version: 66.10
glider: 165
mission: 5
dive: 93
start: 12 9 111 12 14 55
data:
$ID,165
$MISSION,5
$DIVE,93
$N_DIVES,0
$D_SURF,11
$D_FLARE,11
$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,-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,1.0275
$MASS,51872
$NAV_MODE,0
$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,450
$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,-271521.38
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,50
$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,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,9.5
$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,48
$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
$GPS1,091211,120807,1845.849,12018.418,32,1.2,32,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.43
$_SM_ANGLEo,-56.5
$GPS2,091211,121432,1845.954,12018.292,14,1.6,14,-2.0
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,W3A
$TGT_LATLONG,1900.000,12000.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.084,-0.266
$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,311.1,41263,-16.8,-10.000
$D_GRID,2409
$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,16,-0.77,-170.3,0.0,0.0,0,93,0.00,0.00,-74.55,0.000,2,0.000,0.000,141,1977,2964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.77,-170.3,11.6,-11.4,12,123,10.05,2.15,-8.65,0.000,4,0.239,0.056,2687,3347,3483,0,0,0,0,0,0,25.63,26.08,26.42
$GC,271,-0.71,-170.3,75.8,-19.9,43,278,0.12,2.10,0.00,0.000,6,0.181,0.031,2717,1947,3485,0,0,0,0,0,0,25.95,26.22,28.83
$GC,602,-0.68,-170.3,136.2,-17.6,104,609,0.00,2.15,0.00,0.000,4,0.000,0.048,2725,565,3486,0,0,0,0,0,0,28.83,26.27,28.83
$GC,753,-0.65,-170.3,159.7,-14.8,131,760,0.00,2.10,0.00,0.000,6,0.000,0.035,2716,1959,3487,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1083,-0.63,-170.3,210.6,-14.9,186,1093,0.12,2.12,0.00,0.000,4,0.174,0.050,2746,3350,3487,0,0,0,0,0,0,26.26,24.74,28.83
$GC,1244,-0.64,-170.3,228.7,-10.8,201,1251,0.00,2.08,0.00,0.000,6,0.000,0.032,2746,1953,3487,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1551,-0.64,-170.3,263.5,-11.7,232,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1953,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.65,-170.3,294.6,-8.9,262,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1953,3487,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-0.66,-170.3,319.7,-8.1,293,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1951,3486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,-0.67,-170.3,344.6,-8.5,324,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1951,3484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2783,-0.68,-170.3,371.0,-9.3,355,2792,0.00,2.17,0.00,0.000,4,0.000,0.052,2738,3358,3481,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2839,-0.70,-170.3,376.2,-9.9,360,2846,0.00,2.10,0.00,0.000,6,0.000,0.032,2738,1951,3481,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3145,-0.71,-170.3,406.6,-9.7,391,3154,0.00,2.15,0.00,0.000,4,0.000,0.050,2728,3351,3479,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3198,-0.73,-170.3,411.4,-9.6,396,3206,0.00,2.08,0.00,0.000,6,0.000,0.033,2728,1956,3479,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3506,-0.73,-170.3,442.4,-10.3,427,3515,0.00,2.15,0.00,0.000,4,0.000,0.049,2728,564,3478,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3548,-0.73,-170.3,446.6,-10.5,431,3556,0.00,2.10,0.00,0.000,6,0.000,0.037,2719,1953,3477,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3859,-0.73,-170.3,475.9,-8.4,462,3868,0.00,2.15,0.00,0.000,4,0.000,0.050,2708,3363,3475,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3911,-0.73,-170.3,480.7,-9.3,467,3914,0.00,2.08,0.00,0.000,6,0.000,0.032,2708,1954,3474,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4222,-0.73,-170.3,509.1,-9.3,498,4231,0.00,2.20,0.00,0.000,4,0.000,0.049,2698,3357,3473,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4254,-0.73,-170.3,511.9,-8.9,501,4263,0.00,2.10,0.00,0.000,6,0.000,0.032,2697,1950,3473,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4564,-0.72,-170.3,542.0,-9.7,532,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1950,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.72,-170.3,569.4,-8.3,562,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1950,3469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5175,-0.72,-170.3,596.1,-9.1,593,5184,0.00,2.20,0.00,0.000,4,0.000,0.051,2687,3357,3468,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5219,-0.72,-170.3,600.2,-9.7,597,5224,0.12,2.10,0.00,0.000,6,0.163,0.033,2720,1959,3468,0,0,0,0,0,0,26.18,26.46,28.83
$GC,5535,-0.73,-170.3,629.7,-10.0,613,5540,0.00,2.17,0.00,0.000,4,0.000,0.051,2712,3351,3466,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5566,-0.74,-170.3,631.8,-10.0,614,5573,0.00,2.10,0.00,0.000,6,0.000,0.033,2712,1954,3466,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,5830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5830,begin apogee
$GC,5837,-0.17,0.0,660.4,-10.1,628,5973,0.55,0.00,131.02,1.050,6,0.125,0.000,2893,1954,2786,0,0,0,0,0,0,26.02,28.83,24.28
$STATE,5976,end apogee,CONTROL_FINISHED_OK
$STATE,5976,begin climb
$GC,5978,0.77,170.3,664.4,0.0,635,6128,0.82,2.30,139.55,1.017,4,0.065,0.054,3209,589,2090,0,0,0,0,0,0,25.16,24.89,24.15
$GC,6139,0.68,170.3,648.5,14.5,643,6144,0.15,2.25,0.00,0.000,6,0.171,0.037,3175,1983,2087,0,0,0,0,0,0,25.00,25.15,28.83
$GC,6454,0.63,170.3,596.5,16.5,660,6463,0.00,2.22,0.00,0.000,4,0.000,0.049,3175,3397,2082,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6569,0.56,170.3,576.7,17.2,671,6577,0.20,2.17,0.00,0.000,6,0.179,0.035,3132,1987,2081,0,0,0,0,0,0,25.75,26.08,28.83
$GC,6876,0.53,170.3,537.1,12.2,702,6885,0.00,2.22,0.00,0.000,4,0.000,0.047,3132,3399,2080,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6907,0.50,170.3,533.0,12.5,705,6916,0.00,2.15,0.00,0.000,6,0.000,0.034,3140,1980,2079,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7218,0.46,170.3,491.0,14.3,736,7227,0.12,2.22,0.00,0.000,4,0.176,0.044,3101,3400,2078,0,0,0,0,0,0,26.13,26.23,28.83
$GC,7274,0.44,170.3,483.5,13.7,741,7281,0.00,2.15,0.00,0.000,6,0.000,0.034,3109,1983,2078,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7581,0.42,170.3,444.3,11.9,772,7590,0.00,2.22,0.00,0.000,4,0.000,0.046,3109,3405,2077,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7633,0.40,170.3,437.3,13.7,777,7642,0.15,2.15,0.00,0.000,6,0.163,0.034,3079,1983,2077,0,0,0,0,0,0,26.07,26.36,28.83
$GC,7943,0.43,193.2,408.2,9.1,808,7965,0.00,2.22,17.70,0.875,4,0.000,0.047,3079,3401,1997,0,0,0,0,0,0,28.83,26.14,25.38
$GC,8015,0.43,193.2,400.9,11.3,815,8022,0.00,2.17,0.00,0.000,6,0.000,0.033,3087,1981,1995,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8323,0.46,218.1,370.9,9.0,846,8353,0.00,2.28,21.62,0.857,4,0.000,0.046,3087,3409,1895,0,0,0,0,0,0,28.83,25.96,25.23
$GC,8409,0.46,218.1,362.4,11.0,854,8415,0.00,2.17,0.00,0.000,6,0.000,0.034,3097,1991,1894,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8716,0.46,218.1,331.7,10.1,885,8719,0.00,2.17,0.00,0.000,4,0.000,0.047,3107,589,1892,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8747,0.48,236.5,328.9,9.3,888,8769,0.00,2.12,16.30,0.813,6,0.000,0.033,3108,2001,1820,0,0,0,0,0,0,28.83,26.22,25.25
$GC,9078,0.48,236.5,295.7,10.4,921,9087,0.00,2.15,0.00,0.000,4,0.000,0.045,3108,3396,1817,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9184,0.48,236.5,283.4,12.3,931,9191,0.00,2.15,0.00,0.000,6,0.000,0.034,3118,1990,1816,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9492,0.48,236.5,246.7,11.9,962,9502,0.00,2.17,0.00,0.000,4,0.000,0.047,3129,588,1816,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9514,0.48,236.5,243.9,12.0,964,9524,0.00,2.12,0.00,0.000,6,0.000,0.032,3129,1992,1815,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9826,0.48,236.5,206.0,11.4,995,9830,0.00,2.15,0.00,0.000,4,0.000,0.044,3129,3402,1815,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9870,0.47,236.5,200.8,11.9,999,9879,0.10,2.12,0.00,0.000,6,0.138,0.033,3104,1988,1815,0,0,0,0,0,0,26.11,26.38,28.83
$GC,10204,0.57,301.2,175.8,7.5,1060,10262,0.00,2.28,52.28,0.729,4,0.000,0.047,3113,589,1557,0,0,0,0,0,0,28.83,25.74,25.14
$GC,10287,0.65,334.4,169.3,8.7,1073,10327,0.12,2.17,28.75,0.692,6,0.086,0.031,3185,2006,1421,0,0,0,0,0,0,25.84,25.83,24.93
$GC,10653,0.63,334.4,110.1,15.4,1139,10660,0.12,2.15,0.00,0.000,4,0.162,0.041,3149,3391,1418,0,0,0,0,0,0,25.91,26.01,28.83
$GC,10722,0.64,334.4,101.5,10.6,1151,10728,0.00,2.15,0.00,0.000,6,0.000,0.032,3157,1979,1418,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11052,0.67,337.1,70.2,9.9,1212,11060,0.00,2.17,0.00,0.000,4,0.000,0.047,3167,594,1418,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11078,0.74,365.2,67.6,8.9,1216,11111,0.00,2.12,25.08,0.620,6,0.000,0.031,3167,1985,1295,0,0,0,0,0,0,28.83,26.25,25.37
$GC,11439,0.90,448.6,45.7,6.7,1281,11516,0.17,2.25,64.88,0.594,4,0.070,0.042,3268,3391,954,0,0,0,0,0,0,26.29,25.59,25.04
$GC,11546,0.89,448.6,32.2,16.4,1298,11555,0.12,2.17,0.00,0.000,6,0.139,0.032,3239,2001,954,0,0,0,0,0,0,25.58,25.76,28.83
$STATE,11706,end climb,SURFACE_DEPTH_REACHED
$STATE,11706,begin surface coast
$FINISH,6.2,1.007731
$STATE,11786,end surface coast,CONTROL_FINISHED_OK
$STATE,11786,begin surface
$SM_CCo,11863,0.00,0.000,0,0,949,450.37
$SM_GC,6.63,7.93,0.00,0.00,0.038,0.000,0.000,158,1995,949,-8.64,1.16,450.37,0,0,0,0,0,0
$IRIDIUM_FIX,1835.04,12019.97,091211,080858
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.84
$INTERNAL_PRESSURE,9.46361
$TCM_TEMP,24.60
$XPDR_PINGS,10
$24V_AH,24.1,23.877
$10V_AH,10.3,24.682
$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,21.000,108.125,497.175,0.000,0.000,27.442,46.142,182.310,2.500,0.000,16.664,3049.230,5383.914,598.457,2884.130,320.199,0.000,1832.786,0.000,2619.069,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,55.845,1049.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.984,1102.530,873.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,76991,1342
$CAP_FILE_SIZE,142361,0
$CFSIZE,260165632,191377408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091211,153415,1847.683,12016.721,38,99.0,57,-2.0