version: 66.04
glider: 164
mission: 3
dive: 100
start: 6 2 109 23 26 14
data:
$ID,164
$MISSION,3
$DIVE,100
$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,-35087.312
$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,44
$R_STBD_OVSHOOT,38
$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
$GPS1,232024,2418.281,12254.121,36,1.0,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-62.0
$GPS2,232608,2418.219,12254.139,13,1.0,13,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,303.3,62241,-15.7,-10.000
$D_GRID,582
$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,-194.7,0.0,0.0,0,102,0.00,0.00,-88.20,0.000,2,0.000,0.000,120,1454,2899
$GC,104,-0.99,-194.7,3.4,-8.7,13,136,8.27,1.92,-16.30,0.000,4,0.202,0.061,2420,219,3744
$GC,306,-0.55,-194.7,63.4,-23.8,50,313,0.43,1.90,0.00,0.000,6,0.143,0.032,2557,1482,3746
$GC,632,-0.55,-194.7,102.7,-10.7,111,640,0.00,2.08,0.00,0.000,4,0.000,0.038,2557,2877,3747
$GC,655,-0.59,-194.7,105.1,-10.2,115,663,0.00,2.10,0.00,0.000,6,0.000,0.032,2557,1471,3747
$GC,983,-0.64,-194.7,141.5,-9.9,176,989,0.00,1.90,0.00,0.000,4,0.000,0.043,2557,212,3749
$GC,1121,-0.69,-194.7,157.1,-10.6,202,1128,0.08,1.85,0.00,0.000,6,0.057,0.032,2501,1460,3749
$GC,1448,-0.63,-194.7,199.0,-12.7,263,1456,0.12,2.10,0.00,0.000,4,0.131,0.038,2537,2879,3750
$GC,1529,-0.77,-194.7,207.2,-9.1,278,1536,0.10,2.10,0.00,0.000,6,0.045,0.031,2472,1452,3750
$GC,1857,-0.67,-194.7,250.6,-13.7,339,1863,0.17,0.00,0.00,0.000,6,0.128,0.000,2531,1452,3750
$GC,2183,-0.75,-194.7,282.5,-10.7,400,2189,0.00,2.12,0.00,0.000,4,0.000,0.038,2530,2874,3750
$GC,2247,-0.90,-194.7,289.0,-10.1,412,2254,0.17,2.10,0.00,0.000,6,0.043,0.031,2438,1450,3750
$GC,2570,-0.72,-194.7,339.5,-15.4,450,2574,0.25,2.12,0.00,0.000,4,0.130,0.038,2514,2875,3750
$GC,2629,-0.81,-194.7,345.1,-8.1,455,2637,0.00,2.10,0.00,0.000,6,0.000,0.032,2514,1457,3749
$GC,2944,-0.87,-194.7,376.9,-9.7,486,2948,0.15,1.88,0.00,0.000,4,0.064,0.045,2443,217,3747
$GC,3029,-0.69,-194.7,389.1,-15.4,494,3034,0.22,1.85,0.00,0.000,6,0.124,0.031,2521,1464,3747
$GC,3351,-0.77,-194.7,418.0,-7.8,525,3354,0.00,1.90,0.00,0.000,4,0.000,0.046,2521,223,3745
$GC,3415,-0.85,-194.7,423.1,-7.9,531,3418,0.12,1.85,0.00,0.000,6,0.050,0.032,2454,1477,3745
$GC,3735,-0.76,-194.7,462.1,-14.8,562,3739,0.15,1.92,0.00,0.000,4,0.138,0.048,2497,221,3743
$GC,3767,-0.76,-194.7,466.3,-13.3,565,3771,0.00,1.83,0.00,0.000,6,0.000,0.033,2497,1455,3743
$GC,4088,-0.80,-194.7,498.4,-8.3,596,4092,0.00,2.12,0.00,0.000,4,0.000,0.041,2497,2872,3741
$GC,4200,-0.90,-194.7,507.5,-9.1,602,4204,0.10,2.08,0.00,0.000,6,0.053,0.035,2441,1484,3740
$GC,4520,-0.80,-194.7,544.4,-10.5,618,4525,0.15,1.95,0.00,0.000,4,0.138,0.050,2484,210,3738
$GC,4638,-0.80,-194.7,555.0,-9.1,623,4642,0.00,1.88,0.00,0.000,6,0.000,0.032,2484,1471,3737
$STATE,4931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4931,begin apogee
$GC,4935,-0.24,0.0,582.7,9.4,638,5095,0.55,0.00,154.57,1.140,6,0.109,0.000,2669,1579,2946
$STATE,5095,end apogee,CONTROL_FINISHED_OK
$STATE,5095,begin climb
$GC,5097,0.99,194.7,587.0,0.0,646,5261,1.10,2.22,157.07,1.110,4,0.070,0.039,3058,2981,2151
$GC,5313,0.59,194.7,565.0,17.1,655,5318,0.40,2.20,0.00,0.000,6,0.161,0.038,2940,1588,2147
$GC,5630,0.55,218.6,534.6,9.2,671,5653,0.00,2.22,19.55,1.035,4,0.000,0.051,2942,211,2055
$GC,5849,0.50,236.0,514.0,9.4,681,5869,0.10,2.05,14.68,1.005,6,0.138,0.035,2909,1549,1986
$GC,6185,0.62,287.3,479.7,8.2,707,6230,0.10,0.00,43.75,1.067,6,0.084,0.000,2952,1549,1775
$GC,6535,0.53,287.3,427.5,14.9,741,6539,0.15,2.12,0.00,0.000,4,0.150,0.052,2911,208,1765
$GC,6561,0.53,287.3,424.2,11.8,743,6569,0.00,2.08,0.00,0.000,6,0.000,0.038,2911,1555,1764
$GC,6878,0.67,333.6,397.2,8.4,774,6922,0.15,2.15,38.17,1.022,4,0.062,0.052,2984,212,1585
$GC,6980,0.52,333.6,382.3,17.1,783,6987,0.22,2.08,0.00,0.000,6,0.143,0.037,2914,1546,1581
$GC,7295,0.64,333.6,346.9,10.6,814,7300,0.10,2.10,0.00,0.000,4,0.081,0.053,2962,214,1576
$GC,7349,0.58,333.6,340.2,14.4,819,7353,0.08,2.03,0.00,0.000,6,0.142,0.038,2937,1535,1575
$GC,7669,0.58,333.6,300.4,12.2,850,7673,0.00,2.08,0.00,0.000,4,0.000,0.052,2937,215,1574
$GC,7695,0.62,333.6,297.3,12.0,854,7702,0.00,2.00,0.00,0.000,6,0.000,0.040,2937,1524,1574
$GC,8022,0.66,333.6,260.1,13.9,915,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,1524,1573
$GC,8348,0.74,350.9,226.7,9.4,976,8367,0.12,2.03,13.30,0.853,4,0.069,0.053,2999,214,1517
$GC,8446,0.59,350.9,210.5,16.5,994,8452,0.17,1.98,0.00,0.000,6,0.141,0.036,2942,1512,1514
$GC,8772,0.72,369.1,175.7,9.4,1055,8792,0.10,0.00,16.62,0.829,6,0.081,0.000,2994,1512,1441
$GC,9112,0.72,369.1,131.0,14.0,1118,9119,0.00,2.03,0.00,0.000,4,0.000,0.050,2998,214,1435
$GC,9203,0.72,369.1,119.5,12.2,1135,9211,0.00,1.98,0.00,0.000,6,0.000,0.036,2998,1518,1435
$GC,9531,0.87,418.7,79.6,8.3,1196,9581,0.00,2.28,41.42,0.779,4,0.000,0.041,2998,2982,1238
$GC,9623,1.01,426.1,71.3,9.7,1212,9636,0.15,2.20,7.57,0.637,6,0.044,0.037,3081,1562,1208
$GC,9956,1.01,426.1,18.9,10.9,1274,9962,0.00,2.10,0.00,0.000,4,0.000,0.050,3082,210,1202
$STATE,10088,end climb,SURFACE_DEPTH_REACHED
$STATE,10088,begin surface coast
$FINISH,0.3,1.021810
$STATE,10109,end surface coast,CONTROL_FINISHED_OK
$STATE,10109,begin surface
$SM_CCo,10184,0.00,0.000,0,0,1197,429.27
$SM_GC,0.66,7.62,0.00,0.00,0.037,0.000,0.000,116,1466,1197,-8.13,-0.14,429.27
$IRIDIUM_FIX,2408.65,12259.45,270898,202045
$TT8_MAMPS,0.049855
$HUMID,1556
$INTERNAL_PRESSURE,9.03601
$TCM_TEMP,25.80
$XPDR_PINGS,24
$24V_AH,24.2,21.064
$10V_AH,10.7,12.792
$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,21.625,85.600,506.725,0.000,0.000,31.286,33.256,185.889,10.000,0.000,0.000,15.124,0.000,6512.810,633.073,2946.295,415.204,0.000,1715.213,0.000,2517.316,0.000,30.429,0.000
$DEVICE_MAMPS,201.721,68.263,1139.762,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,878.567,949.512,1590.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72659,1303
$CAP_FILE_SIZE,123054,0
$CFSIZE,260165632,250892288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,308.7,1
$GPS,030609,021654,2419.583,12252.168,37,1.6,38,-3.4