version: 66.04
glider: 164
mission: 3
dive: 118
start: 6 5 109 14 51 32
data:
$ID,164
$MISSION,3
$DIVE,118
$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,-35457.617
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,144455,2453.321,12237.207,36,1.5,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.9
$GPS2,145126,2453.462,12237.297,11,0.9,11,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,314.9,61925,-15.7,-10.000
$D_GRID,1506
$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,12,-0.99,-194.7,0.0,0.0,0,68,0.00,0.00,-55.20,0.000,2,0.000,0.000,108,1438,2820
$GC,70,-0.99,-194.7,3.2,-7.0,8,102,8.70,2.17,-18.33,0.000,4,0.215,0.051,2416,2879,3742
$GC,230,-0.63,-194.7,46.5,-26.2,37,238,0.35,2.15,0.00,0.000,6,0.123,0.034,2533,1462,3745
$GC,558,-0.52,-194.7,102.2,-18.7,98,564,0.15,1.90,0.00,0.000,4,0.130,0.044,2578,215,3746
$GC,660,-0.60,-194.7,117.4,-12.8,117,667,0.00,1.88,0.00,0.000,6,0.000,0.033,2577,1468,3746
$GC,988,-0.71,-194.7,149.6,-8.6,178,994,0.17,2.10,0.00,0.000,4,0.054,0.038,2493,2876,3748
$GC,1036,-0.62,-194.7,155.4,-12.9,187,1042,0.12,2.10,0.00,0.000,6,0.116,0.031,2539,1463,3748
$GC,1362,-0.67,-194.7,187.2,-11.0,248,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1462,3748
$GC,1688,-0.75,-194.7,222.7,-9.4,309,1695,0.12,2.08,0.00,0.000,4,0.066,0.038,2474,2875,3749
$GC,1747,-0.68,-194.7,229.4,-11.5,320,1754,0.12,2.08,0.00,0.000,6,0.120,0.031,2519,1475,3749
$GC,2074,-0.73,-194.7,259.3,-10.0,381,2081,0.00,2.10,0.00,0.000,4,0.000,0.038,2518,2875,3749
$GC,2106,-0.83,-194.7,262.2,-8.8,387,2113,0.08,2.10,0.00,0.000,6,0.056,0.031,2464,1461,3749
$GC,2437,-0.75,-194.7,302.5,-10.5,447,2441,0.12,1.88,0.00,0.000,4,0.135,0.044,2499,221,3748
$GC,2484,-0.75,-194.7,307.0,-9.1,451,2491,0.00,1.85,0.00,0.000,6,0.000,0.032,2499,1465,3748
$GC,2800,-0.75,-194.7,335.3,-9.8,482,2804,0.00,1.90,0.00,0.000,4,0.000,0.044,2499,222,3747
$GC,2847,-0.75,-194.7,340.6,-11.2,486,2855,0.00,1.83,0.00,0.000,6,0.000,0.032,2500,1452,3747
$GC,3164,-0.79,-194.7,371.5,-9.3,517,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1451,3745
$GC,3475,-0.79,-194.7,404.1,-11.2,547,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1451,3744
$GC,3785,-0.83,-194.7,434.0,-9.3,577,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1451,3741
$GC,4096,-0.90,-194.7,458.4,-8.0,607,4099,0.12,2.12,0.00,0.000,4,0.073,0.041,2442,2878,3739
$GC,4164,-0.85,-194.7,465.6,-11.2,613,4168,0.00,2.12,0.00,0.000,6,0.000,0.035,2442,1459,3738
$GC,4485,-0.77,-194.7,502.4,-9.6,643,4488,0.17,1.90,0.00,0.000,4,0.133,0.049,2494,216,3737
$GC,4665,-0.77,-194.7,518.7,-8.9,651,4670,0.00,1.83,0.00,0.000,6,0.000,0.033,2494,1439,3736
$GC,4982,-0.84,-194.7,542.7,-7.7,667,4985,0.00,1.88,0.00,0.000,4,0.000,0.049,2494,209,3733
$GC,5034,-0.88,-194.7,547.0,-7.7,669,5039,0.00,1.83,0.00,0.000,6,0.000,0.033,2494,1430,3733
$GC,5351,-0.94,-194.7,567.6,-5.7,685,5354,0.15,2.15,0.00,0.000,4,0.067,0.044,2427,2874,3730
$GC,5430,-0.88,-194.7,573.7,-8.0,688,5437,0.08,2.15,0.00,0.000,6,0.137,0.037,2453,1448,3729
$GC,5740,-0.88,-194.7,597.6,-7.8,704,5744,0.00,1.90,0.00,0.000,4,0.000,0.051,2453,216,3728
$GC,5777,-0.82,-194.7,600.9,-8.6,705,5785,0.00,1.85,0.00,0.000,6,0.000,0.035,2454,1447,3727
$GC,6089,-0.82,-194.7,625.2,-8.2,721,6092,0.00,2.15,0.00,0.000,4,0.000,0.046,2453,2878,3725
$GC,6151,-0.82,-194.7,630.4,-8.2,724,6155,0.00,2.17,0.00,0.000,6,0.000,0.038,2453,1439,3724
$GC,6478,-0.82,-194.7,659.9,-9.3,740,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1439,3723
$GC,6783,-0.82,-194.7,686.9,-8.8,755,6787,0.00,2.20,0.00,0.000,4,0.000,0.048,2453,2869,3721
$GC,6836,-0.86,-194.7,691.6,-8.7,757,6840,0.00,2.17,0.00,0.000,6,0.000,0.039,2453,1441,3720
$GC,7152,-0.86,-194.7,719.7,-8.9,773,7156,0.00,2.17,0.00,0.000,4,0.000,0.047,2453,2875,3718
$GC,7205,-0.86,-194.7,724.1,-8.2,775,7209,0.00,2.17,0.00,0.000,6,0.000,0.039,2453,1448,3718
$GC,7521,-0.86,-194.7,749.5,-7.7,791,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1448,3717
$GC,7826,-0.86,-194.7,773.7,-8.1,806,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1448,3715
$GC,8131,-0.86,-194.7,799.1,-8.5,821,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1448,3713
$GC,8436,-0.86,-194.7,824.6,-8.3,836,8440,0.00,1.92,0.00,0.000,4,0.000,0.055,2453,217,3712
$GC,8511,-0.81,-194.7,831.2,-9.0,839,8515,0.00,1.90,0.00,0.000,6,0.000,0.040,2453,1463,3711
$GC,8827,-0.81,-194.7,857.1,-8.3,855,8830,0.00,1.98,0.00,0.000,4,0.000,0.060,2453,215,3710
$GC,8906,-0.81,-194.7,864.6,-9.9,858,8913,0.00,1.88,0.00,0.000,6,0.000,0.039,2453,1445,3710
$GC,9217,-0.81,-194.7,893.1,-9.4,874,9220,0.00,2.20,0.00,0.000,4,0.000,0.049,2453,2874,3709
$GC,9297,-0.86,-194.7,900.4,-9.2,877,9304,0.00,2.17,0.00,0.000,6,0.000,0.041,2453,1452,3708
$GC,9607,-0.86,-194.7,928.5,-8.9,893,9611,0.00,2.20,0.00,0.000,4,0.000,0.049,2453,2872,3707
$GC,9638,-0.90,-194.7,931.4,-9.1,894,9642,0.00,2.17,0.00,0.000,6,0.000,0.041,2453,1455,3707
$GC,9954,-0.90,-194.7,959.8,-9.2,910,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1455,3706
$GC,10260,-0.90,-194.7,986.5,-8.3,925,10263,0.00,2.17,0.00,0.000,4,0.000,0.049,2453,2877,3705
$STATE,10305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10305,begin apogee
$GC,10311,-0.24,0.0,990.3,8.0,927,10481,0.60,0.00,162.45,1.471,6,0.117,0.000,2659,1570,2947
$STATE,10481,end apogee,CONTROL_FINISHED_OK
$STATE,10481,begin climb
$GC,10483,0.99,194.7,994.5,0.0,935,10662,1.15,2.35,171.57,1.438,4,0.074,0.056,3054,217,2152
$GC,10682,0.51,194.7,970.8,21.5,944,10687,0.52,2.25,0.00,0.000,6,0.173,0.038,2911,1569,2149
$GC,10998,0.42,194.7,933.1,10.8,960,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1570,2144
$GC,11304,0.34,194.7,900.7,10.8,975,11305,0.20,0.00,0.00,0.000,6,0.155,0.000,2854,1570,2143
$GC,11609,0.50,246.3,875.6,8.2,990,11655,0.15,0.00,44.80,1.381,6,0.078,0.000,2916,1570,1942
$GC,11954,0.43,246.3,833.1,12.6,1007,11958,0.12,2.17,0.00,0.000,4,0.157,0.058,2885,207,1933
$GC,12023,0.49,256.7,825.7,9.6,1010,12041,0.00,2.12,9.32,1.182,6,0.000,0.041,2885,1571,1899
$GC,12344,0.53,256.7,792.0,10.4,1026,12347,0.00,2.17,0.00,0.000,4,0.000,0.058,2885,218,1896
$GC,12439,0.59,256.7,781.6,10.6,1030,12444,0.12,2.08,0.00,0.000,6,0.061,0.041,2946,1556,1896
$GC,12755,0.44,256.7,734.5,14.9,1046,12756,0.22,0.00,0.00,0.000,6,0.153,0.000,2882,1556,1894
$GC,13061,0.52,289.4,707.2,8.9,1061,13104,0.00,2.22,31.52,1.222,4,0.000,0.059,2882,212,1766
$GC,13146,0.65,308.1,699.5,9.4,1065,13170,0.17,2.12,17.90,1.218,6,0.053,0.042,2961,1554,1690
$GC,13472,0.43,308.1,642.6,19.2,1081,13476,0.22,2.22,0.00,0.000,4,0.157,0.047,2893,2986,1682
$GC,13497,0.34,308.1,637.9,17.1,1082,13502,0.10,2.22,0.00,0.000,6,0.149,0.043,2859,1569,1682
$GC,13813,0.58,346.0,608.3,8.7,1098,13866,0.20,2.22,37.90,1.120,4,0.064,0.058,2946,201,1535
$GC,13961,0.44,346.0,584.8,15.9,1105,13965,0.17,2.12,0.00,0.000,6,0.143,0.042,2892,1537,1529
$GC,14282,0.53,346.6,551.0,10.0,1121,14286,0.00,2.15,0.00,0.000,4,0.000,0.058,2891,208,1525
$GC,14308,0.66,363.8,548.4,9.4,1122,14335,0.15,2.08,17.92,1.025,6,0.054,0.043,2961,1534,1463
$GC,14645,0.44,363.8,485.2,20.0,1142,14649,0.28,2.28,0.00,0.000,4,0.155,0.048,2884,2989,1458
$GC,14714,0.56,363.8,475.5,11.1,1148,14722,0.10,2.28,0.00,0.000,6,0.061,0.043,2941,1535,1457
$GC,15030,0.46,363.8,424.6,16.5,1179,15034,0.17,2.10,0.00,0.000,4,0.152,0.058,2893,212,1456
$GC,15062,0.52,363.8,420.4,12.3,1182,15066,0.00,2.05,0.00,0.000,6,0.000,0.044,2892,1532,1455
$GC,15384,0.72,384.1,389.2,9.3,1213,15408,0.20,2.12,18.33,1.046,4,0.059,0.058,2986,203,1379
$GC,15454,0.55,384.1,377.7,18.5,1219,15461,0.20,2.10,0.00,0.000,6,0.150,0.041,2924,1538,1377
$GC,15770,0.55,384.1,337.4,13.0,1250,15774,0.00,2.12,0.00,0.000,4,0.000,0.056,2924,210,1374
$GC,15829,0.64,384.1,330.6,10.5,1255,15835,0.00,2.03,0.00,0.000,6,0.000,0.042,2924,1512,1373
$GC,16145,0.73,384.1,294.4,12.3,1290,16152,0.15,2.28,0.00,0.000,4,0.067,0.048,2993,2988,1372
$GC,16194,0.56,384.1,285.9,19.8,1299,16200,0.22,2.28,0.00,0.000,6,0.156,0.043,2928,1522,1372
$GC,16520,0.75,427.7,246.9,8.5,1360,16564,0.17,2.10,38.60,0.957,4,0.065,0.054,3011,208,1202
$GC,16650,0.56,427.7,224.7,19.8,1383,16656,0.30,2.03,0.00,0.000,6,0.149,0.039,2926,1523,1197
$GC,16976,0.79,459.2,190.9,8.9,1444,17009,0.20,2.10,27.25,0.888,4,0.055,0.053,3015,213,1074
$GC,17029,0.68,459.2,183.1,18.1,1453,17037,0.15,2.03,0.00,0.000,6,0.139,0.040,2968,1497,1072
$GC,17357,0.92,529.2,145.0,7.6,1514,17426,0.20,2.15,60.28,0.853,4,0.054,0.053,3059,206,787
$GC,17441,0.75,529.2,132.4,20.4,1528,17448,0.22,2.05,0.00,0.000,6,0.134,0.038,2988,1493,785
$GC,17768,1.00,532.8,97.0,9.9,1589,17775,0.22,2.03,0.00,0.000,4,0.050,0.051,3095,205,779
$GC,17812,0.86,532.8,89.8,18.6,1597,17820,0.22,1.98,0.00,0.000,6,0.141,0.036,3022,1490,779
$GC,18140,1.06,532.8,48.0,10.6,1658,18146,0.17,2.28,0.00,0.000,4,0.053,0.041,3109,2985,779
$GC,18193,1.06,532.8,40.6,17.4,1668,18200,0.00,2.30,0.00,0.000,6,0.000,0.038,3109,1487,779
$STATE,18427,end climb,SURFACE_DEPTH_REACHED
$STATE,18427,begin surface coast
$FINISH,-0.1,1.021786
$STATE,18443,end surface coast,CONTROL_FINISHED_OK
$STATE,18443,begin surface
$SM_CCo,18517,0.00,0.000,0,0,778,532.06
$SM_GC,0.56,7.70,0.00,0.00,0.035,0.000,0.000,112,1487,778,-8.14,0.45,532.06
$IRIDIUM_FIX,2439.44,12242.83,300898,101000
$TT8_MAMPS,0.049855
$HUMID,1515
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,26.00
$XPDR_PINGS,21
$24V_AH,23.1,24.641
$10V_AH,10.7,15.165
$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,25.500,154.675,637.850,0.000,0.000,27.884,28.919,228.311,13.250,0.000,0.000,13.695,0.000,13527.417,797.636,4011.083,543.015,0.000,2301.099,0.000,3400.432,0.000,53.951,0.000
$DEVICE_MAMPS,214.760,59.826,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.418,1164.089,1948.051,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97836,1715
$CAP_FILE_SIZE,192633,0
$CFSIZE,260165632,249364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.183, 37.6,1
$GPS,050609,200107,2456.957,12236.256,39,1.2,39,-3.6