version: 66.06
glider: 172
mission: 3
dive: 61
start: 10 30 109 9 26 29
data:
$ID,172
$MISSION,3
$DIVE,61
$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,450
$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,-5347.9736
$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,19
$R_STBD_OVSHOOT,29
$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
$GPS1,090102,6645.451,-5938.000,84,1.1,85,-37.9
$_CALLS,5
$_XMS_NAKs,33
$_XMS_TOUTs,2
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-62.9
$GPS2,092623,6645.134,-5938.643,48,1.5,50,-37.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_ADD2_EB
$TGT_LATLONG,6651.000,-5910.000
$TGT_RADIUS,10000.000
$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,68.9,23514,-17.5,-10.000
$D_GRID,858
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.64,-146.0,0.0,0.0,0,60,0.00,0.00,-46.05,0.000,2,0.000,0.000,120,1858,2492,0,0,0,0,0,0
$GC,61,-0.64,-146.0,3.1,-1.3,8,112,10.32,2.45,-32.00,0.000,4,0.231,0.094,2809,441,3539,0,0,0,0,0,0
$GC,150,-0.46,-146.0,19.8,-26.8,28,156,0.25,2.28,0.00,0.000,6,0.158,0.058,2873,1845,3541,0,0,0,0,0,0
$GC,474,-0.51,-146.0,64.9,-11.8,89,480,0.00,2.35,0.00,0.000,4,0.000,0.077,2873,442,3541,0,0,0,0,0,0
$GC,505,-0.57,-146.0,68.9,-13.2,96,510,0.00,2.28,0.00,0.000,6,0.000,0.058,2865,1848,3541,0,0,0,0,0,0
$GC,832,-0.62,-146.0,108.5,-11.0,151,836,0.12,2.33,0.00,0.000,4,0.102,0.077,2807,439,3541,0,0,0,0,0,0
$GC,854,-0.55,-146.0,111.6,-15.1,153,859,0.17,2.25,0.00,0.000,6,0.160,0.058,2848,1860,3541,0,0,0,0,0,0
$GC,1168,-0.58,-146.0,152.6,-13.1,184,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1860,3541,0,0,0,0,0,0
$GC,1479,-0.62,-146.0,191.2,-12.0,214,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1860,3541,0,0,0,0,0,0
$GC,1789,-0.67,-146.0,226.5,-11.2,244,1793,0.12,2.33,0.00,0.000,4,0.104,0.079,2790,439,3540,0,0,0,0,0,0
$GC,1840,-0.58,-146.0,234.3,-16.3,249,1846,0.12,2.25,0.00,0.000,6,0.146,0.059,2838,1842,3541,0,0,0,0,0,0
$GC,2155,-0.63,-146.0,270.3,-11.0,280,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1843,3540,0,0,0,0,0,0
$GC,2466,-0.69,-146.0,303.7,-10.7,310,2467,0.10,0.00,0.00,0.000,6,0.118,0.000,2789,1843,3540,0,0,0,0,0,0
$GC,2776,-0.62,-146.0,346.0,-13.1,340,2780,0.12,2.30,0.00,0.000,4,0.167,0.079,2824,427,3539,0,0,0,0,0,0
$GC,2819,-0.66,-146.0,351.4,-11.6,345,2823,0.00,2.22,0.00,0.000,6,0.000,0.059,2814,1852,3539,0,0,0,0,0,0
$GC,3137,-0.66,-146.0,387.9,-11.7,376,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1852,3539,0,0,0,0,0,0
$GC,3448,-0.66,-146.0,424.2,-11.3,406,3452,0.00,2.33,0.00,0.000,4,0.000,0.078,2814,436,3539,0,0,0,0,0,0
$GC,3521,-0.66,-146.0,433.0,-11.7,414,3527,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1850,3539,0,0,0,0,0,0
$GC,3836,-0.66,-146.0,471.2,-12.1,445,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1851,3540,0,0,0,0,0,0
$GC,4146,-0.66,-146.0,508.6,-11.7,475,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1851,3540,0,0,0,0,0,0
$GC,4457,-0.66,-146.0,544.9,-11.7,505,4461,0.00,2.30,0.00,0.000,4,0.000,0.077,2807,420,3541,0,0,0,0,0,0
$GC,4501,-0.66,-146.0,550.1,-12.1,510,4505,0.00,2.25,0.00,0.000,6,0.000,0.058,2807,1861,3541,0,0,0,0,0,0
$GC,4815,-0.66,-146.0,585.5,-11.4,540,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1862,3541,0,0,0,0,0,0
$GC,5131,-0.66,-146.0,620.9,-11.3,559,5135,0.00,2.30,0.00,0.000,4,0.000,0.076,2807,444,3542,0,0,0,0,0,0
$GC,5157,-0.66,-146.0,624.0,-11.9,559,5163,0.00,2.22,0.00,0.000,6,0.000,0.057,2807,1849,3542,0,0,0,0,0,0
$GC,5464,-0.66,-146.0,657.5,-10.9,570,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1849,3543,0,0,0,0,0,0
$GC,5768,-0.66,-146.0,691.4,-11.3,580,5772,0.00,2.33,0.00,0.000,4,0.000,0.076,2807,407,3543,0,0,0,0,0,0
$GC,5793,-0.66,-146.0,694.5,-12.7,580,5799,0.00,2.28,0.00,0.000,6,0.000,0.056,2807,1852,3543,0,0,0,0,0,0
$GC,6101,-0.70,-146.0,727.6,-10.5,591,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3543,0,0,0,0,0,0
$GC,6405,-0.70,-146.0,760.0,-10.7,601,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1852,3544,0,0,0,0,0,0
$GC,6708,-0.73,-146.0,792.2,-10.7,611,6712,0.00,2.28,0.00,0.000,4,0.000,0.075,2807,445,3544,0,0,0,0,0,0
$GC,6751,-0.77,-146.0,797.1,-10.9,612,6755,0.00,2.20,0.00,0.000,6,0.000,0.057,2807,1843,3543,0,0,0,0,0,0
$GC,7072,-0.80,-146.0,830.4,-10.5,623,7073,0.12,0.00,0.00,0.000,6,0.102,0.000,2747,1843,3544,0,0,0,0,0,0
$STATE,7253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7253,begin apogee
$GC,7255,-0.13,0.0,858.1,15.6,629,7382,0.73,0.00,124.43,1.181,6,0.140,0.000,2981,1689,2940,0,0,0,0,0,0
$STATE,7383,end apogee,CONTROL_FINISHED_OK
$STATE,7383,begin climb
$GC,7384,0.64,146.0,863.1,0.0,633,7520,0.73,2.55,129.45,1.151,4,0.077,0.073,3245,294,2343,0,0,0,0,0,0
$GC,7555,0.49,186.1,862.7,8.1,639,7597,0.15,2.40,37.17,1.111,6,0.150,0.050,3190,1699,2181,0,0,0,0,0,0
$GC,7917,0.58,223.4,833.4,8.3,651,7955,0.00,2.45,33.60,1.101,4,0.000,0.067,3190,3109,2028,0,0,0,0,0,0
$GC,7977,0.64,227.7,828.0,9.8,653,7988,0.10,2.40,5.32,0.811,6,0.114,0.062,3239,1705,2010,0,0,0,0,0,0
$GC,8310,0.58,227.7,786.1,12.6,664,8313,0.00,2.38,0.00,0.000,4,0.000,0.075,3249,284,2005,0,0,0,0,0,0
$GC,8343,0.50,227.7,781.5,13.8,665,8347,0.15,2.30,0.00,0.000,6,0.143,0.050,3189,1700,2004,0,0,0,0,0,0
$GC,8668,0.61,252.6,751.4,8.9,676,8693,0.00,0.00,23.27,1.063,6,0.000,0.000,3188,1700,1910,0,0,0,0,0,0
$GC,8971,0.74,276.3,724.0,8.9,686,8996,0.22,0.00,22.92,1.045,6,0.079,0.000,3279,1700,1813,0,0,0,0,0,0
$GC,9277,0.61,276.3,677.9,15.4,696,9280,0.20,2.35,0.00,0.000,4,0.162,0.075,3232,287,1805,0,0,0,0,0,0
$GC,9297,0.57,276.3,674.8,12.7,696,9303,0.00,2.28,0.00,0.000,6,0.000,0.051,3232,1698,1805,0,0,0,0,0,0
$GC,9604,0.57,276.3,639.3,11.5,707,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1699,1805,0,0,0,0,0,0
$GC,9908,0.57,276.3,604.8,11.4,717,9912,0.00,2.33,0.00,0.000,4,0.000,0.077,3242,275,1804,0,0,0,0,0,0
$GC,9933,0.57,276.3,601.7,12.0,717,9940,0.10,2.25,0.00,0.000,6,0.140,0.052,3209,1695,1803,0,0,0,0,0,0
$GC,10248,0.65,283.1,570.2,9.7,746,10260,0.00,2.38,6.05,0.814,4,0.000,0.077,3219,287,1784,0,0,0,0,0,0
$GC,10286,0.71,283.1,566.4,10.3,750,10292,0.08,2.25,0.00,0.000,6,0.077,0.051,3262,1700,1784,0,0,0,0,0,0
$GC,10603,0.64,283.1,523.2,13.7,781,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1701,1782,0,0,0,0,0,0
$GC,10911,0.57,283.1,480.2,14.0,811,10915,0.17,2.33,0.00,0.000,4,0.160,0.077,3221,284,1782,0,0,0,0,0,0
$GC,10941,0.64,283.1,476.6,11.7,814,10946,0.00,2.22,0.00,0.000,6,0.000,0.051,3221,1694,1782,0,0,0,0,0,0
$GC,11255,0.68,283.1,443.4,10.6,845,11259,0.00,2.30,0.00,0.000,4,0.000,0.077,3228,294,1782,0,0,0,0,0,0
$GC,11299,0.74,283.1,438.5,11.7,850,11303,0.00,2.20,0.00,0.000,6,0.000,0.051,3228,1692,1781,0,0,0,0,0,0
$GC,11617,0.78,283.1,402.7,11.1,881,11618,0.15,0.00,0.00,0.000,6,0.098,0.000,3294,1693,1782,0,0,0,0,0,0
$GC,11928,0.65,283.1,355.0,14.9,911,11932,0.20,2.30,0.00,0.000,4,0.161,0.077,3246,274,1782,0,0,0,0,0,0
$GC,11962,0.65,283.1,350.7,12.3,915,11966,0.00,2.25,0.00,0.000,6,0.000,0.051,3246,1705,1782,0,0,0,0,0,0
$GC,12281,0.65,283.1,312.7,11.8,946,12285,0.00,2.33,0.00,0.000,4,0.000,0.077,3255,285,1782,0,0,0,0,0,0
$GC,12350,0.65,283.1,304.2,11.8,954,12354,0.00,2.22,0.00,0.000,6,0.000,0.051,3255,1703,1782,0,0,0,0,0,0
$GC,12669,0.65,283.1,266.6,11.4,985,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1704,1781,0,0,0,0,0,0
$GC,12980,0.65,283.1,232.2,10.3,1015,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1704,1782,0,0,0,0,0,0
$GC,13291,0.69,284.4,200.2,9.9,1045,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1704,1782,0,0,0,0,0,0
$GC,13601,0.74,289.8,169.2,9.8,1075,13614,0.00,2.35,7.32,0.693,4,0.000,0.079,3264,285,1757,0,0,0,0,0,0
$GC,13640,0.77,289.8,164.9,11.0,1079,13646,0.00,2.22,0.00,0.000,6,0.000,0.054,3264,1699,1756,0,0,0,0,0,0
$GC,13954,0.82,295.9,132.0,9.7,1110,13967,0.00,2.35,6.75,0.667,4,0.000,0.079,3273,287,1732,0,0,0,0,0,0
$GC,14036,0.86,325.4,123.9,8.6,1119,14070,0.00,2.25,28.25,0.732,6,0.000,0.054,3273,1706,1612,0,0,0,0,0,0
$GC,14388,0.92,325.4,88.0,10.3,1164,14394,0.15,2.33,0.00,0.000,4,0.097,0.080,3345,288,1603,0,0,0,0,0,0
$GC,14428,0.81,325.4,82.8,13.0,1173,14434,0.20,2.22,0.00,0.000,6,0.166,0.054,3288,1705,1603,0,0,0,0,0,0
$GC,14753,0.85,325.4,49.3,10.6,1234,14754,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1706,1602,0,0,0,0,0,0
$GC,15074,1.00,388.5,18.7,7.1,1294,15132,0.17,2.47,53.85,0.686,4,0.094,0.081,3370,284,1355,0,0,0,0,0,0
$GC,15149,0.84,388.5,10.1,15.6,1310,15154,0.22,2.33,0.00,0.000,6,0.152,0.054,3299,1699,1354,0,0,0,0,0,0
$STATE,15189,end climb,SURFACE_DEPTH_REACHED
$STATE,15189,begin surface coast
$FINISH,1.5,1.024714
$STATE,15216,end surface coast,CONTROL_FINISHED_OK
$STATE,15216,begin surface
$SM_CCo,15229,50.97,0.661,0,0,1104,450.13
$SM_GC,2.57,0.00,0.00,50.97,0.000,0.000,0.661,144,1858,1104,-9.00,0.23,450.13
$RAFOS_CLK,837
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5946.96,240199,090931
$TT8_MAMPS,0.051389
$HUMID,39.44
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,14.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,802.0,97.8
$24V_AH,22.9,12.841
$10V_AH,10.1,5.585
$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,23.675,111.225,478.400,50.975,0.000,150.906,211.805,735.788,2.500,0.000,50.894,0.000,12174.375,645.442,2686.372,1271.187,0.000,1739.735,0.000,2113.967,2471.000,21.757,0.000
$DEVICE_MAMPS,230.867,94.341,1181.180,661.154,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.616,983.879,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150136
$DATA_FILE_SIZE,53556,1323
$CAP_FILE_SIZE,178722,0
$CFSIZE,260165632,247689216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.4
$CURRENT,0.033,107.8,1
$GPS,301009,134306,6647.140,-5934.689,94,1.1,94,-38.0