version: 66.06
glider: 172
mission: 3
dive: 9
start: 10 21 109 13 20 15
data:
$ID,172
$MISSION,3
$DIVE,9
$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,-4334.8569
$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,1938
$C_ROLL_CLIMB,1938
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,20
$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
$GPS1,131137,6657.578,-5720.701,35,1.1,35,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-77.0
$GPS2,132008,6657.518,-5720.741,14,1.3,14,-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,342.1,137821,-17.5,-10.000
$D_GRID,790
$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,11,-0.64,-146.0,0.0,0.0,0,75,0.00,0.00,-61.80,0.000,2,0.000,0.000,145,1932,2683,0,0,0,0,0,0
$GC,76,-0.64,-146.0,3.1,-3.1,12,116,10.95,0.00,-22.52,0.000,6,0.258,0.000,2813,1932,3537,0,0,0,0,0,0
$GC,435,-0.64,-146.0,62.6,-14.7,80,436,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1932,3538,0,0,0,0,0,0
$GC,759,-0.64,-146.0,111.1,-14.9,134,763,0.00,2.33,0.00,0.000,4,0.000,0.078,2813,527,3538,0,0,0,0,0,0
$GC,854,-0.64,-146.0,125.3,-14.5,145,858,0.00,2.28,0.00,0.000,6,0.000,0.062,2807,1939,3538,0,0,0,0,0,0
$GC,1173,-0.64,-146.0,172.7,-14.4,176,1177,0.00,2.33,0.00,0.000,4,0.000,0.078,2807,526,3538,0,0,0,0,0,0
$GC,1203,-0.64,-146.0,177.4,-14.7,179,1209,0.00,2.28,0.00,0.000,6,0.000,0.063,2807,1941,3538,0,0,0,0,0,0
$GC,1517,-0.64,-146.0,220.4,-13.2,210,1521,0.00,2.33,0.00,0.000,4,0.000,0.078,2807,522,3537,0,0,0,0,0,0
$GC,1599,-0.64,-146.0,231.6,-13.1,219,1606,0.00,2.28,0.00,0.000,6,0.000,0.063,2799,1937,3537,0,0,0,0,0,0
$GC,1914,-0.64,-146.0,274.0,-13.3,250,1918,0.00,2.30,0.00,0.000,4,0.000,0.077,2798,526,3537,0,0,0,0,0,0
$GC,1979,-0.64,-146.0,282.8,-13.4,257,1985,0.00,2.25,0.00,0.000,6,0.000,0.061,2793,1937,3537,0,0,0,0,0,0
$GC,2293,-0.64,-146.0,323.6,-12.7,288,2297,0.00,2.30,0.00,0.000,4,0.000,0.077,2793,525,3537,0,0,0,0,0,0
$GC,2397,-0.64,-146.0,337.6,-13.3,300,2401,0.00,2.25,0.00,0.000,6,0.000,0.062,2793,1941,3537,0,0,0,0,0,0
$GC,2716,-0.64,-146.0,378.5,-12.6,331,2720,0.00,2.28,0.00,0.000,4,0.000,0.076,2793,530,3537,0,0,0,0,0,0
$GC,2764,-0.64,-146.0,384.6,-13.0,336,2770,0.00,2.25,0.00,0.000,6,0.000,0.061,2793,1948,3537,0,0,0,0,0,0
$GC,3078,-0.64,-146.0,421.7,-11.7,367,3082,0.00,2.30,0.00,0.000,4,0.000,0.075,2793,526,3538,0,0,0,0,0,0
$GC,3147,-0.64,-146.0,430.0,-11.6,375,3151,0.00,2.22,0.00,0.000,6,0.000,0.060,2793,1930,3538,0,0,0,0,0,0
$GC,3465,-0.64,-146.0,466.5,-11.9,406,3469,0.00,2.28,0.00,0.000,4,0.000,0.075,2793,523,3538,0,0,0,0,0,0
$GC,3513,-0.64,-146.0,472.2,-11.6,411,3520,0.00,2.25,0.00,0.000,6,0.000,0.059,2793,1945,3538,0,0,0,0,0,0
$GC,3827,-0.64,-146.0,507.9,-11.8,442,3831,0.00,2.28,0.00,0.000,4,0.000,0.075,2794,532,3539,0,0,0,0,0,0
$GC,3888,-0.64,-146.0,515.3,-12.0,449,3892,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1939,3539,0,0,0,0,0,0
$GC,4207,-0.64,-146.0,552.4,-11.5,480,4211,0.00,2.28,0.00,0.000,4,0.000,0.075,2793,524,3539,0,0,0,0,0,0
$GC,4254,-0.64,-146.0,558.4,-11.9,485,4260,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1934,3539,0,0,0,0,0,0
$GC,4569,-0.64,-146.0,594.9,-11.8,516,4573,0.00,2.28,0.00,0.000,4,0.000,0.076,2794,525,3539,0,0,0,0,0,0
$GC,4634,-0.64,-146.0,603.0,-12.7,522,4638,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1934,3539,0,0,0,0,0,0
$GC,4963,-0.64,-146.0,639.6,-10.9,533,4967,0.00,2.28,0.00,0.000,4,0.000,0.076,2793,522,3539,0,0,0,0,0,0
$GC,5023,-0.64,-146.0,646.7,-11.8,535,5028,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1934,3539,0,0,0,0,0,0
$GC,5357,-0.64,-146.0,683.4,-11.0,546,5361,0.00,2.28,0.00,0.000,4,0.000,0.076,2793,519,3539,0,0,0,0,0,0
$GC,5413,-0.64,-146.0,689.9,-10.7,547,5420,0.00,2.22,0.00,0.000,6,0.000,0.060,2793,1932,3539,0,0,0,0,0,0
$GC,5721,-0.64,-146.0,723.7,-10.8,558,5725,0.00,2.28,0.00,0.000,4,0.000,0.077,2793,519,3539,0,0,0,0,0,0
$GC,5764,-0.64,-146.0,728.6,-10.7,559,5768,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1932,3539,0,0,0,0,0,0
$GC,6084,-0.64,-146.0,763.5,-10.8,570,6088,0.00,2.25,0.00,0.000,4,0.000,0.075,2793,530,3539,0,0,0,0,0,0
$GC,6145,-0.64,-146.0,770.3,-11.0,572,6149,0.00,2.22,0.00,0.000,6,0.000,0.061,2793,1938,3539,0,0,0,0,0,0
$STATE,6356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6356,begin apogee
$GC,6359,-0.13,0.0,792.5,10.6,579,6484,0.57,0.00,123.20,1.134,6,0.140,0.000,2980,1939,2941,0,0,0,0,0,0
$STATE,6485,end apogee,CONTROL_FINISHED_OK
$STATE,6485,begin climb
$GC,6486,0.64,146.0,797.5,0.0,583,6621,0.73,2.53,127.88,1.098,4,0.086,0.074,3243,529,2343,0,0,0,0,0,0
$GC,6869,0.47,146.0,777.1,10.3,595,6875,0.17,2.30,0.00,0.000,6,0.155,0.055,3177,1935,2333,0,0,0,0,0,0
$GC,7176,0.55,215.7,755.6,6.8,606,7242,0.00,2.47,60.58,1.079,4,0.000,0.076,3187,534,2059,0,0,0,0,0,0
$GC,7359,0.68,253.2,740.6,8.3,612,7399,0.12,2.30,33.92,1.048,6,0.067,0.054,3248,1929,1906,0,0,0,0,0,0
$GC,7715,0.62,253.2,695.6,12.7,624,7719,0.00,2.38,0.00,0.000,4,0.000,0.076,3258,523,1895,0,0,0,0,0,0
$GC,7828,0.54,253.2,680.7,13.7,627,7832,0.17,2.28,0.00,0.000,6,0.150,0.055,3202,1928,1895,0,0,0,0,0,0
$GC,8140,0.62,268.5,650.2,9.3,638,8156,0.00,2.35,12.52,0.967,4,0.000,0.078,3212,523,1845,0,0,0,0,0,0
$GC,8251,0.68,268.5,638.9,10.4,641,8255,0.00,2.30,0.00,0.000,6,0.000,0.055,3212,1939,1842,0,0,0,0,0,0
$GC,8563,0.73,268.5,605.2,10.9,652,8567,0.12,2.33,0.00,0.000,4,0.106,0.077,3274,526,1840,0,0,0,0,0,0
$GC,8684,0.63,268.5,587.2,15.5,661,8688,0.12,2.25,0.00,0.000,6,0.153,0.057,3232,1929,1839,0,0,0,0,0,0
$GC,9003,0.63,268.5,546.0,12.8,692,9007,0.00,2.30,0.00,0.000,4,0.000,0.076,3244,531,1839,0,0,0,0,0,0
$GC,9089,0.63,268.5,534.4,13.8,702,9094,0.00,2.25,0.00,0.000,6,0.000,0.058,3244,1939,1838,0,0,0,0,0,0
$GC,9408,0.63,268.5,492.6,12.8,733,9412,0.00,2.33,0.00,0.000,4,0.000,0.077,3255,526,1838,0,0,0,0,0,0
$GC,9504,0.59,268.5,479.9,13.0,744,9508,0.10,2.25,0.00,0.000,6,0.153,0.058,3221,1938,1838,0,0,0,0,0,0
$GC,9822,0.59,268.5,444.9,10.5,775,9826,0.00,2.33,0.00,0.000,4,0.000,0.077,3231,521,1837,0,0,0,0,0,0
$GC,9922,0.59,268.5,433.6,11.1,786,9927,0.00,2.25,0.00,0.000,6,0.000,0.058,3231,1939,1837,0,0,0,0,0,0
$GC,10236,0.59,268.5,397.4,11.5,817,10240,0.00,2.30,0.00,0.000,4,0.000,0.077,3241,530,1837,0,0,0,0,0,0
$GC,10305,0.59,268.5,389.2,12.4,825,10309,0.00,2.22,0.00,0.000,6,0.000,0.058,3242,1932,1837,0,0,0,0,0,0
$GC,10625,0.59,268.5,351.9,11.6,856,10628,0.00,2.30,0.00,0.000,4,0.000,0.077,3252,521,1837,0,0,0,0,0,0
$GC,10706,0.59,268.5,341.9,12.8,865,10712,0.10,2.22,0.00,0.000,6,0.154,0.058,3218,1931,1836,0,0,0,0,0,0
$GC,11021,0.63,268.5,309.0,10.0,896,11025,0.00,2.30,0.00,0.000,4,0.000,0.077,3228,522,1836,0,0,0,0,0,0
$GC,11151,0.63,268.5,294.3,11.4,911,11155,0.00,2.22,0.00,0.000,6,0.000,0.057,3228,1931,1837,0,0,0,0,0,0
$GC,11470,0.63,268.5,257.9,11.1,942,11474,0.00,2.28,0.00,0.000,4,0.000,0.077,3238,527,1836,0,0,0,0,0,0
$GC,11578,0.63,268.5,245.1,12.1,954,11584,0.00,2.22,0.00,0.000,6,0.000,0.058,3238,1939,1836,0,0,0,0,0,0
$GC,11893,0.63,268.5,209.2,11.2,985,11897,0.00,2.30,0.00,0.000,4,0.000,0.077,3249,520,1836,0,0,0,0,0,0
$GC,12006,0.63,268.5,196.0,11.8,998,12009,0.00,2.22,0.00,0.000,6,0.000,0.058,3249,1935,1836,0,0,0,0,0,0
$GC,12324,0.63,268.5,157.8,11.6,1029,12328,0.00,2.28,0.00,0.000,4,0.000,0.076,3259,527,1837,0,0,0,0,0,0
$GC,12428,0.63,268.5,145.1,11.9,1041,12432,0.08,2.22,0.00,0.000,6,0.153,0.058,3233,1939,1836,0,0,0,0,0,0
$GC,12747,0.70,276.6,112.8,9.6,1072,12759,0.00,2.30,7.35,0.658,4,0.000,0.077,3242,530,1812,0,0,0,0,0,0
$GC,12854,0.79,303.1,102.7,8.8,1084,12886,0.08,2.22,24.52,0.706,6,0.083,0.058,3287,1941,1703,0,0,0,0,0,0
$GC,13205,0.79,303.1,62.7,10.2,1148,13210,0.00,2.33,0.00,0.000,4,0.000,0.077,3298,528,1697,0,0,0,0,0,0
$GC,13353,0.75,303.1,45.9,12.1,1182,13359,0.08,2.25,0.00,0.000,6,0.160,0.058,3272,1937,1695,0,0,0,0,0,0
$GC,13678,0.82,332.1,14.6,8.7,1243,13707,0.00,0.00,24.67,0.666,6,0.000,0.000,3272,1938,1587,0,0,0,0,0,0
$STATE,13795,end climb,SURFACE_DEPTH_REACHED
$STATE,13795,begin surface coast
$FINISH,1.1,1.006363
$STATE,13838,end surface coast,CONTROL_FINISHED_OK
$STATE,13838,begin surface
$SM_CCo,13910,0.00,0.000,0,0,1576,334.59
$SM_GC,2.51,8.43,0.00,0.00,0.067,0.000,0.000,146,1939,1576,-8.95,0.03,334.59
$RAFOS_CLK,698
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5719.52,150199,090917
$TT8_MAMPS,0.050622
$HUMID,40.03
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.4,81.0
$24V_AH,23.4,5.057
$10V_AH,10.3,1.855
$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,21.825,141.325,414.650,0.000,0.000,28.704,35.882,335.479,2.250,0.000,14.374,0.000,10320.339,539.076,3011.440,511.917,0.000,1813.844,0.000,2471.216,2520.000,20.177,0.000
$DEVICE_MAMPS,257.712,78.234,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.855,948.818,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150284
$DATA_FILE_SIZE,50466,1274
$CAP_FILE_SIZE,168089,0
$CFSIZE,260165632,251801600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.6
$CURRENT,0.084,263.6,1
$GPS,211009,171307,6658.808,-5726.417,41,1.0,41,-37.6