version: 66.06
glider: 172
mission: 3
dive: 98
start: 11 6 109 7 38 56
data:
$ID,172
$MISSION,3
$DIVE,98
$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,-6086.7515
$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,24
$R_STBD_OVSHOOT,36
$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
$GPS1,073246,6703.551,-5703.431,8,3.8,27,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-76.6
$GPS2,073834,6703.602,-5703.453,12,3.9,31,-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,140.5,11215,-17.5,-10.000
$D_GRID,656
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.64,-146.0,0.0,0.0,0,69,0.00,0.00,-51.67,0.000,2,0.000,0.000,132,1856,2697,0,0,0,0,0,0
$GC,71,-0.64,-146.0,3.2,-0.9,10,111,10.20,2.28,-23.77,0.000,4,0.235,0.079,2798,3253,3537,0,0,0,0,0,0
$GC,165,-0.64,-146.0,17.9,-16.0,30,171,0.00,2.25,0.00,0.000,6,0.000,0.058,2797,1851,3538,0,0,0,0,0,0
$GC,508,-0.55,-146.0,80.3,-20.2,91,514,0.17,2.30,0.00,0.000,4,0.158,0.071,2850,437,3538,0,0,0,0,0,0
$GC,598,-0.65,-146.0,92.8,-13.6,110,604,0.00,2.17,0.00,0.000,6,0.000,0.051,2841,1842,3538,0,0,0,0,0,0
$GC,926,-0.72,-146.0,135.0,-12.1,145,930,0.12,2.28,0.00,0.000,4,0.097,0.069,2779,436,3538,0,0,0,0,0,0
$GC,963,-0.60,-146.0,141.1,-17.5,148,970,0.20,2.17,0.00,0.000,6,0.150,0.051,2829,1848,3538,0,0,0,0,0,0
$GC,1287,-0.65,-146.0,181.6,-12.1,179,1291,0.00,2.25,0.00,0.000,4,0.000,0.068,2829,441,3537,0,0,0,0,0,0
$GC,1301,-0.68,-146.0,183.4,-12.6,180,1305,0.00,2.17,0.00,0.000,6,0.000,0.051,2821,1851,3537,0,0,0,0,0,0
$GC,1629,-0.73,-146.0,223.4,-11.7,211,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1851,3537,0,0,0,0,0,0
$GC,1949,-0.77,-146.0,256.8,-10.0,241,1950,0.12,0.00,0.00,0.000,6,0.097,0.000,2760,1850,3537,0,0,0,0,0,0
$GC,2267,-0.66,-146.0,303.3,-14.6,271,2268,0.17,0.00,0.00,0.000,6,0.149,0.000,2813,1851,3537,0,0,0,0,0,0
$GC,2585,-0.69,-146.0,339.7,-11.5,301,2589,0.00,2.20,0.00,0.000,4,0.000,0.066,2803,3258,3537,0,0,0,0,0,0
$GC,2604,-0.75,-146.0,342.0,-11.7,302,2609,0.00,2.20,0.00,0.000,6,0.000,0.056,2804,1848,3537,0,0,0,0,0,0
$GC,2929,-0.75,-146.0,380.4,-11.9,333,2933,0.00,2.22,0.00,0.000,4,0.000,0.067,2804,438,3538,0,0,0,0,0,0
$GC,3002,-0.75,-146.0,389.9,-13.3,340,3008,0.00,2.17,0.00,0.000,6,0.000,0.051,2797,1855,3537,0,0,0,0,0,0
$GC,3327,-0.75,-146.0,430.0,-12.3,371,3331,0.00,2.22,0.00,0.000,4,0.000,0.066,2797,3264,3538,0,0,0,0,0,0
$GC,3340,-0.75,-146.0,431.7,-12.6,372,3344,0.00,2.20,0.00,0.000,6,0.000,0.056,2797,1845,3538,0,0,0,0,0,0
$GC,3664,-0.75,-146.0,469.6,-11.4,402,3668,0.00,2.22,0.00,0.000,4,0.000,0.067,2797,435,3538,0,0,0,0,0,0
$GC,3746,-0.75,-146.0,479.6,-12.1,410,3752,0.00,2.17,0.00,0.000,6,0.000,0.050,2797,1855,3538,0,0,0,0,0,0
$GC,4070,-0.75,-146.0,516.3,-10.9,441,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1855,3538,0,0,0,0,0,0
$GC,4388,-0.75,-146.0,552.3,-11.4,471,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1854,3539,0,0,0,0,0,0
$GC,4708,-0.75,-146.0,589.3,-11.5,501,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1854,3538,0,0,0,0,0,0
$GC,5018,-0.75,-146.0,625.0,-11.4,517,5022,0.00,2.25,0.00,0.000,4,0.000,0.068,2797,437,3539,0,0,0,0,0,0
$GC,5095,-0.75,-146.0,634.8,-11.6,519,5099,0.00,2.17,0.00,0.000,6,0.000,0.051,2797,1852,3539,0,0,0,0,0,0
$GC,5416,-1.18,-146.0,654.8,-0.1,530,5421,0.38,2.22,0.00,0.000,4,0.071,0.061,2635,3265,3539,0,0,0,0,0,0
$GC,5449,-1.62,-146.0,654.8,-0.1,531,5454,0.35,2.20,0.00,0.000,6,0.082,0.055,2500,1847,3539,0,0,0,0,0,0
$STATE,5687,end dive,NO_VERTICAL_VELOCITY
$STATE,5687,begin apogee
$GC,5691,-0.13,0.0,654.8,0.0,539,5815,1.33,0.00,119.88,1.020,6,0.087,0.000,2985,1699,2940,0,0,0,0,0,0
$STATE,5816,end apogee,CONTROL_FINISHED_OK
$STATE,5816,begin climb
$GC,5817,0.64,146.0,654.7,0.0,543,5949,0.68,2.47,123.18,0.992,4,0.080,0.060,3228,3104,2343,0,0,0,0,0,0
$GC,5998,0.50,146.1,645.6,10.0,549,6003,0.20,2.35,0.00,0.000,6,0.167,0.054,3186,1700,2339,0,0,0,0,0,0
$GC,6333,0.59,217.8,622.1,6.7,560,6400,0.00,2.42,60.88,0.969,4,0.000,0.068,3197,285,2052,0,0,0,0,0,0
$GC,6437,0.67,233.2,613.2,9.3,563,6458,0.12,2.30,14.85,0.891,6,0.094,0.045,3252,1707,1988,0,0,0,0,0,0
$GC,6782,0.58,233.2,569.6,12.5,589,6787,0.15,2.28,0.00,0.000,4,0.154,0.060,3210,3113,1981,0,0,0,0,0,0
$GC,6828,0.58,233.2,564.2,10.6,593,6833,0.00,2.30,0.00,0.000,6,0.000,0.058,3219,1697,1980,0,0,0,0,0,0
$GC,7151,0.58,233.2,529.6,10.6,624,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1696,1979,0,0,0,0,0,0
$GC,7471,0.58,233.2,495.6,11.1,654,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1696,1978,0,0,0,0,0,0
$GC,7791,0.58,233.2,459.4,11.9,684,7795,0.00,2.28,0.00,0.000,4,0.000,0.070,3230,281,1978,0,0,0,0,0,0
$GC,7826,0.58,233.2,455.0,11.7,687,7832,0.00,2.17,0.00,0.000,6,0.000,0.046,3230,1703,1976,0,0,0,0,0,0
$GC,8150,0.58,233.2,417.7,11.3,718,8154,0.00,2.22,0.00,0.000,4,0.000,0.061,3230,3111,1977,0,0,0,0,0,0
$GC,8204,0.58,233.2,411.0,12.6,723,8210,0.00,2.22,0.00,0.000,6,0.000,0.058,3239,1698,1976,0,0,0,0,0,0
$GC,8528,0.55,233.2,373.0,11.2,754,8533,0.12,2.25,0.00,0.000,4,0.165,0.069,3213,287,1976,0,0,0,0,0,0
$GC,8556,0.59,233.2,370.0,10.9,756,8562,0.00,2.17,0.00,0.000,6,0.000,0.047,3214,1706,1977,0,0,0,0,0,0
$GC,8879,0.63,233.2,336.9,10.8,787,8883,0.00,2.17,0.00,0.000,4,0.000,0.061,3213,3105,1976,0,0,0,0,0,0
$GC,8921,0.63,233.2,332.3,11.8,791,8925,0.00,2.22,0.00,0.000,6,0.000,0.058,3221,1697,1976,0,0,0,0,0,0
$GC,9246,0.63,233.2,297.0,11.1,821,9250,0.00,2.22,0.00,0.000,4,0.000,0.060,3222,3106,1976,0,0,0,0,0,0
$GC,9260,0.63,233.2,295.3,11.0,822,9264,0.00,2.22,0.00,0.000,6,0.000,0.057,3231,1697,1976,0,0,0,0,0,0
$GC,9583,0.63,233.2,258.4,11.2,852,9587,0.00,2.22,0.00,0.000,4,0.000,0.070,3239,289,1976,0,0,0,0,0,0
$GC,9600,0.63,233.2,256.5,11.0,853,9606,0.00,2.15,0.00,0.000,6,0.000,0.046,3239,1703,1976,0,0,0,0,0,0
$GC,9923,0.63,233.2,221.2,10.7,884,9927,0.00,2.20,0.00,0.000,4,0.000,0.061,3240,3104,1976,0,0,0,0,0,0
$GC,9941,0.63,233.2,219.3,11.1,885,9946,0.00,2.20,0.00,0.000,6,0.000,0.057,3248,1700,1976,0,0,0,0,0,0
$GC,10265,0.59,233.2,182.8,11.4,916,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1699,1976,0,0,0,0,0,0
$GC,10584,0.59,233.2,144.7,11.8,946,10588,0.10,2.22,0.00,0.000,4,0.179,0.061,3220,3107,1976,0,0,0,0,0,0
$GC,10639,0.66,233.2,138.8,10.7,951,10644,0.00,2.22,0.00,0.000,6,0.000,0.058,3228,1697,1976,0,0,0,0,0,0
$GC,10963,0.74,265.6,109.6,8.5,982,10998,0.10,2.28,26.40,0.679,4,0.115,0.067,3291,285,1855,0,0,0,0,0,0
$GC,11029,0.65,265.6,102.0,12.5,989,11034,0.17,2.17,0.00,0.000,6,0.151,0.045,3239,1698,1854,0,0,0,0,0,0
$GC,11371,0.79,303.7,71.1,8.2,1048,11411,0.10,2.33,33.67,0.653,4,0.115,0.067,3301,282,1700,0,0,0,0,0,0
$GC,11462,0.75,303.7,60.3,13.6,1067,11468,0.12,2.20,0.00,0.000,6,0.156,0.046,3265,1701,1696,0,0,0,0,0,0
$GC,11807,0.78,303.7,23.5,10.1,1128,11814,0.00,2.25,0.00,0.000,4,0.000,0.062,3265,3104,1691,0,0,0,0,0,0
$GC,11842,0.86,332.5,20.0,8.7,1135,11872,0.00,2.25,24.85,0.624,6,0.000,0.057,3274,1696,1583,0,0,0,0,0,0
$STATE,11984,end climb,SURFACE_DEPTH_REACHED
$STATE,11984,begin surface coast
$FINISH,1.6,1.017164
$STATE,12018,end surface coast,CONTROL_FINISHED_OK
$STATE,12018,begin surface
$SM_CCo,12093,0.00,0.000,0,0,1572,335.33
$SM_GC,2.42,8.23,0.00,0.00,0.052,0.000,0.000,133,1856,1572,-8.94,0.17,335.33
$RAFOS_CLK,550
$RAFOS,6,1257497374,8.833333,8.826111,45,44,41,0,0,0,519,427,332,0,0,0
$RAFOS,5,1257496896,8.700000,8.693334,50,44,37,0,0,0,127,200,366,0,0,0
$RAFOS,4,1257496418,8.566667,8.560555,38,36,36,0,0,0,7,30,562,0,0,0
$RAFOS,3,1257495934,8.433333,8.426111,37,34,34,0,0,0,633,7,326,0,0,0
$RAFOS,2,1257495454,8.300000,8.292778,33,33,31,0,0,0,112,378,36,0,0,0
$RAFOS,1,1257494976,8.166667,8.160000,30,28,28,0,0,0,29,50,64,0,0,0
$RAFOS,0,1257494498,8.033334,8.027223,39,38,33,0,0,0,39,25,1,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5707.59,310199,040449
$TT8_MAMPS,0.026845
$HUMID,39.40
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.0,99.4
$24V_AH,23.6,18.879
$10V_AH,10.3,8.445
$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,23.150,107.825,403.700,0.000,0.000,30.748,31.020,157.667,1.500,0.000,32.588,2114.729,7521.067,471.702,1983.171,348.988,0.000,1512.668,0.000,1927.502,840.000,14.775,0.000
$DEVICE_MAMPS,235.469,79.001,1020.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.098,852.782,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188452
$DATA_FILE_SIZE,47293,1167
$CAP_FILE_SIZE,139531,0
$CFSIZE,260165632,243367936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.5
$CURRENT,0.155,233.5,1
$GPS,061109,110136,6702.688,-5701.178,26,1.6,26,-37.6