version: 66.06
glider: 172
mission: 3
dive: 84
start: 11 4 109 0 2 32
data:
$ID,172
$MISSION,3
$DIVE,84
$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,-5822.582
$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,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
$GPS1,234731,6656.618,-5733.465,61,1.7,61,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-72.7
$GPS2,000208,6656.691,-5733.604,12,1.4,12,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E_IN
$TGT_LATLONG,6703.000,-5648.000
$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,63.1,34944,-17.5,-10.000
$D_GRID,787
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-146.0,0.0,0.0,0,58,0.00,0.00,-41.17,0.000,2,0.000,0.000,121,1855,2374,0,0,0,0,0,0
$GC,60,-0.64,-146.0,3.1,-1.6,8,122,10.52,2.38,-43.50,0.000,4,0.241,0.088,2808,447,3538,0,0,0,0,0,0
$GC,304,-0.53,-146.0,38.9,-18.0,61,311,0.17,2.22,0.00,0.000,6,0.161,0.058,2850,1846,3540,0,0,0,0,0,0
$GC,663,-0.59,-146.0,83.7,-10.6,122,669,0.00,2.30,0.00,0.000,4,0.000,0.074,2840,3261,3540,0,0,0,0,0,0
$GC,764,-0.70,-146.0,94.4,-11.2,144,770,0.12,2.25,0.00,0.000,6,0.100,0.061,2782,1845,3540,0,0,0,0,0,0
$GC,1101,-0.57,-146.0,150.2,-16.1,178,1106,0.20,2.28,0.00,0.000,4,0.160,0.072,2841,441,3541,0,0,0,0,0,0
$GC,1139,-0.62,-146.0,155.5,-12.4,181,1144,0.00,2.20,0.00,0.000,6,0.000,0.056,2834,1851,3540,0,0,0,0,0,0
$GC,1462,-0.67,-146.0,191.3,-11.7,212,1466,0.00,2.28,0.00,0.000,4,0.000,0.074,2834,440,3540,0,0,0,0,0,0
$GC,1486,-0.70,-146.0,194.1,-11.7,214,1505,0.08,2.20,0.00,0.000,6,0.074,0.056,2787,1853,3539,0,0,0,0,0,0
$GC,1829,-0.62,-146.0,243.9,-13.9,245,1831,0.12,0.00,0.00,0.000,6,0.171,0.000,2821,1853,3539,0,0,0,0,0,0
$GC,2158,-0.65,-146.0,279.4,-10.5,275,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1853,3539,0,0,0,0,0,0
$GC,2477,-0.70,-146.0,311.5,-9.9,305,2481,0.00,2.28,0.00,0.000,4,0.000,0.074,2822,438,3539,0,0,0,0,0,0
$GC,2529,-0.76,-146.0,316.7,-9.6,310,2534,0.12,2.20,0.00,0.000,6,0.104,0.057,2763,1852,3538,0,0,0,0,0,0
$GC,2862,-0.64,-146.0,364.4,-14.9,340,2864,0.17,0.00,0.00,0.000,6,0.160,0.000,2813,1853,3538,0,0,0,0,0,0
$GC,3191,-0.68,-146.0,399.6,-10.4,370,3196,0.00,2.25,0.00,0.000,4,0.000,0.073,2814,441,3539,0,0,0,0,0,0
$GC,3214,-0.68,-146.0,402.3,-11.5,372,3220,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1850,3539,0,0,0,0,0,0
$GC,3538,-0.68,-146.0,438.3,-11.7,403,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,3856,-0.68,-146.0,475.2,-11.5,433,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1850,3539,0,0,0,0,0,0
$GC,4176,-0.68,-146.0,512.0,-11.4,463,4180,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,442,3539,0,0,0,0,0,0
$GC,4212,-0.68,-146.0,516.4,-12.0,466,4218,0.00,2.17,0.00,0.000,6,0.000,0.056,2807,1850,3539,0,0,0,0,0,0
$GC,4535,-0.68,-146.0,552.0,-10.9,497,4539,0.00,2.28,0.00,0.000,4,0.000,0.074,2807,435,3539,0,0,0,0,0,0
$GC,4567,-0.68,-146.0,555.8,-11.6,500,4571,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1850,3540,0,0,0,0,0,0
$GC,4891,-0.68,-146.0,590.5,-10.7,530,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3539,0,0,0,0,0,0
$GC,5201,-0.68,-146.0,623.5,-10.6,546,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1851,3540,0,0,0,0,0,0
$GC,5507,-0.68,-146.0,655.7,-10.5,556,5511,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,436,3540,0,0,0,0,0,0
$GC,5553,-0.72,-146.0,661.0,-11.6,557,5556,0.00,2.17,0.00,0.000,6,0.000,0.056,2807,1850,3540,0,0,0,0,0,0
$GC,5873,-0.75,-146.0,694.6,-10.6,568,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3540,0,0,0,0,0,0
$GC,6179,-0.78,-146.0,726.6,-10.3,578,6184,0.10,2.25,0.00,0.000,4,0.116,0.074,2758,442,3540,0,0,0,0,0,0
$GC,6215,-0.67,-146.0,731.5,-14.0,579,6220,0.17,2.17,0.00,0.000,6,0.166,0.057,2805,1856,3540,0,0,0,0,0,0
$GC,6542,-0.71,-146.0,766.2,-10.6,590,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1856,3540,0,0,0,0,0,0
$STATE,6754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6754,begin apogee
$GC,6758,-0.13,0.0,789.9,11.1,597,6884,0.52,0.00,123.03,1.138,6,0.132,0.000,2978,1698,2940,0,0,0,0,0,0
$STATE,6885,end apogee,CONTROL_FINISHED_OK
$STATE,6885,begin climb
$GC,6886,0.64,146.0,795.3,0.0,601,7024,0.73,2.55,127.50,1.105,4,0.087,0.064,3231,3104,2342,0,0,0,0,0,0
$GC,7070,0.56,200.9,794.4,7.5,607,7128,0.15,2.42,50.03,1.076,6,0.178,0.058,3205,1695,2119,0,0,0,0,0,0
$GC,7463,0.58,219.1,760.2,9.2,620,7481,0.00,0.00,16.25,1.019,6,0.000,0.000,3205,1695,2046,0,0,0,0,0,0
$GC,7770,0.59,227.9,731.3,9.6,630,7780,0.00,0.00,8.60,0.935,6,0.000,0.000,3205,1695,2011,0,0,0,0,0,0
$GC,8076,0.59,229.7,701.2,9.9,640,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1695,2008,0,0,0,0,0,0
$GC,8382,0.59,229.7,669.9,10.2,650,8386,0.00,2.30,0.00,0.000,4,0.000,0.074,3214,282,2008,0,0,0,0,0,0
$GC,8427,0.59,229.7,665.0,11.7,651,8431,0.00,2.22,0.00,0.000,6,0.000,0.050,3214,1706,2006,0,0,0,0,0,0
$GC,8747,0.59,229.7,630.7,10.9,662,8751,0.00,2.25,0.00,0.000,4,0.000,0.067,3215,3109,2006,0,0,0,0,0,0
$GC,8779,0.59,229.7,627.2,11.0,663,8783,0.00,2.25,0.00,0.000,6,0.000,0.064,3223,1700,2005,0,0,0,0,0,0
$GC,9102,0.59,229.7,591.4,11.0,677,9106,0.00,2.30,0.00,0.000,4,0.000,0.074,3234,283,2005,0,0,0,0,0,0
$GC,9125,0.55,229.7,588.4,12.2,679,9130,0.00,2.20,0.00,0.000,6,0.000,0.051,3233,1706,2005,0,0,0,0,0,0
$GC,9449,0.51,229.7,551.5,11.6,709,9451,0.15,0.00,0.00,0.000,6,0.171,0.000,3193,1706,2004,0,0,0,0,0,0
$GC,9768,0.62,263.1,523.9,8.5,739,9803,0.10,0.00,31.80,0.964,6,0.119,0.000,3238,1706,1867,0,0,0,0,0,0
$GC,10116,0.62,263.1,484.5,11.8,772,10120,0.00,2.30,0.00,0.000,4,0.000,0.074,3247,288,1859,0,0,0,0,0,0
$GC,10140,0.58,263.1,481.8,13.1,774,10144,0.12,2.20,0.00,0.000,6,0.166,0.050,3213,1701,1859,0,0,0,0,0,0
$GC,10463,0.64,263.1,449.7,10.3,804,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1701,1857,0,0,0,0,0,0
$GC,10783,0.69,263.1,416.8,10.4,834,10788,0.10,2.28,0.00,0.000,4,0.122,0.076,3265,289,1857,0,0,0,0,0,0
$GC,10810,0.61,263.1,413.1,14.4,836,10816,0.15,2.17,0.00,0.000,6,0.164,0.051,3223,1701,1857,0,0,0,0,0,0
$GC,11136,0.61,263.1,375.7,11.3,867,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1701,1856,0,0,0,0,0,0
$GC,11453,0.65,263.1,340.1,10.5,897,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1701,1856,0,0,0,0,0,0
$GC,11772,0.68,263.1,306.1,10.7,927,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1701,1856,0,0,0,0,0,0
$GC,12090,0.72,263.1,273.6,10.7,957,12092,0.10,0.00,0.00,0.000,6,0.121,0.000,3269,1701,1856,0,0,0,0,0,0
$GC,12409,0.64,263.1,232.5,12.8,987,12414,0.12,2.28,0.00,0.000,4,0.173,0.076,3245,284,1856,0,0,0,0,0,0
$GC,12436,0.64,263.1,228.8,11.2,989,12442,0.00,2.17,0.00,0.000,6,0.000,0.051,3245,1701,1856,0,0,0,0,0,0
$GC,12760,0.64,263.1,192.4,11.6,1020,12764,0.00,2.28,0.00,0.000,4,0.000,0.076,3254,281,1855,0,0,0,0,0,0
$GC,12783,0.64,263.1,189.7,11.0,1022,12787,0.00,2.17,0.00,0.000,6,0.000,0.051,3254,1701,1856,0,0,0,0,0,0
$GC,13111,0.64,263.1,151.7,11.0,1053,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1701,1855,0,0,0,0,0,0
$GC,13430,0.64,263.1,118.3,10.2,1083,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1701,1856,0,0,0,0,0,0
$GC,13756,0.66,281.5,87.1,9.1,1125,13776,0.00,2.33,15.40,0.701,4,0.000,0.067,3254,3110,1791,0,0,0,0,0,0
$GC,13805,0.66,281.5,82.2,10.2,1135,13810,0.00,2.25,0.00,0.000,6,0.000,0.063,3262,1695,1789,0,0,0,0,0,0
$GC,14148,0.73,337.9,49.5,7.4,1196,14204,0.00,2.35,49.88,0.683,4,0.000,0.077,3271,283,1560,0,0,0,0,0,0
$GC,14277,0.83,359.6,38.4,9.0,1224,14302,0.00,2.22,19.40,0.649,6,0.000,0.051,3272,1699,1473,0,0,0,0,0,0
$STATE,14607,end climb,SURFACE_DEPTH_REACHED
$STATE,14607,begin surface coast
$FINISH,1.7,1.024903
$STATE,14653,end surface coast,CONTROL_FINISHED_OK
$STATE,14653,begin surface
$SM_CCo,14728,0.00,0.000,0,0,1457,364.03
$SM_GC,2.27,8.32,0.00,0.00,0.058,0.000,0.000,148,1857,1457,-8.92,0.20,364.03
$RAFOS_CLK,760
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5502.72,280199,232316
$TT8_MAMPS,0.026078
$HUMID,40.27
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.0,98.9
$24V_AH,22.9,16.965
$10V_AH,10.2,7.414
$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,22.375,90.725,441.875,0.000,0.000,59.895,84.133,546.732,2.500,0.000,12.787,2426.788,9748.200,793.242,2084.824,548.094,0.000,1606.124,0.000,2033.170,1139.000,22.908,0.000
$DEVICE_MAMPS,240.838,88.205,1138.228,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.060,960.552,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188760
$DATA_FILE_SIZE,50411,1289
$CAP_FILE_SIZE,151995,0
$CFSIZE,260165632,244903936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.3
$CURRENT,0.072, 73.5,1
$GPS,041109,040927,6658.865,-5729.786,28,3.0,47,-37.6