version: 66.04
glider: 164
mission: 3
dive: 125
start: 6 7 109 2 40 7
data:
$ID,164
$MISSION,3
$DIVE,125
$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,-35575.562
$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,29
$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
$GPS1,023330,2511.507,12231.079,35,1.4,41,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.1
$GPS2,024002,2511.667,12231.086,11,1.8,11,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,324.0,26709,-15.7,-10.000
$D_GRID,850
$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,-194.7,0.0,0.0,0,82,0.00,0.00,-68.00,0.000,2,0.000,0.000,107,1483,2724
$GC,84,-0.99,-194.7,3.0,-7.8,10,123,8.45,2.15,-21.20,0.000,4,0.202,0.051,2416,2884,3743
$GC,363,-0.61,-194.7,71.4,-21.9,61,369,0.38,2.15,0.00,0.000,6,0.125,0.031,2540,1451,3745
$GC,689,-0.54,-194.7,118.3,-15.3,122,695,0.00,1.88,0.00,0.000,4,0.000,0.042,2540,217,3747
$GC,721,-0.46,-194.7,123.2,-15.8,128,728,0.12,1.90,0.00,0.000,6,0.116,0.032,2585,1487,3747
$GC,1048,-0.62,-194.7,150.8,-10.1,189,1054,0.12,2.05,0.00,0.000,4,0.066,0.036,2522,2875,3748
$GC,1085,-0.67,-194.7,155.3,-12.2,196,1092,0.00,2.08,0.00,0.000,6,0.000,0.031,2522,1478,3748
$GC,1412,-0.67,-194.7,190.4,-12.3,257,1418,0.00,1.90,0.00,0.000,4,0.000,0.041,2522,219,3749
$GC,1657,-0.67,-194.7,220.2,-11.6,303,1665,0.00,1.83,0.00,0.000,6,0.000,0.031,2522,1453,3749
$GC,1984,-0.67,-194.7,252.5,-9.3,364,1991,0.00,1.88,0.00,0.000,4,0.000,0.043,2521,222,3749
$GC,2086,-0.67,-194.7,263.7,-11.4,383,2093,0.00,1.83,0.00,0.000,6,0.000,0.031,2520,1455,3749
$GC,2418,-0.74,-194.7,301.2,-10.2,444,2422,0.00,1.90,0.00,0.000,4,0.000,0.044,2520,210,3749
$GC,2460,-0.78,-194.7,305.3,-9.7,448,2464,0.00,1.85,0.00,0.000,6,0.000,0.031,2519,1459,3749
$GC,2782,-0.86,-194.7,334.8,-8.7,479,2786,0.15,2.08,0.00,0.000,4,0.064,0.038,2447,2870,3747
$GC,2803,-0.86,-194.7,336.8,-9.0,481,2806,0.00,2.10,0.00,0.000,6,0.000,0.031,2447,1454,3747
$GC,3123,-0.73,-194.7,372.0,-12.4,512,3127,0.20,2.12,0.00,0.000,4,0.126,0.038,2509,2876,3746
$GC,3177,-0.86,-194.7,376.6,-7.8,517,3181,0.12,2.08,0.00,0.000,6,0.067,0.031,2448,1452,3745
$GC,3497,-0.76,-194.7,418.2,-12.6,548,3501,0.17,1.85,0.00,0.000,4,0.127,0.044,2500,226,3744
$GC,3566,-0.80,-194.7,424.3,-7.7,554,3573,0.00,1.83,0.00,0.000,6,0.000,0.030,2500,1463,3743
$GC,3883,-0.86,-194.7,447.2,-8.1,585,3884,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1464,3742
$GC,4194,-0.93,-194.7,470.3,-7.6,615,4197,0.15,1.88,0.00,0.000,4,0.066,0.044,2430,221,3739
$GC,4272,-0.76,-194.7,481.6,-15.5,622,4279,0.20,1.83,0.00,0.000,6,0.123,0.031,2498,1455,3739
$GC,4596,-0.84,-194.7,513.8,-7.4,646,4600,0.00,2.10,0.00,0.000,4,0.000,0.041,2498,2869,3736
$GC,4660,-0.98,-194.7,518.4,-7.2,649,4664,0.17,2.10,0.00,0.000,6,0.046,0.035,2406,1464,3735
$GC,4987,-0.82,-194.7,563.2,-14.8,665,4988,0.25,0.00,0.00,0.000,6,0.135,0.000,2481,1464,3733
$GC,5291,-0.86,-194.7,593.6,-9.7,680,5295,0.00,2.12,0.00,0.000,4,0.000,0.043,2481,2860,3731
$GC,5328,-0.96,-194.7,596.9,-8.9,681,5335,0.10,2.10,0.00,0.000,6,0.054,0.035,2424,1466,3730
$GC,5639,-0.85,-194.7,634.1,-12.3,697,5642,0.15,2.10,0.00,0.000,4,0.140,0.044,2467,2864,3728
$GC,5670,-0.85,-194.7,637.9,-11.8,698,5674,0.00,2.10,0.00,0.000,6,0.000,0.038,2467,1476,3727
$GC,5985,-0.85,-194.7,667.0,-10.1,714,5990,0.00,1.95,0.00,0.000,4,0.000,0.051,2467,214,3725
$GC,6028,-0.85,-194.7,671.7,-11.1,716,6032,0.00,1.88,0.00,0.000,6,0.000,0.035,2467,1467,3725
$GC,6354,-0.85,-194.7,706.1,-10.2,732,6358,0.00,2.12,0.00,0.000,4,0.000,0.044,2467,2869,3723
$GC,6429,-0.92,-194.7,712.9,-8.8,735,6433,0.00,2.10,0.00,0.000,6,0.000,0.037,2467,1479,3722
$GC,6745,-0.92,-194.7,742.6,-9.1,751,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1479,3720
$GC,7050,-0.92,-194.7,770.2,-8.6,766,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1479,3718
$GC,7355,-0.95,-194.7,795.8,-8.3,781,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1479,3716
$GC,7660,-0.95,-194.7,816.4,-6.8,796,7664,0.00,1.98,0.00,0.000,4,0.000,0.054,2467,212,3714
$GC,7761,-0.95,-194.7,824.1,-8.0,800,7768,0.00,1.92,0.00,0.000,6,0.000,0.036,2467,1489,3714
$GC,8072,-0.99,-194.7,845.2,-7.2,816,8076,0.12,2.10,0.00,0.000,4,0.077,0.046,2412,2868,3712
$GC,8114,-0.91,-194.7,848.9,-9.1,818,8118,0.10,2.10,0.00,0.000,6,0.137,0.039,2445,1490,3711
$STATE,8129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8129,begin apogee
$GC,8133,-0.24,0.0,850.3,8.9,818,8298,0.62,0.00,158.00,1.384,6,0.117,0.000,2659,1587,2947
$STATE,8298,end apogee,CONTROL_FINISHED_OK
$STATE,8298,begin climb
$GC,8300,0.99,194.7,854.6,0.0,827,8474,1.15,2.30,166.88,1.339,4,0.073,0.042,3058,2977,2152
$GC,8526,0.51,194.7,826.0,20.3,838,8531,0.50,2.28,0.00,0.000,6,0.176,0.038,2910,1586,2147
$GC,8853,0.45,194.7,791.1,10.8,854,8857,0.00,2.20,0.00,0.000,4,0.000,0.053,2909,210,2144
$GC,8917,0.38,194.7,783.8,11.8,857,8921,0.10,2.10,0.00,0.000,6,0.146,0.037,2876,1568,2145
$GC,9243,0.51,260.8,756.9,7.7,873,9308,0.00,2.25,56.20,1.300,4,0.000,0.055,2875,209,1881
$GC,9372,0.63,275.7,745.1,9.5,879,9394,0.20,2.10,13.90,1.177,6,0.065,0.038,2955,1558,1821
$GC,9696,0.46,275.7,698.2,13.1,895,9700,0.22,2.20,0.00,0.000,4,0.154,0.045,2893,2990,1813
$GC,9739,0.47,287.6,693.5,9.6,897,9753,0.00,2.22,10.82,1.137,6,0.000,0.040,2893,1558,1774
$GC,10065,0.57,329.0,666.9,8.6,913,10108,0.10,2.25,37.45,1.246,4,0.087,0.056,2935,210,1603
$GC,10143,0.48,329.0,656.4,14.3,916,10151,0.10,2.12,0.00,0.000,6,0.146,0.039,2904,1551,1599
$GC,10454,0.48,329.0,611.6,14.2,932,10458,0.00,2.15,0.00,0.000,4,0.000,0.056,2905,213,1594
$GC,10496,0.48,329.0,605.6,14.0,934,10501,0.00,2.08,0.00,0.000,6,0.000,0.040,2904,1549,1593
$GC,10823,0.52,329.0,567.9,11.0,950,10827,0.00,2.22,0.00,0.000,4,0.000,0.047,2904,2981,1592
$GC,10844,0.55,329.0,565.4,11.6,951,10848,0.00,2.20,0.00,0.000,6,0.000,0.041,2904,1558,1592
$GC,11170,0.60,329.0,525.3,12.7,967,11174,0.00,2.12,0.00,0.000,4,0.000,0.055,2904,214,1591
$GC,11228,0.67,329.0,518.2,11.8,969,11235,0.12,2.05,0.00,0.000,6,0.057,0.041,2967,1545,1591
$GC,11543,0.47,329.0,469.6,16.0,994,11546,0.25,2.17,0.00,0.000,4,0.154,0.046,2895,2984,1590
$GC,11606,0.53,329.0,462.2,10.2,1000,11610,0.00,2.17,0.00,0.000,6,0.000,0.041,2895,1568,1590
$GC,11928,0.64,329.0,427.3,12.8,1031,11932,0.15,2.10,0.00,0.000,4,0.070,0.054,2960,210,1590
$GC,12033,0.55,329.0,409.8,16.7,1040,12041,0.10,2.05,0.00,0.000,6,0.148,0.040,2927,1553,1589
$GC,12349,0.64,363.9,373.2,8.8,1071,12381,0.00,0.00,28.83,1.058,6,0.000,0.000,2927,1553,1462
$GC,12690,0.71,363.9,335.5,15.0,1104,12694,0.15,2.12,0.00,0.000,4,0.067,0.054,2998,216,1455
$GC,12775,0.52,363.9,318.9,20.9,1112,12779,0.25,2.05,0.00,0.000,6,0.149,0.038,2919,1543,1454
$GC,13097,0.63,363.9,279.5,11.8,1159,13104,0.00,2.20,0.00,0.000,4,0.000,0.045,2919,2985,1453
$GC,13140,0.76,363.9,274.5,10.8,1167,13147,0.20,2.17,0.00,0.000,6,0.056,0.041,3008,1547,1453
$GC,13467,0.57,363.9,220.2,15.0,1228,13474,0.28,2.08,0.00,0.000,4,0.153,0.052,2930,217,1452
$GC,13553,0.76,404.2,212.0,8.6,1244,13602,0.12,2.00,36.42,0.889,6,0.055,0.039,2999,1525,1298
$GC,13922,0.66,404.2,148.1,16.9,1312,13928,0.15,2.25,0.00,0.000,4,0.150,0.041,2960,2989,1290
$GC,13954,0.70,404.2,142.9,15.4,1318,13960,0.00,2.25,0.00,0.000,6,0.000,0.039,2960,1531,1290
$GC,14280,0.82,404.2,108.9,10.5,1379,14288,0.15,2.05,0.00,0.000,4,0.067,0.051,3032,219,1289
$GC,14356,0.76,404.2,98.2,13.6,1393,14363,0.12,1.95,0.00,0.000,6,0.126,0.036,2990,1503,1289
$GC,14683,1.04,501.7,68.5,6.6,1454,14772,0.25,2.33,81.07,0.794,4,0.046,0.039,3109,2988,900
$GC,14787,0.89,501.7,53.9,17.6,1471,14795,0.25,2.35,0.00,0.000,6,0.143,0.038,3031,1505,898
$GC,15115,1.14,520.9,22.4,9.3,1532,15141,0.22,2.05,16.17,0.696,4,0.048,0.048,3139,217,821
$GC,15183,0.99,520.9,11.4,16.7,1544,15189,0.22,1.98,0.00,0.000,6,0.138,0.034,3067,1508,820
$STATE,15245,end climb,SURFACE_DEPTH_REACHED
$STATE,15246,begin surface coast
$FINISH,0.3,1.021544
$STATE,15267,end surface coast,CONTROL_FINISHED_OK
$STATE,15267,begin surface
$SM_CCo,15341,0.00,0.000,0,0,817,522.49
$SM_GC,0.63,7.65,0.00,0.00,0.035,0.000,0.000,112,1508,817,-8.14,1.02,522.49
$IRIDIUM_FIX,2458.45,12304.43,310898,212120
$TT8_MAMPS,0.050622
$HUMID,1505
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.90
$XPDR_PINGS,17
$24V_AH,23.4,26.330
$10V_AH,10.7,16.230
$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,24.625,141.200,605.750,0.000,0.000,30.053,33.234,221.257,11.000,0.000,0.000,12.917,0.000,10812.346,746.323,3625.097,517.616,0.000,2113.097,0.000,3079.386,0.000,45.690,0.000
$DEVICE_MAMPS,202.488,69.030,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.392,1093.540,1830.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88328,1560
$CAP_FILE_SIZE,170091,0
$CFSIZE,260165632,248717312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139, 93.5,1
$GPS,070609,065636,2513.362,12230.843,29,0.9,29,-3.6