version: 66.10
glider: 165
mission: 5
dive: 280
start: 1 14 112 10 26 6
data:
$ID,165
$MISSION,5
$DIVE,280
$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,195
$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,-271764
$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,54
$R_STBD_OVSHOOT,46
$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
$GPS1,140112,102007,2205.203,12026.386,37,1.0,37,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.29
$_SM_ANGLEo,-68.8
$GPS2,140112,102544,2205.327,12026.389,9,1.5,9,-2.7
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,HEADING
$TGT_LATLONG,2154.896,12023.376
$TGT_RADIUS,1852.000
$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,197.7,20000,-17.0,-11.000
$D_GRID,642
$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,-194.6,0.0,0.0,0,112,0.00,0.00,-93.88,0.000,2,0.000,0.000,137,2010,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.81,-194.6,12.4,-16.4,15,137,10.05,2.25,-1.88,0.000,4,0.232,0.049,2690,552,3583,0,0,0,0,0,0,25.25,26.14,26.44
$GC,188,-0.72,-194.6,44.2,-30.7,27,195,0.15,2.12,0.00,0.000,6,0.183,0.032,2719,1955,3584,0,0,0,0,0,0,25.79,26.17,28.83
$GC,518,-0.66,-194.6,109.8,-19.6,88,525,0.00,2.17,0.00,0.000,4,0.000,0.043,2711,3357,3585,0,0,0,0,0,0,28.83,26.22,28.83
$GC,540,-0.61,-194.6,114.2,-20.4,91,547,0.15,2.10,0.00,0.000,6,0.148,0.031,2752,1951,3585,0,0,0,0,0,0,26.01,26.32,28.83
$GC,868,-0.61,-194.6,156.8,-10.3,152,875,0.00,2.15,0.00,0.000,4,0.000,0.044,2752,560,3586,0,0,0,0,0,0,28.83,26.26,28.83
$GC,923,-0.62,-194.6,162.5,-10.5,161,930,0.00,2.12,0.00,0.000,6,0.000,0.034,2752,1963,3586,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1250,-0.62,-194.6,202.6,-11.7,220,1260,0.00,2.15,0.00,0.000,4,0.000,0.046,2752,3359,3586,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1308,-0.64,-194.6,207.9,-9.3,225,1315,0.00,2.10,0.00,0.000,6,0.000,0.030,2752,1947,3586,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1615,-0.67,-194.6,239.0,-7.9,256,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1947,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1919,-0.70,-194.6,261.4,-7.6,286,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1946,3587,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2229,-0.73,-194.6,285.5,-7.5,317,2238,0.12,2.17,0.00,0.000,4,0.089,0.045,2670,3350,3587,0,0,0,0,0,0,26.52,26.23,28.83
$GC,2285,-0.72,-194.6,291.3,-10.9,322,2294,0.12,2.10,0.00,0.000,6,0.125,0.031,2714,1965,3587,0,0,0,0,0,0,26.05,26.36,28.83
$GC,2592,-0.72,-194.6,325.1,-11.8,353,2600,0.00,2.17,0.00,0.000,4,0.000,0.047,2714,558,3586,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2626,-0.72,-194.6,329.3,-13.7,356,2633,0.00,2.15,0.00,0.000,6,0.000,0.041,2713,1956,3586,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2933,-0.72,-194.6,360.7,-7.5,387,2942,0.00,2.17,0.00,0.000,4,0.000,0.047,2704,3362,3585,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2999,-0.73,-194.6,365.7,-7.8,393,3005,0.00,2.12,0.00,0.000,6,0.000,0.031,2703,1951,3584,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3304,-0.73,-194.6,398.8,-12.4,424,3308,0.00,2.15,0.00,0.000,4,0.000,0.049,2704,561,3584,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3329,-0.73,-194.6,401.6,-12.5,426,3335,0.00,2.12,0.00,0.000,6,0.000,0.037,2700,1960,3583,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3635,-0.73,-194.6,438.5,-11.0,457,3644,0.00,2.17,0.00,0.000,4,0.000,0.049,2690,3361,3581,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3668,-0.73,-194.6,441.6,-10.1,460,3677,0.00,2.10,0.00,0.000,6,0.000,0.032,2690,1956,3581,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3977,-0.73,-194.6,475.6,-10.5,491,3981,0.00,2.17,0.00,0.000,4,0.000,0.049,2690,558,3579,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4050,-0.73,-194.6,483.3,-10.4,498,4059,0.00,2.15,0.00,0.000,6,0.000,0.039,2687,1964,3579,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4359,-0.72,-194.6,514.7,-9.5,529,4361,0.12,0.00,0.00,0.000,6,0.167,0.000,2720,1964,3578,0,0,0,0,0,0,26.25,28.83,28.83
$GC,4659,-0.74,-194.6,537.3,-10.0,559,4663,0.00,2.17,0.00,0.000,4,0.000,0.049,2713,3366,3577,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4714,-0.76,-194.6,541.7,-8.3,564,4721,0.00,2.15,0.00,0.000,6,0.000,0.032,2713,1946,3576,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5021,-0.78,-194.6,566.0,-9.3,595,5030,0.00,2.15,0.00,0.000,4,0.000,0.050,2713,558,3575,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5076,-0.79,-194.6,570.6,-8.8,600,5083,0.00,2.15,0.00,0.000,6,0.000,0.038,2713,1954,3575,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5386,-0.81,-194.6,602.5,-9.2,630,5391,0.00,2.17,0.00,0.000,4,0.000,0.050,2713,3353,3574,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,5583,end dive,NO_VERTICAL_VELOCITY
$STATE,5584,begin apogee
$GC,5591,-0.17,0.0,604.1,0.0,640,5749,0.47,0.00,152.23,1.021,6,0.055,0.000,2915,1978,2786,0,0,0,0,0,0,26.31,28.83,23.98
$STATE,5750,end apogee,CONTROL_FINISHED_OK
$STATE,5750,begin climb
$GC,5754,0.81,194.6,604.1,0.0,648,5922,0.85,2.42,158.27,0.990,4,0.097,0.047,3203,3403,1991,0,0,0,0,0,0,25.21,25.10,23.95
$GC,6026,0.96,308.5,594.4,6.7,666,6135,0.10,2.17,97.55,0.972,6,0.060,0.034,3270,1998,1527,0,0,0,0,0,0,25.84,25.89,24.10
$GC,6436,0.89,308.5,511.7,24.4,707,6445,0.12,2.20,0.00,0.000,4,0.174,0.051,3242,593,1524,0,0,0,0,0,0,25.99,26.08,28.83
$GC,6492,0.84,308.5,501.7,17.7,712,6499,0.00,2.15,0.00,0.000,6,0.000,0.034,3242,1987,1522,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6800,0.79,308.5,444.3,18.6,743,6809,0.12,2.20,0.00,0.000,4,0.167,0.045,3203,3405,1522,0,0,0,0,0,0,26.13,26.21,28.83
$GC,6846,0.75,308.5,437.2,15.8,747,6853,0.00,2.20,0.00,0.000,6,0.000,0.037,3210,1973,1522,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7154,0.72,308.5,393.6,14.8,778,7158,0.00,2.15,0.00,0.000,4,0.000,0.050,3221,590,1522,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7216,0.69,308.5,384.8,14.0,784,7226,0.17,2.12,0.00,0.000,6,0.134,0.033,3171,2010,1519,0,0,0,0,0,0,26.04,26.29,28.83
$GC,7526,0.70,317.8,351.2,10.6,815,7539,0.00,2.12,8.50,0.754,4,0.000,0.044,3170,3384,1490,0,0,0,0,0,0,28.83,26.18,24.46
$GC,7594,0.70,317.8,343.3,12.3,821,7601,0.00,2.12,0.00,0.000,6,0.000,0.034,3177,1975,1490,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7901,0.70,317.8,309.2,11.3,852,7905,0.00,2.15,0.00,0.000,4,0.000,0.049,3187,592,1489,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7982,0.70,317.8,299.5,12.3,860,7993,0.00,2.12,0.00,0.000,6,0.000,0.031,3187,1985,1489,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8295,0.70,317.8,258.7,13.1,891,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1985,1489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,0.70,317.8,218.3,12.3,922,8615,0.00,2.15,0.00,0.000,4,0.000,0.044,3187,3398,1489,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8639,0.70,317.8,214.2,11.9,925,8647,0.00,2.12,0.00,0.000,6,0.000,0.034,3196,1990,1489,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8963,0.73,336.1,180.6,10.3,973,8990,0.00,2.22,17.35,0.711,4,0.000,0.049,3207,595,1415,0,0,0,0,0,0,28.83,26.10,24.69
$GC,9027,0.80,375.4,174.4,9.5,983,9066,0.00,2.10,33.95,0.718,6,0.000,0.031,3207,1995,1254,0,0,0,0,0,0,28.83,26.18,24.62
$GC,9390,0.83,385.7,138.5,10.6,1049,9405,0.00,2.28,9.80,0.621,4,0.000,0.047,3217,593,1211,0,0,0,0,0,0,28.83,26.07,24.74
$GC,9430,0.85,385.7,134.2,11.1,1055,9436,0.00,2.12,0.00,0.000,6,0.000,0.030,3217,1993,1210,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9759,0.95,438.9,101.8,9.0,1116,9811,0.12,0.00,43.95,0.652,6,0.090,0.000,3293,1993,993,0,0,0,0,0,0,26.41,28.83,24.75
$GC,10132,0.94,438.9,45.4,16.3,1184,10140,0.12,2.17,0.00,0.000,4,0.151,0.041,3253,3386,990,0,0,0,0,0,0,26.10,26.12,28.83
$GC,10191,0.98,438.9,37.8,11.9,1194,10199,0.00,2.15,0.00,0.000,6,0.000,0.034,3260,1985,990,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,10433,end climb,SURFACE_DEPTH_REACHED
$STATE,10433,begin surface coast
$FINISH,6.3,1.022229
$STATE,10544,end surface coast,CONTROL_FINISHED_OK
$STATE,10544,begin surface
$SM_CCo,10561,8.70,0.502,0,0,949,450.13
$SM_GC,7.43,7.80,0.00,8.70,0.029,0.000,0.502,148,1979,949,-8.64,0.68,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,2157.39,12029.11,140112,070753
$TT8_MAMPS,0.023968,0.023968
$HUMID,49.72
$INTERNAL_PRESSURE,9.41478
$TCM_TEMP,21.60
$XPDR_PINGS,31
$ALTIM_BOTTOM_PING,392.8,0.0
$24V_AH,24.0,62.172
$10V_AH,10.0,50.099
$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,20.625,99.350,521.600,8.700,0.000,31.507,17.878,162.955,8.000,0.000,12.394,2868.976,4338.161,607.776,2783.013,303.171,0.000,1788.539,0.000,2556.683,0.000,5.861,0.000
$DEVICE_MAMPS,231.795,51.255,1021.275,501.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.840,1007.698,923.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324204
$DATA_FILE_SIZE,73668,1259
$CAP_FILE_SIZE,133680,0
$CFSIZE,260165632,175144960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140112,132330,2204.680,12025.204,28,1.8,32,-2.7