version: 66.10
glider: 169
mission: 5
dive: 379
start: 1 20 112 14 52 52
data:
$ID,169
$MISSION,5
$DIVE,379
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$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,360
$T_MISSION,400
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$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,425
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-11355.987
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2010
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,40
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,2979
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-76.737366
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,200112,144654,2304.591,12127.188,25,0.9,42,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.7
$GPS2,200112,145231,2304.684,12127.223,11,1.4,16,-3.0
$SPEED_LIMITS,0.159,0.274
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.228,0.143
$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,74.5,264038,-15.4,-9.167
$D_GRID,283
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.60,-175.2,0.0,0.0,0,97,0.00,0.00,-78.25,0.000,2,0.000,0.000,117,2698,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.60,-175.2,3.1,-4.7,14,133,6.82,2.30,-14.57,0.000,4,0.226,0.037,1818,1168,3696,0,0,0,0,0,0,25.10,26.25,26.65
$GC,246,-0.56,-175.2,41.2,-18.4,41,253,0.00,2.28,0.00,0.000,6,0.000,0.039,1807,2651,3696,0,0,0,0,0,0,28.83,26.22,28.83
$GC,558,-0.51,-175.2,128.3,-13.6,102,566,0.12,1.80,0.00,0.000,4,0.165,0.042,1838,3825,3696,0,0,0,0,0,0,26.23,26.27,28.83
$GC,654,-0.52,-175.2,138.6,-8.8,120,661,0.00,1.80,0.00,0.000,6,0.000,0.021,1838,2566,3696,0,0,0,0,0,0,28.83,26.48,28.83
$GC,964,-0.50,-175.2,183.0,-13.3,181,970,0.00,1.98,0.00,0.000,4,0.000,0.042,1828,3818,3696,0,0,0,0,0,0,28.83,26.29,28.83
$GC,993,-0.48,-175.2,186.8,-12.8,186,1000,0.00,1.80,0.00,0.000,6,0.000,0.021,1828,2549,3697,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1309,-0.45,-175.2,229.3,-13.8,228,1319,0.12,1.98,0.00,0.000,4,0.140,0.024,1875,1170,3696,0,0,0,0,0,0,26.33,26.39,28.83
$GC,1331,-0.43,-175.2,232.0,-13.0,230,1340,0.00,2.25,0.00,0.000,6,0.000,0.038,1867,2652,3696,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1643,-0.45,-175.2,257.2,-8.1,261,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2652,3696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.48,-175.2,282.2,-7.2,292,1963,0.00,2.15,0.00,0.000,4,0.000,0.028,1867,1170,3694,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,1966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1966,begin apogee
$GC,1973,-0.20,0.0,283.1,-7.2,293,2121,0.22,0.08,140.27,0.679,6,0.097,0.046,1946,2433,2977,0,0,0,0,0,0,26.28,25.32,24.37
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2122,begin climb
$GC,2124,0.60,175.2,290.5,0.0,308,2281,0.68,2.10,147.35,0.680,4,0.060,0.034,2215,1051,2257,0,0,0,0,0,0,25.63,25.56,24.42
$GC,2369,0.56,175.2,280.8,10.6,333,2378,0.00,2.25,0.00,0.000,6,0.000,0.036,2215,2527,2244,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2680,0.50,175.2,240.6,12.1,364,2690,0.12,2.17,0.00,0.000,4,0.172,0.029,2188,1057,2241,0,0,0,0,0,0,26.07,26.25,28.83
$GC,2735,0.48,177.5,235.5,9.1,369,2742,0.00,2.22,0.00,0.000,6,0.000,0.037,2188,2528,2240,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3044,0.43,177.5,204.1,9.3,400,3053,0.12,1.98,0.00,0.000,4,0.159,0.040,2148,3812,2239,0,0,0,0,0,0,26.19,26.26,28.83
$GC,3069,0.40,177.5,202.0,9.2,402,3075,0.00,2.00,0.00,0.000,6,0.000,0.025,2158,2453,2238,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3377,0.47,238.5,180.1,7.0,461,3436,0.00,2.28,52.92,0.607,4,0.000,0.041,2159,3822,1996,0,0,0,0,0,0,28.83,25.87,24.67
$GC,3463,0.47,238.5,173.1,10.3,476,3470,0.00,2.05,0.00,0.000,6,0.000,0.026,2170,2459,1989,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3774,0.54,295.8,145.1,7.2,537,3832,0.00,2.22,48.20,0.585,4,0.000,0.041,2170,3810,1761,0,0,0,0,0,0,28.83,25.86,24.72
$GC,3871,0.56,295.8,134.9,10.2,554,3877,0.00,2.05,0.00,0.000,6,0.000,0.025,2180,2445,1756,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4183,0.72,403.6,107.8,5.4,615,4296,0.15,2.28,98.20,0.702,4,0.069,0.043,2282,3810,1333,0,0,0,0,1,0,26.46,25.56,24.30
$GC,4384,0.69,403.6,73.8,15.7,652,4392,0.20,2.05,0.00,0.000,6,0.152,0.027,2236,2454,1341,0,0,0,0,0,0,25.68,26.03,28.83
$GC,4698,0.72,414.9,44.8,8.8,713,4711,0.00,0.00,10.90,0.200,6,0.000,0.000,2236,2452,1287,0,0,0,0,0,0,28.83,28.83,25.32
$GC,5015,0.79,437.3,18.0,8.4,775,5039,0.00,2.12,16.08,0.155,4,0.000,0.034,2246,1067,1201,0,0,0,0,0,0,28.83,26.25,25.60
$GC,5078,0.97,528.9,13.5,5.9,786,5136,0.20,2.17,48.75,0.135,6,0.053,0.031,2379,2532,819,0,0,0,0,0,0,26.36,26.30,25.70
$STATE,5141,end climb,SURFACE_DEPTH_REACHED
$STATE,5141,begin surface coast
$FINISH,0.3,1.023166
$STATE,5154,end surface coast,CONTROL_FINISHED_OK
$STATE,5154,begin surface
$SM_CCo,5230,0.00,0.000,0,0,827,527.89
$SM_GC,1.22,5.88,0.17,0.00,0.048,0.067,0.000,123,2669,827,-5.80,-0.48,527.89,0,0,0,0,0,0
$IRIDIUM_FIX,2255.72,12129.55,200112,131338
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.52541
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,24.3,80.063
$10V_AH,10.1,47.421
$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,14.650,50.625,562.675,0.000,0.000,28.641,15.871,179.770,0.000,0.000,16.885,1679.211,1615.808,578.382,1487.870,196.424,0.000,1306.206,0.000,1223.785,0.000,0.543,0.000
$DEVICE_MAMPS,225.675,67.320,701.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.814,755.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324724
$DATA_FILE_SIZE,50446,799
$CAP_FILE_SIZE,78515,0
$CFSIZE,260165632,188559360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200112,162058,2305.526,12128.315,9,2.9,28,-3.0