version: 66.07
glider: 156
mission: 5
dive: 25
start: 11 11 110 16 23 53
data:
$ID,156
$MISSION,5
$DIVE,25
$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,610
$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,-614351.31
$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,2051
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,111110,161606,4807.876,-12222.683,39,1.1,44,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.4
$GPS2,111110,162256,4807.949,-12222.721,15,1.1,15,18.3
$SPEED_LIMITS,0.070,0.192
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.001,-0.080
$KALMAN_X,-5033.7,130.9,-230.8,5916.4,-341.8
$KALMAN_Y,-3495.5,-675.5,194.6,4004.1,319.4
$MHEAD_RNG_PITCHd_Wd,161.2,358,-38.8,-6.989
$D_GRID,99
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.07,-18.3,0.0,0.0,0,78,0.00,0.00,-58.35,0.000,2,0.000,0.000,155,2286,2128,0,0,0,0,0,0
$GC,82,-1.09,-35.5,3.1,-2.6,9,129,6.28,2.20,-33.53,0.000,4,0.248,0.063,1684,3689,3143,0,0,0,0,0,0
$GC,138,-1.10,-45.1,5.8,-4.5,17,145,0.00,2.17,-1.15,0.000,6,0.000,0.042,1692,2285,3187,0,0,0,0,0,0
$GC,212,-1.11,-54.1,10.3,-4.7,30,220,0.00,2.45,-0.75,0.000,4,0.000,0.061,1703,859,3223,0,0,0,0,0,0
$GC,271,-1.12,-61.6,12.9,-5.1,40,279,0.00,2.45,-0.55,0.000,6,0.000,0.047,1694,2271,3255,0,0,0,0,0,0
$GC,347,-1.12,-61.6,19.6,-10.7,53,354,0.00,2.38,0.00,0.000,4,0.000,0.047,1704,871,3256,0,0,0,0,0,0
$GC,388,-1.12,-61.6,25.2,-13.5,60,396,0.00,2.45,0.00,0.000,6,0.000,0.047,1694,2284,3255,0,0,0,0,0,0
$GC,463,-1.12,-61.6,35.5,-14.5,73,470,0.00,2.40,0.00,0.000,4,0.000,0.049,1703,869,3256,0,0,0,0,0,0
$GC,521,-1.12,-61.6,44.3,-15.2,83,527,0.00,2.40,0.00,0.000,6,0.000,0.048,1693,2281,3256,0,0,0,0,0,0
$GC,662,-1.12,-61.6,66.3,-15.8,108,670,0.00,2.42,0.00,0.000,4,0.000,0.050,1704,878,3255,0,0,0,0,0,0
$GC,784,-1.12,-61.6,85.4,-15.2,129,791,0.00,2.38,0.00,0.000,6,0.000,0.048,1694,2284,3255,0,0,0,0,0,0
$STATE,875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,875,begin apogee
$GC,882,-0.19,0.0,99.9,15.8,145,937,1.00,0.00,47.88,0.643,6,0.200,0.000,1977,2208,3001,0,0,0,0,0,0
$STATE,938,end apogee,CONTROL_FINISHED_OK
$STATE,938,begin climb
$GC,941,1.12,61.6,104.3,0.0,154,997,1.30,2.35,47.67,0.623,4,0.108,0.050,2399,3639,2749,0,0,0,0,0,0
$GC,1035,1.12,61.6,92.8,18.1,169,1042,0.00,2.25,0.00,0.000,6,0.000,0.044,2409,2233,2748,0,0,0,0,0,0
$GC,1179,1.12,61.6,62.6,20.6,194,1185,0.00,2.45,0.00,0.000,4,0.000,0.050,2420,807,2746,0,0,0,0,0,0
$GC,1222,1.12,61.6,53.4,20.6,201,1229,0.00,2.45,0.00,0.000,6,0.000,0.044,2418,2227,2746,0,0,0,0,0,0
$GC,1361,1.12,61.6,27.2,18.3,226,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2225,2746,0,0,0,0,0,0
$GC,1435,1.12,61.6,14.5,16.6,239,1442,0.00,2.42,0.00,0.000,4,0.000,0.050,2428,805,2746,0,0,0,0,0,0
$GC,1593,1.17,101.0,7.2,-3.1,267,1634,0.00,2.40,30.27,0.575,6,0.000,0.044,2426,2230,2587,0,0,0,0,0,0
$GC,1703,1.21,130.0,4.7,-0.4,285,1750,0.00,2.28,32.62,0.395,4,0.000,0.050,2426,3633,2471,0,0,0,0,1,0
$STATE,1886,end climb,NO_VERTICAL_VELOCITY
$STATE,1886,begin surface
$SM_CCo,1889,401.73,0.539,1,0,451,625.50
$SM_GC,1.54,6.30,0.00,0.00,0.039,0.000,0.000,144,2278,446,-5.89,-0.06,626.73
$IRIDIUM_FIX,4748.51,-12226.29,111110,151504
$TT8_MAMPS,0.026964
$HUMID,33.97
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.60
$XPDR_PINGS,1
$24V_AH,23.7,5.133
$10V_AH,10.4,7.568
$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,14.875,42.650,158.450,401.725,0.000,24.907,31.665,226.425,0.250,0.000,15.910,716.092,368.902,669.939,909.011,164.474,33.323,998.268,0.000,635.118,0.000,0.536,0.000
$DEVICE_MAMPS,247.860,93.330,643.365,538.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,211.675,187.155,318.461,519.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323096
$DATA_FILE_SIZE,23686,317
$CAP_FILE_SIZE,47233,0
$CFSIZE,260165632,256090112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,111110,170450,4807.990,-12222.806,13,1.5,13,18.3