version: 66.06
glider: 172
mission: 3
dive: 5
start: 10 20 109 23 22 37
data:
$ID,172
$MISSION,3
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$D_ABORT,500
$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,120
$T_MISSION,180
$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,0.2
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4273.8223
$T_RSLEEP,3
$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,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,19
$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
$GPS1,231806,6659.729,-5707.178,9,1.3,26,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.8
$GPS2,232231,6659.694,-5707.195,8,1.6,13,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6644.000,-6026.000
$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,341.3,148314,-17.5,-10.000
$D_GRID,736
$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,-146.0,0.0,0.0,0,71,0.00,0.00,-57.17,0.000,2,0.000,0.000,121,1932,2796,0,0,0,0,0,0
$GC,72,-0.64,-146.0,3.0,-4.2,11,108,10.70,0.00,-18.35,0.000,6,0.252,0.000,2805,1931,3538,0,0,0,0,0,0
$GC,426,-0.64,-146.0,60.6,-14.1,78,432,0.00,2.30,0.00,0.000,4,0.000,0.076,2806,502,3538,0,0,0,0,0,0
$GC,465,-0.64,-146.0,66.4,-14.6,87,471,0.00,2.30,0.00,0.000,6,0.000,0.061,2798,1937,3538,0,0,0,0,0,0
$GC,787,-0.64,-146.0,113.9,-14.7,139,791,0.00,2.30,0.00,0.000,4,0.000,0.076,2798,527,3538,0,0,0,0,0,0
$GC,834,-0.64,-146.0,120.9,-15.2,144,840,0.00,2.25,0.00,0.000,6,0.000,0.061,2789,1937,3538,0,0,0,0,0,0
$GC,1149,-0.64,-146.0,164.1,-13.6,175,1153,0.00,2.30,0.00,0.000,4,0.000,0.076,2789,523,3538,0,0,0,0,0,0
$GC,1231,-0.64,-146.0,175.5,-13.8,184,1237,0.10,2.25,0.00,0.000,6,0.157,0.062,2815,1934,3537,0,0,0,0,0,0
$GC,1546,-0.69,-146.0,210.9,-11.1,215,1550,0.00,2.28,0.00,0.000,4,0.000,0.076,2815,527,3537,0,0,0,0,0,0
$GC,1606,-0.75,-146.0,218.1,-11.5,222,1610,0.00,2.25,0.00,0.000,6,0.000,0.062,2810,1944,3537,0,0,0,0,0,0
$GC,1925,-0.79,-146.0,255.0,-11.4,253,1929,0.12,2.33,0.00,0.000,4,0.106,0.076,2754,523,3537,0,0,0,0,0,0
$GC,2020,-0.71,-146.0,270.2,-15.7,264,2025,0.12,2.25,0.00,0.000,6,0.153,0.062,2789,1936,3537,0,0,0,0,0,0
$GC,2338,-0.71,-146.0,310.7,-12.1,295,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1937,3537,0,0,0,0,0,0
$GC,2649,-0.71,-146.0,348.9,-12.3,325,2653,0.00,2.28,0.00,0.000,4,0.000,0.075,2789,521,3537,0,0,0,0,0,0
$STATE,2739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2739,begin apogee
$GC,2744,-0.13,0.0,360.4,12.5,335,2862,0.57,0.00,115.75,0.855,6,0.140,0.000,2973,1950,2940,0,0,0,0,0,0
$STATE,2863,end apogee,CONTROL_FINISHED_OK
$STATE,2863,begin climb
$GC,2864,0.64,146.0,365.2,0.0,347,2994,0.73,2.40,120.75,0.819,4,0.094,0.070,3224,3347,2342,0,0,0,0,0,0
$GC,3176,0.55,180.0,352.6,8.4,383,3212,0.10,2.33,27.92,0.792,6,0.169,0.059,3205,1934,2206,0,0,0,0,0,0
$GC,3520,0.58,207.5,324.3,8.7,417,3548,0.00,2.40,23.48,0.782,4,0.000,0.074,3214,527,2093,0,0,0,0,0,0
$GC,3642,0.58,207.5,312.7,10.3,431,3646,0.00,2.30,0.00,0.000,6,0.000,0.057,3214,1938,2088,0,0,0,0,0,0
$GC,3961,0.58,207.5,281.4,10.1,462,3965,0.00,2.35,0.00,0.000,4,0.000,0.074,3224,526,2087,0,0,0,0,0,0
$GC,4025,0.58,207.5,274.4,10.5,469,4031,0.00,2.25,0.00,0.000,6,0.000,0.056,3224,1930,2086,0,0,0,0,0,0
$GC,4340,0.60,221.3,243.5,9.4,500,4358,0.00,2.33,11.98,0.724,4,0.000,0.074,3234,528,2037,0,0,0,0,0,0
$GC,4444,0.63,247.1,233.4,8.8,512,4473,0.00,2.25,22.77,0.740,6,0.000,0.057,3234,1937,1931,0,0,0,0,0,0
$GC,4787,0.63,247.1,200.0,10.2,546,4791,0.00,2.33,0.00,0.000,4,0.000,0.074,3244,524,1923,0,0,0,0,0,0
$GC,4918,0.63,247.1,185.3,11.4,561,4921,0.00,2.25,0.00,0.000,6,0.000,0.057,3243,1931,1923,0,0,0,0,0,0
$GC,5236,0.63,247.1,149.2,10.9,592,5240,0.00,2.30,0.00,0.000,4,0.000,0.074,3253,528,1923,0,0,0,0,0,0
$GC,5314,0.63,247.1,140.0,11.9,601,5318,0.00,2.22,0.00,0.000,6,0.000,0.057,3253,1929,1922,0,0,0,0,0,0
$GC,5633,0.64,257.1,105.7,9.5,632,5646,0.00,2.28,8.27,0.640,4,0.000,0.074,3263,523,1891,0,0,0,0,0,0
$GC,5671,0.64,257.1,101.9,10.7,636,5677,0.08,2.25,0.00,0.000,6,0.153,0.057,3237,1937,1890,0,0,0,0,0,0
$GC,5996,0.77,304.6,74.5,7.8,695,6044,0.10,2.38,41.03,0.675,4,0.123,0.075,3292,526,1696,0,0,0,0,0,0
$GC,6099,0.77,304.6,63.2,11.8,718,6105,0.00,2.28,0.00,0.000,6,0.000,0.058,3292,1926,1691,0,0,0,0,0,0
$GC,6424,0.77,304.6,29.0,10.3,779,6431,0.00,2.30,0.00,0.000,4,0.000,0.076,3303,533,1687,0,0,0,0,0,0
$GC,6564,0.77,304.6,13.1,12.8,811,6571,0.00,2.25,0.00,0.000,6,0.000,0.059,3303,1935,1685,0,0,0,0,0,0
$STATE,6643,end climb,SURFACE_DEPTH_REACHED
$STATE,6643,begin surface coast
$FINISH,0.6,1.020745
$STATE,6676,end surface coast,CONTROL_FINISHED_OK
$STATE,6676,begin surface
$SM_CCo,6748,0.00,0.000,0,0,1680,308.83
$SM_GC,1.98,8.43,0.00,0.00,0.064,0.000,0.000,146,1936,1680,-8.95,-0.06,308.83
$RAFOS_CLK,320
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5704.33,140199,212135
$TT8_MAMPS,0.050622
$HUMID,41.53
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.9,4.478
$10V_AH,10.3,1.557
$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,21.050,68.775,371.950,0.000,0.000,31.104,32.075,127.239,0.000,0.000,14.969,0.000,4587.512,428.267,1737.879,247.483,0.000,1178.151,0.000,1401.834,2520.000,0.985,0.000
$DEVICE_MAMPS,251.576,75.933,855.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.319,602.047,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,31585,832
$CAP_FILE_SIZE,91921,0
$CFSIZE,260165632,252194816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$CURRENT,0.111,183.2,1
$GPS,211009,011613,6659.851,-5709.214,31,1.5,48,-37.6