version: 66.10
glider: 165
mission: 5
dive: 276
start: 1 13 112 23 34 14
data:
$ID,165
$MISSION,5
$DIVE,276
$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,-271757.59
$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,53
$R_STBD_OVSHOOT,49
$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
$GPS1,130112,232725,2207.692,12029.902,38,1.5,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.33
$_SM_ANGLEo,-72.9
$GPS2,130112,233352,2207.734,12029.972,15,99.0,34,-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,233.5,66563,-17.0,-11.000
$D_GRID,459
$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,-0.81,-194.6,0.0,0.0,0,105,0.00,0.00,-87.18,0.000,2,0.000,0.000,144,2012,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.81,-194.6,11.3,-11.9,14,131,10.12,2.12,-6.38,0.000,4,0.236,0.053,2673,3359,3582,0,0,0,0,0,0,25.29,26.15,26.51
$GC,243,-0.75,-194.6,51.8,-22.7,37,251,0.12,2.12,0.00,0.000,6,0.168,0.031,2704,1946,3584,0,0,0,0,0,0,25.95,26.25,28.83
$GC,576,-0.69,-194.6,126.7,-24.8,98,584,0.00,2.15,0.00,0.000,4,0.000,0.044,2705,558,3584,0,0,0,0,0,0,28.83,26.25,28.83
$GC,635,-0.65,-194.6,139.9,-21.1,108,644,0.12,2.12,0.00,0.000,6,0.142,0.033,2738,1949,3584,0,0,0,0,0,0,25.98,26.32,28.83
$GC,968,-0.64,-194.6,190.5,-16.1,169,975,0.00,2.15,0.00,0.000,4,0.000,0.046,2738,3357,3585,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1049,-0.66,-194.6,201.8,-12.1,182,1059,0.00,2.08,0.00,0.000,6,0.000,0.030,2738,1947,3585,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1358,-0.67,-194.6,233.5,-8.4,213,1367,0.00,2.12,0.00,0.000,4,0.000,0.047,2738,562,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1386,-0.69,-194.6,235.5,-8.4,215,1393,0.00,2.12,0.00,0.000,6,0.000,0.035,2738,1965,3586,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1691,-0.70,-194.6,265.7,-9.4,246,1701,0.00,2.12,0.00,0.000,4,0.000,0.047,2738,3351,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1738,-0.73,-194.6,269.6,-9.0,250,1746,0.00,2.10,0.00,0.000,6,0.000,0.031,2739,1965,3586,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2046,-0.75,-194.6,295.3,-8.2,281,2055,0.00,2.15,0.00,0.000,4,0.000,0.047,2738,561,3586,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2121,-0.78,-194.6,301.4,-7.9,288,2131,0.08,2.10,0.00,0.000,6,0.057,0.036,2670,1954,3586,0,0,0,0,0,0,26.27,26.33,28.83
$GC,2432,-0.75,-194.6,342.9,-15.6,319,2441,0.12,2.15,0.00,0.000,4,0.164,0.044,2700,3352,3586,0,0,0,0,0,0,26.22,26.25,28.83
$GC,2457,-0.72,-194.6,346.8,-15.6,321,2464,0.00,2.10,0.00,0.000,6,0.000,0.031,2699,1954,3586,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2764,-0.71,-194.6,382.7,-11.0,352,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1954,3584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3069,-0.71,-194.6,419.7,-13.9,382,3077,0.00,2.17,0.00,0.000,4,0.000,0.047,2690,3354,3583,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3133,-0.71,-194.6,428.6,-13.0,388,3141,0.12,2.12,0.00,0.000,6,0.147,0.032,2724,1946,3582,0,0,0,0,0,0,26.11,26.34,28.83
$STATE,3428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3428,begin apogee
$GC,3433,-0.17,0.0,459.2,-10.8,418,3593,0.47,0.00,149.77,0.896,6,0.112,0.000,2889,1946,2785,0,0,0,0,0,0,25.96,28.83,24.24
$STATE,3594,end apogee,CONTROL_FINISHED_OK
$STATE,3594,begin climb
$GC,3596,0.81,194.6,468.1,0.0,434,3762,0.85,2.40,154.02,0.877,4,0.069,0.047,3217,3404,1991,0,0,0,0,0,0,24.35,25.28,24.23
$GC,3775,0.74,194.6,457.4,12.7,452,3785,0.15,2.25,0.00,0.000,6,0.169,0.036,3190,1997,1989,0,0,0,0,0,0,25.34,25.57,28.83
$GC,4085,0.68,194.6,412.1,16.5,483,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1997,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,0.64,194.6,366.8,14.9,513,4397,0.12,2.15,0.00,0.000,4,0.164,0.042,3150,3395,1985,0,0,0,0,0,0,26.16,26.24,28.83
$GC,4495,0.61,194.6,353.4,12.3,523,4502,0.00,2.17,0.00,0.000,6,0.000,0.034,3157,1961,1984,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4801,0.59,194.6,315.7,11.8,554,4810,0.00,2.12,0.00,0.000,4,0.000,0.047,3168,589,1982,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4824,0.56,194.6,313.1,12.1,556,4833,0.10,2.12,0.00,0.000,6,0.127,0.032,3133,1995,1981,0,0,0,0,0,0,26.08,26.34,28.83
$GC,5134,0.63,252.2,280.6,8.8,587,5186,0.00,2.22,46.83,0.793,4,0.000,0.043,3133,3399,1756,0,0,0,0,0,0,28.83,25.77,24.63
$GC,5212,0.68,291.5,273.6,9.5,594,5252,0.00,2.20,34.35,0.764,6,0.000,0.039,3141,1995,1596,0,0,0,0,0,0,28.83,25.89,24.49
$GC,5561,0.70,291.5,234.8,11.1,629,5569,0.00,2.15,0.00,0.000,4,0.000,0.046,3152,587,1592,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5647,0.72,291.5,225.2,11.3,637,5654,0.00,2.15,0.00,0.000,6,0.000,0.030,3152,2001,1590,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5959,0.83,363.5,196.5,8.3,671,6024,0.15,2.25,59.28,0.732,4,0.078,0.043,3237,3389,1303,0,0,0,0,0,0,26.45,25.68,24.64
$GC,6088,0.81,363.5,177.6,16.4,692,6097,0.10,2.20,0.00,0.000,6,0.136,0.034,3213,1985,1301,0,0,0,0,0,0,25.71,25.96,28.83
$GC,6425,0.82,363.5,135.4,13.1,753,6431,0.00,2.17,0.00,0.000,4,0.000,0.046,3222,583,1300,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6525,0.84,363.5,122.1,12.2,771,6532,0.00,2.12,0.00,0.000,6,0.000,0.030,3222,1991,1299,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6856,0.86,381.4,82.0,10.3,832,6877,0.00,2.22,15.25,0.602,4,0.000,0.042,3221,3395,1229,0,0,0,0,0,0,28.83,26.16,24.91
$GC,6918,0.87,381.4,74.8,11.5,842,6926,0.00,2.17,0.00,0.000,6,0.000,0.032,3231,1979,1228,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7252,0.89,388.6,38.2,10.7,903,7266,0.00,2.15,7.57,0.507,4,0.000,0.044,3242,589,1200,0,0,0,0,0,0,28.83,26.21,24.86
$GC,7338,0.93,402.0,28.6,10.5,918,7359,0.00,2.12,12.05,0.544,6,0.000,0.029,3242,1992,1146,0,0,0,0,0,0,28.83,26.32,24.99
$STATE,7503,end climb,SURFACE_DEPTH_REACHED
$STATE,7503,begin surface coast
$FINISH,6.3,1.020647
$STATE,7610,end surface coast,CONTROL_FINISHED_OK
$STATE,7611,begin surface
$SM_CCo,7629,37.65,0.564,0,0,950,450.13
$SM_GC,6.95,7.80,0.00,37.65,0.034,0.000,0.564,156,2006,950,-8.61,1.44,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2157.39,12029.11,130112,202014
$TT8_MAMPS,0.023968,0.023968
$HUMID,46.18
$INTERNAL_PRESSURE,9.44408
$TCM_TEMP,24.40
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,275.7,999.0
$24V_AH,24.2,61.585
$10V_AH,10.0,49.646
$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,20.450,73.400,479.125,37.650,0.000,29.149,38.003,167.919,6.000,0.000,38.104,2156.994,2822.600,568.172,2247.357,252.813,0.000,1467.805,0.000,1982.178,0.000,4.258,0.000
$DEVICE_MAMPS,235.620,52.785,895.815,563.805,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,648.799,739.919,868.747,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,56953,968
$CAP_FILE_SIZE,101567,0
$CFSIZE,260165632,175468544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140112,014306,2207.453,12028.717,24,1.3,25,-2.7