version: 66.10
glider: 169
mission: 5
dive: 642
start: 3 12 112 0 37 52
data:
$ID,169
$MISSION,5
$DIVE,642
$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,330
$T_MISSION,360
$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,-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,-13731.887
$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
$GPS1,120312,003038,2339.909,12137.452,10,1.7,10,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-63.1
$GPS2,120312,003728,2340.151,12137.516,13,2.3,32,-3.2
$SPEED_LIMITS,0.173,0.352
$TGT_NAME,DOGLEG
$TGT_LATLONG,2336.000,12140.700
$TGT_RADIUS,1000.000
$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,193.1,9398,-12.5,-10.000
$D_GRID,570
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.67,-292.0,0.0,0.0,0,113,0.00,0.00,-91.68,0.000,2,0.000,0.000,117,2658,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.67,-292.0,3.1,-4.0,16,155,7.15,1.80,-23.98,0.000,4,0.242,0.050,1775,3841,3963,0,0,0,0,0,0,25.15,25.87,26.54
$GC,254,-0.61,-292.0,49.0,-20.6,41,261,0.12,1.77,0.00,0.000,6,0.147,0.019,1808,2567,3963,0,0,0,0,0,0,25.77,26.15,28.83
$GC,569,-0.53,-292.0,117.8,-19.9,102,576,0.00,2.20,0.00,0.000,4,0.000,0.024,1812,1169,3963,0,0,0,0,0,0,28.83,25.97,28.83
$GC,606,-0.49,-292.0,124.3,-16.8,108,614,0.17,2.47,0.00,0.000,6,0.103,0.034,1859,2651,3964,0,0,0,0,0,0,25.66,25.83,28.83
$GC,920,-0.49,-292.0,159.9,-9.9,169,926,0.00,2.40,0.00,0.000,4,0.000,0.027,1860,1176,3964,0,0,0,0,0,0,28.83,25.94,28.83
$GC,956,-0.52,-292.0,163.3,-9.4,175,964,0.00,2.47,0.00,0.000,6,0.000,0.034,1855,2658,3964,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1271,-0.52,-292.0,192.4,-9.1,236,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,2657,3963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1581,-0.53,-292.0,216.3,-6.4,275,1591,0.00,2.38,0.00,0.000,4,0.000,0.026,1855,1182,3961,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1639,-0.58,-292.0,219.7,-6.1,280,1645,0.00,2.45,0.00,0.000,6,0.000,0.034,1853,2651,3961,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1947,-0.69,-292.0,247.9,-8.9,311,1956,0.17,1.75,0.00,0.000,4,0.067,0.038,1746,3829,3959,0,0,0,0,0,0,26.25,25.75,28.83
$GC,2010,-0.66,-292.0,256.1,-13.8,317,2019,0.17,1.73,0.00,0.000,6,0.126,0.020,1797,2578,3959,0,0,0,0,0,0,25.64,26.10,28.83
$GC,2319,-0.61,-292.0,301.3,-15.1,348,2323,0.00,2.22,0.00,0.000,4,0.000,0.027,1797,1178,3956,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2382,-0.62,-292.0,308.5,-9.9,354,2392,0.00,2.45,0.00,0.000,6,0.000,0.037,1790,2647,3956,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2692,-0.57,-292.0,354.0,-15.8,385,2701,0.12,2.38,0.00,0.000,4,0.145,0.023,1832,1170,3954,0,0,0,0,0,0,25.99,25.86,28.83
$GC,2735,-0.58,-292.0,358.5,-10.5,389,2744,0.00,2.45,0.00,0.000,6,0.000,0.034,1831,2646,3954,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3045,-0.69,-292.0,385.8,-10.0,420,3055,0.12,1.73,0.00,0.000,4,0.122,0.040,1784,3818,3950,0,0,0,0,0,0,26.07,25.67,28.83
$GC,3132,-0.78,-292.0,394.3,-10.7,428,3139,0.00,1.75,0.00,0.000,6,0.000,0.023,1790,2581,3950,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3439,-0.85,-292.0,422.8,-9.6,459,3448,0.12,1.90,0.00,0.000,4,0.103,0.040,1726,3825,3947,0,0,0,0,0,0,26.17,25.65,28.83
$GC,3476,-0.89,-292.0,426.3,-10.0,462,3483,0.00,1.75,0.00,0.000,6,0.000,0.020,1731,2584,3947,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3782,-0.80,-292.0,496.4,-22.9,493,3791,0.00,2.20,0.00,0.000,4,0.000,0.026,1732,1186,3945,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3897,-0.78,-292.0,516.1,-13.9,504,3907,0.10,2.42,0.00,0.000,6,0.102,0.037,1759,2639,3945,0,0,0,0,0,0,25.41,25.65,28.83
$STATE,4203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4203,begin apogee
$GC,4211,-0.20,0.0,570.9,-16.6,535,4416,0.55,0.15,194.70,0.889,6,0.113,0.044,1939,2533,2968,0,0,0,0,0,0,25.11,25.22,24.37
$STATE,4417,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4421,0.67,292.0,582.3,0.0,556,4680,0.75,2.12,250.02,0.875,4,0.041,0.042,2242,3816,1778,0,0,0,0,0,0,25.35,25.13,24.25
$GC,4701,0.58,292.0,552.0,20.4,584,4708,0.20,2.10,0.00,0.000,6,0.163,0.025,2201,2465,1766,0,0,0,0,0,0,24.85,25.34,28.83
$GC,5009,0.52,292.0,506.0,14.6,615,5013,0.00,2.15,0.00,0.000,4,0.000,0.041,2201,3817,1760,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5061,0.47,292.0,497.6,15.9,620,5071,0.17,2.08,0.00,0.000,6,0.142,0.025,2162,2453,1758,0,0,0,0,0,0,25.39,25.82,28.83
$GC,5372,0.46,292.0,461.5,11.0,651,5380,0.00,2.17,0.00,0.000,4,0.000,0.042,2162,3805,1757,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5396,0.44,292.0,458.9,11.2,653,5403,0.00,2.05,0.00,0.000,6,0.000,0.027,2172,2468,1756,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5703,0.42,292.0,427.4,10.5,684,5713,0.00,2.15,0.00,0.000,4,0.000,0.041,2172,3819,1756,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5726,0.39,292.0,424.4,11.8,686,5736,0.15,2.08,0.00,0.000,6,0.137,0.024,2140,2453,1755,0,0,0,0,0,0,25.44,25.82,28.83
$GC,6036,0.48,357.8,398.6,8.5,717,6106,0.00,2.20,59.38,0.760,4,0.000,0.041,2140,3816,1505,0,0,0,0,0,0,28.83,25.57,24.66
$GC,6122,0.61,436.4,391.6,8.2,725,6199,0.17,2.08,68.85,0.755,6,0.058,0.024,2269,2463,1190,0,0,0,0,0,0,25.67,25.70,24.60
$GC,6500,0.53,436.4,302.7,25.2,763,6509,0.28,2.17,0.00,0.000,4,0.156,0.039,2185,3816,1171,0,0,0,0,0,0,25.28,25.64,28.83
$GC,6546,0.49,436.4,294.3,19.7,767,6553,0.00,2.08,0.00,0.000,6,0.000,0.024,2195,2453,1170,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6852,0.50,436.4,261.9,10.4,798,6862,0.00,2.25,0.00,0.000,4,0.000,0.034,2207,1036,1169,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6876,0.51,436.4,259.3,10.6,800,6886,0.08,2.38,0.00,0.000,6,0.073,0.033,2170,2525,1168,0,0,0,0,0,0,25.52,25.66,28.83
$GC,7187,0.71,561.0,237.2,7.1,831,7299,0.15,2.42,105.20,0.656,4,0.064,0.037,2292,1061,683,0,0,0,0,0,0,26.20,25.56,24.74
$GC,7331,0.65,561.0,205.7,24.8,845,7340,0.20,2.35,0.00,0.000,6,0.099,0.035,2221,2520,664,0,0,0,0,0,0,25.32,25.60,28.83
$GC,7644,0.75,619.7,174.7,8.6,902,7706,0.00,2.42,57.25,0.608,4,0.000,0.032,2232,1054,447,0,0,0,0,0,0,28.83,25.70,24.84
$GC,7725,0.97,743.3,168.5,7.1,915,7733,0.25,2.33,0.47,0.290,6,0.051,0.026,2354,2534,432,0,0,0,0,0,0,25.72,25.71,25.08
$GC,8040,0.87,743.3,67.0,33.9,976,8047,0.20,2.00,0.00,0.000,4,0.181,0.037,2296,3820,426,0,0,0,0,0,0,25.36,25.60,28.83
$GC,8126,1.03,826.9,53.3,8.1,991,8133,0.10,2.05,0.00,0.000,6,0.090,0.022,2369,2443,424,0,0,0,0,0,0,25.82,25.92,28.83
$STATE,8401,end climb,SURFACE_DEPTH_REACHED
$STATE,8401,begin surface coast
$FINISH,0.2,1.022207
$STATE,8413,end surface coast,CONTROL_FINISHED_OK
$STATE,8413,begin surface
$SM_CCo,8491,0.00,0.000,0,0,420,627.72
$SM_GC,0.67,5.68,0.43,0.00,0.024,0.045,0.000,122,2657,420,-5.78,-0.34,627.72,0,0,0,0,0,0,25.78,25.98,28.83
$IRIDIUM_FIX,2330.93,12134.14,110312,232352
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.42
$INTERNAL_PRESSURE,9.46681
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,24.2,130.964
$10V_AH,9.9,77.080
$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,17.200,87.200,735.875,0.000,0.000,31.046,41.710,196.957,0.000,0.000,34.330,2429.587,3300.420,790.659,2050.314,321.966,0.000,1797.133,0.000,1687.937,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,49.725,888.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.518,1250.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324460
$DATA_FILE_SIZE,70534,1047
$CAP_FILE_SIZE,117278,0
$CFSIZE,260165632,162807808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220, 62.7,1
$GPS,120312,030030,2339.351,12137.907,40,1.4,40,-3.2