version: 66.04
glider: 164
mission: 3
dive: 159
start: 6 11 109 7 10 48
data:
$ID,164
$MISSION,3
$DIVE,159
$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,275
$T_MISSION,330
$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,250
$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,-36350.773
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,070436,2514.419,12243.578,39,1.2,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-65.2
$GPS2,071043,2514.690,12243.716,10,1.2,15,-3.6
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,164.9,49230,-16.4,-12.000
$D_GRID,1199
$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,-1.08,-243.4,0.0,0.0,0,103,0.00,0.00,-89.40,0.000,2,0.000,0.000,110,1477,2978
$GC,105,-1.08,-243.4,4.0,-10.0,14,137,8.38,1.95,-17.23,0.000,4,0.204,0.059,2388,202,3945
$GC,275,-0.63,-243.4,52.1,-24.8,45,282,0.47,1.92,0.00,0.000,6,0.129,0.033,2536,1472,3948
$GC,602,-0.69,-243.4,88.2,-10.5,106,608,0.00,2.12,0.00,0.000,4,0.000,0.041,2536,2874,3951
$GC,763,-0.85,-243.4,102.5,-8.4,136,770,0.20,2.05,0.00,0.000,6,0.051,0.034,2444,1493,3951
$GC,1090,-0.72,-243.4,161.4,-17.7,197,1096,0.22,0.00,0.00,0.000,6,0.121,0.000,2514,1493,3952
$GC,1416,-0.80,-243.4,199.7,-10.4,258,1424,0.00,2.10,0.00,0.000,4,0.000,0.041,2513,2874,3953
$GC,1460,-0.95,-243.4,203.6,-8.6,266,1467,0.17,2.08,0.00,0.000,6,0.042,0.034,2419,1493,3952
$GC,1788,-0.77,-243.4,250.0,-14.1,327,1793,0.22,2.08,0.00,0.000,4,0.130,0.039,2491,2881,3952
$GC,1862,-0.93,-243.4,255.9,-5.2,341,1868,0.10,2.05,0.00,0.000,6,0.049,0.036,2429,1521,3952
$GC,2187,-0.83,-243.4,304.0,-17.2,400,2188,0.15,0.00,0.00,0.000,6,0.132,0.000,2473,1521,3951
$GC,2498,-0.87,-243.4,344.5,-12.3,430,2502,0.00,2.05,0.00,0.000,4,0.000,0.042,2473,2870,3951
$GC,2562,-0.97,-243.4,351.5,-10.2,436,2565,0.10,2.03,0.00,0.000,6,0.055,0.035,2409,1521,3950
$GC,2882,-0.84,-243.4,397.2,-13.9,467,2884,0.22,0.00,0.00,0.000,6,0.129,0.000,2478,1520,3949
$GC,3195,-0.92,-243.4,425.7,-8.5,497,3198,0.00,2.05,0.00,0.000,4,0.000,0.043,2478,2886,3947
$GC,3259,-1.07,-243.4,430.3,-6.4,503,3262,0.22,2.05,0.00,0.000,6,0.051,0.036,2380,1507,3946
$GC,3579,-0.88,-243.4,469.9,-12.7,534,3583,0.25,2.10,0.00,0.000,4,0.133,0.044,2454,2876,3943
$GC,3605,-0.88,-243.4,472.4,-9.1,536,3613,0.00,2.03,0.00,0.000,6,0.000,0.036,2454,1535,3943
$GC,3922,-0.88,-243.4,496.6,-7.7,567,3925,0.00,2.03,0.00,0.000,4,0.000,0.051,2455,210,3941
$GC,3985,-0.88,-243.4,502.1,-8.7,572,3989,0.00,1.98,0.00,0.000,6,0.000,0.035,2455,1528,3941
$GC,4311,-0.88,-243.4,530.9,-9.3,588,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1529,3939
$GC,4617,-0.92,-243.4,561.8,-11.1,603,4620,0.00,2.03,0.00,0.000,4,0.000,0.047,2455,2876,3936
$GC,4659,-1.02,-243.4,566.5,-10.3,605,4663,0.08,2.05,0.00,0.000,6,0.061,0.038,2404,1523,3936
$GC,4986,-0.93,-243.4,614.8,-14.9,621,4989,0.15,2.05,0.00,0.000,4,0.139,0.046,2446,2872,3933
$GC,5028,-1.00,-243.4,620.2,-11.9,623,5031,0.00,2.03,0.00,0.000,6,0.000,0.039,2446,1538,3933
$GC,5354,-1.00,-243.4,657.9,-11.2,639,5358,0.00,2.08,0.00,0.000,4,0.000,0.057,2446,215,3930
$GC,5412,-1.00,-243.4,664.3,-10.9,641,5418,0.00,1.98,0.00,0.000,6,0.000,0.038,2446,1524,3930
$GC,5723,-1.00,-243.4,697.7,-9.4,657,5726,0.00,2.05,0.00,0.000,4,0.000,0.049,2446,2876,3928
$GC,5765,-1.07,-243.4,702.1,-11.1,659,5769,0.10,2.05,0.00,0.000,6,0.059,0.041,2392,1540,3928
$GC,6092,-0.94,-243.4,744.5,-12.2,675,6095,0.17,2.03,0.00,0.000,4,0.136,0.056,2442,223,3926
$GC,6123,-0.91,-243.4,748.6,-13.5,676,6127,0.00,2.00,0.00,0.000,6,0.000,0.038,2442,1533,3925
$GC,6439,-0.91,-243.4,784.2,-11.6,692,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1535,3924
$GC,6744,-0.91,-243.4,818.5,-11.4,707,6745,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1535,3923
$GC,7049,-0.96,-243.4,853.2,-10.5,722,7053,0.00,2.05,0.00,0.000,4,0.000,0.050,2442,2868,3921
$GC,7097,-1.03,-243.4,857.4,-9.1,724,7101,0.00,2.03,0.00,0.000,6,0.000,0.042,2442,1547,3920
$GC,7418,-1.08,-243.4,891.6,-11.0,740,7419,0.15,0.00,0.00,0.000,6,0.069,0.000,2379,1547,3919
$GC,7724,-0.96,-243.4,938.3,-15.7,755,7727,0.20,2.05,0.00,0.000,4,0.143,0.052,2435,2878,3917
$GC,7749,-0.96,-243.4,941.8,-12.9,756,7753,0.00,2.05,0.00,0.000,6,0.000,0.043,2435,1550,3917
$GC,8070,-1.00,-243.4,981.1,-12.6,772,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1550,3916
$STATE,8150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8150,begin apogee
$GC,8154,-0.24,0.0,991.5,12.8,776,8362,0.70,0.00,205.35,1.491,6,0.112,0.000,2664,1550,2947
$STATE,8362,end apogee,CONTROL_FINISHED_OK
$STATE,8362,begin climb
$GC,8364,1.08,243.4,1004.4,0.0,786,8588,1.27,0.00,217.98,1.445,6,0.066,0.000,3093,1550,1954
$GC,8889,0.58,243.4,907.0,24.4,812,8893,0.57,2.12,0.00,0.000,4,0.183,0.058,2936,222,1945
$GC,8910,0.26,243.4,902.5,20.7,813,8914,0.32,2.12,0.00,0.000,6,0.143,0.041,2835,1570,1944
$GC,9237,0.69,392.4,878.9,7.1,829,9380,0.38,0.00,135.48,1.363,6,0.054,0.000,2984,1571,1346
$GC,9683,0.47,392.4,785.6,22.0,851,9687,0.28,2.22,0.00,0.000,4,0.156,0.049,2902,2989,1334
$GC,9735,0.56,392.4,777.3,13.5,853,9741,0.00,2.22,0.00,0.000,6,0.000,0.044,2902,1585,1332
$GC,10046,0.65,392.4,737.3,13.4,869,10050,0.15,2.20,0.00,0.000,4,0.079,0.060,2962,210,1330
$GC,10077,0.65,392.4,732.5,15.6,870,10081,0.00,2.10,0.00,0.000,6,0.000,0.043,2962,1557,1329
$GC,10393,0.52,392.4,671.6,18.9,886,10397,0.17,2.22,0.00,0.000,4,0.163,0.050,2915,2986,1329
$GC,10472,0.59,392.4,658.9,15.5,889,10479,0.00,2.20,0.00,0.000,6,0.000,0.045,2915,1577,1328
$GC,10783,0.59,392.4,616.5,12.7,905,10787,0.00,2.17,0.00,0.000,4,0.000,0.060,2915,216,1328
$GC,10836,0.74,434.8,610.5,10.6,907,10884,0.15,2.12,38.40,1.180,6,0.058,0.044,2987,1582,1173
$GC,11187,0.53,434.8,542.4,21.0,924,11192,0.28,2.20,0.00,0.000,4,0.160,0.050,2912,2980,1165
$GC,11219,0.53,434.8,537.0,15.9,925,11223,0.00,2.20,0.00,0.000,6,0.000,0.044,2911,1586,1164
$GC,11536,0.77,521.1,506.8,9.1,941,11634,0.22,2.35,81.28,1.126,4,0.061,0.058,3011,207,820
$GC,11676,0.53,521.1,477.2,24.4,951,11680,0.35,2.17,0.00,0.000,6,0.159,0.043,2915,1573,816
$GC,11997,0.84,601.7,439.3,9.3,982,12080,0.28,2.30,73.50,1.082,4,0.055,0.048,3028,2987,492
$GC,12165,0.51,601.7,393.3,31.0,997,12169,0.38,2.25,0.00,0.000,6,0.163,0.043,2910,1587,486
$GC,12485,1.02,710.2,359.0,8.4,1028,12489,0.45,2.20,0.00,0.000,4,0.043,0.058,3096,214,482
$GC,12533,0.68,710.2,347.4,32.7,1032,12540,0.43,2.10,0.00,0.000,6,0.167,0.041,2969,1557,482
$GC,12852,0.64,710.2,272.1,20.8,1074,12860,0.00,2.22,0.00,0.000,4,0.000,0.047,2969,2984,481
$GC,12934,0.70,710.2,255.8,18.2,1089,12940,0.00,2.20,0.00,0.000,6,0.000,0.042,2969,1568,481
$GC,13259,0.79,710.2,201.5,14.2,1150,13260,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1568,480
$GC,13581,0.98,737.4,156.3,11.1,1210,13588,0.25,2.12,0.00,0.000,4,0.052,0.054,3081,211,480
$GC,13609,0.89,737.4,151.2,19.8,1215,13616,0.15,2.08,0.00,0.000,6,0.160,0.041,3034,1561,480
$GC,13936,0.85,737.4,83.1,16.6,1276,13942,0.00,2.17,0.00,0.000,4,0.000,0.044,3034,2980,479
$GC,13968,0.85,737.4,77.5,17.6,1282,13975,0.00,2.20,0.00,0.000,6,0.000,0.040,3038,1546,480
$GC,14296,1.07,774.3,29.2,10.8,1343,14302,0.15,0.00,0.00,0.000,6,0.061,0.000,3113,1546,479
$STATE,14466,end climb,SURFACE_DEPTH_REACHED
$STATE,14466,begin surface coast
$FINISH,0.2,1.021595
$STATE,14481,end surface coast,CONTROL_FINISHED_OK
$STATE,14481,begin surface
$SM_CCo,14554,0.00,0.000,0,0,478,605.65
$SM_GC,0.60,7.68,0.00,0.00,0.033,0.000,0.000,111,1454,478,-8.13,-0.48,605.65
$IRIDIUM_FIX,2505.59,12243.25,050998,020239
$TT8_MAMPS,0.050622
$HUMID,1634
$INTERNAL_PRESSURE,8.87976
$TCM_TEMP,24.30
$XPDR_PINGS,16
$24V_AH,23.0,33.245
$10V_AH,10.6,20.235
$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,26.175,113.750,751.975,0.000,0.000,24.928,32.150,199.855,12.000,0.000,0.000,17.728,0.000,10342.917,862.024,3208.065,479.525,0.000,2082.684,0.000,2710.736,0.000,54.971,0.000
$DEVICE_MAMPS,204.022,82.069,1491.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,936.471,953.521,1599.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78943,1378
$CAP_FILE_SIZE,151481,0
$CFSIZE,260165632,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.221, 33.4,1
$GPS,110609,111406,2513.728,12245.818,25,1.5,25,-3.6