version: 66.04
glider: 164
mission: 3
dive: 40
start: 5 28 109 18 10 19
data:
$ID,164
$MISSION,3
$DIVE,40
$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,-33922.465
$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,41
$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
$GPS1,180406,2447.862,12315.676,37,0.9,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.1
$GPS2,181014,2447.836,12315.624,9,1.3,9,-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,249.7,41332,-15.7,-10.000
$D_GRID,1709
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.99,-194.7,0.0,0.0,0,80,0.00,0.00,-65.38,0.000,2,0.000,0.000,116,1453,2990
$GC,82,-0.99,-194.7,3.5,-8.1,10,109,8.45,2.22,-14.25,0.000,4,0.209,0.053,2415,2886,3745
$GC,348,-0.60,-194.7,76.5,-26.3,59,356,0.38,2.15,0.00,0.000,6,0.124,0.035,2542,1467,3748
$GC,676,-0.53,-194.7,130.4,-13.2,120,682,0.10,1.90,0.00,0.000,4,0.136,0.046,2571,221,3749
$GC,713,-0.53,-194.7,134.9,-11.5,127,721,0.00,1.88,0.00,0.000,6,0.000,0.035,2571,1467,3749
$GC,1041,-0.65,-194.7,170.1,-8.8,188,1048,0.12,2.10,0.00,0.000,4,0.068,0.040,2504,2874,3750
$GC,1062,-0.69,-194.7,172.5,-11.0,192,1069,0.00,2.12,0.00,0.000,6,0.000,0.035,2504,1456,3750
$GC,1389,-0.66,-194.7,214.6,-11.5,253,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1456,3751
$GC,1714,-0.66,-194.7,250.2,-11.2,314,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1456,3751
$GC,2039,-0.66,-194.7,282.2,-9.6,375,2047,0.00,2.15,0.00,0.000,4,0.000,0.040,2505,2882,3751
$GC,2115,-0.72,-194.7,288.8,-8.8,389,2121,0.00,2.10,0.00,0.000,6,0.000,0.035,2504,1472,3751
$GC,2433,-0.72,-194.7,321.9,-9.7,430,2437,0.00,1.92,0.00,0.000,4,0.000,0.047,2504,210,3751
$GC,2470,-0.72,-194.7,325.7,-10.7,433,2477,0.00,1.90,0.00,0.000,6,0.000,0.034,2504,1474,3751
$GC,2786,-0.76,-194.7,355.8,-10.4,464,2790,0.00,2.10,0.00,0.000,4,0.000,0.041,2504,2874,3749
$GC,2876,-0.85,-194.7,365.3,-10.8,472,2883,0.00,2.10,0.00,0.000,6,0.000,0.035,2504,1470,3749
$GC,3193,-0.90,-194.7,394.9,-9.2,503,3195,0.15,0.00,0.00,0.000,6,0.061,0.000,2433,1470,3748
$GC,3503,-0.76,-194.7,437.9,-14.1,533,3504,0.22,0.00,0.00,0.000,6,0.124,0.000,2503,1470,3746
$GC,3814,-0.82,-194.7,468.2,-8.8,563,3817,0.00,2.10,0.00,0.000,4,0.000,0.043,2503,2879,3744
$GC,3839,-0.92,-194.7,470.4,-8.4,565,3846,0.12,2.10,0.00,0.000,6,0.048,0.038,2434,1480,3744
$GC,4154,-0.81,-194.7,507.9,-12.7,593,4158,0.17,1.92,0.00,0.000,4,0.131,0.051,2485,220,3743
$GC,4196,-0.81,-194.7,512.6,-10.4,595,4200,0.00,1.88,0.00,0.000,6,0.000,0.035,2486,1478,3742
$GC,4523,-0.81,-194.7,544.2,-9.7,611,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1479,3741
$GC,4828,-0.85,-194.7,573.2,-9.3,626,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1479,3739
$GC,5134,-0.88,-194.7,601.6,-9.3,641,5137,0.00,1.92,0.00,0.000,4,0.000,0.054,2486,220,3737
$GC,5229,-0.88,-194.7,611.1,-9.8,645,5233,0.00,1.90,0.00,0.000,6,0.000,0.036,2486,1485,3736
$GC,5545,-0.93,-194.7,641.8,-9.8,661,5546,0.12,0.00,0.00,0.000,6,0.074,0.000,2429,1487,3735
$GC,5851,-0.84,-194.7,675.5,-10.3,676,5854,0.15,1.95,0.00,0.000,4,0.135,0.054,2472,209,3732
$GC,5897,-0.84,-194.7,680.0,-9.0,678,5902,0.00,1.92,0.00,0.000,6,0.000,0.036,2472,1494,3732
$GC,6218,-0.84,-194.7,706.8,-8.8,694,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1495,3731
$GC,6525,-0.87,-194.7,734.3,-8.8,709,6528,0.00,1.98,0.00,0.000,4,0.000,0.057,2472,215,3729
$GC,6652,-0.87,-194.7,747.1,-10.3,715,6656,0.00,1.90,0.00,0.000,6,0.000,0.040,2472,1477,3728
$GC,6978,-0.87,-194.7,779.3,-10.0,731,6982,0.00,1.98,0.00,0.000,4,0.000,0.058,2472,223,3726
$GC,7047,-0.87,-194.7,786.5,-10.3,734,7051,0.00,1.88,0.00,0.000,6,0.000,0.040,2472,1464,3726
$GC,7368,-0.92,-194.7,815.9,-8.5,750,7372,0.00,2.15,0.00,0.000,4,0.000,0.049,2472,2872,3724
$GC,7433,-1.00,-194.7,820.4,-6.8,753,7437,0.12,2.12,0.00,0.000,6,0.056,0.044,2407,1479,3724
$GC,7761,-0.88,-194.7,851.5,-9.3,769,7764,0.17,1.95,0.00,0.000,4,0.137,0.058,2464,213,3721
$GC,7818,-0.88,-194.7,856.1,-6.9,771,7826,0.00,1.90,0.00,0.000,6,0.000,0.041,2464,1465,3721
$GC,8129,-0.88,-194.7,879.2,-8.3,787,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1465,3719
$GC,8433,-0.88,-194.7,905.4,-8.3,802,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1465,3718
$GC,8739,-0.88,-194.7,930.7,-8.3,817,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1465,3716
$GC,9044,-0.92,-194.7,955.1,-7.7,832,9048,0.00,2.15,0.00,0.000,4,0.000,0.051,2464,2864,3714
$GC,9070,-0.98,-194.7,957.2,-8.4,833,9075,0.08,2.15,0.00,0.000,6,0.069,0.045,2420,1464,3715
$GC,9392,-0.91,-194.7,989.0,-10.2,849,9395,0.12,1.98,0.00,0.000,4,0.146,0.063,2454,211,3713
$STATE,9400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9400,begin apogee
$GC,9405,-0.24,0.0,990.1,10.1,849,9569,0.60,0.00,160.88,1.479,6,0.115,0.000,2660,1579,2947
$STATE,9569,end apogee,CONTROL_FINISHED_OK
$STATE,9569,begin climb
$GC,9571,0.99,194.7,994.7,0.0,857,9744,1.15,0.00,169.20,1.429,6,0.074,0.000,3057,1579,2153
$GC,10041,0.54,194.7,914.9,20.5,880,10042,0.50,0.00,0.00,0.000,6,0.179,0.000,2918,1580,2144
$GC,10347,0.45,194.7,880.6,10.5,895,10350,0.00,2.20,0.00,0.000,4,0.000,0.061,2919,215,2142
$GC,10383,0.38,194.7,876.8,10.0,896,10390,0.15,2.12,0.00,0.000,6,0.143,0.044,2869,1579,2142
$GC,10694,0.51,247.2,852.3,8.2,912,10740,0.12,0.00,44.92,1.366,6,0.079,0.000,2920,1579,1938
$GC,11039,0.44,247.2,808.3,13.6,929,11043,0.12,2.20,0.00,0.000,4,0.159,0.061,2890,218,1930
$GC,11059,0.44,247.2,805.6,13.4,930,11064,0.00,2.12,0.00,0.000,6,0.000,0.044,2890,1576,1929
$GC,11386,0.47,247.2,769.0,10.8,946,11390,0.00,2.20,0.00,0.000,4,0.000,0.051,2890,2984,1928
$GC,11423,0.47,247.2,764.8,10.7,947,11431,0.00,2.17,0.00,0.000,6,0.000,0.047,2890,1592,1926
$GC,11734,0.51,275.7,734.8,9.0,963,11767,0.00,0.00,26.38,1.213,6,0.000,0.000,2889,1592,1823
$GC,12059,0.67,356.3,708.8,7.2,979,12146,0.20,2.28,74.57,1.263,4,0.071,0.061,2972,224,1491
$GC,12209,0.52,356.3,686.8,16.3,986,12213,0.17,2.20,0.00,0.000,6,0.153,0.045,2919,1591,1484
$GC,12535,0.52,356.3,644.4,13.9,1002,12539,0.00,2.20,0.00,0.000,4,0.000,0.052,2920,2981,1479
$GC,12582,0.52,356.3,637.5,14.6,1004,12587,0.00,2.17,0.00,0.000,6,0.000,0.048,2919,1604,1478
$GC,12904,0.52,356.3,597.2,11.4,1020,12908,0.00,2.22,0.00,0.000,4,0.000,0.062,2919,217,1476
$GC,12957,0.59,356.3,591.1,11.2,1022,12961,0.00,2.15,0.00,0.000,6,0.000,0.047,2919,1591,1476
$GC,13272,0.59,356.3,550.0,14.1,1038,13276,0.00,2.22,0.00,0.000,4,0.000,0.061,2919,208,1475
$GC,13315,0.67,356.3,544.6,12.3,1040,13319,0.08,2.12,0.00,0.000,6,0.070,0.047,2961,1571,1475
$GC,13631,0.55,356.3,495.3,15.1,1056,13635,0.15,2.20,0.00,0.000,4,0.157,0.051,2920,2989,1474
$GC,13700,0.55,356.3,486.3,12.0,1062,13707,0.00,2.17,0.00,0.000,6,0.000,0.046,2920,1587,1474
$GC,14017,0.60,356.3,448.5,12.9,1093,14020,0.00,2.15,0.00,0.000,4,0.000,0.061,2920,210,1473
$GC,14042,0.66,356.3,445.0,13.1,1095,14050,0.08,2.12,0.00,0.000,6,0.066,0.046,2963,1581,1473
$GC,14358,0.55,356.3,391.9,17.2,1126,14362,0.15,2.17,0.00,0.000,4,0.155,0.049,2922,2995,1473
$GC,14390,0.55,356.3,387.2,14.0,1129,14394,0.00,2.17,0.00,0.000,6,0.000,0.046,2922,1588,1473
$GC,14711,0.62,373.2,352.6,9.4,1160,14728,0.00,2.22,12.48,0.953,4,0.000,0.059,2922,208,1424
$GC,14758,0.83,445.5,348.5,7.5,1164,14828,0.20,2.15,64.15,1.016,6,0.048,0.045,3017,1585,1129
$GC,15144,0.57,445.5,262.4,23.9,1214,15151,0.30,2.20,0.00,0.000,4,0.156,0.047,2932,2992,1119
$GC,15219,0.64,445.5,249.8,14.2,1228,15226,0.00,2.15,0.00,0.000,6,0.000,0.044,2932,1615,1117
$GC,15546,0.76,445.5,210.1,11.8,1289,15552,0.17,2.20,0.00,0.000,4,0.061,0.058,3011,208,1116
$GC,15582,0.65,445.5,204.0,17.6,1296,15590,0.17,2.17,0.00,0.000,6,0.147,0.042,2956,1611,1116
$GC,15909,0.78,445.5,157.3,12.0,1357,15916,0.12,2.20,0.00,0.000,4,0.074,0.054,3018,214,1115
$GC,15947,0.71,445.5,151.4,18.9,1364,15954,0.12,2.12,0.00,0.000,6,0.141,0.041,2977,1597,1115
$GC,16274,0.80,445.5,104.1,11.5,1425,16280,0.00,2.20,0.00,0.000,4,0.000,0.056,2976,205,1114
$GC,16338,0.98,459.0,97.9,9.5,1437,16358,0.20,2.12,10.55,0.736,6,0.041,0.041,3080,1592,1074
$GC,16678,0.94,459.0,40.4,11.1,1500,16684,0.12,2.15,0.00,0.000,4,0.149,0.053,3046,207,1071
$GC,16748,1.00,459.0,32.6,12.2,1513,16754,0.00,2.10,0.00,0.000,6,0.000,0.038,3047,1585,1070
$STATE,17002,end climb,SURFACE_DEPTH_REACHED
$STATE,17003,begin surface coast
$FINISH,0.8,1.022199
$STATE,17019,end surface coast,CONTROL_FINISHED_OK
$STATE,17019,begin surface
$SM_CCo,17092,0.00,0.000,0,0,1068,460.92
$SM_GC,0.59,7.68,0.00,0.00,0.051,0.000,0.000,115,1451,1068,-8.15,-0.57,460.92
$IRIDIUM_FIX,2439.44,12320.34,220898,131345
$TT8_MAMPS,0.049088
$HUMID,1477
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,25.70
$XPDR_PINGS,8
$24V_AH,23.6,12.424
$10V_AH,10.7,7.122
$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,23.075,134.350,563.125,0.000,0.000,23.804,31.069,206.890,10.000,0.000,0.000,11.449,0.000,12605.807,721.293,3608.660,492.794,0.000,2059.387,0.000,3056.588,0.000,53.956,0.000
$DEVICE_MAMPS,209.391,62.894,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.653,1055.221,1762.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88246,1564
$CAP_FILE_SIZE,171259,0
$CFSIZE,260165632,254054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,109.9,1
$GPS,280509,225607,2446.616,12313.281,37,0.9,37,-3.6