305,1705,1688,0,0,0,0,0,0
$GC,14430,0.72,306.6,142.1,14.2,1147,14433,0.17,2.30,0.00,0.000,4,0.163,0.076,3266,289,1681,0,0,0,0,0,0
$GC,14460,0.72,306.6,138.5,10.6,1150,14465,0.00,2.22,0.00,0.000,6,0.000,0.052,3266,1690,1680,0,0,0,0,0,0
$GC,14774,0.76,313.2,107.0,9.7,1181,14784,0.00,2.30,5.75,0.624,4,0.000,0.068,3266,3113,1661,0,0,0,0,0,0
$GC,14814,0.80,313.2,103.1,10.1,1185,14819,0.00,2.30,0.00,0.000,6,0.000,0.064,3275,1702,1660,0,0,0,0,0,0
$GC,15137,0.80,313.2,69.3,10.1,1243,15138,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1702,1659,0,0,0,0,0,0
$GC,15458,0.85,313.2,39.8,10.6,1303,15463,0.00,2.28,0.00,0.000,4,0.000,0.078,3286,289,1658,0,0,0,0,0,0
$GC,15519,0.86,316.1,33.4,9.9,1317,15524,0.00,2.22,0.00,0.000,6,0.000,0.054,3285,1691,1658,0,0,0,0,0,0
$GC,15844,0.90,348.4,7.7,8.5,1378,15880,0.00,0.00,31.80,0.686,6,0.000,0.000,3286,1692,1518,0,0,0,0,0,0
$STATE,15887,end climb,SURFACE_DEPTH_REACHED
$STATE,15887,begin surface coast
$FINISH,1.4,1.025126
$STATE,15914,end surface coast,CONTROL_FINISHED_OK
$STATE,15915,begin surface
$SM_CCo,15927,85.22,0.666,0,0,1104,450.13
$SM_GC,2.30,0.00,0.00,85.22,0.000,0.000,0.666,144,1862,1104,-9.00,0.34,450.13
$RAFOS_CLK,839
$RAFOS,3,1257107102,20.433332,20.417223,41,38,38,0,0,0,39,838,1681,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5851.86,260199,151502
$TT8_MAMPS,0.051389
$HUMID,39.28
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.2,69.3
$24V_AH,22.8,15.058
$10V_AH,10.2,6.528
$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,22.075,100.700,435.050,85.225,0.000,27.898,37.586,608.461,3.000,0.000,9.286,0.000,12522.729,643.771,2797.223,839.582,0.000,1799.872,0.000,2241.959,2824.000,26.688,0.000
$DEVICE_MAMPS,237.003,88.972,1185.015,665.756,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.213,1039.233,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151792
$DATA_FILE_SIZE,53517,1392
$CAP_FILE_SIZE,161452,0
$CFSIZE,260165632,246538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1456.8
$CURRENT,0.090, 60.6,1
$GPS,021109,011336,6652.420,-5835.705,72,1.2,72,-37.8