version: 66.06
glider: 147
mission: 5
dive: 4
start: 2 1 110 22 1 27
data:
$ID,147
$MISSION,5
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,80
$D_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,72
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,570
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17700.631
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3519
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.612097
$PRESSURE_SLOPE,0.000116148
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834701
$SEABIRD_T_H,0.00062685186
$SEABIRD_T_I,2.2120101e-05
$SEABIRD_T_J,2.1369924e-06
$SEABIRD_C_G,-9.8335438
$SEABIRD_C_H,1.0998563
$SEABIRD_C_I,-0.0012027813
$SEABIRD_C_J,0.00017447164
$GPS1,215616,4806.864,-12222.905,10,3.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.1
$GPS2,220034,4806.826,-12222.895,12,99.0,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,0.115
$KALMAN_X,-106.3,-101.0,-95.9,648.0,-6.4
$KALMAN_Y,-62.9,22.5,44.5,-980.3,-28.3
$MHEAD_RNG_PITCHd_Wd,322.4,348,-26.2,-6.944
$D_GRID,103
$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
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.80,-37.8,0.0,0.0,0,106,0.00,0.00,-87.05,0.000,2,0.000,0.000,481,2327,2700,0,0,0,0,0,0
$GC,109,-1.83,-68.7,3.3,-3.1,11,167,9.05,2.30,-41.65,0.000,4,0.171,0.065,2092,3687,3799,0,0,0,0,0,0
$GC,468,-1.84,-71.3,23.6,-6.6,63,478,0.00,2.30,-0.17,0.000,6,0.000,0.031,2092,2288,3811,0,0,0,0,0,0
$GC,562,-1.84,-71.3,30.5,-7.5,76,572,0.00,2.40,0.00,0.000,4,0.000,0.053,2092,3684,3811,0,0,0,0,0,0
$GC,590,-1.84,-71.3,32.9,-7.6,79,600,0.00,2.28,0.00,0.000,6,0.000,0.031,2092,2294,3811,0,0,0,0,0,0
$GC,679,-1.84,-71.3,40.6,-8.4,92,688,0.00,2.40,0.00,0.000,4,0.000,0.054,2092,3684,3811,0,0,0,0,0,0
$GC,770,-1.84,-71.3,48.7,-9.4,106,779,0.00,2.25,0.00,0.000,6,0.000,0.031,2092,2308,3811,0,0,0,0,0,0
$GC,932,-1.84,-71.3,62.3,-8.5,131,937,0.00,2.33,0.00,0.000,4,0.000,0.054,2092,3684,3811,0,0,0,0,0,0
$GC,1097,-1.84,-71.3,77.0,-8.7,157,1103,0.00,2.25,0.00,0.000,6,0.000,0.030,2092,2294,3811,0,0,0,0,0,0
$GC,1255,-1.84,-71.3,89.6,-7.4,182,1264,0.00,2.38,0.00,0.000,4,0.000,0.054,2092,3677,3811,0,0,0,0,0,0
$GC,1403,-1.84,-71.3,100.6,-7.5,205,1409,0.00,2.22,0.00,0.000,6,0.000,0.030,2092,2298,3811,0,0,0,0,0,0
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1438,-0.33,0.0,103.4,7.5,210,1502,1.62,0.00,56.88,0.693,6,0.118,0.000,2419,2298,3519,0,0,0,0,0,0
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1505,1.84,71.3,104.5,0.0,219,1573,2.05,0.00,55.80,0.669,6,0.049,0.000,2904,2298,3227,0,0,0,0,0,0
$GC,1726,1.84,71.3,77.8,14.2,253,1733,0.00,2.38,0.00,0.000,4,0.000,0.058,2904,3683,3227,0,0,0,0,0,0
$GC,1854,1.84,71.3,58.5,14.8,273,1860,0.00,2.28,0.00,0.000,6,0.000,0.034,2904,2307,3226,0,0,0,0,0,0
$GC,2019,1.84,71.3,37.6,12.4,298,2028,0.00,2.38,0.00,0.000,4,0.000,0.057,2904,3675,3227,0,0,0,0,0,0
$GC,2111,1.84,71.3,24.6,14.0,311,2121,0.00,2.30,0.00,0.000,6,0.000,0.035,2904,2299,3226,0,0,0,0,0,0
$GC,2205,1.84,71.3,12.5,12.5,324,2214,0.00,2.40,0.00,0.000,4,0.000,0.055,2904,3685,3226,0,0,0,0,0,0
$GC,2332,1.92,141.2,6.4,-1.7,342,2397,0.00,2.30,53.92,0.610,6,0.000,0.034,2904,2304,2943,0,0,0,0,0,0
$GC,2482,1.98,192.0,5.5,0.7,362,2533,0.12,2.42,40.33,0.601,4,0.078,0.055,2938,3677,2734,0,0,0,0,0,0
$GC,2557,2.04,239.6,4.9,1.1,371,2606,0.00,2.30,38.03,0.594,6,0.000,0.034,2938,2305,2540,0,0,0,0,0,0
$GC,2692,2.11,294.0,4.3,0.2,389,2742,0.00,2.47,43.97,0.598,4,0.000,0.065,2938,894,2318,0,0,0,0,0,0
$STATE,2751,end climb,SURFACE_DEPTH_REACHED
$STATE,2751,begin surface coast
$FINISH,3.5,1.017177
$STATE,3087,end surface coast,CONTROL_FINISHED_OK
$STATE,3087,begin surface
$SM_CCo,3110,232.80,0.581,1,0,1194,570.07
$SM_GC,1.30,0.00,0.00,232.80,0.000,0.000,0.581,485,2280,1194,-9.27,-0.57,570.07
$IRIDIUM_FIX,4748.51,-12240.63,280499,222221
$TT8_MAMPS,0.026845
$HUMID,32.67
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,13.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.4,41.3
$24V_AH,23.8,0.776
$10V_AH,10.2,0.529
$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,23.775,46.650,288.925,232.800,0.000,0.000,0.000,0.000,1.000,0.000,33.937,712.555,235.708,475.984,1889.913,125.302,32.329,1097.205,0.000,1894.907,0.000,5.526,0.000
$DEVICE_MAMPS,171.041,65.195,692.601,580.619,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.072,285.278,351.942,876.362,1663.647,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,38416,446
$CAP_FILE_SIZE,64859,0
$CFSIZE,260165632,216506368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010210,225802,4806.881,-12222.973,7,1.7,8,18.3