version: 66.04
glider: 164
mission: 3
dive: 37
start: 5 28 109 2 49 24
data:
$ID,164
$MISSION,3
$DIVE,37
$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,-33862.109
$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,26
$R_STBD_OVSHOOT,39
$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
$GPS1,024306,2448.343,12324.582,34,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.6
$GPS2,024919,2448.220,12324.573,9,1.1,14,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2439.600,12252.800
$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,292.8,55810,-15.7,-10.000
$D_GRID,1823
$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,-194.7,0.0,0.0,0,70,0.00,0.00,-56.50,0.000,2,0.000,0.000,118,1477,2829
$GC,72,-0.99,-194.7,3.1,-8.3,8,105,8.52,2.20,-18.98,0.000,4,0.211,0.054,2417,2885,3745
$GC,222,-0.58,-194.7,42.0,-27.2,35,228,0.45,2.15,0.00,0.000,6,0.130,0.035,2556,1452,3747
$GC,548,-0.53,-194.7,91.5,-12.3,96,554,0.00,2.17,0.00,0.000,4,0.000,0.041,2556,2885,3748
$GC,612,-0.58,-194.7,98.8,-11.5,108,619,0.00,2.15,0.00,0.000,6,0.000,0.035,2556,1458,3748
$GC,938,-0.58,-194.7,132.2,-9.5,169,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,1458,3749
$GC,1263,-0.63,-194.7,174.5,-15.1,230,1271,0.00,2.15,0.00,0.000,4,0.000,0.040,2557,2881,3750
$GC,1339,-0.76,-194.7,185.7,-14.1,244,1346,0.12,2.10,0.00,0.000,6,0.045,0.035,2481,1473,3750
$GC,1666,-0.68,-194.7,229.1,-16.4,305,1672,0.15,1.88,0.00,0.000,4,0.128,0.046,2526,210,3750
$GC,1784,-0.74,-194.7,243.5,-10.0,327,1790,0.00,1.85,0.00,0.000,6,0.000,0.034,2527,1479,3750
$GC,2109,-0.84,-194.7,274.9,-10.6,388,2117,0.15,2.08,0.00,0.000,4,0.064,0.040,2455,2876,3750
$GC,2207,-0.77,-194.7,287.9,-13.1,406,2215,0.10,2.08,0.00,0.000,6,0.123,0.035,2491,1479,3750
$GC,2528,-0.77,-194.7,321.2,-10.0,447,2531,0.00,1.92,0.00,0.000,4,0.000,0.048,2491,210,3750
$GC,2613,-0.77,-194.7,330.6,-11.7,455,2617,0.00,1.90,0.00,0.000,6,0.000,0.034,2491,1482,3750
$GC,2933,-0.77,-194.7,365.3,-10.2,486,2938,0.00,1.95,0.00,0.000,4,0.000,0.048,2492,213,3749
$GC,2959,-0.77,-194.7,368.0,-10.8,488,2967,0.00,1.92,0.00,0.000,6,0.000,0.035,2491,1490,3748
$GC,3276,-0.77,-194.7,391.4,-6.4,519,3280,0.00,1.95,0.00,0.000,4,0.000,0.048,2491,220,3748
$GC,3392,-0.77,-194.7,398.9,-4.7,530,3397,0.00,1.88,0.00,0.000,6,0.000,0.035,2491,1473,3746
$GC,3715,-0.77,-194.7,425.6,-11.1,561,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1474,3745
$GC,4024,-0.77,-194.7,463.2,-13.8,591,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1474,3743
$GC,4345,-0.77,-194.7,503.2,-10.7,621,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1474,3740
$GC,4649,-0.77,-194.7,531.8,-7.9,636,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1474,3739
$GC,4955,-0.82,-194.7,559.6,-9.9,651,4959,0.00,2.10,0.00,0.000,4,0.000,0.045,2491,2884,3737
$GC,4986,-0.90,-194.7,562.6,-9.1,652,4991,0.08,2.12,0.00,0.000,6,0.060,0.040,2444,1476,3736
$GC,5302,-0.82,-194.7,599.0,-11.2,668,5303,0.12,0.00,0.00,0.000,6,0.137,0.000,2479,1476,3735
$GC,5607,-0.82,-194.7,623.7,-7.8,683,5611,0.00,2.12,0.00,0.000,4,0.000,0.045,2479,2871,3733
$GC,5644,-0.90,-194.7,626.8,-7.9,684,5651,0.00,2.10,0.00,0.000,6,0.000,0.040,2479,1478,3733
$GC,5955,-0.90,-194.7,650.0,-6.6,700,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1478,3731
$GC,6260,-0.95,-194.7,677.5,-10.0,715,6264,0.12,2.12,0.00,0.000,4,0.072,0.047,2423,2874,3729
$GC,6313,-0.89,-194.7,683.7,-11.8,717,6318,0.08,2.10,0.00,0.000,6,0.137,0.041,2450,1491,3729
$GC,6629,-0.89,-194.7,709.7,-7.7,733,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1491,3728
$GC,6933,-0.89,-194.7,741.9,-12.0,748,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1491,3726
$GC,7240,-0.89,-194.7,777.1,-12.1,763,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1491,3725
$GC,7544,-0.89,-194.7,816.3,-11.8,778,7548,0.00,2.00,0.00,0.000,4,0.000,0.058,2450,211,3722
$GC,7597,-0.84,-194.7,822.7,-11.9,780,7601,0.00,1.92,0.00,0.000,6,0.000,0.040,2450,1482,3722
$GC,7913,-0.84,-194.7,848.8,-6.9,796,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1484,3721
$GC,8219,-0.84,-194.7,870.8,-8.4,811,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1484,3719
$GC,8524,-0.84,-194.7,900.3,-10.0,826,8527,0.00,2.12,0.00,0.000,4,0.000,0.051,2450,2872,3717
$GC,8593,-0.84,-194.7,907.2,-10.4,829,8597,0.00,2.10,0.00,0.000,6,0.000,0.045,2450,1500,3717
$GC,8914,-0.84,-194.7,939.9,-10.1,845,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1500,3715
$GC,9219,-0.84,-194.7,970.1,-9.7,860,9223,0.00,2.03,0.00,0.000,4,0.000,0.064,2450,212,3714
$GC,9261,-0.84,-194.7,974.3,-9.7,862,9265,0.00,1.95,0.00,0.000,6,0.000,0.042,2450,1489,3714
$STATE,9423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9423,begin apogee
$GC,9427,-0.24,0.0,990.2,9.6,870,9590,0.65,0.00,160.88,1.463,6,0.117,0.000,2666,1585,2947
$STATE,9590,end apogee,CONTROL_FINISHED_OK
$STATE,9590,begin climb
$GC,9592,0.99,194.7,996.0,0.0,878,9768,1.12,2.35,168.73,1.415,4,0.075,0.059,3056,214,2151
$GC,9804,0.51,194.7,970.8,21.1,888,9809,0.50,2.22,0.00,0.000,6,0.179,0.041,2917,1576,2147
$GC,10125,0.42,194.7,931.0,12.5,904,10130,0.15,2.22,0.00,0.000,4,0.163,0.060,2876,211,2143
$GC,10151,0.42,194.7,928.1,10.5,905,10156,0.00,2.15,0.00,0.000,6,0.000,0.041,2875,1580,2143
$GC,10473,0.43,207.0,897.1,9.6,921,10487,0.00,2.22,10.10,1.212,4,0.000,0.051,2875,2984,2103
$GC,10503,0.43,207.0,894.1,10.0,922,10508,0.00,2.22,0.00,0.000,6,0.000,0.047,2875,1581,2101
$GC,10819,0.50,228.1,864.4,9.3,938,10844,0.00,2.28,19.35,1.313,4,0.000,0.063,2876,210,2016
$GC,10864,0.60,260.4,860.5,8.9,940,10899,0.15,2.15,30.50,1.327,6,0.060,0.042,2944,1566,1884
$GC,11212,0.44,260.4,815.8,12.8,957,11213,0.20,0.00,0.00,0.000,6,0.158,0.000,2890,1566,1875
$GC,11515,0.44,260.4,785.1,10.7,972,11520,0.00,2.20,0.00,0.000,4,0.000,0.062,2890,208,1873
$GC,11558,0.49,260.4,780.2,11.3,974,11562,0.00,2.12,0.00,0.000,6,0.000,0.045,2890,1568,1873
$GC,11884,0.54,260.4,740.8,11.2,990,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1568,1872
$GC,12190,0.66,311.0,713.1,8.3,1005,12238,0.20,2.28,43.25,1.285,4,0.066,0.051,2971,2985,1678
$GC,12259,0.45,311.0,703.5,16.5,1008,12263,0.25,2.28,0.00,0.000,6,0.162,0.048,2896,1585,1674
$GC,12575,0.54,330.4,672.6,9.3,1024,12604,0.00,2.30,19.08,1.096,4,0.000,0.062,2897,204,1599
$GC,12642,0.64,330.4,666.1,10.2,1027,12647,0.12,2.20,0.00,0.000,6,0.059,0.045,2957,1583,1597
$GC,12964,0.48,330.4,611.8,17.5,1043,12968,0.20,2.20,0.00,0.000,4,0.154,0.051,2903,2991,1594
$GC,13000,0.48,330.4,606.3,12.8,1044,13008,0.00,2.22,0.00,0.000,6,0.000,0.047,2902,1578,1593
$GC,13311,0.56,337.1,577.8,9.8,1060,13321,0.00,2.20,6.45,0.960,4,0.000,0.051,2902,2991,1572
$GC,13363,0.63,337.1,571.0,12.3,1062,13372,0.10,2.20,0.00,0.000,6,0.067,0.047,2958,1591,1571
$GC,13674,0.49,337.1,520.6,16.2,1078,13678,0.20,2.20,0.00,0.000,4,0.158,0.061,2904,207,1570
$GC,13743,0.60,337.1,512.5,10.1,1081,13748,0.00,2.12,0.00,0.000,6,0.000,0.046,2903,1571,1569
$GC,14058,0.70,337.1,481.5,10.4,1105,14062,0.20,2.17,0.00,0.000,4,0.060,0.051,2995,2992,1568
$GC,14078,0.66,337.1,478.7,13.6,1106,14086,0.10,2.20,0.00,0.000,6,0.170,0.048,2965,1578,1569
$GC,14394,0.53,337.1,425.6,16.5,1137,14398,0.17,2.15,0.00,0.000,4,0.160,0.061,2916,211,1568
$GC,14446,0.59,337.1,418.5,12.0,1142,14451,0.00,2.10,0.00,0.000,6,0.000,0.046,2916,1565,1568
$GC,14769,0.75,411.8,387.4,7.4,1173,14839,0.20,0.00,65.80,1.043,6,0.060,0.000,3003,1566,1267
$GC,15148,0.48,411.8,312.6,21.2,1210,15152,0.35,2.17,0.00,0.000,4,0.157,0.058,2905,218,1257
$GC,15212,0.73,481.9,305.1,7.6,1216,15277,0.17,2.10,60.00,0.969,6,0.050,0.045,2987,1552,982
$GC,15597,0.57,481.9,232.0,21.5,1283,15603,0.22,2.15,0.00,0.000,4,0.151,0.058,2930,196,972
$GC,15634,0.64,481.9,225.8,15.2,1290,15642,0.00,2.10,0.00,0.000,6,0.000,0.044,2930,1533,971
$GC,15962,1.02,594.5,191.8,6.1,1351,16064,0.38,2.17,94.28,0.870,4,0.044,0.055,3095,209,523
$GC,16085,0.70,594.5,161.4,29.5,1371,16091,0.45,2.12,0.00,0.000,6,0.156,0.041,2968,1550,520
$GC,16412,1.07,651.0,121.5,8.0,1432,16424,0.30,2.12,6.50,0.646,4,0.047,0.056,3108,208,492
$GC,16455,0.90,651.0,113.5,25.2,1440,16462,0.22,2.05,0.40,0.091,6,0.146,0.040,3037,1519,492
$GC,16783,0.99,651.0,62.8,12.4,1501,16789,0.00,2.08,0.03,0.288,4,0.000,0.055,3038,201,490
$GC,16804,1.10,651.0,60.1,12.8,1505,16810,0.12,2.00,0.03,0.189,6,0.054,0.041,3108,1494,490
$STATE,17080,end climb,SURFACE_DEPTH_REACHED
$STATE,17080,begin surface coast
$FINISH,0.6,1.022162
$STATE,17091,end surface coast,CONTROL_FINISHED_OK
$STATE,17092,begin surface
$SM_CCo,17165,0.00,0.000,0,0,489,602.95
$SM_GC,0.49,7.68,0.00,0.00,0.034,0.000,0.000,114,1495,489,-8.15,0.68,602.95
$IRIDIUM_FIX,2444.18,12328.23,210898,222210
$TT8_MAMPS,0.050622
$HUMID,1480
$INTERNAL_PRESSURE,8.90906
$TCM_TEMP,25.60
$XPDR_PINGS,10
$24V_AH,23.6,11.763
$10V_AH,10.7,6.670
$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,24.325,131.300,685.350,0.000,0.000,25.459,35.787,204.066,10.500,0.000,0.000,16.639,0.000,12663.012,780.160,3576.544,487.142,0.000,2133.061,0.000,3018.791,0.000,53.977,0.000
$DEVICE_MAMPS,210.925,75.166,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.162,1047.362,1754.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88367,1559
$CAP_FILE_SIZE,169487,0
$CFSIZE,260165632,254341120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.206,174.5,1
$GPS,280509,073624,2447.409,12321.805,36,1.6,36,-3.6