version: 66.04
glider: 164
mission: 3
dive: 163
start: 6 12 109 1 15 32
data:
$ID,164
$MISSION,3
$DIVE,163
$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,175
$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,-36413.766
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,010837,2513.768,12247.793,33,1.7,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-72.1
$GPS2,011526,2513.839,12247.841,11,1.9,11,-3.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,185.5,43188,-16.8,-10.000
$D_GRID,1387
$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,-1.01,-170.3,0.0,0.0,0,66,0.00,0.00,-52.65,0.000,2,0.000,0.000,112,1464,2739
$GC,68,-1.01,-170.3,3.2,-7.2,8,100,8.52,2.17,-18.38,0.000,4,0.206,0.051,2402,2893,3643
$GC,340,-0.66,-170.3,70.8,-22.0,58,348,0.35,2.15,0.00,0.000,6,0.130,0.032,2530,1473,3647
$GC,667,-0.61,-170.3,120.1,-12.9,119,673,0.00,2.15,0.00,0.000,4,0.000,0.041,2530,2883,3649
$GC,795,-0.66,-170.3,133.3,-9.4,143,802,0.00,2.10,0.00,0.000,6,0.000,0.031,2530,1484,3649
$GC,1122,-0.73,-170.3,164.9,-8.8,204,1128,0.00,2.12,0.00,0.000,4,0.000,0.040,2530,2884,3651
$GC,1175,-0.84,-170.3,169.0,-7.1,214,1183,0.12,2.10,0.00,0.000,6,0.046,0.032,2456,1482,3651
$GC,1503,-0.72,-170.3,205.0,-12.1,275,1508,0.17,0.00,0.00,0.000,6,0.133,0.000,2508,1482,3652
$GC,1828,-0.77,-170.3,244.1,-13.1,336,1834,0.00,2.12,0.00,0.000,4,0.000,0.041,2508,2886,3652
$GC,1892,-0.87,-170.3,251.7,-11.1,348,1899,0.10,2.08,0.00,0.000,6,0.048,0.033,2443,1498,3652
$GC,2219,-0.75,-170.3,290.8,-11.4,409,2225,0.20,1.92,0.00,0.000,4,0.130,0.045,2504,211,3651
$GC,2272,-0.75,-170.3,295.9,-8.8,419,2278,0.00,1.92,0.00,0.000,6,0.000,0.034,2504,1497,3651
$GC,2588,-0.81,-170.3,324.5,-8.9,454,2592,0.00,2.08,0.00,0.000,4,0.000,0.041,2504,2872,3650
$GC,2642,-0.92,-170.3,329.2,-8.5,459,2645,0.12,2.08,0.00,0.000,6,0.046,0.034,2430,1488,3650
$GC,2962,-0.78,-170.3,372.9,-14.1,490,2966,0.20,2.10,0.00,0.000,4,0.131,0.041,2488,2872,3649
$GC,2999,-0.85,-170.3,377.1,-10.7,493,3005,0.00,2.08,0.00,0.000,6,0.000,0.034,2487,1493,3649
$GC,3316,-0.89,-170.3,408.2,-8.6,524,3319,0.00,2.08,0.00,0.000,4,0.000,0.042,2487,2874,3647
$GC,3427,-0.97,-170.3,417.4,-8.1,534,3435,0.12,2.05,0.00,0.000,6,0.049,0.034,2413,1511,3646
$GC,3743,-0.82,-170.3,462.3,-14.9,565,3747,0.22,2.00,0.00,0.000,4,0.136,0.048,2481,209,3644
$GC,3854,-0.82,-170.3,476.5,-11.9,575,3861,0.00,1.92,0.00,0.000,6,0.000,0.033,2481,1497,3643
$GC,4170,-0.87,-170.3,511.0,-10.7,601,4173,0.00,2.05,0.00,0.000,4,0.000,0.044,2481,2871,3642
$GC,4211,-0.96,-170.3,515.0,-9.0,603,4215,0.10,2.08,0.00,0.000,6,0.052,0.037,2418,1498,3642
$GC,4540,-0.84,-170.3,555.7,-12.2,619,4543,0.17,2.08,0.00,0.000,4,0.134,0.043,2474,2871,3640
$GC,4629,-0.92,-170.3,564.5,-9.6,623,4633,0.00,2.08,0.00,0.000,6,0.000,0.036,2474,1500,3638
$GC,4945,-0.97,-170.3,594.0,-9.3,639,4946,0.12,0.00,0.00,0.000,6,0.075,0.000,2414,1500,3636
$GC,5250,-0.85,-170.3,630.6,-11.8,654,5254,0.20,2.10,0.00,0.000,4,0.137,0.046,2472,2867,3634
$GC,5287,-0.93,-170.3,634.0,-8.9,655,5293,0.00,2.08,0.00,0.000,6,0.000,0.038,2472,1505,3634
$GC,5598,-0.99,-170.3,660.8,-8.4,671,5602,0.15,2.08,0.00,0.000,4,0.065,0.045,2402,2867,3632
$GC,5656,-0.90,-170.3,667.0,-11.5,674,5660,0.15,2.05,0.00,0.000,6,0.130,0.039,2453,1522,3631
$GC,5982,-0.90,-170.3,693.2,-7.6,690,5986,0.00,2.05,0.00,0.000,4,0.000,0.054,2453,213,3629
$GC,6068,-0.85,-170.3,700.1,-7.4,694,6071,0.00,1.95,0.00,0.000,6,0.000,0.038,2453,1498,3629
$GC,6393,-0.85,-170.3,723.1,-7.0,710,6397,0.00,2.10,0.00,0.000,4,0.000,0.048,2453,2866,3627
$GC,6501,-0.90,-170.3,730.5,-7.3,715,6504,0.00,2.03,0.00,0.000,6,0.000,0.040,2453,1522,3626
$GC,6827,-0.90,-170.3,754.7,-7.6,731,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1522,3624
$GC,7132,-0.90,-170.3,780.1,-8.4,746,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1522,3622
$GC,7437,-0.90,-170.3,805.9,-8.6,761,7441,0.00,2.10,0.00,0.000,4,0.000,0.048,2453,2872,3621
$GC,7485,-0.94,-170.3,810.0,-8.3,763,7489,0.00,2.05,0.00,0.000,6,0.000,0.040,2453,1531,3620
$GC,7807,-0.94,-170.3,837.9,-8.8,779,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1531,3620
$GC,8111,-0.94,-170.3,865.3,-8.7,794,8115,0.00,2.08,0.00,0.000,4,0.000,0.050,2453,2866,3619
$GC,8175,-1.00,-170.3,871.3,-8.8,797,8179,0.00,2.05,0.00,0.000,6,0.000,0.042,2453,1518,3618
$GC,8502,-1.00,-170.3,901.4,-9.3,813,8505,0.00,2.05,0.00,0.000,4,0.000,0.058,2453,203,3617
$GC,8559,-1.00,-170.3,907.2,-10.5,815,8566,0.00,2.03,0.00,0.000,6,0.000,0.040,2453,1528,3617
$GC,8870,-1.00,-170.3,936.4,-9.7,831,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1529,3615
$GC,9175,-1.00,-170.3,967.4,-10.4,846,9179,0.00,2.08,0.00,0.000,4,0.000,0.051,2453,2864,3614
$GC,9207,-1.07,-170.3,970.6,-10.2,847,9211,0.12,2.08,0.00,0.000,6,0.057,0.043,2390,1524,3614
$STATE,9358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9358,begin apogee
$GC,9363,-0.24,0.0,991.1,13.7,855,9507,0.88,0.00,142.00,1.503,6,0.130,0.000,2665,1573,2946
$STATE,9508,end apogee,CONTROL_FINISHED_OK
$STATE,9508,begin climb
$GC,9509,1.01,170.3,997.5,0.0,862,9669,1.17,2.40,151.65,1.460,4,0.072,0.046,3067,2987,2252
$GC,9716,0.57,170.3,977.7,17.7,872,9720,0.45,2.33,0.00,0.000,6,0.178,0.041,2931,1588,2248
$GC,10042,0.52,190.6,945.6,9.2,888,10065,0.00,2.30,18.05,1.341,4,0.000,0.058,2931,210,2169
$GC,10111,0.45,190.6,938.9,10.2,891,10116,0.12,2.17,0.00,0.000,6,0.144,0.040,2891,1582,2167
$GC,10433,0.61,280.5,916.3,6.5,907,10519,0.15,2.38,80.07,1.420,4,0.077,0.057,2950,204,1801
$GC,10567,0.52,280.5,902.2,11.8,913,10571,0.15,2.15,0.00,0.000,6,0.149,0.040,2910,1561,1796
$GC,10882,0.56,313.7,874.6,8.7,929,10926,0.00,2.30,31.05,1.289,4,0.000,0.050,2910,2972,1666
$GC,10989,0.59,337.3,865.2,9.1,934,11033,0.00,2.25,26.75,1.161,6,0.000,0.044,2910,1567,1570
$GC,11338,0.68,372.7,834.3,8.6,951,11400,0.15,2.28,38.33,1.172,4,0.076,0.058,2972,211,1426
$GC,11409,0.48,372.7,823.8,16.6,954,11413,0.22,2.17,0.00,0.000,6,0.156,0.041,2906,1563,1425
$GC,11725,0.56,372.7,791.7,10.4,970,11729,0.00,2.25,0.00,0.000,4,0.000,0.049,2905,2987,1419
$GC,11751,0.65,372.7,788.7,11.1,971,11755,0.10,2.25,0.00,0.000,6,0.064,0.044,2960,1561,1419
$GC,12073,0.51,372.7,733.1,18.5,987,12074,0.17,0.00,0.00,0.000,6,0.162,0.000,2912,1561,1417
$GC,12377,0.57,372.7,693.3,12.1,1002,12381,0.00,2.15,0.00,0.000,4,0.000,0.059,2912,216,1416
$GC,12414,0.67,372.7,689.0,10.9,1003,12421,0.10,2.12,0.00,0.000,6,0.061,0.044,2962,1578,1415
$GC,12725,0.54,372.7,639.1,16.5,1019,12726,0.17,0.00,0.00,0.000,6,0.157,0.000,2914,1577,1415
$GC,13030,0.62,372.7,603.5,11.1,1034,13034,0.00,2.20,0.00,0.000,4,0.000,0.050,2914,2985,1414
$GC,13056,0.71,372.7,600.4,11.0,1035,13061,0.12,2.17,0.00,0.000,6,0.059,0.044,2982,1585,1414
$GC,13378,0.53,372.7,542.8,18.3,1051,13381,0.22,2.15,0.00,0.000,4,0.163,0.049,2921,2985,1414
$GC,13393,0.42,372.7,540.2,17.4,1051,13399,0.10,2.17,0.00,0.000,6,0.151,0.044,2885,1587,1414
$GC,13704,0.73,431.9,516.0,7.7,1067,13770,0.28,2.30,54.90,1.156,4,0.054,0.058,3001,210,1184
$GC,13809,0.54,431.9,496.8,23.2,1072,13813,0.30,2.17,0.00,0.000,6,0.156,0.043,2918,1584,1180
$GC,14129,0.68,431.9,453.0,13.4,1103,14133,0.12,2.17,0.00,0.000,4,0.077,0.051,2974,2986,1174
$GC,14198,0.62,431.9,440.5,19.6,1109,14205,0.08,2.20,0.00,0.000,6,0.168,0.044,2951,1590,1173
$GC,14513,0.62,431.9,391.7,15.7,1140,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1590,1172
$GC,14825,0.66,431.9,346.2,14.3,1170,14828,0.00,2.15,0.00,0.000,4,0.000,0.057,2951,214,1170
$GC,14856,0.73,431.9,341.7,14.0,1173,14860,0.00,2.15,0.00,0.000,6,0.000,0.044,2951,1616,1170
$GC,15178,0.80,431.9,301.8,12.4,1204,15182,0.15,2.20,0.00,0.000,4,0.062,0.055,3024,213,1170
$GC,15204,0.73,431.9,297.6,16.8,1207,15210,0.12,2.12,0.00,0.000,6,0.150,0.043,2983,1584,1170
$GC,15530,0.69,431.9,243.9,16.1,1268,15536,0.00,2.17,0.00,0.000,4,0.000,0.047,2984,2992,1169
$GC,15561,0.69,431.9,238.8,15.6,1274,15569,0.00,2.20,0.00,0.000,6,0.000,0.042,2985,1574,1169
$GC,15889,0.69,431.9,188.1,17.6,1335,15896,0.00,2.15,0.00,0.000,4,0.000,0.055,2985,210,1169
$GC,15953,0.74,431.9,176.9,15.3,1347,15960,0.00,2.05,0.00,0.000,6,0.000,0.041,2985,1549,1169
$GC,16280,0.85,431.9,134.5,13.5,1408,16286,0.00,2.12,0.00,0.000,4,0.000,0.054,2985,204,1169
$GC,16431,1.19,485.5,119.2,7.9,1436,16482,0.38,2.00,44.08,0.854,6,0.042,0.039,3149,1550,966
$GC,16802,0.99,485.5,37.6,20.2,1504,16809,0.30,2.20,0.00,0.000,4,0.144,0.042,3063,2982,958
$GC,16878,1.24,540.5,29.4,7.8,1518,16929,0.17,2.25,46.03,0.765,6,0.042,0.038,3156,1523,742
$STATE,17028,end climb,SURFACE_DEPTH_REACHED
$STATE,17028,begin surface coast
$FINISH,0.1,1.021450
$STATE,17044,end surface coast,CONTROL_FINISHED_OK
$STATE,17044,begin surface
$SM_CCo,17118,0.00,0.000,0,0,735,542.60
$SM_GC,0.42,8.00,0.00,0.00,0.035,0.000,0.000,108,1454,735,-8.15,-0.45,542.60
$IRIDIUM_FIX,2505.59,12248.55,050998,202045
$TT8_MAMPS,0.049088
$HUMID,1558
$INTERNAL_PRESSURE,8.92859
$TCM_TEMP,25.20
$XPDR_PINGS,18
$24V_AH,23.0,34.254
$10V_AH,10.6,20.800
$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,25.375,153.375,632.900,0.000,0.000,25.228,37.853,230.948,12.500,0.000,0.000,13.522,0.000,12495.399,764.254,3683.141,550.949,0.000,2170.477,0.000,3114.155,0.000,53.938,0.000
$DEVICE_MAMPS,205.556,105.846,1502.553,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.520,1046.275,1749.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88268,1548
$CAP_FILE_SIZE,180170,0
$CFSIZE,260165632,245940224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.275, 27.1,1
$GPS,120609,060137,2513.594,12248.777,28,0.9,28,-3.6