version: 66.04
glider: 164
mission: 3
dive: 95
start: 6 2 109 11 54 27
data:
$ID,164
$MISSION,3
$DIVE,95
$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,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,-35008.867
$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
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.035
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1471
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,43
$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
$GPS1,114852,2413.086,12259.820,9,99.0,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-63.5
$GPS2,115422,2413.066,12259.829,12,99.0,31,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_4
$TGT_LATLONG,2410.000,12300.000
$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,138.5,5686,-15.7,-10.000
$D_GRID,381
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.99,-194.7,0.0,0.0,0,90,0.00,0.00,-76.53,0.000,2,0.000,0.000,109,1502,2784
$GC,92,-0.99,-194.7,3.1,-6.7,12,125,8.25,2.12,-20.17,0.000,4,0.198,0.052,2415,2887,3743
$GC,161,-0.52,-194.7,21.3,-29.3,24,168,0.45,2.12,0.00,0.000,6,0.122,0.032,2566,1472,3745
$GC,487,-0.52,-194.7,69.8,-11.6,85,495,0.00,2.12,0.00,0.000,4,0.000,0.038,2566,2888,3746
$GC,531,-0.59,-194.7,74.4,-10.0,93,539,0.00,2.10,0.00,0.000,6,0.000,0.031,2566,1475,3746
$GC,859,-0.66,-194.7,110.1,-10.3,154,865,0.12,1.90,0.00,0.000,4,0.067,0.043,2501,212,3747
$GC,1041,-0.53,-194.7,138.5,-15.5,188,1047,0.17,1.85,0.00,0.000,6,0.113,0.032,2563,1461,3748
$GC,1367,-0.59,-194.7,162.3,-8.8,249,1375,0.00,2.10,0.00,0.000,4,0.000,0.037,2563,2886,3748
$GC,1433,-0.76,-194.7,166.0,-5.6,261,1441,0.15,2.08,0.00,0.000,6,0.041,0.031,2477,1479,3748
$GC,1761,-0.64,-194.7,212.3,-14.7,322,1767,0.20,2.08,0.00,0.000,4,0.126,0.037,2539,2879,3749
$GC,1841,-0.75,-194.7,220.1,-9.1,337,1849,0.08,2.08,0.00,0.000,6,0.052,0.031,2485,1469,3748
$GC,2168,-0.69,-194.7,260.9,-10.2,398,2175,0.12,1.88,0.00,0.000,4,0.135,0.043,2521,220,3748
$GC,2211,-0.69,-194.7,264.9,-8.8,406,2218,0.00,1.85,0.00,0.000,6,0.000,0.031,2519,1477,3748
$GC,2537,-0.69,-194.7,297.4,-12.5,467,2544,0.00,2.08,0.00,0.000,4,0.000,0.039,2518,2872,3749
$GC,2564,-0.75,-194.7,299.7,-9.3,472,2577,0.00,2.05,0.00,0.000,6,0.000,0.033,2518,1485,3748
$GC,2881,-0.82,-194.7,328.6,-7.4,503,2885,0.12,1.90,0.00,0.000,4,0.070,0.044,2457,223,3747
$GC,3037,-0.68,-194.7,345.2,-10.0,517,3043,0.22,1.83,0.00,0.000,6,0.131,0.031,2526,1480,3747
$GC,3351,-0.77,-194.7,361.1,-5.4,548,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1481,3745
$GC,3662,-0.85,-194.7,378.0,-6.4,578,3664,0.17,0.00,0.00,0.000,6,0.059,0.000,2448,1480,3744
$STATE,3701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3701,begin apogee
$GC,3705,-0.24,0.0,381.6,8.9,582,3858,0.68,0.00,150.15,0.973,6,0.119,0.000,2670,1597,2947
$STATE,3858,end apogee,CONTROL_FINISHED_OK
$STATE,3858,begin climb
$GC,3860,0.99,194.7,384.6,0.0,597,4015,1.10,0.00,151.70,0.944,6,0.074,0.000,3060,1597,2153
$GC,4323,0.65,194.7,320.2,16.0,641,4327,0.35,2.12,0.00,0.000,4,0.155,0.048,2960,210,2146
$GC,4376,0.56,194.7,313.4,12.5,646,4380,0.10,2.03,0.00,0.000,6,0.140,0.035,2926,1542,2146
$GC,4697,0.56,194.7,285.6,10.3,691,4703,0.00,2.05,0.00,0.000,4,0.000,0.049,2929,223,2144
$GC,4750,0.56,198.4,280.5,9.9,701,4757,0.00,2.03,0.00,0.000,6,0.000,0.037,2928,1561,2144
$GC,5077,0.56,199.8,247.0,10.0,762,5085,0.00,2.17,3.90,0.535,4,0.000,0.041,2929,2988,2132
$GC,5120,0.56,199.8,242.6,10.4,770,5128,0.00,2.12,0.00,0.000,6,0.000,0.036,2929,1582,2131
$GC,5447,0.72,288.0,216.8,7.0,831,5521,0.15,0.00,69.82,0.865,6,0.068,0.000,3000,1582,1772
$GC,5841,0.61,288.0,166.3,12.1,903,5847,0.20,0.00,0.00,0.000,6,0.143,0.000,2944,1582,1763
$GC,6167,0.77,328.6,136.6,8.6,964,6207,0.15,2.12,32.05,0.796,4,0.065,0.049,3015,208,1605
$GC,6318,0.70,328.6,119.4,12.0,991,6325,0.12,2.08,0.00,0.000,6,0.133,0.035,2974,1565,1600
$GC,6645,0.92,431.4,84.0,6.5,1052,6735,0.20,2.28,83.25,0.763,4,0.052,0.039,3070,2998,1186
$GC,6878,0.84,431.4,53.6,13.5,1093,6886,0.15,2.25,0.00,0.000,6,0.139,0.035,3021,1530,1179
$GC,7206,1.02,444.3,20.1,9.6,1154,7224,0.15,2.08,10.20,0.632,4,0.056,0.048,3108,208,1134
$GC,7293,0.89,444.3,6.7,16.7,1170,7299,0.22,1.98,0.00,0.000,6,0.137,0.033,3034,1521,1132
$STATE,7323,end climb,SURFACE_DEPTH_REACHED
$STATE,7323,begin surface coast
$FINISH,0.1,1.010332
$STATE,7345,end surface coast,CONTROL_FINISHED_OK
$STATE,7345,begin surface
$SM_CCo,7418,0.00,0.000,0,0,1129,445.71
$SM_GC,0.97,7.53,0.00,0.00,0.038,0.000,0.000,104,1467,1129,-8.15,-0.14,445.71
$IRIDIUM_FIX,2401.56,12301.43,270898,090944
$TT8_MAMPS,0.049855
$HUMID,1519
$INTERNAL_PRESSURE,9.05555
$TCM_TEMP,26.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,300.2,149.7
$24V_AH,24.5,20.241
$10V_AH,10.8,12.237
$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,21.175,57.600,501.075,0.000,0.000,27.853,43.678,152.292,3.250,0.000,0.000,34.551,0.000,4252.103,576.324,2534.544,368.209,0.000,1505.698,0.000,2163.585,0.000,12.480,0.000
$DEVICE_MAMPS,197.886,115.050,973.323,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,790.355,926.696,1549.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63292,1180
$CAP_FILE_SIZE,98636,0
$CFSIZE,260165632,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315,297.5,1
$GPS,020609,135900,2412.842,12259.275,37,1.3,37,-3.4