version: 66.04
glider: 164
mission: 3
dive: 44
start: 5 29 109 14 4 19
data:
$ID,164
$MISSION,3
$DIVE,44
$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,-33990.648
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,135806,2440.246,12311.555,36,1.0,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.3
$GPS2,140414,2440.286,12311.495,14,1.5,14,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2415.000,12318.000
$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,173.1,48101,-15.7,-10.000
$D_GRID,1183
$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,-194.7,0.0,0.0,0,71,0.00,0.00,-57.47,0.000,2,0.000,0.000,114,1455,2846
$GC,73,-0.99,-194.7,3.3,-9.1,9,105,8.38,1.90,-17.80,0.000,4,0.204,0.064,2422,211,3743
$GC,344,-0.62,-194.7,81.2,-26.8,59,353,0.35,1.92,0.00,0.000,6,0.123,0.035,2539,1479,3745
$GC,672,-0.58,-194.7,126.4,-12.2,120,679,0.00,1.95,0.00,0.000,4,0.000,0.047,2539,221,3747
$GC,699,-0.54,-194.7,129.6,-13.0,125,706,0.08,1.90,0.00,0.000,6,0.117,0.037,2568,1480,3747
$GC,1026,-0.64,-194.7,157.8,-8.7,186,1032,0.00,2.10,0.00,0.000,4,0.000,0.041,2568,2876,3749
$GC,1095,-0.83,-194.7,163.7,-8.0,199,1103,0.22,2.08,0.00,0.000,6,0.036,0.035,2454,1493,3749
$GC,1423,-0.64,-194.7,215.4,-16.4,260,1430,0.28,2.08,0.00,0.000,4,0.123,0.040,2540,2875,3749
$GC,1461,-0.75,-194.7,219.6,-9.0,267,1468,0.08,2.08,0.00,0.000,6,0.051,0.035,2485,1489,3750
$GC,1788,-0.68,-194.7,259.3,-12.2,328,1795,0.12,1.92,0.00,0.000,4,0.131,0.047,2522,216,3750
$GC,1928,-0.73,-194.7,273.5,-10.1,354,1934,0.00,1.88,0.00,0.000,6,0.000,0.035,2522,1468,3750
$GC,2252,-0.80,-194.7,306.2,-9.7,409,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1468,3750
$GC,2563,-0.88,-194.7,331.7,-7.9,439,2566,0.17,1.90,0.00,0.000,4,0.057,0.047,2441,203,3750
$GC,2652,-0.70,-194.7,343.9,-14.6,447,2660,0.20,1.88,0.00,0.000,6,0.117,0.035,2511,1458,3749
$GC,2967,-0.75,-194.7,374.0,-10.3,478,2972,0.00,2.12,0.00,0.000,4,0.000,0.041,2512,2875,3748
$GC,3010,-0.86,-194.7,378.3,-10.0,482,3014,0.10,2.10,0.00,0.000,6,0.051,0.036,2451,1468,3747
$GC,3331,-0.77,-194.7,421.3,-11.7,513,3335,0.15,1.90,0.00,0.000,4,0.133,0.049,2495,217,3746
$GC,3410,-0.77,-194.7,430.2,-11.2,520,3417,0.00,1.88,0.00,0.000,6,0.000,0.035,2495,1473,3746
$GC,3728,-0.80,-194.7,462.4,-9.9,551,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1474,3745
$GC,4038,-0.85,-194.7,493.3,-10.0,581,4041,0.00,1.92,0.00,0.000,4,0.000,0.051,2495,226,3743
$GC,4116,-0.85,-194.7,501.9,-10.8,587,4124,0.00,1.88,0.00,0.000,6,0.000,0.035,2495,1482,3742
$GC,4428,-0.90,-194.7,530.8,-8.9,603,4429,0.12,0.00,0.00,0.000,6,0.067,0.000,2438,1484,3742
$GC,4732,-0.80,-194.7,570.3,-12.9,618,4736,0.17,1.95,0.00,0.000,4,0.133,0.051,2489,220,3739
$GC,4775,-0.80,-194.7,575.0,-10.6,620,4779,0.00,1.85,0.00,0.000,6,0.000,0.036,2489,1457,3740
$GC,5101,-0.80,-194.7,604.0,-8.6,636,5105,0.00,2.12,0.00,0.000,4,0.000,0.045,2489,2868,3738
$GC,5143,-0.87,-194.7,607.8,-8.2,638,5147,0.00,2.10,0.00,0.000,6,0.000,0.039,2489,1473,3737
$GC,5470,-0.93,-194.7,633.3,-8.8,654,5471,0.15,0.00,0.00,0.000,6,0.065,0.000,2424,1473,3736
$GC,5775,-0.83,-194.7,669.7,-12.1,669,5779,0.17,1.92,0.00,0.000,4,0.135,0.054,2475,222,3734
$GC,5871,-0.83,-194.7,679.5,-10.3,673,5875,0.00,1.85,0.00,0.000,6,0.000,0.036,2475,1458,3733
$GC,6187,-0.83,-194.7,707.5,-9.4,689,6190,0.00,1.95,0.00,0.000,4,0.000,0.055,2475,210,3732
$GC,6244,-0.83,-194.7,713.9,-11.6,691,6252,0.00,1.88,0.00,0.000,6,0.000,0.037,2475,1450,3732
$GC,6556,-0.87,-194.7,742.2,-8.7,707,6559,0.00,2.12,0.00,0.000,4,0.000,0.048,2475,2870,3730
$GC,6641,-0.96,-194.7,748.4,-7.5,711,6645,0.12,2.12,0.00,0.000,6,0.074,0.042,2417,1453,3730
$GC,6968,-0.85,-194.7,782.3,-11.1,727,6971,0.17,1.90,0.00,0.000,4,0.134,0.056,2475,214,3727
$GC,7111,-0.85,-194.7,796.2,-9.7,733,7117,0.00,1.88,0.00,0.000,6,0.000,0.040,2475,1449,3726
$GC,7422,-0.91,-194.7,822.9,-8.8,749,7425,0.00,2.15,0.00,0.000,4,0.000,0.050,2475,2875,3725
$GC,7458,-1.01,-194.7,826.1,-8.1,750,7465,0.12,2.15,0.00,0.000,6,0.056,0.043,2408,1465,3724
$GC,7768,-0.90,-194.7,863.6,-12.5,766,7770,0.15,0.00,0.00,0.000,6,0.144,0.000,2451,1465,3723
$GC,8074,-0.90,-194.7,894.3,-9.8,781,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1465,3721
$GC,8379,-0.90,-194.7,925.6,-10.2,796,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1465,3719
$GC,8685,-0.90,-194.7,956.6,-10.7,811,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1465,3718
$STATE,8988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8988,begin apogee
$GC,8992,-0.24,0.0,990.1,10.4,826,9156,0.65,0.00,161.62,1.472,6,0.119,0.000,2667,1583,2947
$STATE,9156,end apogee,CONTROL_FINISHED_OK
$STATE,9156,begin climb
$GC,9158,0.99,194.7,995.4,0.0,834,9336,1.12,2.40,168.88,1.422,4,0.073,0.059,3057,220,2152
$GC,9378,0.54,194.7,969.0,20.1,844,9383,0.47,2.22,0.00,0.000,6,0.176,0.041,2924,1584,2149
$GC,9694,0.47,230.3,938.8,8.8,860,9729,0.00,2.30,30.77,1.359,4,0.000,0.060,2924,222,2007
$GC,9751,0.40,246.0,933.3,9.5,862,9772,0.15,2.17,15.45,1.276,6,0.150,0.042,2877,1578,1943
$GC,10084,0.45,246.0,903.3,10.1,879,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1577,1936
$GC,10388,0.50,246.0,871.4,10.0,894,10392,0.00,2.20,0.00,0.000,4,0.000,0.049,2877,2985,1934
$GC,10425,0.55,246.0,867.6,10.4,895,10433,0.10,2.20,0.00,0.000,6,0.069,0.047,2932,1588,1933
$GC,10736,0.43,246.0,829.9,12.2,911,10740,0.17,2.17,0.00,0.000,4,0.160,0.061,2885,202,1933
$GC,10778,0.48,246.0,825.4,10.2,913,10782,0.00,2.12,0.00,0.000,6,0.000,0.044,2885,1577,1933
$GC,11105,0.53,246.0,791.3,10.8,929,11109,0.00,2.17,0.00,0.000,4,0.000,0.061,2885,215,1932
$GC,11131,0.59,246.0,788.5,11.2,930,11135,0.10,2.10,0.00,0.000,6,0.066,0.044,2937,1570,1932
$GC,11452,0.48,246.0,744.6,13.5,946,11456,0.15,2.17,0.00,0.000,4,0.159,0.051,2896,2977,1931
$GC,11467,0.41,246.0,742.5,13.9,946,11474,0.00,2.20,0.00,0.000,6,0.000,0.047,2896,1565,1930
$GC,11777,0.41,246.0,710.3,10.2,962,11782,0.00,2.15,0.00,0.000,4,0.000,0.062,2896,211,1930
$GC,11815,0.45,246.0,706.4,10.3,963,11822,0.00,2.10,0.00,0.000,6,0.000,0.046,2896,1566,1930
$GC,12125,0.45,246.0,670.9,11.1,979,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1566,1930
$GC,12430,0.49,246.0,638.0,11.2,994,12434,0.00,2.15,0.00,0.000,4,0.000,0.061,2896,216,1930
$GC,12563,0.54,246.0,622.6,10.6,1000,12568,0.00,2.10,0.00,0.000,6,0.000,0.046,2896,1574,1930
$GC,12885,0.64,286.5,593.1,8.6,1016,12927,0.15,2.28,33.92,1.210,4,0.071,0.061,2962,210,1777
$GC,12963,0.52,286.5,584.0,13.1,1019,12971,0.15,2.12,0.00,0.000,6,0.150,0.045,2917,1543,1775
$GC,13274,0.53,293.6,554.1,9.8,1035,13284,0.00,2.25,6.62,0.960,4,0.000,0.051,2916,2997,1749
$GC,13310,0.54,302.9,550.2,9.7,1037,13325,0.00,2.30,10.10,1.050,6,0.000,0.048,2917,1543,1710
$GC,13636,0.54,302.9,517.3,10.5,1053,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1543,1706
$GC,13944,0.54,302.9,484.6,10.6,1075,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1543,1704
$GC,14255,0.59,302.9,451.2,10.2,1105,14258,0.00,2.10,0.00,0.000,4,0.000,0.061,2917,201,1704
$GC,14286,0.68,315.3,448.2,9.6,1108,14301,0.10,2.10,11.43,1.004,6,0.065,0.045,2969,1555,1660
$GC,14618,0.54,315.3,397.1,16.7,1140,14619,0.17,0.00,0.00,0.000,6,0.157,0.000,2922,1555,1656
$GC,14929,0.58,315.3,360.1,11.3,1170,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1555,1656
$GC,15239,0.65,315.3,326.2,10.1,1200,15243,0.00,2.12,0.00,0.000,4,0.000,0.058,2922,210,1656
$GC,15260,0.75,335.0,324.1,9.3,1202,15284,0.15,2.08,18.20,0.959,6,0.054,0.044,2998,1551,1580
$GC,15597,0.57,335.0,269.2,16.5,1251,15605,0.25,2.10,0.00,0.000,4,0.152,0.058,2930,208,1574
$GC,15635,0.57,335.0,264.3,11.3,1258,15642,0.00,2.08,0.00,0.000,6,0.000,0.044,2929,1543,1574
$GC,15962,0.67,359.5,233.5,9.2,1319,15986,0.00,0.00,21.45,0.893,6,0.000,0.000,2930,1543,1480
$GC,16307,0.78,359.5,201.4,10.6,1383,16313,0.17,2.10,0.00,0.000,4,0.057,0.056,3012,201,1475
$GC,16350,0.66,359.5,194.6,17.7,1391,16358,0.17,2.05,0.00,0.000,6,0.142,0.040,2957,1530,1475
$GC,16677,0.66,359.5,152.8,10.6,1452,16684,0.00,2.22,0.00,0.000,4,0.000,0.044,2957,2985,1475
$GC,16714,0.66,359.5,147.7,13.2,1459,16722,0.00,2.25,0.00,0.000,6,0.000,0.043,2957,1524,1475
$GC,17042,0.78,367.9,110.7,9.7,1520,17055,0.12,2.03,7.90,0.694,4,0.071,0.054,3018,210,1445
$GC,17177,0.74,367.9,93.6,13.1,1545,17184,0.10,1.98,0.00,0.000,6,0.130,0.038,2984,1508,1445
$GC,17504,0.92,418.6,61.9,8.3,1606,17555,0.15,2.33,43.50,0.762,4,0.060,0.042,3058,2990,1238
$GC,17661,0.84,418.6,41.5,13.9,1634,17668,0.12,2.25,0.00,0.000,6,0.143,0.038,3018,1538,1233
$GC,17989,0.98,438.9,10.1,9.3,1695,18014,0.12,2.10,16.98,0.677,4,0.064,0.050,3082,213,1156
$STATE,18043,end climb,SURFACE_DEPTH_REACHED
$STATE,18043,begin surface coast
$FINISH,-0.1,1.022427
$STATE,18065,end surface coast,CONTROL_FINISHED_OK
$STATE,18066,begin surface
$SM_CCo,18141,0.00,0.000,0,0,1150,441.05
$SM_GC,0.91,7.70,0.00,0.00,0.035,0.000,0.000,114,1469,1150,-8.15,-0.06,441.05
$IRIDIUM_FIX,2434.69,12313.77,230898,090958
$TT8_MAMPS,0.050622
$HUMID,1444
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.90
$XPDR_PINGS,11
$24V_AH,23.5,13.289
$10V_AH,10.7,7.725
$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,23.900,141.225,546.825,0.000,0.000,27.878,30.905,200.162,10.750,0.000,0.000,16.368,0.000,13349.652,702.391,3923.678,501.727,0.000,2148.939,0.000,3325.832,0.000,53.947,0.000
$DEVICE_MAMPS,204.022,66.729,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1159.496,1164.801,1946.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97793,1709
$CAP_FILE_SIZE,183907,0
$CFSIZE,260165632,253665280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,271.6,1
$GPS,290509,190736,2437.542,12311.590,37,1.1,37,-3.5