version: 66.10
glider: 169
mission: 5
dive: 623
start: 3 9 112 16 25 39
data:
$ID,169
$MISSION,5
$DIVE,623
$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,-13703.497
$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
$GPS1,090312,161600,2333.620,12141.363,68,1.2,69,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.8
$GPS2,090312,162514,2334.072,12141.603,14,1.5,14,-3.1
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,HEADING
$TGT_LATLONG,2334.072,12129.820
$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,266.5,20000,-12.5,-10.000
$D_GRID,1763
$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,-292.0,0.0,0.0,0,114,0.00,0.00,-94.53,0.000,2,0.000,0.000,108,2643,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.67,-292.0,3.8,-8.1,16,151,7.00,1.83,-19.77,0.000,4,0.232,0.047,1773,3844,3964,0,0,0,0,0,0,25.01,25.79,26.51
$GC,216,-0.62,-292.0,44.2,-26.1,33,223,0.12,1.77,0.00,0.000,6,0.130,0.021,1808,2583,3964,0,0,0,0,0,0,25.67,25.99,28.83
$GC,530,-0.52,-292.0,120.9,-23.7,94,538,0.12,2.28,0.00,0.000,4,0.166,0.024,1855,1171,3964,0,0,0,0,0,0,25.87,25.69,28.83
$GC,594,-0.56,-292.0,130.9,-9.4,105,601,0.00,2.50,0.00,0.000,6,0.000,0.034,1844,2655,3964,0,0,0,0,0,0,28.83,25.55,28.83
$GC,907,-0.53,-292.0,175.9,-13.4,166,915,0.00,2.42,0.00,0.000,4,0.000,0.026,1843,1169,3964,0,0,0,0,0,0,28.83,25.70,28.83
$GC,979,-0.57,-292.0,182.8,-7.7,179,986,0.00,2.50,0.00,0.000,6,0.000,0.034,1834,2652,3964,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1295,-0.66,-292.0,209.6,-10.0,230,1305,0.12,2.42,0.00,0.000,4,0.107,0.025,1796,1169,3963,0,0,0,0,0,0,26.13,25.67,28.83
$GC,1451,-0.76,-292.0,222.6,-7.6,245,1458,0.00,2.47,0.00,0.000,6,0.000,0.032,1796,2653,3962,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1760,-0.81,-292.0,249.1,-8.4,276,1769,0.12,1.73,0.00,0.000,4,0.078,0.039,1711,3831,3959,0,0,0,0,0,0,26.27,25.48,28.83
$GC,1791,-0.81,-292.0,253.2,-10.8,279,1802,0.12,1.75,0.00,0.000,6,0.148,0.020,1746,2578,3959,0,0,0,0,0,0,25.57,25.98,28.83
$GC,2102,-0.70,-292.0,328.1,-24.7,310,2106,0.12,1.90,0.00,0.000,4,0.167,0.035,1775,3822,3957,0,0,0,0,0,0,25.86,25.48,28.83
$GC,2207,-0.69,-292.0,344.4,-12.4,320,2210,0.00,1.77,0.00,0.000,6,0.000,0.021,1775,2576,3957,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2518,-0.62,-292.0,403.4,-19.1,351,2529,0.12,2.22,0.00,0.000,4,0.142,0.025,1818,1181,3954,0,0,0,0,0,0,25.99,25.63,28.83
$GC,2593,-0.65,-292.0,411.7,-8.4,358,2602,0.00,2.47,0.00,0.000,6,0.000,0.034,1812,2648,3953,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2903,-0.70,-292.0,439.6,-9.3,389,2911,0.00,2.40,0.00,0.000,4,0.000,0.028,1813,1175,3951,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2937,-0.74,-292.0,442.6,-9.5,392,2945,0.12,2.47,0.00,0.000,6,0.078,0.035,1745,2646,3950,0,0,0,0,0,0,25.45,25.46,28.83
$GC,3245,-0.66,-292.0,507.0,-20.5,423,3255,0.15,2.40,0.00,0.000,4,0.148,0.026,1796,1182,3948,0,0,0,0,0,0,25.82,25.58,28.83
$GC,3308,-0.67,-292.0,516.1,-11.2,429,3317,0.00,2.47,0.00,0.000,6,0.000,0.037,1794,2642,3947,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3619,-0.64,-292.0,556.9,-12.5,460,3628,0.00,2.40,0.00,0.000,4,0.000,0.027,1794,1172,3945,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3653,-0.62,-292.0,560.8,-12.1,463,3661,0.00,2.53,0.00,0.000,6,0.000,0.037,1789,2654,3945,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3961,-0.58,-292.0,599.3,-13.3,494,3972,0.12,2.40,0.00,0.000,4,0.139,0.024,1832,1182,3943,0,0,0,0,0,0,25.98,25.57,28.83
$GC,4014,-0.58,-292.0,603.3,-9.7,497,4018,0.00,2.50,0.00,0.000,6,0.000,0.037,1825,2645,3942,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4325,-0.68,-292.0,630.9,-9.7,512,4330,0.12,1.75,0.00,0.000,4,0.089,0.044,1747,3816,3939,0,0,0,0,0,0,26.22,25.27,28.83
$GC,4352,-0.78,-292.0,633.3,-9.8,513,4355,0.00,1.75,0.00,0.000,6,0.000,0.024,1747,2578,3938,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4665,-0.71,-292.0,684.3,-16.4,529,4671,0.12,2.25,0.00,0.000,4,0.148,0.026,1788,1184,3936,0,0,0,0,0,0,25.92,25.53,28.83
$GC,4737,-0.68,-292.0,690.6,-12.0,532,4744,0.00,2.50,0.00,0.000,6,0.000,0.037,1778,2645,3935,0,0,0,0,0,0,28.83,25.33,28.83
$STATE,5022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5022,begin apogee
$GC,5028,-0.20,0.0,722.1,-11.6,547,5232,0.47,0.17,198.62,1.003,6,0.101,0.067,1939,2529,2977,0,0,0,0,0,0,25.08,24.96,23.99
$STATE,5233,end apogee,CONTROL_FINISHED_OK
$STATE,5233,begin climb
$GC,5237,0.67,292.0,730.9,0.0,557,5500,0.77,0.00,256.73,0.988,6,0.044,0.000,2242,2529,1783,0,0,0,0,0,0,25.11,28.83,23.87
$GC,5802,0.58,292.0,641.2,20.3,586,5808,0.12,2.03,0.00,0.000,4,0.184,0.041,2205,3822,1758,0,0,0,0,0,0,25.69,25.54,28.83
$GC,5861,0.51,292.0,629.7,18.9,589,5866,0.15,2.08,0.00,0.000,6,0.164,0.025,2176,2453,1757,0,0,0,0,0,0,25.32,25.82,28.83
$GC,6177,0.47,292.0,589.7,12.3,608,6186,0.00,2.17,0.00,0.000,4,0.000,0.044,2176,3811,1755,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6231,0.44,292.0,582.4,13.5,613,6239,0.12,2.05,0.00,0.000,6,0.148,0.026,2152,2465,1755,0,0,0,0,0,0,25.44,25.77,28.83
$GC,6539,0.44,292.0,550.7,10.6,644,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2464,1754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6842,0.45,298.6,520.2,9.8,674,6851,0.00,2.15,0.00,0.000,4,0.000,0.042,2152,3808,1753,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6878,0.45,298.6,516.2,10.5,677,6885,0.00,2.05,0.00,0.000,6,0.000,0.025,2162,2454,1753,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7186,0.43,298.6,482.9,10.7,708,7189,0.00,2.22,0.00,0.000,4,0.000,0.034,2173,1059,1752,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7208,0.42,298.6,480.6,11.1,710,7218,0.00,2.38,0.00,0.000,6,0.000,0.036,2173,2516,1751,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7518,0.40,298.6,444.4,12.2,741,7529,0.12,2.05,0.00,0.000,4,0.146,0.041,2133,3812,1751,0,0,0,0,0,0,25.89,25.21,28.83
$GC,7562,0.40,298.6,439.5,10.8,745,7571,0.00,2.05,0.00,0.000,6,0.000,0.024,2143,2461,1751,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7873,0.53,397.2,414.2,7.7,776,7964,0.12,0.00,82.38,0.995,6,0.075,0.000,2219,2461,1358,0,0,0,0,1,0,26.26,28.83,24.03
$GC,8264,0.49,397.2,353.3,16.5,815,8274,0.15,2.17,0.00,0.000,4,0.150,0.039,2171,3814,1366,0,0,0,0,0,0,25.69,25.58,28.83
$GC,8327,0.51,397.2,345.3,10.6,821,8336,0.00,2.05,0.00,0.000,6,0.000,0.024,2181,2451,1366,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8636,0.51,397.2,312.2,11.3,852,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2181,2450,1366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8940,0.51,397.2,280.6,10.5,882,8950,0.00,2.20,0.00,0.000,4,0.000,0.042,2182,3810,1365,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8967,0.52,397.2,277.8,10.7,884,8974,0.00,2.05,0.00,0.000,6,0.000,0.025,2192,2463,1366,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9273,0.52,397.2,244.6,10.9,915,9282,0.00,2.20,0.00,0.000,4,0.000,0.033,2204,1063,1365,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9319,0.57,416.6,240.6,9.6,919,9355,0.00,2.38,25.08,0.697,6,0.000,0.032,2204,2525,1267,0,0,0,0,0,0,28.83,25.48,24.62
$GC,9655,0.57,416.6,203.1,10.3,953,9663,0.00,2.03,0.00,0.000,4,0.000,0.041,2204,3814,1261,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9688,0.58,416.6,199.7,11.0,956,9695,0.00,2.05,0.00,0.000,6,0.000,0.024,2214,2457,1261,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10000,0.58,416.7,168.4,10.0,1017,10007,0.00,2.25,0.00,0.000,4,0.000,0.033,2225,1046,1260,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10047,0.76,522.3,164.3,7.6,1025,10147,0.00,2.40,89.32,0.626,6,0.000,0.032,2225,2527,835,0,0,0,0,0,0,28.83,25.50,24.58
$GC,10453,0.92,623.6,127.7,7.7,1101,10550,0.17,2.47,85.40,0.587,4,0.061,0.034,2344,1050,425,0,0,0,0,0,0,26.18,25.57,24.64
$GC,10620,0.94,623.6,94.1,13.0,1130,10629,0.12,2.40,0.00,0.000,6,0.122,0.033,2307,2529,411,0,0,0,0,0,0,25.45,25.63,28.83
$GC,10941,1.13,753.0,52.1,7.0,1191,10949,0.15,2.35,0.00,0.000,4,0.068,0.028,2409,1044,404,0,0,0,0,0,0,26.20,25.61,28.83
$GC,10977,1.14,753.0,47.9,11.3,1197,10984,0.12,2.40,0.00,0.000,6,0.132,0.034,2373,2528,404,0,0,0,0,0,0,25.36,25.60,28.83
$STATE,11203,end climb,SURFACE_DEPTH_REACHED
$STATE,11203,begin surface coast
$FINISH,-0.1,1.021912
$STATE,11218,end surface coast,CONTROL_FINISHED_OK
$STATE,11218,begin surface
$SM_CCo,11294,0.00,0.000,0,0,402,632.14
$SM_GC,0.85,5.72,0.25,0.00,0.025,0.050,0.000,115,2665,402,-5.80,-0.42,632.14,0,0,0,0,0,0,25.75,26.16,28.83
$IRIDIUM_FIX,2323.87,12143.38,090312,161605
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,9.49611
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.9,127.256
$10V_AH,9.9,75.522
$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,16.875,111.275,737.525,0.000,0.000,53.859,70.308,216.160,0.000,0.000,15.342,2980.639,5134.038,813.156,2532.639,365.566,0.000,2023.055,0.000,2068.940,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,66.555,1002.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.058,1504.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,83701,1244
$CAP_FILE_SIZE,143137,0
$CFSIZE,260165632,164159488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.131, 85.0,1
$GPS,090312,193521,2333.388,12140.621,40,3.2,60,-3.1