version: 66.04
glider: 164
mission: 3
dive: 135
start: 6 8 109 7 14 56
data:
$ID,164
$MISSION,3
$DIVE,135
$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,-35794.031
$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,42
$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
$GPS1,070907,2522.948,12229.360,26,1.3,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.1
$GPS2,071450,2523.114,12229.494,12,1.5,12,-3.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,134.0,52780,-15.7,-10.000
$D_GRID,497
$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,-194.7,0.0,0.0,0,95,0.00,0.00,-81.10,0.000,2,0.000,0.000,120,1461,2713
$GC,97,-0.99,-194.7,3.3,-7.4,12,135,8.32,2.15,-21.75,0.000,4,0.204,0.050,2417,2877,3743
$GC,242,-0.61,-194.7,38.0,-23.0,38,249,0.35,2.10,0.00,0.000,6,0.124,0.030,2547,1469,3745
$GC,568,-0.54,-194.7,87.8,-16.6,99,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,1469,3746
$GC,894,-0.54,-194.7,130.5,-10.0,160,900,0.00,2.10,0.00,0.000,4,0.000,0.036,2545,2880,3747
$GC,952,-0.62,-194.7,136.0,-9.0,171,959,0.00,2.10,0.00,0.000,6,0.000,0.030,2545,1457,3747
$GC,1279,-0.67,-194.7,163.5,-8.5,232,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1456,3748
$GC,1604,-0.75,-194.7,195.1,-11.7,293,1612,0.12,2.10,0.00,0.000,4,0.068,0.035,2474,2876,3749
$GC,1712,-0.68,-194.7,212.6,-16.9,313,1719,0.12,2.08,0.00,0.000,6,0.119,0.029,2520,1462,3749
$GC,2039,-0.73,-194.7,263.2,-14.6,374,2046,0.00,1.88,0.00,0.000,4,0.000,0.041,2520,217,3749
$GC,2092,-0.79,-194.7,270.5,-12.6,384,2100,0.00,1.85,0.00,0.000,6,0.000,0.031,2520,1479,3749
$GC,2417,-0.85,-194.7,307.0,-11.7,440,2422,0.15,2.05,0.00,0.000,4,0.064,0.038,2448,2871,3749
$GC,2535,-0.77,-194.7,320.8,-12.2,451,2539,0.12,2.05,0.00,0.000,6,0.120,0.031,2492,1479,3749
$GC,2855,-0.77,-194.7,354.1,-12.6,482,2859,0.00,2.08,0.00,0.000,4,0.000,0.037,2492,2870,3748
$GC,2930,-0.84,-194.7,362.3,-10.8,489,2934,0.00,2.05,0.00,0.000,6,0.000,0.031,2493,1484,3747
$GC,3250,-0.84,-194.7,396.4,-9.8,520,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1483,3746
$GC,3562,-0.84,-194.7,424.3,-8.4,550,3565,0.00,2.05,0.00,0.000,4,0.000,0.038,2492,2873,3744
$GC,3673,-0.92,-194.7,434.0,-8.8,560,3680,0.10,2.03,0.00,0.000,6,0.053,0.031,2435,1510,3743
$GC,3989,-0.82,-194.7,471.7,-11.8,591,3993,0.15,1.92,0.00,0.000,4,0.135,0.046,2478,215,3741
$STATE,4127,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4127,begin apogee
$GC,4133,-0.24,0.0,485.6,10.2,604,4290,0.55,0.00,152.57,1.063,6,0.104,0.000,2665,1596,2947
$STATE,4290,end apogee,CONTROL_FINISHED_OK
$STATE,4290,begin climb
$GC,4291,0.99,194.7,490.3,0.0,620,4457,1.10,2.20,154.52,1.039,4,0.073,0.038,3056,2972,2150
$GC,4494,0.59,194.7,468.7,19.5,638,4503,0.40,2.17,0.00,0.000,6,0.161,0.035,2939,1588,2147
$GC,4810,0.53,194.7,433.2,10.5,669,4814,0.00,2.12,0.00,0.000,4,0.000,0.048,2939,202,2143
$GC,4889,0.51,214.3,426.0,9.3,676,4910,0.08,2.05,15.65,0.945,6,0.135,0.035,2910,1552,2072
$GC,5227,0.54,239.2,395.2,9.1,709,5251,0.00,2.25,20.65,0.968,4,0.000,0.040,2911,2989,1970
$GC,5336,0.57,239.2,384.2,10.6,719,5340,0.00,2.17,0.00,0.000,6,0.000,0.035,2910,1565,1966
$GC,5657,0.65,261.7,354.3,9.2,750,5681,0.12,2.15,19.12,0.949,4,0.074,0.048,2968,213,1878
$GC,5734,0.53,261.7,344.9,12.6,757,5738,0.15,2.03,0.00,0.000,6,0.140,0.035,2920,1537,1875
$GC,6054,0.58,261.7,311.6,10.0,788,6058,0.00,2.20,0.00,0.000,4,0.000,0.040,2920,2985,1872
$GC,6097,0.62,261.7,306.9,11.5,792,6101,0.00,2.15,0.00,0.000,6,0.000,0.035,2920,1569,1871
$GC,6421,0.70,268.3,271.1,9.8,847,6434,0.15,2.17,5.43,0.706,4,0.067,0.041,2988,2987,1852
$GC,6465,0.56,268.3,266.0,12.6,855,6471,0.17,2.15,0.00,0.000,6,0.148,0.036,2932,1571,1852
$GC,6790,0.84,417.3,245.6,4.9,916,6918,0.22,2.22,122.43,0.917,4,0.054,0.048,3042,220,1244
$GC,6965,0.58,417.3,219.7,19.5,946,6973,0.32,2.08,0.00,0.000,6,0.140,0.034,2940,1559,1238
$GC,7293,0.83,472.6,187.7,8.1,1007,7345,0.20,2.20,45.40,0.853,4,0.051,0.048,3042,209,1018
$GC,7392,0.65,472.6,169.8,24.0,1024,7399,0.25,2.08,0.00,0.000,6,0.127,0.034,2961,1553,1014
$GC,7719,0.89,472.6,126.7,11.1,1085,7725,0.20,0.00,0.00,0.000,6,0.050,0.000,3059,1553,1009
$GC,8044,0.81,472.6,64.4,16.7,1146,8052,0.17,2.15,0.00,0.000,4,0.130,0.038,3006,2985,1008
$GC,8062,0.81,472.6,61.8,15.8,1149,8068,0.00,2.17,0.00,0.000,6,0.000,0.036,3005,1546,1008
$GC,8388,1.02,510.9,29.7,8.7,1210,8423,0.17,2.10,31.15,0.726,4,0.055,0.046,3098,218,863
$GC,8512,1.02,510.9,11.5,13.5,1232,8519,0.00,1.98,0.00,0.000,6,0.000,0.033,3098,1525,859
$STATE,8580,end climb,SURFACE_DEPTH_REACHED
$STATE,8580,begin surface coast
$FINISH,0.2,1.000200
$STATE,8602,end surface coast,CONTROL_FINISHED_OK
$STATE,8602,begin surface
$SM_CCo,8676,0.00,0.000,0,0,856,512.92
$SM_GC,1.07,7.62,0.00,0.00,0.031,0.000,0.000,107,1465,856,-8.14,-0.17,512.92
$IRIDIUM_FIX,2512.73,12225.35,020998,050522
$TT8_MAMPS,0.049088
$HUMID,1548
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,25.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,400.4,109.8
$24V_AH,24.4,28.080
$10V_AH,10.8,17.403
$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,21.350,75.475,566.925,0.000,0.000,25.626,36.848,182.615,6.250,0.000,0.000,14.139,0.000,5212.135,629.658,2744.533,414.347,0.000,1665.499,0.000,2356.606,0.000,18.965,0.000
$DEVICE_MAMPS,204.022,108.914,1063.062,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,838.493,929.422,1557.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69567,1249
$CAP_FILE_SIZE,111483,0
$CFSIZE,260165632,248086528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,  0.4,1
$GPS,080609,094030,2522.919,12230.561,33,1.2,40,-3.7