version: 66.06
glider: 172
mission: 3
dive: 36
start: 10 26 109 20 40 32
data:
$ID,172
$MISSION,3
$DIVE,36
$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,-2
$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,-4791.6865
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,203408,6647.504,-5947.597,47,1.8,47,-38.0
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-75.4
$GPS2,204026,6647.396,-5947.752,14,1.8,14,-38.0
$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,306.1,28678,-17.5,-10.000
$D_GRID,800
$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,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,50,0.00,0.00,-36.85,0.000,2,0.000,0.000,121,1835,2115,0,0,0,0,0,0
$GC,52,-0.64,-146.0,3.1,-1.4,7,120,10.35,2.35,-52.60,0.000,4,0.239,0.085,2802,3258,3537,0,0,0,0,0,0
$GC,258,-0.55,-146.0,36.4,-18.9,54,265,0.12,2.30,0.00,0.000,6,0.150,0.062,2843,1858,3538,0,0,0,0,0,0
$GC,583,-0.55,-146.0,87.1,-14.8,115,589,0.00,2.35,0.00,0.000,4,0.000,0.078,2843,436,3538,0,0,0,0,0,0
$GC,670,-0.55,-146.0,100.0,-14.8,135,676,0.00,2.28,0.00,0.000,6,0.000,0.060,2835,1847,3538,0,0,0,0,0,0
$GC,984,-0.55,-146.0,145.4,-13.7,166,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1847,3538,0,0,0,0,0,0
$GC,1295,-0.55,-146.0,189.2,-13.1,196,1299,0.00,2.28,0.00,0.000,4,0.000,0.079,2835,439,3538,0,0,0,0,0,0
$GC,1360,-0.60,-146.0,197.3,-11.6,203,1365,0.00,2.25,0.00,0.000,6,0.000,0.061,2835,1843,3538,0,0,0,0,0,0
$GC,1675,-0.60,-146.0,233.1,-10.9,234,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1843,3538,0,0,0,0,0,0
$GC,1985,-0.65,-146.0,267.4,-11.4,264,1989,0.00,2.28,0.00,0.000,4,0.000,0.078,2835,436,3537,0,0,0,0,0,0
$GC,2015,-0.69,-146.0,271.0,-12.5,267,2020,0.00,2.25,0.00,0.000,6,0.000,0.061,2835,1842,3537,0,0,0,0,0,0
$GC,2329,-0.75,-146.0,306.2,-11.5,298,2333,0.15,2.33,0.00,0.000,4,0.096,0.077,2767,3251,3538,0,0,0,0,0,0
$GC,2377,-0.71,-146.0,313.1,-15.5,303,2382,0.00,2.28,0.00,0.000,6,0.000,0.064,2767,1843,3536,0,0,0,0,0,0
$GC,2691,-0.58,-146.0,367.4,-17.9,334,2695,0.22,2.30,0.00,0.000,4,0.165,0.080,2834,426,3537,0,0,0,0,0,0
$GC,2734,-0.66,-146.0,373.2,-11.6,339,2738,0.00,2.22,0.00,0.000,6,0.000,0.061,2834,1849,3537,0,0,0,0,0,0
$GC,3053,-0.75,-146.0,407.9,-10.9,370,3054,0.15,0.00,0.00,0.000,6,0.095,0.000,2770,1850,3537,0,0,0,0,0,0
$GC,3363,-0.65,-146.0,455.6,-15.0,400,3368,0.15,2.30,0.00,0.000,4,0.171,0.078,2812,449,3537,0,0,0,0,0,0
$GC,3406,-0.70,-146.0,461.3,-13.0,405,3410,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1850,3537,0,0,0,0,0,0
$GC,3725,-0.70,-146.0,499.3,-12.1,436,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3537,0,0,0,0,0,0
$GC,4035,-0.70,-146.0,536.1,-11.9,466,4039,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,446,3537,0,0,0,0,0,0
$GC,4070,-0.70,-146.0,540.4,-12.3,470,4074,0.00,2.22,0.00,0.000,6,0.000,0.060,2807,1850,3537,0,0,0,0,0,0
$GC,4388,-0.70,-146.0,577.2,-11.6,501,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1850,3538,0,0,0,0,0,0
$GC,4707,-0.70,-146.0,614.4,-11.7,524,4710,0.00,2.28,0.00,0.000,4,0.000,0.077,2807,422,3538,0,0,0,0,0,0
$GC,4736,-0.70,-146.0,618.0,-11.8,525,4740,0.00,2.25,0.00,0.000,6,0.000,0.059,2807,1844,3538,0,0,0,0,0,0
$GC,5070,-0.70,-146.0,654.5,-10.6,536,5074,0.00,2.28,0.00,0.000,4,0.000,0.076,2807,442,3538,0,0,0,0,0,0
$GC,5100,-0.70,-146.0,657.8,-10.9,537,5104,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1854,3539,0,0,0,0,0,0
$GC,5434,-0.73,-146.0,691.8,-10.2,548,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1854,3539,0,0,0,0,0,0
$GC,5737,-0.77,-146.0,722.5,-10.2,558,5741,0.00,2.25,0.00,0.000,4,0.000,0.076,2807,441,3540,0,0,0,0,0,0
$GC,5767,-0.77,-146.0,725.9,-10.9,559,5771,0.00,2.22,0.00,0.000,6,0.000,0.058,2807,1850,3540,0,0,0,0,0,0
$GC,6101,-0.82,-146.0,759.6,-10.2,570,6102,0.12,0.00,0.00,0.000,6,0.106,0.000,2750,1850,3540,0,0,0,0,0,0
$GC,6404,-0.89,-146.0,798.3,-10.7,580,6408,0.00,2.30,0.00,0.000,4,0.000,0.074,2749,3257,3540,0,0,0,0,0,0
$GC,6656,-1.38,-146.0,798.3,-0.1,588,6660,0.40,2.22,0.00,0.000,6,0.081,0.060,2575,1851,3541,0,0,0,0,0,0
$STATE,6737,end dive,NO_VERTICAL_VELOCITY
$STATE,6737,begin apogee
$GC,6740,-0.13,0.0,798.3,0.0,591,6865,1.17,0.00,122.75,1.134,6,0.114,0.000,2982,1692,2940,0,0,0,0,0,0
$STATE,6865,end apogee,CONTROL_FINISHED_OK
$STATE,6866,begin climb
$GC,6867,0.64,146.0,798.2,0.0,595,7002,0.73,2.53,126.93,1.097,4,0.103,0.065,3224,3099,2342,0,0,0,0,0,0
$GC,7092,0.61,216.2,793.8,6.8,602,7160,0.00,2.38,62.58,1.077,6,0.000,0.061,3232,1716,2058,0,0,0,0,0,0
$GC,7462,0.56,216.2,755.7,10.6,615,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1716,2048,0,0,0,0,0,0
$GC,7765,0.52,216.2,722.7,10.9,625,7766,0.15,0.00,0.00,0.000,6,0.176,0.000,3193,1716,2046,0,0,0,0,0,0
$GC,8069,0.64,251.6,696.8,8.4,635,8105,0.12,2.47,30.38,1.035,4,0.105,0.078,3255,290,1913,0,0,0,0,0,0
$GC,8122,0.57,251.6,690.8,12.2,636,8128,0.15,2.28,0.00,0.000,6,0.164,0.053,3215,1703,1911,0,0,0,0,0,0
$GC,8430,0.62,251.6,659.1,10.0,647,8433,0.00,2.33,0.00,0.000,4,0.000,0.066,3215,3106,1906,0,0,0,0,0,0
$GC,8456,0.66,251.6,656.3,10.5,647,8461,0.00,2.33,0.00,0.000,6,0.000,0.062,3223,1697,1906,0,0,0,0,0,0
$GC,8763,0.66,251.6,623.6,10.6,658,8767,0.00,2.33,0.00,0.000,4,0.000,0.077,3231,294,1905,0,0,0,0,0,0
$GC,8814,0.66,251.6,617.8,10.5,659,8819,0.00,2.25,0.00,0.000,6,0.000,0.052,3232,1704,1905,0,0,0,0,0,0
$GC,9130,0.66,251.6,583.8,10.6,678,9133,0.00,2.28,0.00,0.000,4,0.000,0.065,3232,3105,1904,0,0,0,0,0,0
$GC,9164,0.66,251.6,580.1,11.2,682,9168,0.00,2.28,0.00,0.000,6,0.000,0.061,3239,1705,1904,0,0,0,0,0,0
$GC,9483,0.66,251.6,545.5,10.6,713,9486,0.00,2.33,0.00,0.000,4,0.000,0.077,3249,287,1903,0,0,0,0,0,0
$GC,9530,0.62,251.6,539.9,12.4,718,9537,0.00,2.22,0.00,0.000,6,0.000,0.053,3249,1696,1904,0,0,0,0,0,0
$GC,9845,0.59,251.6,505.1,11.3,749,9849,0.12,2.22,0.00,0.000,4,0.176,0.066,3214,3106,1904,0,0,0,0,0,0
$GC,9892,0.65,251.6,500.3,10.3,754,9899,0.00,2.28,0.00,0.000,6,0.000,0.062,3223,1699,1903,0,0,0,0,0,0
$GC,10207,0.70,260.5,469.7,9.6,785,10219,0.00,2.33,7.62,0.815,4,0.000,0.078,3232,294,1876,0,0,0,0,0,0
$GC,10266,0.73,260.5,463.5,10.2,792,10270,0.00,2.22,0.00,0.000,6,0.000,0.053,3232,1701,1876,0,0,0,0,0,0
$GC,10585,0.73,260.5,429.1,10.9,823,10589,0.00,2.28,0.00,0.000,4,0.000,0.065,3232,3112,1876,0,0,0,0,0,0
$GC,10611,0.73,260.5,426.2,11.6,826,10615,0.00,2.28,0.00,0.000,6,0.000,0.062,3239,1706,1875,0,0,0,0,0,0
$GC,10930,0.73,260.5,391.2,10.8,857,10934,0.00,2.30,0.00,0.000,4,0.000,0.077,3249,297,1875,0,0,0,0,0,0
$GC,10964,0.73,260.5,387.2,12.7,861,10968,0.00,2.20,0.00,0.000,6,0.000,0.053,3249,1698,1875,0,0,0,0,0,0
$GC,11283,0.73,260.5,351.1,11.3,892,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1698,1875,0,0,0,0,0,0
$GC,11594,0.74,269.3,319.1,9.6,922,11607,0.00,2.33,9.00,0.772,4,0.000,0.078,3258,296,1841,0,0,0,0,0,0
$GC,11637,0.74,269.3,314.4,11.4,927,11641,0.00,2.20,0.00,0.000,6,0.000,0.053,3258,1690,1840,0,0,0,0,0,0
$GC,11956,0.74,269.3,280.5,10.5,958,11960,0.00,2.30,0.00,0.000,4,0.000,0.077,3268,290,1839,0,0,0,0,0,0
$GC,11977,0.71,269.3,278.1,12.2,960,11983,0.00,2.22,0.00,0.000,6,0.000,0.053,3268,1700,1839,0,0,0,0,0,0
$GC,12292,0.68,269.3,244.4,10.6,991,12295,0.00,2.33,0.00,0.000,4,0.000,0.078,3279,291,1838,0,0,0,0,0,0
$GC,12327,0.62,269.3,240.5,11.1,995,12330,0.17,2.17,0.00,0.000,6,0.165,0.053,3227,1705,1838,0,0,0,0,0,0
$GC,12645,0.73,290.4,211.7,9.0,1026,12672,0.00,2.33,19.77,0.769,4,0.000,0.069,3227,3107,1754,0,0,0,0,0,0
$GC,12724,0.84,290.4,204.1,10.1,1035,12727,0.17,2.25,0.00,0.000,6,0.089,0.062,3311,1697,1752,0,0,0,0,0,0
$GC,13037,0.74,290.4,163.1,12.9,1065,13041,0.17,2.33,0.00,0.000,4,0.163,0.077,3271,291,1750,0,0,0,0,0,0
$GC,13081,0.76,302.8,158.8,9.4,1070,13100,0.00,2.22,11.73,0.719,6,0.000,0.053,3271,1698,1705,0,0,0,0,0,0
$GC,13409,0.82,319.8,128.6,9.2,1102,13430,0.00,2.38,16.20,0.721,4,0.000,0.077,3281,291,1636,0,0,0,0,0,0
$GC,13465,0.86,319.8,122.7,10.7,1108,13472,0.00,2.25,0.00,0.000,6,0.000,0.053,3281,1693,1634,0,0,0,0,0,0
$GC,13783,0.94,341.1,90.5,9.0,1148,13808,0.12,2.30,20.20,0.707,4,0.106,0.067,3334,3108,1547,0,0,0,0,0,0
$GC,13840,0.86,341.1,83.7,13.9,1160,13845,0.15,2.28,0.00,0.000,6,0.189,0.064,3306,1701,1543,0,0,0,0,0,0
$GC,14164,0.86,341.1,49.1,10.8,1221,14169,0.00,2.35,0.00,0.000,4,0.000,0.079,3316,290,1540,0,0,0,0,0,0
$GC,14208,0.86,341.1,44.2,10.5,1231,14213,0.00,2.22,0.00,0.000,6,0.000,0.054,3316,1705,1540,0,0,0,0,0,0
$GC,14533,0.90,341.1,13.1,10.3,1292,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1706,1538,0,0,0,0,0,0
$STATE,14631,end climb,SURFACE_DEPTH_REACHED
$STATE,14631,begin surface coast
$FINISH,1.5,1.024382
$STATE,14669,end surface coast,CONTROL_FINISHED_OK
$STATE,14669,begin surface
$SM_CCo,14742,0.00,0.000,0,0,1533,345.14
$SM_GC,2.42,8.43,0.00,0.00,0.062,0.000,0.000,145,1853,1533,-8.94,0.08,345.14
$RAFOS_CLK,755
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5934.00,200199,161655
$TT8_MAMPS,0.052923
$HUMID,38.77
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,54.9
$24V_AH,23.2,9.189
$10V_AH,10.2,3.951
$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,23.350,137.525,427.150,0.000,0.000,28.544,31.459,228.807,2.250,0.000,14.586,0.000,11336.418,540.943,2815.869,404.139,0.000,1738.071,0.000,2267.882,2880.000,20.559,0.000
$DEVICE_MAMPS,239.304,85.904,1134.393,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.635,980.985,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150288
$DATA_FILE_SIZE,53590,1318
$CAP_FILE_SIZE,168281,0
$CFSIZE,260165632,249466880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.5
$CURRENT,0.297,179.8,1
$GPS,271009,004807,6644.869,-5953.078,90,1.0,90,-38.0