version: 66.04
glider: 164
mission: 3
dive: 102
start: 6 3 109 5 58 12
data:
$ID,164
$MISSION,3
$DIVE,102
$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,-35149.34
$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,31
$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
$GPS1,055146,2421.891,12249.986,6,99.0,25,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-70.3
$GPS2,055807,2421.816,12250.126,39,1.2,39,-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,318.2,52756,-15.7,-10.000
$D_GRID,729
$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,-194.7,0.0,0.0,0,83,0.00,0.00,-68.68,0.000,2,0.000,0.000,112,1483,2889
$GC,85,-0.99,-194.7,3.6,-9.4,11,117,8.20,1.98,-16.10,0.000,4,0.195,0.063,2416,209,3744
$GC,260,-0.48,-194.7,55.3,-28.7,43,267,0.52,1.90,0.00,0.000,6,0.146,0.031,2585,1477,3746
$GC,586,-0.55,-194.7,97.3,-10.4,104,594,0.00,2.08,0.00,0.000,4,0.000,0.038,2585,2872,3747
$GC,662,-0.69,-194.7,103.8,-8.7,118,669,0.15,2.10,0.00,0.000,6,0.042,0.031,2497,1463,3748
$GC,989,-0.57,-194.7,148.3,-12.3,179,996,0.20,1.88,0.00,0.000,4,0.128,0.044,2557,221,3749
$GC,1038,-0.62,-194.7,153.3,-9.5,188,1045,0.00,1.85,0.00,0.000,6,0.000,0.032,2557,1464,3749
$GC,1366,-0.72,-194.7,183.3,-9.4,249,1372,0.12,2.10,0.00,0.000,4,0.067,0.038,2487,2887,3750
$GC,1413,-0.72,-194.7,189.0,-12.3,258,1420,0.00,2.10,0.00,0.000,6,0.000,0.031,2487,1465,3749
$GC,1740,-0.66,-194.7,228.7,-11.3,319,1746,0.15,2.08,0.00,0.000,4,0.125,0.037,2531,2883,3750
$GC,1777,-0.75,-194.7,231.9,-8.2,326,1784,0.00,2.08,0.00,0.000,6,0.000,0.031,2531,1482,3750
$GC,2104,-0.81,-194.7,260.2,-8.6,387,2109,0.15,0.00,0.00,0.000,6,0.061,0.000,2458,1480,3749
$GC,2427,-0.69,-194.7,308.1,-14.8,443,2431,0.22,1.90,0.00,0.000,4,0.124,0.044,2528,220,3749
$GC,2491,-0.75,-194.7,314.8,-9.0,449,2495,0.00,1.90,0.00,0.000,6,0.000,0.031,2528,1503,3749
$GC,2811,-0.85,-194.7,340.1,-10.2,480,2816,0.17,1.95,0.00,0.000,4,0.058,0.044,2448,217,3748
$GC,2848,-0.69,-194.7,345.5,-15.0,483,2855,0.20,1.88,0.00,0.000,6,0.120,0.031,2517,1480,3747
$GC,3164,-0.77,-194.7,383.1,-11.8,514,3168,0.00,2.08,0.00,0.000,4,0.000,0.039,2517,2872,3746
$GC,3190,-0.89,-194.7,385.9,-10.5,516,3199,0.12,2.08,0.00,0.000,6,0.049,0.033,2445,1476,3746
$GC,3506,-0.77,-194.7,427.3,-12.3,547,3510,0.17,1.90,0.00,0.000,4,0.133,0.046,2497,220,3744
$GC,3613,-0.77,-194.7,438.2,-10.1,557,3617,0.00,1.88,0.00,0.000,6,0.000,0.032,2497,1482,3744
$GC,3934,-0.81,-194.7,470.5,-8.9,588,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1484,3742
$GC,4245,-0.81,-194.7,494.5,-9.2,618,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1484,3739
$GC,4550,-0.86,-194.7,522.7,-7.3,636,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1484,3738
$GC,4856,-0.93,-194.7,553.4,-11.0,651,4859,0.15,1.90,0.00,0.000,4,0.064,0.048,2428,222,3735
$GC,4903,-0.77,-194.7,559.8,-13.9,653,4907,0.17,1.85,0.00,0.000,6,0.125,0.033,2488,1462,3735
$GC,5224,-0.81,-194.7,587.9,-10.1,669,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1464,3733
$GC,5529,-0.86,-194.7,617.1,-9.5,684,5533,0.00,2.12,0.00,0.000,4,0.000,0.043,2488,2872,3731
$GC,5571,-0.97,-194.7,620.7,-8.4,686,5576,0.12,2.10,0.00,0.000,6,0.052,0.036,2420,1474,3730
$GC,5899,-0.83,-194.7,660.3,-12.1,702,5902,0.20,1.90,0.00,0.000,4,0.137,0.051,2479,216,3728
$GC,5962,-0.83,-194.7,667.6,-11.8,705,5966,0.00,1.88,0.00,0.000,6,0.000,0.035,2479,1474,3728
$GC,6289,-0.87,-194.7,701.8,-8.6,721,6292,0.00,1.95,0.00,0.000,4,0.000,0.054,2479,207,3725
$GC,6394,-0.87,-194.7,711.7,-10.2,726,6399,0.00,1.88,0.00,0.000,6,0.000,0.035,2479,1461,3725
$STATE,6597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6597,begin apogee
$GC,6601,-0.24,0.0,729.4,8.7,736,6761,0.55,0.00,156.10,1.267,6,0.107,0.000,2665,1583,2947
$STATE,6761,end apogee,CONTROL_FINISHED_OK
$STATE,6761,begin climb
$GC,6763,0.99,194.7,732.5,0.0,744,6934,1.12,2.28,161.23,1.224,4,0.073,0.043,3057,2986,2151
$GC,6948,0.57,194.7,711.8,18.9,752,6957,0.45,2.28,0.00,0.000,6,0.171,0.040,2930,1586,2150
$GC,7259,0.49,194.7,672.1,13.5,768,7263,0.00,2.17,0.00,0.000,4,0.000,0.053,2930,213,2146
$GC,7323,0.42,194.7,663.9,12.5,771,7327,0.15,2.10,0.00,0.000,6,0.142,0.038,2881,1578,2145
$GC,7649,0.66,333.0,646.4,5.2,787,7777,0.22,2.33,116.50,1.197,4,0.059,0.053,2975,205,1585
$GC,7877,0.52,333.0,607.2,18.1,797,7884,0.20,2.12,0.00,0.000,6,0.143,0.038,2913,1558,1578
$GC,8187,0.52,333.0,568.0,11.4,813,8191,0.00,2.15,0.00,0.000,4,0.000,0.054,2915,210,1574
$GC,8202,0.56,333.0,566.3,10.7,813,8209,0.00,2.08,0.00,0.000,6,0.000,0.039,2915,1555,1573
$GC,8513,0.56,333.0,528.2,12.3,829,8517,0.00,2.12,0.00,0.000,4,0.000,0.054,2914,213,1571
$GC,8534,0.60,333.0,525.8,11.4,830,8538,0.00,2.05,0.00,0.000,6,0.000,0.041,2915,1547,1571
$GC,8851,0.64,333.0,493.1,12.1,848,8855,0.10,2.10,0.00,0.000,4,0.086,0.055,2963,214,1570
$GC,8915,0.56,333.0,482.7,16.8,854,8919,0.12,2.03,0.00,0.000,6,0.143,0.039,2922,1539,1569
$GC,9236,0.56,333.0,442.6,11.8,885,9240,0.00,2.22,0.00,0.000,4,0.000,0.045,2923,2989,1569
$GC,9257,0.56,333.0,439.9,12.9,887,9261,0.00,2.22,0.00,0.000,6,0.000,0.040,2922,1530,1569
$GC,9579,0.59,333.0,401.9,12.3,918,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1530,1568
$GC,9888,0.59,333.0,366.3,11.2,948,9892,0.00,2.05,0.00,0.000,4,0.000,0.054,2922,217,1568
$GC,9909,0.65,333.0,364.1,10.5,950,9913,0.00,2.03,0.00,0.000,6,0.000,0.041,2922,1547,1568
$GC,10231,0.73,333.0,333.8,10.2,981,10235,0.17,2.05,0.00,0.000,4,0.060,0.053,3011,217,1568
$GC,10278,0.55,333.0,326.1,18.5,985,10285,0.28,2.00,0.00,0.000,6,0.147,0.038,2924,1538,1567
$GC,10597,0.64,333.0,287.0,11.4,1026,10604,0.00,2.08,0.00,0.000,4,0.000,0.053,2924,213,1567
$GC,10629,0.77,333.0,283.7,10.5,1032,10637,0.15,2.00,0.00,0.000,6,0.051,0.041,3002,1527,1567
$GC,10958,0.60,333.0,231.3,15.0,1093,10963,0.22,2.03,0.00,0.000,4,0.150,0.053,2938,208,1566
$GC,10983,0.60,333.0,227.8,12.8,1098,10990,0.00,2.03,0.00,0.000,6,0.000,0.040,2938,1539,1566
$GC,11310,0.67,333.0,195.0,11.8,1159,11316,0.00,2.08,0.00,0.000,4,0.000,0.052,2938,210,1567
$GC,11337,0.76,333.0,192.1,11.6,1164,11345,0.10,2.00,0.00,0.000,6,0.056,0.040,2999,1529,1567
$GC,11665,0.70,333.0,149.3,12.1,1225,11671,0.00,2.20,0.00,0.000,4,0.000,0.042,2999,2986,1567
$GC,11718,0.63,333.0,142.8,12.0,1235,11725,0.15,2.20,0.00,0.000,6,0.140,0.039,2950,1538,1567
$GC,12045,0.84,381.7,112.5,8.3,1296,12090,0.17,2.10,38.05,0.805,4,0.058,0.051,3043,216,1388
$GC,12228,0.84,381.7,85.4,12.0,1329,12235,0.08,2.00,0.00,0.000,6,0.127,0.035,3017,1529,1382
$GC,12555,1.02,439.3,52.7,8.0,1390,12607,0.15,2.30,47.70,0.746,4,0.058,0.038,3096,2991,1155
$GC,12666,0.93,439.3,37.5,13.4,1409,12672,0.12,2.28,0.00,0.000,6,0.139,0.037,3046,1520,1150
$STATE,12990,end climb,SURFACE_DEPTH_REACHED
$STATE,12990,begin surface coast
$FINISH,0.0,1.021489
$STATE,13022,end surface coast,CONTROL_FINISHED_OK
$STATE,13022,begin surface
$SM_CCo,13096,0.00,0.000,0,0,1144,442.28
$SM_GC,0.64,7.57,0.00,0.00,0.037,0.000,0.000,109,1458,1144,-8.15,-0.37,442.28
$IRIDIUM_FIX,2408.65,12254.20,280898,020219
$TT8_MAMPS,0.050622
$HUMID,1502
$INTERNAL_PRESSURE,9.02625
$TCM_TEMP,26.40
$XPDR_PINGS,18
$24V_AH,24.0,21.434
$10V_AH,10.7,13.062
$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,23.150,115.100,519.575,0.000,0.000,24.960,32.780,192.502,10.000,0.000,0.000,41.742,0.000,8971.695,651.021,3372.633,455.278,0.000,1886.681,0.000,2848.305,0.000,37.416,0.000
$DEVICE_MAMPS,194.818,110.448,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,997.557,1061.257,1777.009,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82158,1476
$CAP_FILE_SIZE,148901,0
$CFSIZE,260165632,250695680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.366,350.8,1
$GPS,030609,093725,2425.956,12248.097,38,1.3,38,-3.5