version: 66.10
glider: 169
mission: 5
dive: 180
start: 12 13 111 19 39 19
data:
$ID,169
$MISSION,5
$DIVE,180
$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,280
$T_MISSION,320
$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,250
$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,260
$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,-10946.195
$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,400
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$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
$GPS1,131211,193228,2316.919,12131.211,12,2.1,32,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.6
$GPS2,131211,193856,2317.090,12131.320,13,2.0,13,-3.1
$SPEED_LIMITS,0.204,0.345
$TGT_NAME,HEADING
$TGT_LATLONG,2315.215,12119.745
$TGT_RADIUS,1852.000
$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,263.1,20000,-16.1,-11.786
$D_GRID,406
$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,-0.70,-243.3,0.0,0.0,0,125,0.00,0.00,-104.70,0.000,2,0.000,0.000,116,2664,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.70,-243.3,3.9,-9.0,19,159,6.47,1.83,-15.02,0.000,4,0.220,0.058,1765,3808,3964,0,0,0,0,0,0,25.39,26.01,26.44
$GC,267,-0.61,-243.3,58.4,-32.5,45,274,0.12,1.80,0.00,0.000,6,0.168,0.026,1805,2570,3964,0,0,0,0,0,0,25.83,26.17,28.83
$GC,580,-0.55,-243.3,135.1,-22.1,106,586,0.00,2.03,0.00,0.000,4,0.000,0.028,1812,1173,3964,0,0,0,0,0,0,28.83,26.24,28.83
$GC,610,-0.51,-243.3,141.4,-21.6,111,617,0.15,2.25,0.00,0.000,6,0.131,0.042,1847,2657,3964,0,0,0,0,0,0,26.01,26.18,28.83
$GC,920,-0.51,-243.3,184.9,-11.8,172,927,0.00,2.17,0.00,0.000,4,0.000,0.031,1847,1182,3965,0,0,0,0,0,0,28.83,26.29,28.83
$GC,965,-0.55,-243.3,190.1,-10.5,180,972,0.00,2.22,0.00,0.000,6,0.000,0.042,1838,2653,3965,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1275,-0.55,-243.3,226.9,-11.3,219,1278,0.00,1.80,0.00,0.000,4,0.000,0.048,1829,3823,3965,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1328,-0.57,-243.3,232.7,-11.1,224,1332,0.00,1.80,0.00,0.000,6,0.000,0.025,1829,2567,3965,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1639,-0.57,-243.3,271.6,-13.5,255,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2559,3964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-0.57,-243.3,309.5,-13.1,285,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,1829,2559,3962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2251,-0.57,-243.3,349.5,-12.6,316,2259,0.00,2.00,0.00,0.000,4,0.000,0.049,1819,3824,3960,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2313,-0.60,-243.3,356.8,-10.9,322,2321,0.00,1.83,0.00,0.000,6,0.000,0.025,1820,2555,3959,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2622,-0.60,-243.3,399.4,-14.2,353,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,1819,2555,3958,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2670,begin apogee
$GC,2675,-0.20,0.0,406.1,-13.8,358,2875,0.35,0.17,192.02,0.773,6,0.107,0.069,1942,2537,2976,0,0,0,0,0,0,26.07,25.15,24.46
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2879,0.70,243.3,420.3,0.0,378,3094,0.77,2.10,203.62,0.769,4,0.045,0.046,2245,3813,1975,0,0,0,0,0,0,25.27,25.00,24.34
$GC,3172,0.60,243.3,386.1,27.5,407,3179,0.20,2.10,0.00,0.000,6,0.193,0.032,2207,2461,1963,0,0,0,0,0,0,25.23,25.56,28.83
$GC,3478,0.53,243.3,323.3,18.9,438,3486,0.00,2.15,0.00,0.000,4,0.000,0.045,2206,3818,1959,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3552,0.46,243.3,308.3,21.2,445,3560,0.20,2.05,0.00,0.000,6,0.172,0.030,2164,2452,1959,0,0,0,0,0,0,25.70,26.08,28.83
$GC,3860,0.44,243.3,269.2,12.1,476,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2450,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4162,0.45,271.4,232.3,10.9,506,4192,0.00,2.20,23.60,0.657,4,0.000,0.047,2164,3810,1864,0,0,0,0,0,0,28.83,26.01,25.28
$GC,4250,0.44,271.4,222.4,12.0,515,4259,0.00,2.00,0.00,0.000,6,0.000,0.029,2174,2465,1853,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4560,0.44,276.1,186.2,11.6,557,4567,0.00,2.08,0.00,0.000,4,0.000,0.036,2185,1061,1850,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4596,0.50,313.8,182.4,10.6,563,4637,0.00,2.22,36.38,0.639,6,0.000,0.039,2185,2523,1699,0,0,0,0,0,0,28.83,26.17,25.18
$GC,4942,0.50,313.8,135.9,13.1,630,4949,0.00,2.00,0.00,0.000,4,0.000,0.047,2185,3814,1675,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5022,0.50,313.8,125.3,13.4,645,5029,0.00,2.03,0.00,0.000,6,0.000,0.028,2195,2459,1674,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5333,0.75,481.8,96.6,6.3,706,5519,0.12,2.20,176.90,0.311,4,0.079,0.036,2294,1064,1022,0,0,0,0,0,0,26.42,25.64,25.19
$GC,5598,0.88,559.1,65.1,9.3,753,5678,0.00,2.25,74.30,0.248,6,0.000,0.038,2294,2523,699,0,0,0,0,0,0,28.83,25.82,25.27
$GC,5983,0.89,559.1,15.8,12.2,827,5990,0.00,0.00,2.60,0.158,6,0.000,0.000,2294,2523,699,0,0,0,0,0,0,28.83,28.83,25.64
$STATE,6074,end climb,SURFACE_DEPTH_REACHED
$STATE,6074,begin surface coast
$FINISH,0.9,1.023046
$STATE,6093,end surface coast,CONTROL_FINISHED_OK
$STATE,6093,begin surface
$SM_CCo,6167,0.00,0.000,0,0,713,555.85
$SM_GC,1.11,5.40,0.20,0.00,0.024,0.063,0.000,134,2678,713,-5.79,-0.23,555.85,0,0,0,0,0,0
$IRIDIUM_FIX,2307.44,12133.22,131211,161656
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.71
$INTERNAL_PRESSURE,9.48634
$TCM_TEMP,23.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,244.3,999.0
$24V_AH,24.3,39.386
$10V_AH,10.3,26.139
$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,13.800,45.600,709.425,0.000,0.000,24.862,42.527,202.952,0.250,0.000,14.018,1767.386,2247.436,677.893,1654.760,195.123,0.000,1487.707,0.000,1330.837,0.000,2.809,0.000
$DEVICE_MAMPS,220.320,73.440,772.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.095,900.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,56966,848
$CAP_FILE_SIZE,83807,0
$CFSIZE,260165632,206508032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131211,212307,2316.749,12130.246,34,1.0,34,-3.1