version: 66.10
glider: 165
mission: 5
dive: 6
start: 11 14 111 10 19 6
data:
$ID,165
$MISSION,5
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$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,1.0275
$MASS,51872
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$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,-137239.73
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,1955
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2786
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,140
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-57.316994
$PRESSURE_SLOPE,0.000116182
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043567759
$SEABIRD_T_H,0.00062679156
$SEABIRD_T_I,2.4204959e-05
$SEABIRD_T_J,2.6176024e-06
$SEABIRD_C_G,-10.134539
$SEABIRD_C_H,1.1435308
$SEABIRD_C_I,-0.0010041125
$SEABIRD_C_J,0.00016055659
$GPS1,141111,101007,2140.271,11958.803,30,1.4,30,-2.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.2
$GPS2,141111,101843,2140.308,11958.752,8,1.2,13,-2.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,W3
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$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,178.5,296898,-15.7,-10.000
$D_GRID,2869
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-194.6,0.0,0.0,0,81,0.00,0.00,-63.15,0.000,2,0.000,0.000,133,1912,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.69,-194.6,3.3,-4.9,8,125,10.43,2.15,-24.08,0.000,4,0.246,0.063,2756,564,3582,0,0,0,0,0,0,25.80,26.15,26.51
$GC,328,-0.62,-194.6,71.5,-27.6,50,338,0.00,2.17,0.00,0.000,6,0.000,0.045,2752,1951,3582,0,0,0,0,0,0,28.83,26.28,28.83
$GC,664,-0.58,-194.6,146.4,-16.9,111,672,0.12,2.22,0.00,0.000,4,0.176,0.055,2780,3357,3583,0,0,0,0,0,0,26.27,26.34,28.83
$GC,731,-0.60,-194.6,156.2,-14.6,122,741,0.00,2.12,0.00,0.000,6,0.000,0.040,2780,1967,3583,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1067,-0.60,-194.6,198.9,-12.9,183,1074,0.00,2.20,0.00,0.000,4,0.000,0.054,2780,555,3583,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1083,-0.60,-194.6,201.3,-12.7,185,1090,0.00,2.17,0.00,0.000,6,0.000,0.044,2779,1959,3583,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1418,-0.62,-194.6,236.0,-10.4,246,1428,0.00,2.20,0.00,0.000,4,0.000,0.053,2779,563,3583,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1506,-0.64,-194.6,245.0,-10.4,261,1513,0.00,2.15,0.00,0.000,6,0.000,0.044,2779,1952,3583,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1820,-0.67,-194.6,271.8,-7.0,296,1832,0.00,2.15,0.00,0.000,4,0.000,0.051,2779,560,3583,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1837,-0.70,-194.6,272.5,-6.8,297,1844,0.00,2.15,0.00,0.000,6,0.000,0.043,2779,1966,3583,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2147,-0.73,-194.6,294.0,-8.2,328,2159,0.10,2.12,0.00,0.000,4,0.106,0.056,2715,3352,3582,0,0,0,0,0,0,26.66,26.51,28.83
$GC,2185,-0.75,-194.6,297.9,-9.8,331,2192,0.00,2.08,0.00,0.000,6,0.000,0.038,2715,1953,3581,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2492,-0.75,-194.6,336.2,-12.6,362,2501,0.00,2.20,0.00,0.000,4,0.000,0.060,2711,3358,3580,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2526,-0.75,-194.6,340.0,-11.8,365,2534,0.00,2.10,0.00,0.000,6,0.000,0.040,2712,1954,3579,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2834,-0.75,-194.6,383.0,-13.4,396,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1954,3578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3137,-0.75,-194.6,417.4,-10.9,426,3145,0.00,2.17,0.00,0.000,4,0.000,0.057,2712,551,3575,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3189,-0.75,-194.6,423.4,-11.1,431,3198,0.00,2.15,0.00,0.000,6,0.000,0.046,2712,1954,3574,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3499,-0.75,-194.6,455.1,-10.3,462,3507,0.00,2.22,0.00,0.000,4,0.000,0.062,2711,3366,3572,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3534,-0.75,-194.6,458.0,-9.6,465,3541,0.00,2.15,0.00,0.000,6,0.000,0.041,2712,1946,3571,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3841,-0.75,-194.6,486.5,-8.2,496,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1945,3570,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-0.75,-194.6,512.1,-9.5,526,4152,0.00,2.25,0.00,0.000,4,0.000,0.061,2712,3363,3567,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4189,-0.75,-194.6,516.5,-9.8,530,4195,0.00,2.12,0.00,0.000,6,0.000,0.041,2712,1949,3567,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4496,-0.75,-194.6,548.9,-11.8,561,4505,0.00,2.12,0.00,0.000,4,0.000,0.057,2712,566,3565,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4519,-0.75,-194.6,551.7,-12.1,563,4527,0.00,2.17,0.00,0.000,6,0.000,0.046,2712,1966,3564,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4828,-0.75,-194.6,589.4,-12.4,594,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1966,3563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5127,-0.75,-194.6,621.2,-9.3,614,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1966,3561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5429,-0.75,-194.6,645.6,-7.9,629,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1966,3559,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5605,begin apogee
$GC,5612,-0.14,0.0,660.7,-8.3,638,5771,0.65,0.00,150.18,1.004,6,0.132,0.000,2927,2088,2785,0,0,0,0,0,0,26.34,28.83,24.17
$STATE,5772,end apogee,CONTROL_FINISHED_OK
$STATE,5772,begin climb
$GC,5774,0.69,194.6,663.8,0.0,646,5950,0.73,2.38,162.93,0.972,4,0.051,0.062,3211,3472,1991,0,0,0,0,0,0,25.17,24.89,24.10
$GC,6054,0.59,194.6,620.4,22.0,660,6061,0.20,2.22,0.00,0.000,6,0.184,0.042,3173,2084,1988,0,0,0,0,0,0,25.51,25.70,28.83
$GC,6364,0.52,194.6,563.5,17.9,685,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2083,1984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6667,0.45,194.6,511.9,17.1,715,6676,0.15,2.22,0.00,0.000,4,0.177,0.054,3137,671,1982,0,0,0,0,0,0,26.10,26.23,28.83
$GC,6733,0.42,194.6,502.0,14.0,721,6742,0.00,2.20,0.00,0.000,6,0.000,0.044,3137,2076,1981,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7041,0.37,194.6,457.4,15.4,752,7050,0.12,2.22,0.00,0.000,4,0.171,0.056,3098,3486,1980,0,0,0,0,0,0,26.24,26.30,28.83
$GC,7114,0.35,194.6,446.8,14.2,759,7123,0.00,2.20,0.00,0.000,6,0.000,0.041,3106,2068,1980,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7425,0.33,194.6,407.0,12.1,790,7434,0.00,2.22,0.00,0.000,4,0.000,0.057,3106,3485,1980,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7459,0.30,194.6,402.8,12.6,793,7469,0.15,2.17,0.00,0.000,6,0.164,0.040,3077,2076,1980,0,0,0,0,0,0,26.25,26.45,28.83
$GC,7767,0.30,194.6,372.2,10.1,824,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2077,1980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,0.35,236.4,344.6,8.6,854,8109,0.00,2.33,34.17,0.809,4,0.000,0.055,3085,662,1822,0,0,0,0,0,0,28.83,25.92,25.17
$GC,8169,0.40,267.3,335.7,8.9,863,8203,0.00,2.20,27.20,0.780,6,0.000,0.041,3086,2077,1695,0,0,0,0,0,0,28.83,26.06,24.90
$GC,8503,0.41,267.3,304.7,10.5,897,8504,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2077,1692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8807,0.46,301.5,274.4,8.8,927,8845,0.12,2.25,29.45,0.746,4,0.095,0.054,3148,3478,1556,0,0,0,0,0,0,26.34,25.80,25.10
$GC,8936,0.44,301.5,256.1,14.9,939,8945,0.10,2.17,0.00,0.000,6,0.147,0.041,3126,2086,1556,0,0,0,0,0,0,25.88,26.04,28.83
$GC,9265,0.44,301.5,216.8,11.7,996,9272,0.00,2.28,0.00,0.000,4,0.000,0.054,3135,662,1555,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9373,0.45,301.5,203.7,11.6,1015,9381,0.00,2.22,0.00,0.000,6,0.000,0.041,3135,2081,1554,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9708,0.46,310.0,171.8,9.7,1076,9725,0.00,2.20,8.65,0.601,4,0.000,0.051,3135,3481,1521,0,0,0,0,0,0,28.83,26.22,25.50
$GC,9842,0.46,310.0,157.5,10.2,1099,9850,0.00,2.20,0.00,0.000,6,0.000,0.040,3144,2064,1521,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10179,0.55,374.6,131.6,7.8,1160,10237,0.00,0.00,53.20,0.623,6,0.000,0.000,3144,2064,1257,0,0,0,0,0,0,28.83,28.83,25.13
$GC,10565,0.66,416.9,103.1,8.5,1228,10606,0.12,2.30,34.15,0.579,4,0.093,0.052,3230,657,1085,0,0,0,0,0,0,26.22,25.77,25.18
$GC,10681,0.67,416.9,88.9,11.0,1246,10692,0.08,2.25,0.00,0.000,6,0.125,0.037,3202,2086,1082,0,0,0,0,0,0,25.86,25.97,28.83
$GC,11022,0.79,491.0,59.6,7.4,1307,11085,0.00,2.35,57.50,0.539,4,0.000,0.050,3209,661,782,0,0,0,0,0,0,28.83,25.65,25.09
$GC,11155,0.94,571.1,49.4,7.2,1327,11224,0.17,2.22,63.25,0.517,6,0.046,0.036,3313,2079,485,0,0,0,0,0,0,25.91,25.89,24.87
$STATE,11373,end climb,SURFACE_DEPTH_REACHED
$STATE,11373,begin surface coast
$FINISH,1.1,1.020302
$STATE,11391,end surface coast,CONTROL_FINISHED_OK
$STATE,11391,begin surface
$SM_CCo,11470,0.00,0.000,0,0,468,568.61
$SM_GC,1.96,8.12,0.20,0.00,0.037,0.074,0.000,170,1953,468,-8.71,1.07,568.61,0,0,0,0,0,0
$IRIDIUM_FIX,2134.17,11957.35,141111,101000
$TT8_MAMPS,0.023968,0.023968
$HUMID,39.60
$INTERNAL_PRESSURE,9.46361
$TCM_TEMP,27.00
$XPDR_PINGS,55
$24V_AH,24.1,4.557
$10V_AH,10.5,4.299
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.375,92.775,620.675,0.000,0.000,54.116,87.617,178.324,13.750,0.000,16.377,3528.415,4065.453,660.408,3410.005,307.131,0.000,1917.673,0.000,3086.840,0.000,1.153,0.000
$DEVICE_MAMPS,246.330,94.095,1003.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.046,1389.688,1885.569,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325180
$DATA_FILE_SIZE,76801,1366
$CAP_FILE_SIZE,137620,0
$CFSIZE,260165632,200822784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,291.7,1
$GPS,141111,133122,2137.914,11958.210,8,99.0,27,-2.6