version: 66.04
glider: 164
mission: 3
dive: 94
start: 6 2 109 9 52 42
data:
$ID,164
$MISSION,3
$DIVE,94
$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,-34973.688
$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,49
$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
$GPS1,094736,2413.302,12259.812,10,1.4,26,-3.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.9
$GPS2,095237,2413.305,12259.846,9,1.4,14,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_4
$TGT_LATLONG,2410.000,12300.000
$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,136.0,6127,-15.7,-10.000
$D_GRID,381
$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,-194.7,0.0,0.0,0,78,0.00,0.00,-63.30,0.000,2,0.000,0.000,104,1455,2838
$GC,80,-0.99,-194.7,3.5,-9.1,10,112,8.32,2.12,-18.30,0.000,4,0.204,0.051,2415,2887,3742
$GC,127,-0.47,-194.7,16.1,-27.3,18,134,0.52,2.12,0.00,0.000,6,0.132,0.033,2587,1473,3743
$GC,453,-0.47,-194.7,55.0,-8.3,79,461,0.00,2.10,0.00,0.000,4,0.000,0.038,2587,2876,3744
$GC,519,-0.60,-194.7,59.7,-7.5,91,526,0.08,2.05,0.00,0.000,6,0.053,0.031,2533,1499,3745
$GC,846,-0.55,-194.7,102.0,-12.3,152,852,0.12,1.92,0.00,0.000,4,0.132,0.042,2568,214,3746
$GC,991,-0.62,-194.7,118.6,-11.2,179,999,0.00,1.85,0.00,0.000,6,0.000,0.033,2568,1464,3747
$GC,1319,-0.75,-194.7,151.4,-7.4,240,1325,0.20,2.08,0.00,0.000,4,0.053,0.037,2473,2877,3747
$GC,1394,-0.66,-194.7,160.6,-13.4,254,1400,0.15,2.05,0.00,0.000,6,0.116,0.031,2527,1479,3747
$GC,1720,-0.66,-194.7,196.4,-8.7,315,1728,0.00,1.90,0.00,0.000,4,0.000,0.042,2527,210,3748
$GC,1753,-0.66,-194.7,199.3,-8.8,321,1760,0.00,1.88,0.00,0.000,6,0.000,0.032,2527,1477,3748
$GC,2079,-0.69,-194.7,226.9,-12.0,382,2086,0.00,2.08,0.00,0.000,4,0.000,0.038,2527,2879,3748
$GC,2139,-0.82,-194.7,233.7,-11.9,393,2145,0.10,2.08,0.00,0.000,6,0.051,0.031,2464,1472,3748
$GC,2465,-0.68,-194.7,285.7,-17.4,454,2471,0.20,1.88,0.00,0.000,4,0.127,0.043,2526,219,3748
$GC,2491,-0.68,-194.7,289.6,-14.1,459,2499,0.00,1.85,0.00,0.000,6,0.000,0.032,2526,1474,3748
$GC,2810,-0.78,-194.7,327.9,-12.3,498,2814,0.00,1.90,0.00,0.000,4,0.000,0.043,2526,222,3748
$GC,2858,-0.85,-194.7,333.6,-10.7,502,2865,0.12,1.83,0.00,0.000,6,0.052,0.031,2457,1463,3747
$GC,3174,-0.75,-194.7,374.0,-10.1,533,3178,0.15,1.88,0.00,0.000,4,0.136,0.044,2501,221,3747
$STATE,3246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3246,begin apogee
$GC,3252,-0.24,0.0,381.3,10.1,540,3410,0.50,0.00,150.88,0.963,6,0.110,0.000,2667,1583,2946
$STATE,3410,end apogee,CONTROL_FINISHED_OK
$STATE,3411,begin climb
$GC,3412,0.99,194.7,385.7,0.0,556,3570,1.10,2.17,150.90,0.940,4,0.075,0.038,3058,2979,2151
$GC,3745,0.63,194.7,345.8,15.9,586,3753,0.35,2.12,0.00,0.000,6,0.151,0.035,2949,1588,2148
$GC,4061,0.64,246.4,315.3,8.2,617,4107,0.00,2.15,40.60,0.897,4,0.000,0.048,2950,213,1941
$GC,4180,0.64,246.4,300.9,11.8,628,4184,0.00,2.08,0.00,0.000,6,0.000,0.035,2949,1565,1937
$GC,4506,0.64,246.4,262.9,12.9,688,4513,0.00,2.15,0.00,0.000,4,0.000,0.040,2950,2984,1933
$GC,4559,0.64,246.4,256.4,10.8,698,4567,0.00,2.12,0.00,0.000,6,0.000,0.035,2949,1577,1933
$GC,4886,0.64,246.4,220.5,12.1,759,4893,0.00,2.10,0.00,0.000,4,0.000,0.049,2949,217,1931
$GC,4913,0.64,246.4,217.0,12.7,764,4920,0.00,2.03,0.00,0.000,6,0.000,0.037,2949,1558,1931
$GC,5240,0.64,246.4,178.0,10.4,825,5246,0.00,2.08,0.00,0.000,4,0.000,0.048,2949,217,1931
$GC,5283,0.65,249.4,173.5,9.9,833,5289,0.00,2.00,0.00,0.000,6,0.000,0.036,2949,1549,1930
$GC,5609,0.88,390.7,149.7,5.1,894,5730,0.22,2.12,114.20,0.816,4,0.049,0.049,3058,221,1352
$GC,5782,0.66,390.7,124.7,17.5,923,5790,0.30,2.03,0.00,0.000,6,0.135,0.034,2963,1533,1345
$GC,6110,0.83,390.7,89.2,11.7,984,6117,0.15,2.05,0.00,0.000,4,0.058,0.048,3045,218,1341
$GC,6308,0.77,390.7,56.6,13.7,1021,6315,0.15,1.92,0.00,0.000,6,0.117,0.035,2993,1500,1339
$GC,6635,1.16,550.2,40.8,4.5,1082,6767,0.32,0.00,127.22,0.718,6,0.039,0.000,3140,1500,703
$STATE,6839,end climb,SURFACE_DEPTH_REACHED
$STATE,6839,begin surface coast
$FINISH,0.2,1.022133
$STATE,6850,end surface coast,CONTROL_FINISHED_OK
$STATE,6850,begin surface
$SM_CCo,6923,0.00,0.000,0,0,694,552.42
$SM_GC,0.85,7.88,0.00,0.00,0.035,0.000,0.000,109,1501,694,-8.13,0.85,552.42
$IRIDIUM_FIX,2403.92,12258.16,270898,080857
$TT8_MAMPS,0.049088
$HUMID,1501
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,26.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,375.2,73.8
$24V_AH,24.5,20.103
$10V_AH,10.8,12.128
$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,20.950,64.700,583.800,0.000,0.000,24.164,32.814,158.401,4.500,0.000,0.000,16.314,0.000,3789.553,622.127,2435.635,362.081,0.000,1549.747,0.000,2097.526,0.000,23.158,0.000
$DEVICE_MAMPS,204.022,51.389,962.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,746.998,906.132,1513.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60100,1119
$CAP_FILE_SIZE,94703,0
$CFSIZE,260165632,251293696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,300.4,1
$GPS,020609,114852,2413.086,12259.820,9,99.0,28,-3.4