version: 66.04
glider: 164
mission: 3
dive: 3
start: 5 21 109 6 12 12
data:
$ID,164
$MISSION,3
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51863
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,592.70209
$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,-33137.051
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2783
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2043
$C_ROLL_CLIMB,2043
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3962
$C_VBD,2947
$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,40
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.4660435
$PRESSURE_SLOPE,0.0001158597
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.94
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043488215
$SEABIRD_T_H,0.00063635618
$SEABIRD_T_I,2.5028745e-05
$SEABIRD_T_J,2.7326657e-06
$SEABIRD_C_G,-10.160287
$SEABIRD_C_H,1.1436546
$SEABIRD_C_I,-0.00018147723
$SEABIRD_C_J,0.00010835609
$GPS1,060606,2520.146,12322.980,30,1.2,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.0
$GPS2,061207,2520.264,12323.050,8,1.2,13,-3.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12328.200
$TGT_RADIUS,5000.000
$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,16.1,39896,-18.2,-10.000
$D_GRID,1455
$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
$STATE,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.86,-146.0,0.0,0.0,0,101,0.00,0.00,-87.93,0.000,2,0.000,0.000,114,2060,2993
$GC,103,-0.86,-146.0,3.0,-6.0,15,128,9.35,2.22,-10.93,0.000,4,0.237,0.058,2502,626,3546
$GC,367,-0.86,-146.0,63.6,-20.9,64,374,0.00,2.12,0.00,0.000,6,0.000,0.037,2500,2047,3547
$GC,694,-0.86,-146.0,123.3,-16.3,125,700,0.00,2.10,0.00,0.000,4,0.000,0.044,2500,3446,3548
$GC,887,-0.86,-146.0,151.0,-13.6,161,893,0.00,2.10,0.00,0.000,6,0.000,0.035,2500,2027,3548
$GC,1212,-0.86,-146.0,193.1,-11.9,222,1219,0.00,2.08,0.00,0.000,4,0.000,0.044,2500,638,3549
$GC,1458,-0.86,-146.0,225.1,-12.2,268,1465,0.00,2.08,0.00,0.000,6,0.000,0.035,2500,2048,3549
$GC,1785,-0.86,-146.0,257.2,-9.4,329,1791,0.00,2.12,0.00,0.000,4,0.000,0.045,2500,638,3550
$GC,2030,-0.86,-146.0,283.7,-10.9,375,2037,0.00,2.08,0.00,0.000,6,0.000,0.035,2500,2044,3549
$GC,2356,-0.86,-146.0,314.8,-8.4,421,2360,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,3442,3549
$GC,2601,-0.86,-146.0,335.6,-9.5,444,2605,0.00,2.08,0.00,0.000,6,0.000,0.035,2500,2040,3548
$GC,2923,-0.86,-146.0,366.8,-9.3,475,2926,0.00,2.08,0.00,0.000,4,0.000,0.048,2500,637,3546
$GC,3168,-0.86,-146.0,391.5,-8.3,498,3172,0.00,2.08,0.00,0.000,6,0.000,0.036,2500,2040,3545
$GC,3490,-0.86,-146.0,417.1,-9.2,529,3493,0.00,2.10,0.00,0.000,4,0.000,0.049,2500,635,3543
$GC,3734,-0.86,-146.0,442.7,-10.7,552,3738,0.00,2.10,0.00,0.000,6,0.000,0.037,2500,2048,3542
$GC,4056,-0.86,-146.0,470.9,-8.0,583,4059,0.00,2.10,0.00,0.000,4,0.000,0.051,2500,3453,3540
$GC,4301,-0.86,-146.0,489.7,-7.7,606,4305,0.00,2.10,0.00,0.000,6,0.000,0.038,2500,2043,3538
$GC,4618,-0.86,-146.0,514.6,-8.0,628,4623,0.00,2.12,0.00,0.000,4,0.000,0.051,2500,641,3536
$GC,4864,-0.86,-146.0,537.5,-9.7,639,4868,0.00,2.08,0.00,0.000,6,0.000,0.040,2500,2033,3534
$GC,5180,-0.86,-146.0,564.7,-8.1,655,5184,0.00,2.12,0.00,0.000,4,0.000,0.052,2500,642,3532
$GC,5425,-0.86,-146.0,585.9,-8.1,666,5429,0.00,2.10,0.00,0.000,6,0.000,0.041,2500,2041,3531
$GC,5741,-0.86,-146.0,609.0,-7.1,682,5745,0.00,2.15,0.00,0.000,4,0.000,0.054,2500,642,3529
$GC,5986,-0.86,-146.0,628.1,-8.0,693,5991,0.00,2.10,0.00,0.000,6,0.000,0.042,2500,2037,3527
$GC,6302,-0.86,-146.0,649.9,-6.8,709,6307,0.00,2.15,0.00,0.000,4,0.000,0.055,2500,639,3524
$GC,6547,-0.86,-146.0,668.5,-8.1,720,6552,0.00,2.12,0.00,0.000,6,0.000,0.044,2500,2044,3523
$GC,6863,-0.86,-146.0,690.7,-7.1,736,6867,0.00,2.17,0.00,0.000,4,0.000,0.056,2500,639,3521
$GC,7109,-0.86,-146.0,709.7,-7.4,747,7114,0.00,2.12,0.00,0.000,6,0.000,0.045,2500,2040,3519
$GC,7425,-0.86,-146.0,734.1,-7.7,763,7429,0.00,2.17,0.00,0.000,4,0.000,0.058,2500,639,3519
$GC,7670,-0.86,-146.0,754.8,-8.7,774,7674,0.00,2.12,0.00,0.000,6,0.000,0.045,2500,2036,3517
$GC,7986,-0.86,-146.0,779.3,-7.4,790,7990,0.00,2.20,0.00,0.000,4,0.000,0.060,2500,3453,3515
$GC,8231,-0.86,-146.0,796.0,-6.7,801,8236,0.00,2.12,0.00,0.000,6,0.000,0.045,2500,2056,3515
$GC,8547,-0.86,-146.0,816.3,-6.5,817,8551,0.00,2.20,0.00,0.000,4,0.000,0.061,2500,638,3514
$GC,8792,-0.86,-146.0,833.6,-7.5,828,8797,0.00,2.15,0.00,0.000,6,0.000,0.048,2500,2046,3513
$GC,9108,-0.86,-146.0,853.5,-6.5,844,9112,0.00,2.20,0.00,0.000,4,0.000,0.060,2500,637,3510
$GC,9354,-0.86,-146.0,871.0,-7.1,855,9358,0.00,2.15,0.00,0.000,6,0.000,0.048,2500,2042,3510
$GC,9670,-0.86,-146.0,891.2,-6.1,871,9674,0.00,2.20,0.00,0.000,4,0.000,0.061,2500,640,3509
$GC,9915,-0.86,-146.0,907.9,-7.0,882,9920,0.00,2.15,0.00,0.000,6,0.000,0.049,2500,2041,3508
$GC,10231,-0.86,-146.0,927.6,-6.1,898,10235,0.00,2.20,0.00,0.000,4,0.000,0.062,2500,638,3507
$GC,10476,-0.86,-146.0,944.3,-7.1,909,10481,0.00,2.15,0.00,0.000,6,0.000,0.050,2500,2038,3507
$GC,10792,-0.86,-146.0,965.0,-6.3,925,10796,0.00,2.20,0.00,0.000,4,0.000,0.063,2500,640,3506
$GC,11038,-0.86,-146.0,982.5,-6.7,936,11042,0.00,2.15,0.00,0.000,6,0.000,0.050,2500,2039,3505
$STATE,11169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11169,begin apogee
$GC,11173,-0.19,0.0,991.0,6.4,943,11293,0.68,0.00,117.57,1.467,6,0.117,0.000,2724,2039,2947
$STATE,11294,end apogee,CONTROL_FINISHED_OK
$STATE,11294,begin climb
$GC,11295,0.86,146.0,993.7,0.0,949,11433,0.93,2.42,129.50,1.416,4,0.055,0.058,3064,3456,2349
$GC,11604,0.86,146.0,950.8,18.5,963,11611,0.00,2.25,0.00,0.000,6,0.000,0.048,3065,2048,2341
$GC,11915,0.86,146.0,894.8,17.7,979,11919,0.00,2.25,0.00,0.000,4,0.000,0.063,3065,640,2338
$GC,12160,0.86,146.0,850.2,16.8,990,12165,0.00,2.20,0.00,0.000,6,0.000,0.049,3065,2049,2338
$GC,12475,0.86,146.0,792.0,19.2,1006,12480,0.00,2.25,0.00,0.000,4,0.000,0.064,3064,638,2337
$GC,12673,0.86,146.0,755.8,17.1,1015,12677,0.00,2.17,0.00,0.000,6,0.000,0.051,3065,2040,2336
$GC,12994,0.86,146.0,699.6,17.3,1031,12999,0.00,2.22,0.00,0.000,4,0.000,0.064,3065,638,2336
$GC,13239,0.86,146.0,659.5,16.0,1042,13244,0.00,2.17,0.00,0.000,6,0.000,0.051,3064,2037,2335
$GC,13555,0.86,146.0,611.0,14.7,1058,13559,0.00,2.22,0.00,0.000,4,0.000,0.064,3065,637,2335
$GC,13753,0.86,146.0,581.2,14.6,1067,13757,0.00,2.17,0.00,0.000,6,0.000,0.051,3065,2042,2335
$GC,14074,0.86,146.0,529.4,16.6,1083,14078,0.00,2.22,0.00,0.000,4,0.000,0.064,3065,636,2334
$GC,14320,0.86,146.0,489.0,15.8,1097,14324,0.00,2.17,0.00,0.000,6,0.000,0.051,3064,2043,2335
$GC,14641,0.86,146.0,444.0,12.7,1128,14644,0.00,2.22,0.00,0.000,4,0.000,0.064,3065,635,2334
$GC,14886,0.86,146.0,413.5,11.7,1151,14890,0.00,2.17,0.00,0.000,6,0.000,0.049,3065,2046,2334
$GC,15208,0.86,146.0,370.1,13.4,1182,15211,0.00,2.20,0.00,0.000,4,0.000,0.062,3065,633,2334
$GC,15436,0.86,146.0,341.5,11.0,1203,15443,0.00,2.17,0.00,0.000,6,0.000,0.048,3065,2048,2334
$GC,15752,0.86,146.0,306.9,11.0,1234,15756,0.00,2.22,0.00,0.000,4,0.000,0.061,3065,633,2334
$GC,15997,0.86,146.0,279.2,12.5,1274,16004,0.00,2.15,0.00,0.000,6,0.000,0.047,3065,2039,2334
$GC,16324,0.86,146.0,239.8,10.7,1335,16330,0.00,2.20,0.00,0.000,4,0.000,0.058,3065,632,2336
$GC,16457,0.86,152.0,226.2,9.7,1360,16465,0.00,2.15,3.88,0.561,6,0.000,0.045,3065,2045,2326
$GC,16785,0.88,164.9,195.6,9.4,1421,16804,0.00,2.22,12.00,0.803,4,0.000,0.058,3065,637,2274
$GC,16818,0.93,203.3,192.7,8.2,1427,16855,0.00,2.17,31.80,0.850,6,0.000,0.047,3065,2047,2118
$GC,17175,0.93,203.3,152.4,12.0,1493,17181,0.00,2.22,0.00,0.000,4,0.000,0.056,3065,638,2111
$GC,17420,0.97,239.9,128.8,8.3,1539,17456,0.00,2.15,29.73,0.785,6,0.000,0.043,3065,2039,1967
$GC,17777,1.03,284.1,95.0,8.0,1605,17819,0.15,2.22,35.45,0.750,4,0.071,0.054,3135,632,1789
$GC,18058,1.03,284.1,53.4,14.5,1657,18065,0.00,2.17,0.00,0.000,6,0.000,0.041,3135,2046,1783
$GC,18384,1.03,284.1,9.9,13.1,1718,18391,0.00,2.20,0.00,0.000,4,0.000,0.053,3139,635,1783
$STATE,18436,end climb,SURFACE_DEPTH_REACHED
$STATE,18436,begin surface coast
$FINISH,0.0,1.021987
$STATE,18453,end surface coast,CONTROL_FINISHED_OK
$STATE,18453,begin surface
$SM_CCo,18468,250.88,0.656,3,0,529,592.89
$SM_GC,0.33,0.00,0.00,250.88,0.000,0.000,0.656,114,2050,529,-8.34,0.23,592.89
$IRIDIUM_FIX,2507.97,12324.22,150898,030340
$TT8_MAMPS,0.050622
$HUMID,1423
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,26.70
$XPDR_PINGS,9
$24V_AH,23.6,4.076
$10V_AH,10.7,1.668
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.000,147.050,359.925,250.875,0.000,29.529,37.195,198.536,2.250,0.000,0.000,15.164,0.000,13059.323,796.822,4737.691,484.377,0.000,2551.520,0.000,4155.603,0.000,0.541,0.000
$DEVICE_MAMPS,237.003,63.661,1467.271,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.130,1165.840,1953.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97772,1731
$CAP_FILE_SIZE,181079,0
$CFSIZE,260165632,257462272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,210509,112525,2521.977,12324.361,38,1.2,38,-3.7