version: 66.06
glider: 172
mission: 3
dive: 102
start: 11 6 109 20 6 20
data:
$ID,172
$MISSION,3
$DIVE,102
$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,-6189.5083
$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,34
$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
$GPS1,200036,6703.000,-5657.599,22,1.7,22,-37.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-74.6
$GPS2,200556,6703.011,-5657.714,13,1.4,13,-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,104.6,7015,-17.5,-10.000
$D_GRID,601
$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,-146.0,0.0,0.0,0,43,0.00,0.00,-27.08,0.000,2,0.000,0.000,120,1858,2183,0,0,0,0,0,0
$GC,45,-0.64,-146.0,3.0,-2.3,5,120,10.10,0.00,-60.12,0.000,6,0.227,0.000,2806,1858,3538,0,0,0,0,0,0
$GC,458,-0.55,-146.0,62.2,-16.9,80,464,0.12,2.33,0.00,0.000,4,0.176,0.070,2843,436,3538,0,0,0,0,0,0
$GC,555,-0.59,-146.0,76.2,-13.6,101,561,0.00,2.20,0.00,0.000,6,0.000,0.052,2841,1841,3538,0,0,0,0,0,0
$GC,890,-0.65,-146.0,116.0,-11.1,149,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1841,3538,0,0,0,0,0,0
$GC,1211,-0.72,-146.0,153.7,-12.4,179,1213,0.15,0.00,0.00,0.000,6,0.088,0.000,2771,1842,3538,0,0,0,0,0,0
$GC,1526,-0.61,-146.0,207.7,-17.1,209,1531,0.17,2.25,0.00,0.000,4,0.153,0.070,2823,442,3537,0,0,0,0,0,0
$GC,1550,-0.61,-146.0,211.4,-14.9,211,1554,0.00,2.17,0.00,0.000,6,0.000,0.053,2820,1855,3537,0,0,0,0,0,0
$GC,1874,-0.65,-146.0,254.5,-13.7,241,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1855,3537,0,0,0,0,0,0
$GC,2194,-0.70,-146.0,295.4,-12.3,271,2198,0.00,2.25,0.00,0.000,4,0.000,0.068,2820,442,3537,0,0,0,0,0,0
$GC,2226,-0.73,-146.0,299.5,-12.5,274,2230,0.00,2.17,0.00,0.000,6,0.000,0.052,2820,1850,3537,0,0,0,0,0,0
$GC,2550,-0.79,-146.0,337.6,-11.4,304,2552,0.15,0.00,0.00,0.000,6,0.088,0.000,2750,1851,3537,0,0,0,0,0,0
$GC,2870,-0.66,-146.0,388.6,-15.1,334,2875,0.20,2.25,0.00,0.000,4,0.148,0.067,2811,442,3538,0,0,0,0,0,0
$GC,2903,-0.66,-146.0,393.5,-13.1,337,2907,0.00,2.15,0.00,0.000,6,0.000,0.051,2808,1850,3538,0,0,0,0,0,0
$GC,3227,-0.66,-146.0,430.0,-10.8,367,3231,0.00,2.25,0.00,0.000,4,0.000,0.067,2808,435,3538,0,0,0,0,0,0
$GC,3249,-0.66,-146.0,432.6,-11.2,369,3253,0.00,2.17,0.00,0.000,6,0.000,0.051,2808,1855,3538,0,0,0,0,0,0
$GC,3578,-0.71,-146.0,469.4,-12.6,400,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1856,3538,0,0,0,0,0,0
$GC,3897,-0.75,-146.0,506.8,-11.0,430,3901,0.00,2.25,0.00,0.000,4,0.000,0.067,2808,438,3539,0,0,0,0,0,0
$GC,3979,-0.79,-146.0,516.4,-12.5,438,3985,0.10,2.17,0.00,0.000,6,0.110,0.051,2757,1856,3539,0,0,0,0,0,0
$GC,4304,-0.71,-146.0,567.6,-14.6,469,4309,0.12,2.25,0.00,0.000,4,0.163,0.067,2794,441,3539,0,0,0,0,0,0
$GC,4378,-0.71,-146.0,577.7,-14.1,476,4384,0.00,2.12,0.00,0.000,6,0.000,0.051,2794,1850,3539,0,0,0,0,0,0
$GC,4707,-1.16,-146.0,600.2,0.0,498,4712,0.35,2.22,0.00,0.000,4,0.081,0.063,2650,439,3539,0,0,0,0,0,0
$STATE,4946,end dive,NO_VERTICAL_VELOCITY
$STATE,4946,begin apogee
$GC,4952,-0.13,0.0,600.4,0.0,505,5074,0.90,0.00,118.97,0.985,6,0.093,0.000,2982,1705,2940,0,0,0,0,0,0
$STATE,5075,end apogee,CONTROL_FINISHED_OK
$STATE,5075,begin climb
$GC,5077,0.64,146.0,600.4,0.0,509,5208,0.70,2.45,121.88,0.956,4,0.092,0.061,3226,3105,2343,0,0,0,0,0,0
$GC,5470,0.47,146.0,577.6,11.6,541,5476,0.20,2.28,0.00,0.000,6,0.176,0.054,3183,1701,2335,0,0,0,0,0,0
$GC,5794,0.60,249.0,553.3,5.2,572,5888,0.10,2.42,87.45,0.930,4,0.111,0.067,3244,284,1923,0,0,0,0,0,0
$GC,5921,0.56,249.0,540.8,11.3,586,5926,0.12,2.28,0.00,0.000,6,0.157,0.046,3211,1705,1920,0,0,0,0,0,0
$GC,6245,0.61,249.0,508.2,10.0,616,6250,0.00,2.28,0.00,0.000,4,0.000,0.064,3210,3105,1914,0,0,0,0,0,0
$GC,6272,0.65,249.0,504.8,12.8,618,6277,0.00,2.28,0.00,0.000,6,0.000,0.058,3219,1701,1913,0,0,0,0,0,0
$GC,6595,0.66,254.2,466.8,9.8,649,6599,0.00,2.28,0.00,0.000,4,0.000,0.068,3229,289,1912,0,0,0,0,0,0
$GC,6640,0.66,254.2,461.3,12.0,653,6646,0.00,2.20,0.00,0.000,6,0.000,0.046,3229,1708,1911,0,0,0,0,0,0
$GC,6964,0.66,254.2,422.2,11.1,684,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1709,1911,0,0,0,0,0,0
$GC,7285,0.66,254.2,384.9,12.3,714,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1709,1910,0,0,0,0,0,0
$GC,7602,0.66,254.2,349.6,10.8,744,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1709,1910,0,0,0,0,0,0
$GC,7920,0.66,254.2,313.2,11.9,774,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1709,1910,0,0,0,0,0,0
$GC,8239,0.66,254.2,275.9,11.9,804,8243,0.00,2.17,0.00,0.000,4,0.000,0.063,3229,3105,1910,0,0,0,0,0,0
$GC,8266,0.66,254.2,272.4,12.8,806,8272,0.00,2.22,0.00,0.000,6,0.000,0.058,3237,1693,1909,0,0,0,0,0,0
$GC,8590,0.66,254.2,235.4,10.8,837,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1692,1909,0,0,0,0,0,0
$GC,8909,0.66,254.2,201.6,10.2,867,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1693,1909,0,0,0,0,0,0
$GC,9228,0.66,254.9,170.5,10.0,897,9232,0.00,2.25,0.00,0.000,4,0.000,0.061,3237,3106,1909,0,0,0,0,0,0
$GC,9273,0.66,254.9,165.5,10.8,901,9279,0.00,2.20,0.00,0.000,6,0.000,0.058,3245,1700,1909,0,0,0,0,0,0
$GC,9597,0.66,254.9,132.8,10.0,932,9601,0.00,2.20,0.00,0.000,4,0.000,0.069,3253,289,1909,0,0,0,0,0,0
$GC,9633,0.66,254.9,129.0,10.4,935,9640,0.00,2.15,0.00,0.000,6,0.000,0.046,3253,1706,1909,0,0,0,0,0,0
$GC,9957,0.68,270.7,99.5,9.3,966,9981,0.00,2.22,17.08,0.665,4,0.000,0.063,3253,3104,1836,0,0,0,0,0,0
$GC,10043,0.69,282.6,91.5,9.5,984,10062,0.00,2.22,11.65,0.634,6,0.000,0.058,3259,1700,1786,0,0,0,0,0,0
$GC,10401,0.75,282.6,56.5,10.2,1048,10406,0.00,2.28,0.00,0.000,4,0.000,0.062,3259,3112,1782,0,0,0,0,0,0
$GC,10453,0.80,282.6,50.5,11.0,1059,10460,0.00,2.25,0.00,0.000,6,0.000,0.059,3265,1699,1781,0,0,0,0,0,0
$GC,10799,0.86,304.4,16.5,9.0,1120,10825,0.10,2.28,19.52,0.630,4,0.115,0.067,3326,288,1698,0,0,0,0,0,0
$GC,10840,0.77,304.4,11.4,12.2,1128,10847,0.17,2.20,0.00,0.000,6,0.152,0.048,3275,1705,1697,0,0,0,0,0,0
$STATE,10907,end climb,SURFACE_DEPTH_REACHED
$STATE,10907,begin surface coast
$FINISH,1.6,1.024999
$STATE,10943,end surface coast,CONTROL_FINISHED_OK
$STATE,10943,begin surface
$SM_CCo,11018,0.00,0.000,0,0,1690,306.38
$SM_GC,2.89,8.07,0.00,0.00,0.045,0.000,0.000,133,1853,1690,-8.95,0.08,306.38
$RAFOS_CLK,491
$RAFOS,6,1257540581,20.833334,20.828056,45,39,37,0,0,0,201,452,427,0,0,0
$RAFOS,5,1257540097,20.700001,20.693611,38,37,35,0,0,0,136,389,495,0,0,0
$RAFOS,4,1257539619,20.566668,20.560833,40,40,37,0,0,0,7,30,40,0,0,0
$RAFOS,3,1257539133,20.433332,20.425833,41,36,35,0,0,0,549,512,419,0,0,0
$RAFOS,2,1257538657,20.299999,20.293612,40,38,38,0,0,0,132,419,464,0,0,0
$RAFOS,1,1257538177,20.166666,20.160278,41,41,36,0,0,0,25,101,39,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5702.96,310199,171741
$TT8_MAMPS,0.026078
$HUMID,39.64
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.3,202.1
$24V_AH,23.7,19.343
$10V_AH,10.3,8.697
$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,21.850,80.550,376.550,0.000,0.000,23.738,34.860,161.562,0.500,0.000,13.125,2011.062,6627.588,445.208,1914.918,340.381,0.000,1439.131,0.000,1890.883,720.000,5.949,0.000
$DEVICE_MAMPS,227.032,75.933,984.828,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.808,842.049,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188316
$DATA_FILE_SIZE,44131,1146
$CAP_FILE_SIZE,125648,0
$CFSIZE,260165632,243122176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.2
$CURRENT,0.210,174.7,1
$GPS,061109,231124,6702.533,-5653.672,46,1.2,46,-37.5