version: 66.07
glider: 156
mission: 5
dive: 24
start: 11 11 110 15 33 19
data:
$ID,156
$MISSION,5
$DIVE,24
$D_SURF,4
$D_FLARE,3
$D_TGT,130
$D_ABORT,1050
$D_NO_BLEED,80
$D_BOOST,5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,62
$T_MISSION,70
$T_ABORT,720
$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,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0276
$MASS,52055
$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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5630.2998
$TGT_DEFAULT_LON,-535.5
$TGT_AUTO_DEFAULT,0
$SM_CC,570
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-614350.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3900
$C_PITCH,2046
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,3001
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.204157
$PRESSURE_SLOPE,0.00011457827
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043913
$SEABIRD_T_H,0.00064457668
$SEABIRD_T_I,2.9442117e-05
$SEABIRD_T_J,3.6341848e-06
$SEABIRD_C_G,-10.157008
$SEABIRD_C_H,1.1437986
$SEABIRD_C_I,-0.00075999805
$SEABIRD_C_J,0.00015497212
$GPS1,111110,152502,4807.596,-12222.726,14,1.4,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.0
$GPS2,111110,153220,4807.676,-12222.793,14,1.4,14,18.3
$SPEED_LIMITS,0.070,0.192
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.108,0.079
$KALMAN_X,-5101.9,230.4,-38.6,5606.4,-572.0
$KALMAN_Y,-3301.4,-963.9,16.0,3769.0,368.9
$MHEAD_RNG_PITCHd_Wd,35.6,652,-24.0,-6.989
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.71,-44.9,0.0,0.0,0,95,0.00,0.00,-77.05,0.000,2,0.000,0.000,148,2271,2343,0,0,0,0,0,0
$GC,98,-0.74,-76.5,3.7,-3.7,12,146,6.72,2.28,-31.10,0.000,4,0.249,0.068,1788,3690,3315,0,0,0,0,0,0
$GC,390,-0.74,-76.5,29.1,-12.2,64,398,0.00,2.20,0.00,0.000,6,0.000,0.044,1790,2276,3315,0,0,0,0,0,0
$GC,466,-0.74,-76.5,38.7,-13.4,77,472,0.00,2.20,0.00,0.000,4,0.000,0.055,1781,3696,3315,0,0,0,0,0,0
$GC,514,-0.74,-76.5,45.5,-14.2,85,521,0.00,2.17,0.00,0.000,6,0.000,0.045,1781,2282,3315,0,0,0,0,0,0
$GC,654,-0.74,-76.5,65.8,-14.6,110,660,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2280,3315,0,0,0,0,0,0
$GC,795,-0.74,-76.5,85.7,-14.5,135,801,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,2280,3315,0,0,0,0,0,0
$STATE,918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,918,begin apogee
$GC,924,-0.19,0.0,103.2,13.9,157,991,0.65,0.00,58.58,0.648,6,0.177,0.000,1975,2203,3001,0,0,0,0,0,0
$STATE,992,end apogee,CONTROL_FINISHED_OK
$STATE,992,begin climb
$GC,994,0.74,76.5,107.9,0.0,168,1063,0.93,2.40,59.38,0.627,4,0.110,0.054,2274,3644,2688,0,0,0,0,0,0
$GC,1073,0.74,76.5,102.1,10.1,180,1081,0.00,2.33,0.00,0.000,6,0.000,0.046,2283,2228,2688,0,0,0,0,0,0
$GC,1217,0.74,76.5,80.1,14.8,205,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2226,2685,0,0,0,0,0,0
$GC,1357,0.74,76.5,59.0,14.3,230,1364,0.00,2.20,0.00,0.000,4,0.000,0.054,2283,3638,2684,0,0,0,0,0,0
$GC,1395,0.74,76.5,53.3,15.7,236,1402,0.00,2.22,0.00,0.000,6,0.000,0.045,2293,2221,2684,0,0,0,0,0,0
$GC,1537,0.74,76.5,31.4,14.9,261,1544,0.00,2.42,0.00,0.000,4,0.000,0.052,2305,797,2683,0,0,0,0,0,0
$GC,1552,0.74,76.5,29.2,14.1,263,1559,0.00,2.42,0.00,0.000,6,0.000,0.047,2305,2226,2683,0,0,0,0,0,0
$GC,1625,0.74,76.5,18.9,13.2,276,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2225,2683,0,0,0,0,0,0
$GC,1700,0.74,76.5,9.6,11.7,289,1707,0.00,2.17,0.00,0.000,4,0.000,0.053,2305,3640,2683,0,0,0,0,0,0
$GC,1952,0.81,130.9,5.9,1.3,335,1999,0.00,2.17,41.50,0.577,6,0.000,0.044,2315,2202,2467,0,0,0,0,0,0
$GC,2067,0.90,204.4,4.4,-0.7,354,2141,0.00,0.00,66.15,0.485,2,0.000,0.000,2315,2201,2169,0,0,0,0,1,0
$STATE,2142,end climb,SURFACE_DEPTH_REACHED
$STATE,2142,begin surface coast
$FINISH,3.9,1.020668
$STATE,2165,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2165,begin surface
$SM_CCo,2182,296.92,0.535,1,0,677,570.07
$SM_GC,1.74,0.00,0.00,296.92,0.000,0.000,0.535,155,2287,677,-5.91,0.20,570.07
$IRIDIUM_FIX,4748.51,-12226.29,111110,141413
$TT8_MAMPS,0.026964
$HUMID,33.18
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.8,5.031
$10V_AH,10.4,7.523
$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,14.500,27.425,225.600,296.925,0.000,27.310,29.106,246.125,0.000,0.000,15.070,800.848,331.047,609.544,1026.195,167.677,33.311,985.605,0.000,731.778,0.000,0.535,0.000
$DEVICE_MAMPS,248.625,99.450,647.955,535.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.178,208.840,361.770,587.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323172
$DATA_FILE_SIZE,27102,369
$CAP_FILE_SIZE,47286,0
$CFSIZE,260165632,256118784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,161606,4807.876,-12222.683,39,1.1,44,18.3