version: 66.10
glider: 165
mission: 5
dive: 273
start: 1 13 112 15 44 29
data:
$ID,165
$MISSION,5
$DIVE,273
$N_DIVES,0
$D_SURF,11
$D_FLARE,11
$D_TGT,990
$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,300
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,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,-271753.84
$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,57
$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,250
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$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
$GPS1,130112,153836,2208.481,12032.655,33,0.9,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.48
$_SM_ANGLEo,-66.1
$GPS2,130112,154407,2208.492,12032.664,8,1.3,13,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$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,234.9,71063,-17.0,-11.000
$D_GRID,503
$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,-0.81,-194.6,0.0,0.0,0,106,0.00,0.00,-88.30,0.000,2,0.000,0.000,142,2016,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.81,-194.6,11.7,-13.8,14,132,10.00,2.30,-6.03,0.000,4,0.231,0.056,2692,564,3582,0,0,0,0,0,0,25.34,26.13,26.50
$GC,344,-0.74,-194.6,73.8,-21.9,56,351,0.00,2.12,0.00,0.000,6,0.000,0.034,2685,1952,3584,0,0,0,0,0,0,28.83,26.28,28.83
$GC,677,-0.68,-194.6,147.1,-24.0,117,684,0.12,2.15,0.00,0.000,4,0.184,0.042,2713,3367,3585,0,0,0,0,0,0,26.15,26.27,28.83
$GC,705,-0.63,-194.6,152.7,-21.1,121,712,0.12,2.10,0.00,0.000,6,0.154,0.031,2747,1958,3584,0,0,0,0,0,0,26.10,26.36,28.83
$GC,1036,-0.63,-194.6,197.0,-12.6,182,1044,0.00,2.20,0.00,0.000,4,0.000,0.045,2740,3354,3585,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1065,-0.63,-194.6,200.1,-11.5,186,1073,0.00,2.12,0.00,0.000,6,0.000,0.031,2740,1953,3585,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1376,-0.64,-194.6,232.2,-8.5,217,1384,0.00,2.12,0.00,0.000,4,0.000,0.047,2740,566,3586,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1513,-0.66,-194.6,244.6,-9.1,230,1517,0.00,2.12,0.00,0.000,6,0.000,0.037,2740,1962,3586,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1828,-0.68,-194.6,271.8,-8.0,261,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1962,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2137,-0.70,-194.6,298.8,-8.6,292,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1962,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2448,-0.72,-194.6,324.0,-7.7,323,2457,0.00,2.15,0.00,0.000,4,0.000,0.050,2739,3350,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2504,-0.76,-194.6,328.0,-7.4,328,2510,0.00,2.10,0.00,0.000,6,0.000,0.031,2739,1952,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2810,-0.78,-194.6,351.5,-6.1,359,2812,0.12,0.00,0.00,0.000,6,0.087,0.000,2667,1952,3585,0,0,0,0,0,0,26.53,28.83,28.83
$GC,3110,-0.75,-194.6,387.6,-13.8,389,3112,0.15,0.00,0.00,0.000,6,0.151,0.000,2708,1952,3583,0,0,0,0,0,0,26.23,28.83,28.83
$GC,3410,-0.75,-194.6,418.8,-12.3,419,3418,0.00,2.22,0.00,0.000,4,0.000,0.049,2706,3362,3581,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3482,-0.77,-194.6,425.9,-8.9,426,3486,0.00,2.12,0.00,0.000,6,0.000,0.032,2706,1955,3581,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3793,-0.77,-194.6,453.9,-9.7,457,3802,0.00,2.15,0.00,0.000,4,0.000,0.050,2706,560,3580,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3857,-0.78,-194.6,460.0,-9.8,463,3865,0.00,2.12,0.00,0.000,6,0.000,0.038,2700,1952,3580,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4165,-0.78,-194.6,484.5,-7.1,494,4169,0.00,2.20,0.00,0.000,4,0.000,0.050,2690,3365,3578,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4228,-0.79,-194.6,488.6,-6.4,500,4237,0.00,2.10,0.00,0.000,6,0.000,0.032,2690,1960,3577,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,4445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4451,-0.17,0.0,503.3,-8.0,522,4609,0.60,0.00,150.32,0.944,6,0.123,0.000,2888,1960,2785,0,0,0,0,0,0,25.83,28.83,24.17
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4613,0.81,194.6,506.9,0.0,538,4779,0.85,2.25,154.73,0.916,4,0.060,0.051,3222,593,1990,0,0,0,0,0,0,25.42,25.25,24.18
$GC,4825,0.74,194.6,486.4,15.7,559,4834,0.10,2.20,0.00,0.000,6,0.139,0.038,3190,1991,1986,0,0,0,0,0,0,25.53,25.75,28.83
$GC,5133,0.69,194.6,440.7,15.8,590,5142,0.00,2.17,0.00,0.000,4,0.000,0.047,3190,3396,1983,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5216,0.63,194.6,425.9,18.5,598,5225,0.12,2.12,0.00,0.000,6,0.150,0.035,3158,2011,1983,0,0,0,0,0,0,25.94,26.28,28.83
$GC,5525,0.60,194.6,383.4,13.5,629,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2011,1981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,0.57,194.6,341.3,13.6,659,5836,0.00,2.15,0.00,0.000,4,0.000,0.044,3158,3398,1981,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6014,0.53,194.6,313.8,14.6,677,6021,0.17,2.17,0.00,0.000,6,0.155,0.034,3117,1979,1980,0,0,0,0,0,0,26.01,26.36,28.83
$GC,6319,0.57,225.0,282.2,9.9,708,6351,0.00,2.20,24.95,0.800,4,0.000,0.047,3126,578,1866,0,0,0,0,0,0,28.83,26.00,24.73
$GC,6379,0.60,242.0,276.5,10.4,713,6404,0.00,2.17,15.38,0.757,6,0.000,0.031,3126,1994,1797,0,0,0,0,0,0,28.83,26.10,24.65
$GC,6708,0.63,260.9,245.0,10.3,746,6736,0.00,2.17,17.00,0.750,4,0.000,0.044,3126,3402,1720,0,0,0,0,0,0,28.83,26.02,24.79
$GC,6774,0.64,260.9,238.0,11.2,752,6782,0.00,2.20,0.00,0.000,6,0.000,0.034,3135,1978,1720,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7081,0.80,379.1,216.2,6.5,783,7190,0.17,2.20,98.00,0.754,4,0.070,0.048,3243,599,1238,0,0,0,0,0,0,26.40,25.47,24.49
$GC,7245,0.76,379.1,187.7,23.2,803,7253,0.17,2.15,0.00,0.000,6,0.142,0.031,3193,1991,1236,0,0,0,0,0,0,25.64,25.89,28.83
$GC,7579,0.84,427.8,142.1,9.2,864,7624,0.00,0.00,39.22,0.688,6,0.000,0.000,3193,1990,1039,0,0,0,0,0,0,28.83,28.83,24.77
$GC,7953,0.93,476.0,104.3,9.2,931,7999,0.12,2.30,38.75,0.653,4,0.087,0.047,3278,587,843,0,0,0,0,0,0,26.36,25.82,24.82
$GC,8063,0.91,476.0,89.6,14.3,949,8071,0.12,2.15,0.00,0.000,6,0.151,0.029,3245,2004,841,0,0,0,0,0,0,25.82,26.04,28.83
$GC,8394,0.92,476.0,45.7,13.1,1010,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2004,840,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8660,end climb,SURFACE_DEPTH_REACHED
$STATE,8660,begin surface coast
$FINISH,6.5,1.002059
$STATE,8768,end surface coast,CONTROL_FINISHED_OK
$STATE,8768,begin surface
$SM_CCo,8845,0.00,0.000,0,0,840,477.60
$SM_GC,7.30,7.70,0.00,0.00,0.028,0.000,0.000,162,2015,840,-8.61,1.70,477.60,0,0,0,0,0,0
$IRIDIUM_FIX,2159.71,12035.48,130112,131321
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.22
$INTERNAL_PRESSURE,9.40502
$TCM_TEMP,22.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,253.4,0.0
$24V_AH,24.2,61.177
$10V_AH,10.0,49.338
$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,20.675,65.050,538.350,0.000,0.000,29.979,15.954,157.228,5.750,0.000,16.298,2398.466,3536.452,555.872,2407.814,272.136,0.000,1568.766,0.000,2190.945,0.000,3.074,0.000
$DEVICE_MAMPS,231.030,55.845,944.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.780,862.266,863.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324020
$DATA_FILE_SIZE,63592,1079
$CAP_FILE_SIZE,108985,0
$CFSIZE,260165632,175648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130112,181307,2208.467,12031.735,35,1.1,36,-2.7