version: 66.04
glider: 164
mission: 3
dive: 22
start: 5 24 109 23 38 43
data:
$ID,164
$MISSION,3
$DIVE,22
$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,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51863
$NAV_MODE,2
$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,415
$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,-33609.879
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2744
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1471
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,4
$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,0.0001160742
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$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
$GPS1,232637,2523.555,12342.713,32,1.0,32,-3.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.2
$GPS2,233838,2523.515,12342.949,12,1.2,12,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,240.5,18301,-15.7,-10.000
$D_GRID,1673
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.97,-194.7,0.0,0.0,0,95,0.00,0.00,-80.60,0.000,2,0.000,0.000,119,1447,2995
$GC,97,-0.97,-194.7,3.7,-9.8,13,124,8.68,2.22,-13.75,0.000,4,0.219,0.051,2417,2888,3745
$GC,347,-0.59,-194.7,69.0,-21.4,59,355,0.40,2.15,0.00,0.000,6,0.123,0.037,2550,1474,3748
$GC,675,-0.59,-194.7,114.9,-13.0,120,682,0.00,1.95,0.00,0.000,4,0.000,0.048,2551,208,3748
$GC,697,-0.59,-194.7,117.7,-12.9,124,703,0.00,1.92,0.00,0.000,6,0.000,0.037,2551,1482,3748
$GC,1023,-0.64,-194.7,152.9,-10.6,185,1030,0.00,2.08,0.00,0.000,4,0.000,0.040,2551,2871,3749
$GC,1077,-0.78,-194.7,157.9,-8.7,195,1084,0.12,2.08,0.00,0.000,6,0.044,0.035,2475,1484,3749
$GC,1404,-0.60,-194.7,201.6,-13.2,256,1411,0.25,1.92,0.00,0.000,4,0.121,0.047,2553,213,3749
$GC,1571,-0.72,-194.7,217.2,-9.5,287,1578,0.10,1.88,0.00,0.000,6,0.051,0.035,2489,1474,3749
$GC,1897,-0.64,-194.7,257.6,-12.4,348,1904,0.17,2.08,0.00,0.000,4,0.123,0.040,2543,2872,3748
$GC,1994,-0.83,-194.7,266.2,-8.4,366,2001,0.15,2.08,0.00,0.000,6,0.041,0.035,2459,1476,3749
$GC,2324,-0.68,-194.7,309.1,-11.8,421,2327,0.22,1.90,0.00,0.000,4,0.125,0.048,2530,217,3749
$GC,2366,-0.76,-194.7,313.5,-9.5,425,2370,0.00,1.90,0.00,0.000,6,0.000,0.036,2529,1486,3749
$GC,2688,-0.89,-194.7,343.0,-9.4,456,2691,0.20,2.03,0.00,0.000,4,0.056,0.040,2441,2876,3748
$GC,2734,-0.76,-194.7,349.0,-13.1,460,2742,0.15,2.05,0.00,0.000,6,0.120,0.035,2494,1499,3747
$GC,3050,-0.76,-194.7,381.2,-9.8,491,3054,0.00,1.95,0.00,0.000,4,0.000,0.048,2494,217,3746
$GC,3140,-0.76,-194.7,390.7,-10.5,499,3148,0.00,1.90,0.00,0.000,6,0.000,0.035,2495,1492,3745
$GC,3456,-0.76,-194.7,421.6,-9.9,530,3460,0.00,2.05,0.00,0.000,4,0.000,0.042,2494,2884,3743
$GC,3493,-0.85,-194.7,425.2,-9.4,533,3499,0.00,2.10,0.00,0.000,6,0.000,0.038,2494,1477,3742
$GC,3809,-0.90,-194.7,455.6,-9.7,564,3811,0.12,0.00,0.00,0.000,6,0.067,0.000,2436,1477,3741
$GC,4119,-0.76,-194.7,494.2,-11.9,594,4121,0.20,0.00,0.00,0.000,6,0.132,0.000,2496,1477,3739
$GC,4436,-0.82,-194.7,516.7,-6.6,613,4439,0.00,1.92,0.00,0.000,4,0.000,0.052,2497,224,3737
$GC,4472,-0.82,-194.7,519.4,-7.2,614,4479,0.00,1.88,0.00,0.000,6,0.000,0.036,2497,1478,3737
$GC,4783,-0.90,-194.7,542.0,-7.2,630,4784,0.12,0.00,0.00,0.000,6,0.071,0.000,2440,1478,3734
$GC,5088,-0.78,-194.7,573.7,-10.5,645,5090,0.17,0.00,0.00,0.000,6,0.136,0.000,2492,1479,3732
$GC,5393,-0.84,-194.7,597.0,-7.6,660,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1479,3730
$GC,5699,-0.92,-194.7,620.9,-7.9,675,5700,0.15,0.00,0.00,0.000,6,0.068,0.000,2427,1479,3728
$GC,6004,-0.79,-194.7,651.0,-10.1,690,6005,0.20,0.00,0.00,0.000,6,0.134,0.000,2487,1479,3726
$GC,6310,-0.86,-194.7,672.7,-6.9,705,6313,0.00,2.10,0.00,0.000,4,0.000,0.048,2487,2876,3723
$GC,6347,-0.99,-194.7,675.2,-6.7,706,6353,0.15,2.10,0.00,0.000,6,0.052,0.043,2410,1497,3723
$GC,6656,-0.81,-194.7,711.0,-11.8,722,6660,0.22,1.98,0.00,0.000,4,0.136,0.057,2478,218,3721
$GC,6757,-0.81,-194.7,721.0,-9.6,726,6765,0.00,1.90,0.00,0.000,6,0.000,0.041,2478,1478,3721
$GC,7068,-0.87,-194.7,746.9,-8.4,742,7072,0.00,2.12,0.00,0.000,4,0.000,0.050,2478,2872,3718
$GC,7099,-0.98,-194.7,749.4,-7.7,743,7104,0.10,2.12,0.00,0.000,6,0.058,0.044,2423,1479,3718
$GC,7416,-0.86,-194.7,782.3,-10.4,759,7418,0.15,0.00,0.00,0.000,6,0.140,0.000,2466,1479,3716
$GC,7720,-0.86,-194.7,808.7,-8.7,774,7724,0.00,2.12,0.00,0.000,4,0.000,0.051,2466,2859,3714
$GC,7789,-0.94,-194.7,814.6,-8.5,777,7794,0.00,2.10,0.00,0.000,6,0.000,0.045,2466,1486,3714
$GC,8111,-0.94,-194.7,842.0,-8.5,793,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1486,3713
$GC,8416,-0.94,-194.7,867.2,-8.1,808,8420,0.00,2.00,0.00,0.000,4,0.000,0.063,2466,215,3711
$GC,8469,-0.94,-194.7,872.0,-9.8,810,8473,0.00,1.92,0.00,0.000,6,0.000,0.044,2466,1479,3711
$GC,8784,-0.94,-194.7,897.9,-8.1,826,8788,0.00,2.15,0.00,0.000,4,0.000,0.052,2466,2879,3709
$GC,8806,-1.01,-194.7,899.3,-7.4,827,8810,0.10,2.12,0.00,0.000,6,0.061,0.047,2414,1496,3709
$GC,9133,-0.87,-194.7,930.1,-9.1,843,9134,0.17,0.00,0.00,0.000,6,0.143,0.000,2464,1496,3708
$GC,9438,-0.87,-194.7,951.0,-6.9,858,9441,0.00,2.03,0.00,0.000,4,0.000,0.063,2464,210,3707
$GC,9474,-0.87,-194.7,954.0,-7.8,859,9482,0.00,1.98,0.00,0.000,6,0.000,0.044,2465,1503,3706
$GC,9785,-0.87,-194.7,977.4,-8.1,875,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1504,3705
$STATE,9946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9946,begin apogee
$GC,9950,-0.23,0.0,990.9,8.4,883,10112,0.60,0.00,159.52,1.467,6,0.118,0.000,2664,1599,2947
$STATE,10112,end apogee,CONTROL_FINISHED_OK
$STATE,10112,begin climb
$GC,10114,0.97,194.7,996.4,0.0,891,10292,1.12,2.40,170.05,1.419,4,0.077,0.062,3049,217,2151
$GC,10324,0.36,194.7,972.3,19.8,901,10328,0.62,2.25,0.00,0.000,6,0.176,0.044,2866,1588,2148
$GC,10651,0.47,225.1,941.6,8.9,917,10681,0.00,2.30,26.30,1.345,4,0.000,0.064,2866,208,2028
$GC,10733,0.59,238.4,933.9,9.5,921,10751,0.15,2.22,12.85,1.247,6,0.062,0.043,2932,1598,1974
$GC,11055,0.40,238.4,889.1,14.1,937,11059,0.20,2.22,0.00,0.000,4,0.159,0.061,2878,211,1968
$GC,11075,0.33,238.4,886.5,13.2,938,11079,0.00,2.17,0.00,0.000,6,0.000,0.045,2878,1592,1969
$GC,11396,0.43,261.9,856.5,9.2,954,11421,0.00,2.30,21.10,1.320,4,0.000,0.064,2878,212,1878
$GC,11464,0.52,261.9,849.8,10.2,957,11469,0.08,2.17,0.00,0.000,6,0.075,0.045,2918,1578,1876
$GC,11786,0.42,261.9,808.8,12.6,973,11790,0.15,2.20,0.00,0.000,4,0.160,0.063,2879,214,1872
$GC,11844,0.52,267.9,802.7,9.8,975,11854,0.00,2.12,6.20,1.052,6,0.000,0.047,2879,1567,1854
$GC,12155,0.63,279.0,773.6,9.6,991,12170,0.20,2.25,11.32,1.216,4,0.067,0.052,2960,3004,1808
$GC,12185,0.44,279.0,769.4,14.3,991,12193,0.22,2.30,0.00,0.000,6,0.164,0.050,2892,1564,1805
$GC,12496,0.49,279.0,735.4,10.4,1007,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1564,1803
$GC,12801,0.56,292.2,705.3,9.5,1022,12817,0.00,2.22,12.68,1.205,4,0.000,0.064,2892,209,1753
$GC,12842,0.67,313.2,701.2,9.3,1023,12866,0.15,2.15,19.90,1.235,6,0.058,0.048,2961,1566,1669
$GC,13182,0.43,313.2,643.9,16.9,1040,13186,0.25,2.25,0.00,0.000,4,0.160,0.052,2886,3009,1662
$GC,13207,0.38,313.2,640.0,14.0,1041,13211,0.00,2.30,0.00,0.000,6,0.000,0.049,2886,1556,1661
$GC,13523,0.51,313.2,607.5,10.5,1057,13527,0.00,2.17,0.00,0.000,4,0.000,0.065,2886,206,1660
$GC,13608,0.68,313.2,598.6,10.5,1061,13612,0.17,2.10,0.00,0.000,6,0.054,0.048,2967,1543,1660
$GC,13935,0.42,313.2,542.2,18.2,1077,13939,0.30,2.28,0.00,0.000,4,0.159,0.053,2881,3005,1659
$GC,13982,0.56,313.6,536.0,10.0,1079,13986,0.10,2.28,0.00,0.000,6,0.064,0.050,2936,1551,1659
$GC,14293,0.46,313.6,494.5,13.9,1096,14298,0.15,2.12,0.00,0.000,4,0.158,0.064,2896,216,1659
$GC,14330,0.56,313.6,490.1,11.3,1099,14338,0.00,2.08,0.00,0.000,6,0.000,0.050,2896,1544,1658
$GC,14647,0.78,326.3,461.2,9.6,1130,14662,0.28,2.12,11.02,1.023,4,0.056,0.064,3012,214,1616
$GC,14715,0.42,326.3,448.9,20.5,1136,14720,0.43,2.05,0.00,0.000,6,0.164,0.047,2882,1527,1615
$GC,15037,0.77,395.6,420.9,7.6,1167,15105,0.30,2.40,61.40,1.075,4,0.053,0.051,3005,3007,1332
$GC,15130,0.41,395.6,404.4,23.0,1175,15139,0.45,2.40,0.00,0.000,6,0.163,0.048,2880,1534,1328
$GC,15446,0.90,500.4,379.8,6.4,1206,15550,0.43,2.25,92.88,1.005,4,0.047,0.061,3056,215,906
$GC,15610,0.48,500.4,338.8,28.3,1221,15614,0.47,2.12,0.00,0.000,6,0.156,0.044,2903,1527,900
$GC,15930,1.04,608.0,309.5,6.3,1252,16028,0.47,2.45,88.07,0.952,4,0.044,0.048,3097,3007,489
$GC,16055,0.44,608.0,273.5,39.0,1269,16061,0.75,2.40,0.00,0.000,6,0.174,0.046,2891,1515,486
$GC,16380,1.37,608.0,230.0,14.0,1330,16390,0.82,2.33,0.00,0.000,4,0.074,0.048,3183,3011,480
$GC,16405,1.73,608.0,226.0,18.1,1334,16412,0.28,2.35,0.00,0.000,6,0.064,0.047,3299,1525,480
$GC,16732,0.93,608.0,61.3,40.8,1395,16738,0.90,2.28,0.00,0.000,4,0.191,0.045,3044,3008,479
$GC,16785,0.98,608.0,47.9,18.3,1405,16793,0.00,2.28,0.00,0.000,6,0.000,0.044,3044,1547,478
$GC,17113,1.17,608.0,8.5,10.3,1466,17120,0.22,2.10,0.00,0.000,4,0.054,0.057,3141,210,478
$STATE,17144,end climb,SURFACE_DEPTH_REACHED
$STATE,17144,begin surface coast
$FINISH,-0.3,1.010063
$STATE,17160,end surface coast,CONTROL_FINISHED_OK
$STATE,17160,begin surface
$SM_CCo,17235,0.00,0.000,0,0,477,605.65
$SM_GC,0.37,7.85,0.00,0.00,0.041,0.000,0.000,116,1483,477,-8.14,0.34,605.65
$IRIDIUM_FIX,2515.12,12342.73,180898,181842
$TT8_MAMPS,0.050622
$HUMID,1532
$INTERNAL_PRESSURE,8.88952
$TCM_TEMP,24.90
$XPDR_PINGS,11
$24V_AH,23.6,8.167
$10V_AH,10.7,4.461
$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,30.450,149.275,693.300,0.000,0.000,30.231,32.421,553.695,10.750,0.000,0.000,14.618,0.000,12795.545,818.841,3474.077,834.537,0.000,2160.140,0.000,2912.410,0.000,53.953,0.000
$DEVICE_MAMPS,219.362,81.302,1466.504,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.853,951.369,1593.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85342,1475
$CAP_FILE_SIZE,184558,0
$CFSIZE,260165632,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.245, 76.4,1
$GPS,250509,042654,2522.605,12342.701,37,1.2,37,-3.8