version: 66.06
glider: 172
mission: 3
dive: 87
start: 11 4 109 12 50 31
data:
$ID,172
$MISSION,3
$DIVE,87
$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,-5891.458
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,124154,6658.919,-5720.052,38,1.9,38,-37.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-75.1
$GPS2,125008,6658.984,-5720.281,11,1.9,11,-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,107.1,24469,-17.5,-10.000
$D_GRID,789
$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,-146.0,0.0,0.0,0,54,0.00,0.00,-37.38,0.000,2,0.000,0.000,121,1848,2343,0,0,0,0,0,0
$GC,56,-0.64,-146.0,3.1,-2.0,7,118,10.40,2.35,-45.12,0.000,4,0.236,0.084,2798,3257,3536,0,0,0,0,0,0
$GC,205,-0.60,-146.0,21.1,-15.5,39,212,0.12,2.30,0.00,0.000,6,0.162,0.063,2833,1841,3538,0,0,0,0,0,0
$GC,550,-0.60,-146.0,70.0,-12.8,100,556,0.00,2.25,0.00,0.000,4,0.000,0.072,2833,442,3538,0,0,0,0,0,0
$GC,587,-0.60,-146.0,75.1,-12.9,108,593,0.00,2.20,0.00,0.000,6,0.000,0.055,2824,1851,3538,0,0,0,0,0,0
$GC,927,-0.60,-146.0,118.0,-11.8,156,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1850,3538,0,0,0,0,0,0
$GC,1246,-0.60,-146.0,156.9,-12.1,186,1250,0.00,2.28,0.00,0.000,4,0.000,0.072,2824,442,3539,0,0,0,0,0,0
$GC,1333,-0.60,-146.0,167.5,-12.7,195,1338,0.00,2.20,0.00,0.000,6,0.000,0.055,2815,1855,3538,0,0,0,0,0,0
$GC,1657,-0.60,-146.0,206.1,-11.3,225,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1855,3538,0,0,0,0,0,0
$GC,1976,-0.60,-146.0,243.7,-11.8,255,1980,0.00,2.25,0.00,0.000,4,0.000,0.072,2815,442,3538,0,0,0,0,0,0
$GC,2027,-0.60,-146.0,250.0,-12.0,260,2031,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1850,3538,0,0,0,0,0,0
$GC,2351,-0.60,-146.0,290.8,-12.3,290,2355,0.00,2.28,0.00,0.000,4,0.000,0.073,2807,434,3539,0,0,0,0,0,0
$GC,2405,-0.60,-146.0,297.7,-12.1,295,2410,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1849,3538,0,0,0,0,0,0
$GC,2729,-0.60,-146.0,336.0,-11.9,326,2733,0.00,2.22,0.00,0.000,4,0.000,0.072,2807,442,3539,0,0,0,0,0,0
$GC,2752,-0.60,-146.0,339.0,-12.4,328,2756,0.00,2.17,0.00,0.000,6,0.000,0.054,2807,1851,3539,0,0,0,0,0,0
$GC,3077,-0.60,-146.0,374.8,-10.5,358,3081,0.00,2.25,0.00,0.000,4,0.000,0.073,2807,435,3539,0,0,0,0,0,0
$GC,3095,-0.60,-146.0,377.1,-11.1,359,3100,0.00,2.17,0.00,0.000,6,0.000,0.054,2807,1850,3539,0,0,0,0,0,0
$GC,3419,-0.60,-146.0,412.3,-11.5,390,3423,0.00,2.28,0.00,0.000,4,0.000,0.073,2807,435,3539,0,0,0,0,0,0
$GC,3451,-0.60,-146.0,416.3,-11.9,393,3455,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1849,3539,0,0,0,0,0,0
$GC,3775,-0.60,-146.0,454.4,-11.5,423,3779,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,441,3538,0,0,0,0,0,0
$GC,3808,-0.60,-146.0,458.5,-12.8,426,3812,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1853,3539,0,0,0,0,0,0
$GC,4132,-0.60,-146.0,493.7,-10.4,456,4136,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,434,3538,0,0,0,0,0,0
$GC,4174,-0.60,-146.0,498.7,-11.3,460,4178,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1849,3538,0,0,0,0,0,0
$GC,4498,-0.60,-146.0,533.3,-10.9,490,4502,0.00,2.22,0.00,0.000,4,0.000,0.073,2807,441,3538,0,0,0,0,0,0
$GC,4525,-0.60,-146.0,536.5,-11.5,492,4531,0.00,2.15,0.00,0.000,6,0.000,0.055,2807,1849,3538,0,0,0,0,0,0
$GC,4849,-0.60,-146.0,572.6,-11.2,523,4853,0.00,2.22,0.00,0.000,4,0.000,0.074,2807,441,3539,0,0,0,0,0,0
$GC,4872,-0.60,-146.0,575.2,-12.0,525,4876,0.00,2.17,0.00,0.000,6,0.000,0.054,2807,1855,3538,0,0,0,0,0,0
$GC,5202,-0.60,-146.0,610.1,-10.2,550,5206,0.00,2.25,0.00,0.000,4,0.000,0.073,2807,436,3538,0,0,0,0,0,0
$GC,5238,-0.60,-146.0,614.2,-11.0,551,5242,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1851,3538,0,0,0,0,0,0
$GC,5569,-0.60,-146.0,648.0,-10.5,562,5573,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,434,3538,0,0,0,0,0,0
$GC,5609,-0.60,-146.0,652.9,-11.2,563,5613,0.00,2.17,0.00,0.000,6,0.000,0.055,2807,1850,3538,0,0,0,0,0,0
$GC,5935,-0.64,-146.0,688.4,-11.1,574,5939,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,441,3537,0,0,0,0,0,0
$GC,5966,-0.64,-146.0,692.3,-12.4,575,5970,0.00,2.17,0.00,0.000,6,0.000,0.054,2807,1857,3538,0,0,0,0,0,0
$GC,6301,-0.69,-146.0,728.6,-10.9,586,6305,0.00,2.25,0.00,0.000,4,0.000,0.072,2807,434,3537,0,0,0,0,0,0
$GC,6336,-0.69,-146.0,732.8,-11.7,587,6340,0.00,2.17,0.00,0.000,6,0.000,0.054,2807,1850,3537,0,0,0,0,0,0
$GC,6667,-0.72,-146.0,767.7,-10.5,598,6671,0.00,2.25,0.00,0.000,4,0.000,0.074,2807,441,3537,0,0,0,0,0,0
$GC,6703,-0.76,-146.0,772.1,-11.6,599,6707,0.00,2.15,0.00,0.000,6,0.000,0.054,2807,1849,3537,0,0,0,0,0,0
$STATE,6878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6878,begin apogee
$GC,6882,-0.13,0.0,790.3,10.0,605,7008,0.52,0.00,122.68,1.137,6,0.131,0.000,2980,1693,2940,0,0,0,0,0,0
$STATE,7009,end apogee,CONTROL_FINISHED_OK
$STATE,7009,begin climb
$GC,7010,0.64,146.0,795.5,0.0,609,7143,0.70,0.00,128.00,1.106,6,0.081,0.000,3228,1693,2344,0,0,0,0,0,0
$GC,7435,0.59,195.1,775.4,7.7,623,7484,0.00,2.45,43.38,1.076,4,0.000,0.066,3229,3105,2143,0,0,0,0,0,0
$GC,7521,0.50,195.1,767.9,10.8,625,7528,0.20,2.35,0.00,0.000,6,0.165,0.061,3187,1705,2139,0,0,1,0,0,0
$GC,7833,0.63,247.3,742.8,7.6,636,7886,0.12,2.47,46.33,1.069,4,0.101,0.073,3251,294,1930,0,0,0,0,0,0
$GC,7928,0.54,247.3,732.3,14.1,639,7933,0.17,2.28,0.00,0.000,6,0.159,0.050,3204,1701,1926,0,0,0,0,0,0
$GC,8259,0.61,253.2,700.2,9.7,650,8266,0.00,0.00,5.35,0.802,6,0.000,0.000,3204,1701,1907,0,0,0,0,0,0
$GC,8565,0.67,257.8,670.2,9.8,660,8573,0.12,0.00,5.30,0.798,6,0.104,0.000,3257,1702,1889,0,0,0,0,0,0
$GC,8872,0.58,257.8,629.7,13.1,670,8877,0.15,2.33,0.00,0.000,4,0.160,0.075,3225,288,1886,0,0,0,0,0,0
$GC,8890,0.54,257.8,627.1,11.9,670,8894,0.00,2.20,0.00,0.000,6,0.000,0.051,3225,1703,1887,0,0,0,0,0,0
$GC,9203,0.54,257.8,593.6,10.7,682,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1703,1886,0,0,0,0,0,0
$GC,9522,0.54,257.8,559.3,11.2,712,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1703,1885,0,0,0,0,0,0
$GC,9841,0.54,257.8,524.7,10.6,742,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1703,1885,0,0,0,0,0,0
$GC,10160,0.54,257.8,491.2,10.4,772,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1704,1885,0,0,0,0,0,0
$GC,10479,0.54,261.0,458.6,9.9,802,10488,0.00,0.00,4.07,0.651,6,0.000,0.000,3225,1703,1875,0,0,0,0,0,0
$GC,10806,0.54,261.0,425.0,10.5,833,10810,0.00,2.28,0.00,0.000,4,0.000,0.076,3235,288,1875,0,0,0,0,0,0
$GC,10823,0.54,261.0,423.1,11.5,834,10829,0.12,2.17,0.00,0.000,6,0.167,0.051,3201,1703,1875,0,0,0,0,0,0
$GC,11147,0.66,283.5,394.9,9.0,865,11171,0.10,0.00,21.65,0.881,6,0.118,0.000,3246,1704,1784,0,0,0,0,0,0
$GC,11502,0.66,283.5,353.8,12.0,897,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1704,1778,0,0,0,0,0,0
$GC,11827,0.62,283.5,311.1,12.7,928,11831,0.00,2.30,0.00,0.000,4,0.000,0.075,3258,282,1776,0,0,0,0,0,0
$GC,11871,0.58,283.5,305.1,13.3,932,11878,0.15,2.20,0.00,0.000,6,0.160,0.051,3215,1705,1776,0,0,0,0,0,0
$GC,12206,0.67,298.5,271.9,9.3,963,12225,0.00,2.25,13.82,0.783,4,0.000,0.066,3214,3104,1723,0,0,0,0,0,0
$GC,12248,0.75,298.5,267.7,10.7,967,12254,0.12,2.25,0.00,0.000,6,0.104,0.061,3279,1700,1720,0,0,0,0,0,0
$GC,12582,0.65,298.5,219.2,14.6,998,12587,0.15,2.28,0.00,0.000,4,0.163,0.074,3245,288,1719,0,0,0,0,0,0
$GC,12615,0.65,298.5,214.8,11.4,1001,12619,0.00,2.17,0.00,0.000,6,0.000,0.050,3246,1701,1718,0,0,0,0,0,0
$GC,12938,0.65,298.5,176.7,11.8,1031,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1701,1718,0,0,0,0,0,0
$GC,13267,0.65,298.5,137.1,11.6,1061,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1701,1717,0,0,0,0,0,0
$GC,13596,0.65,298.5,99.1,10.8,1091,13602,0.00,2.25,0.00,0.000,4,0.000,0.074,3256,286,1717,0,0,0,0,0,0
$GC,13620,0.65,298.5,96.2,11.9,1096,13626,0.00,2.17,0.00,0.000,6,0.000,0.050,3256,1706,1717,0,0,0,0,0,0
$GC,13963,0.70,298.5,56.2,10.4,1157,13969,0.00,2.22,0.00,0.000,4,0.000,0.066,3256,3114,1717,0,0,0,0,0,0
$GC,14003,0.77,298.5,51.8,10.1,1165,14009,0.00,2.25,0.00,0.000,6,0.000,0.063,3265,1692,1716,0,0,0,0,0,0
$GC,14361,0.82,338.2,16.6,8.2,1226,14403,0.00,0.00,35.03,0.640,6,0.000,0.000,3265,1692,1558,0,0,0,0,0,0
$STATE,14493,end climb,SURFACE_DEPTH_REACHED
$STATE,14493,begin surface coast
$FINISH,2.2,1.025315
$STATE,14533,end surface coast,CONTROL_FINISHED_OK
$STATE,14533,begin surface
$SM_CCo,14609,0.00,0.000,0,0,1550,340.97
$SM_GC,2.41,8.15,0.00,0.00,0.051,0.000,0.000,137,1868,1550,-8.93,0.51,340.97
$RAFOS_CLK,720
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5746.88,290199,080857
$TT8_MAMPS,0.027612
$HUMID,38.54
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.6,57.1
$24V_AH,23.1,17.412
$10V_AH,10.2,7.643
$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,21.325,116.850,425.600,0.000,0.000,28.468,30.633,327.514,2.500,0.000,11.449,2385.510,9570.430,647.293,2089.056,404.990,0.000,1629.767,0.000,2057.719,1099.000,22.727,0.000
$DEVICE_MAMPS,236.236,84.370,1137.461,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.688,939.575,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,188752
$DATA_FILE_SIZE,50464,1257
$CAP_FILE_SIZE,152955,0
$CFSIZE,260165632,244670464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1464.8
$CURRENT,0.139,279.5,1
$GPS,041109,165507,6700.027,-5717.833,29,1.3,29,-37.6