version: 66.10
glider: 169
mission: 5
dive: 622
start: 3 9 112 13 7 1
data:
$ID,169
$MISSION,5
$DIVE,622
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,260
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51570
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,270
$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,-13702.24
$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
$GPS1,090312,125907,2333.483,12141.051,30,1.7,31,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.0
$GPS2,090312,130636,2333.894,12141.303,30,2.0,46,-3.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2333.894,12129.521
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$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,236.6,20000,-12.5,-10.000
$D_GRID,1319
$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,-0.67,-292.0,0.0,0.0,0,109,0.00,0.00,-89.20,0.000,2,0.000,0.000,117,2586,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.67,-292.0,3.7,-7.6,15,151,6.90,1.88,-21.85,0.000,4,0.230,0.048,1771,3833,3963,0,0,1,0,0,0,25.03,24.77,26.51
$GC,210,-0.64,-292.0,38.0,-16.4,32,218,0.10,1.75,0.00,0.000,6,0.155,0.019,1796,2570,3964,0,0,0,0,0,0,25.72,26.05,28.83
$GC,524,-0.54,-292.0,122.2,-23.2,93,532,0.12,2.22,0.00,0.000,4,0.160,0.024,1845,1166,3964,0,0,0,0,0,0,25.90,25.66,28.83
$GC,578,-0.56,-292.0,130.4,-9.9,102,585,0.00,2.50,0.00,0.000,6,0.000,0.036,1839,2646,3964,0,0,0,0,0,0,28.83,25.48,28.83
$GC,891,-0.52,-292.0,172.2,-13.9,163,898,0.00,2.38,0.00,0.000,4,0.000,0.027,1839,1179,3964,0,0,0,0,0,0,28.83,25.67,28.83
$GC,936,-0.54,-292.0,177.2,-8.0,171,943,0.00,2.50,0.00,0.000,6,0.000,0.037,1838,2652,3964,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1255,-0.52,-292.0,212.8,-10.4,221,1265,0.00,2.40,0.00,0.000,4,0.000,0.026,1838,1172,3964,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1298,-0.53,-292.0,216.9,-9.2,225,1308,0.00,2.47,0.00,0.000,6,0.000,0.034,1838,2651,3963,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1608,-0.52,-292.0,250.0,-11.4,256,1617,0.00,2.38,0.00,0.000,4,0.000,0.025,1838,1177,3962,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1660,-0.55,-292.0,254.8,-8.7,261,1670,0.00,2.45,0.00,0.000,6,0.000,0.034,1838,2642,3962,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1971,-0.65,-292.0,282.5,-9.8,292,1980,0.12,2.38,0.00,0.000,4,0.122,0.024,1802,1172,3959,0,0,0,0,0,0,26.07,25.65,28.83
$GC,2034,-0.75,-292.0,288.5,-8.7,298,2043,0.00,2.45,0.00,0.000,6,0.000,0.034,1799,2641,3958,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2345,-0.79,-292.0,315.5,-8.4,329,2354,0.12,1.75,0.00,0.000,4,0.078,0.040,1685,3826,3956,0,0,0,0,0,0,26.28,25.39,28.83
$GC,2460,-0.69,-292.0,338.4,-23.6,340,2471,0.28,1.75,0.00,0.000,6,0.135,0.021,1778,2582,3955,0,0,0,0,0,0,25.03,25.94,28.83
$GC,2769,-0.62,-292.0,393.9,-16.7,371,2778,0.10,2.28,0.00,0.000,4,0.166,0.027,1805,1174,3953,0,0,0,0,0,0,26.09,25.57,28.83
$GC,2846,-0.65,-292.0,402.1,-8.5,378,2852,0.00,2.50,0.00,0.000,6,0.000,0.037,1799,2646,3952,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3152,-0.62,-292.0,441.3,-12.5,409,3161,0.00,2.40,0.00,0.000,4,0.000,0.028,1799,1182,3950,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3198,-0.62,-292.0,446.0,-11.3,413,3204,0.00,2.50,0.00,0.000,6,0.000,0.037,1799,2646,3949,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3504,-0.58,-292.0,484.3,-13.2,444,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2645,3947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-0.55,-292.0,523.1,-12.7,474,3818,0.12,2.40,0.00,0.000,4,0.135,0.026,1844,1181,3945,0,0,0,0,0,0,26.01,25.52,28.83
$GC,3864,-0.59,-292.0,528.0,-7.7,479,3871,0.00,2.50,0.00,0.000,6,0.000,0.036,1843,2649,3945,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4172,-0.70,-292.0,558.7,-10.9,510,4182,0.15,1.75,0.00,0.000,4,0.091,0.043,1776,3816,3943,0,0,0,0,0,0,26.14,25.25,28.83
$GC,4209,-0.80,-292.0,562.4,-11.2,513,4216,0.00,1.75,0.00,0.000,6,0.000,0.023,1785,2585,3943,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4519,-0.87,-292.0,592.8,-9.6,544,4529,0.12,1.90,0.00,0.000,4,0.097,0.041,1716,3819,3940,0,0,0,0,0,0,26.17,25.22,28.83
$GC,4587,-0.81,-292.0,602.6,-16.5,550,4590,0.00,1.75,0.00,0.000,6,0.000,0.021,1720,2588,3939,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4906,-0.72,-292.0,674.4,-22.2,566,4911,0.17,2.28,0.00,0.000,4,0.143,0.028,1786,1186,3937,0,0,0,0,0,0,25.68,25.41,28.83
$GC,4988,-0.70,-292.0,685.3,-13.1,570,4992,0.00,2.53,0.00,0.000,6,0.000,0.037,1775,2651,3936,0,0,0,0,0,0,28.83,25.27,28.83
$STATE,5238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5238,begin apogee
$GC,5245,-0.20,0.0,720.6,-14.5,583,5452,0.47,0.12,199.77,1.001,6,0.096,0.050,1939,2534,2973,0,0,0,0,0,0,25.15,24.89,23.92
$STATE,5453,end apogee,CONTROL_FINISHED_OK
$STATE,5453,begin climb
$GC,5456,0.67,292.0,733.6,0.0,593,5724,0.77,2.17,257.83,0.987,4,0.045,0.044,2239,3812,1776,0,0,0,0,0,0,25.06,24.78,23.76
$GC,5805,0.58,292.0,690.1,22.8,611,5811,0.20,2.08,0.00,0.000,6,0.171,0.026,2199,2458,1761,0,0,0,0,0,0,24.88,25.52,28.83
$GC,6125,0.52,292.0,637.0,15.9,627,6129,0.00,2.17,0.00,0.000,4,0.000,0.043,2198,3821,1756,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6211,0.47,292.0,622.5,17.5,631,6217,0.17,2.08,0.00,0.000,6,0.151,0.025,2161,2452,1756,0,0,0,0,0,0,25.27,25.80,28.83
$GC,6530,0.45,292.0,583.1,10.9,654,6539,0.00,2.17,0.00,0.000,4,0.000,0.044,2161,3819,1754,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6583,0.44,292.0,576.4,12.3,659,6592,0.00,2.05,0.00,0.000,6,0.000,0.025,2171,2465,1754,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6892,0.41,292.0,541.0,11.0,690,6896,0.00,2.25,0.00,0.000,4,0.000,0.034,2183,1061,1753,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6924,0.39,292.0,537.6,10.7,693,6934,0.12,2.38,0.00,0.000,6,0.093,0.037,2137,2521,1751,0,0,0,0,0,0,25.15,25.41,28.83
$GC,7234,0.49,362.2,513.7,8.4,724,7298,0.00,2.08,53.15,0.995,4,0.000,0.044,2136,3822,1503,0,0,0,0,1,0,28.83,25.36,24.10
$GC,7314,0.60,439.0,507.2,8.2,731,7395,0.17,2.10,70.20,1.050,6,0.057,0.026,2250,2458,1188,0,0,0,0,1,0,25.53,25.53,23.87
$GC,7703,0.54,439.0,429.4,18.7,770,7714,0.20,2.20,1.40,0.171,4,0.160,0.044,2189,3820,1192,0,0,0,0,0,0,25.47,25.70,25.10
$GC,7781,0.59,467.9,420.1,9.3,777,7821,0.00,2.05,34.92,0.807,6,0.000,0.025,2200,2456,1070,0,0,0,0,0,0,28.83,25.87,24.51
$GC,8125,0.59,467.9,387.3,10.1,811,8128,0.00,2.22,0.00,0.000,4,0.000,0.034,2211,1062,1049,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8187,0.72,544.1,381.5,8.2,817,8266,0.00,2.35,69.10,0.771,6,0.000,0.033,2211,2520,746,0,0,0,0,0,0,28.83,25.65,24.46
$GC,8569,0.75,546.3,341.0,9.9,855,8578,0.12,2.35,0.00,0.000,4,0.076,0.034,2307,1064,733,0,0,0,0,0,0,26.16,25.57,28.83
$GC,8594,0.75,546.3,337.9,11.0,857,8602,0.17,2.38,0.00,0.000,6,0.129,0.036,2254,2524,733,0,0,0,0,0,0,25.27,25.58,28.83
$GC,8902,0.70,546.3,274.9,20.3,888,8910,0.00,2.05,0.00,0.000,4,0.000,0.044,2254,3817,732,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8964,0.68,546.3,263.1,17.5,894,8976,0.12,2.05,0.00,0.000,6,0.129,0.025,2227,2465,731,0,0,0,0,0,0,25.46,25.73,28.83
$GC,9275,0.70,546.3,228.1,10.5,925,9283,0.00,2.25,0.00,0.000,4,0.000,0.034,2238,1051,731,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9319,0.79,591.2,224.2,9.0,929,9366,0.00,2.38,41.00,0.669,6,0.000,0.030,2238,2529,563,0,0,0,0,0,0,28.83,25.56,24.61
$GC,9669,0.81,591.2,184.2,10.2,978,9677,0.10,2.38,0.00,0.000,4,0.091,0.031,2321,1056,541,0,0,0,0,0,0,26.20,25.56,28.83
$GC,9704,0.81,591.2,179.4,15.0,984,9712,0.17,2.38,0.00,0.000,6,0.111,0.034,2265,2518,540,0,0,0,0,0,0,25.32,25.55,28.83
$GC,10023,0.80,591.2,130.5,15.3,1045,10029,0.00,2.05,0.00,0.000,4,0.000,0.043,2265,3815,540,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10049,0.78,591.2,126.2,16.7,1049,10055,0.00,2.05,0.00,0.000,6,0.000,0.024,2275,2459,540,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10365,0.84,627.6,84.7,9.2,1110,10402,0.00,2.22,29.52,0.272,4,0.000,0.033,2286,1050,447,0,0,0,0,0,0,28.83,25.84,24.98
$GC,10467,0.91,644.7,75.4,9.6,1128,10475,0.00,2.35,2.62,0.159,6,0.000,0.028,2286,2532,434,0,0,0,0,0,0,28.83,25.71,24.88
$GC,10782,1.07,683.4,42.1,9.1,1189,10790,0.15,2.10,2.30,0.145,4,0.073,0.044,2365,3821,434,0,0,0,0,0,0,26.18,25.46,24.97
$GC,10805,1.21,724.1,40.3,9.1,1192,10814,0.00,2.05,0.98,0.213,6,0.000,0.023,2365,2425,438,0,0,0,0,0,0,28.83,25.91,25.01
$GC,11124,1.30,724.1,4.0,11.6,1253,11133,0.15,2.25,2.35,0.145,4,0.099,0.033,2426,1051,432,0,0,0,0,0,0,26.05,25.52,25.18
$STATE,11139,end climb,SURFACE_DEPTH_REACHED
$STATE,11139,begin surface coast
$FINISH,0.1,1.021867
$STATE,11162,end surface coast,CONTROL_FINISHED_OK
$STATE,11162,begin surface
$SM_CCo,11240,0.00,0.000,0,0,443,622.08
$SM_GC,0.89,5.80,2.78,0.00,0.022,0.042,0.000,109,2641,443,-5.78,-0.34,622.08,0,0,0,0,0,0,25.85,25.33,28.83
$IRIDIUM_FIX,2326.22,12138.14,090312,090915
$TT8_MAMPS,0.026215,0.026215
$HUMID,51.10
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.8,127.053
$10V_AH,9.9,75.428
$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,17.250,124.650,765.150,0.000,0.000,28.228,41.239,202.363,0.250,0.000,47.676,3071.873,4812.690,817.261,2585.865,380.455,0.000,2091.404,0.000,2157.450,0.000,0.541,0.000
$DEVICE_MAMPS,229.500,49.725,1050.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.689,1520.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324648
$DATA_FILE_SIZE,83747,1259
$CAP_FILE_SIZE,155893,0
$CFSIZE,260165632,164225024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,6,0
$CURRENT,0.189, 77.6,1
$GPS,090312,161600,2333.620,12141.363,68,1.2,69,-3.1