version: 66.08
glider: 158
mission: 11
dive: 5
start: 5 3 112 21 4 36
data:
$ID,158
$MISSION,11
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,30
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,50
$COURSE_BIAS,0
$GLIDE_SLOPE,55
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51960
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,45
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$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,-719332.19
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,1880
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,33
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2112
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-40.257854
$PRESSURE_SLOPE,0.0001162534
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$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,0.0043185689
$SEABIRD_T_H,0.00063211145
$SEABIRD_T_I,2.4453147e-05
$SEABIRD_T_J,2.6602299e-06
$SEABIRD_C_G,-9.7588167
$SEABIRD_C_H,1.1098362
$SEABIRD_C_I,-0.00086821435
$SEABIRD_C_J,0.00015583097
$GPS1,030512,210014,4741.518,-12226.272,10,1.5,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.0
$GPS2,030512,210414,4741.480,-12226.318,13,1.6,13,18.2
$SPEED_LIMITS,0.093,0.154
$TGT_NAME,HEADING
$TGT_LATLONG,4749.116,-12214.946
$TGT_RADIUS,1852.000
$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,26.8,20000,-39.2,-13.333
$D_GRID,170
$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,15,-1.20,-48.9,0.0,0.0,0,90,0.00,0.00,-73.32,0.000,2,0.000,0.000,134,2032,2066,0,0,0,0,0,0
$GC,93,-1.20,-48.9,3.3,-5.6,9,110,5.47,0.00,-7.68,0.000,6,0.262,0.000,1495,2030,2315,0,0,0,0,0,0
$GC,148,-1.20,-48.9,12.6,-20.4,17,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2318,0,0,0,0,0,0
$GC,195,-1.20,-48.9,23.3,-23.8,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2319,0,0,0,0,0,0
$GC,241,-1.20,-48.9,34.5,-24.6,31,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2319,0,0,0,0,0,0
$GC,286,-1.20,-48.9,45.0,-21.6,38,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2031,2319,0,0,0,0,0,0
$GC,331,-1.20,-48.9,53.1,-17.6,45,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2031,2319,0,0,0,0,0,0
$GC,372,-1.20,-48.9,61.5,-20.5,52,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2318,0,0,0,0,0,0
$GC,417,-1.20,-48.9,70.2,-20.3,59,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2319,0,0,0,0,0,0
$GC,460,-1.20,-48.9,79.0,-19.4,66,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2318,0,0,0,0,0,0
$GC,508,-1.20,-48.9,88.3,-20.2,73,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2318,0,0,0,0,0,0
$GC,550,-1.20,-48.9,97.2,-19.1,80,558,0.00,0.00,0.00,0.000,6,0.000,0.000,1496,2030,2318,0,0,0,0,0,0
$GC,597,-1.20,-48.9,105.3,-19.1,87,603,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2318,0,0,0,0,0,0
$GC,640,-1.20,-48.9,114.0,-19.8,94,649,0.00,0.00,0.00,0.000,6,0.000,0.000,1495,2030,2318,0,0,0,0,0,0
$STATE,674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,674,begin apogee
$GC,678,-0.15,0.0,120.5,20.0,99,727,1.17,0.05,44.30,0.849,6,0.210,0.134,1827,2020,2111,0,0,0,0,0,0
$STATE,728,end apogee,CONTROL_FINISHED_OK
$STATE,728,begin climb
$GC,730,1.20,48.9,125.8,0.0,106,779,1.30,0.00,42.53,0.816,6,0.105,0.000,2267,2020,1911,0,0,0,0,0,0
$GC,817,1.21,64.5,118.8,10.5,119,837,0.00,0.00,13.95,0.767,6,0.000,0.000,2267,2019,1848,0,0,0,0,0,0
$GC,873,1.21,64.5,111.3,14.7,128,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1846,0,0,0,0,0,0
$GC,918,1.21,64.5,105.2,14.0,135,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1846,0,0,0,0,0,0
$GC,961,1.21,64.5,98.8,14.0,142,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1845,0,0,0,0,0,0
$GC,1006,1.21,64.5,92.6,14.6,149,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1845,0,0,0,0,0,0
$GC,1048,1.21,64.5,86.3,14.4,156,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2019,1844,0,0,0,0,0,0
$GC,1094,1.21,69.7,80.5,12.4,163,1108,0.00,0.00,5.62,0.631,6,0.000,0.000,2267,2020,1826,0,0,0,0,0,0
$GC,1145,1.21,69.7,73.6,13.9,171,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2019,1825,0,0,0,0,0,0
$GC,1188,1.21,69.7,67.6,13.5,178,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1825,0,0,0,0,0,0
$GC,1233,1.21,69.7,61.7,13.9,185,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1825,0,0,0,0,0,0
$GC,1275,1.21,69.7,55.7,14.2,192,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1825,0,0,0,0,0,0
$GC,1321,1.21,70.5,49.8,13.2,199,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2020,1824,0,0,0,0,0,0
$GC,1361,1.21,70.5,43.6,15.0,206,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1824,0,0,0,0,0,0
$GC,1407,1.21,72.9,37.4,12.9,213,1416,0.00,0.00,4.03,0.521,6,0.000,0.000,2267,2020,1814,0,0,0,0,0,0
$GC,1455,1.21,86.4,32.3,10.9,220,1472,0.00,0.00,12.75,0.737,6,0.000,0.000,2267,2020,1758,0,0,0,0,0,0
$GC,1510,1.21,90.5,25.5,12.6,228,1519,0.00,0.00,4.72,0.559,6,0.000,0.000,2267,2020,1743,0,0,0,0,0,0
$GC,1558,1.21,90.9,19.4,13.3,235,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2020,1742,0,0,0,0,0,0
$GC,1604,1.22,104.8,14.1,10.8,242,1622,0.00,0.00,13.32,0.728,6,0.000,0.000,2267,2020,1683,0,0,0,0,0,0
$GC,1660,1.22,110.9,7.5,12.2,250,1669,0.00,0.00,6.20,0.617,6,0.000,0.000,2267,2020,1660,0,0,0,0,0,0
$STATE,1700,end climb,SURFACE_DEPTH_REACHED
$STATE,1700,begin surface coast
$FINISH,1.3,1.020976
$STATE,1732,end surface coast,CONTROL_FINISHED_OK
$STATE,1732,begin surface
$SM_CCo,1745,136.52,0.728,1,0,969,280.13
$SM_GC,1.33,0.00,0.00,136.52,0.000,0.000,0.728,109,2021,969,-5.54,-0.82,280.13
$IRIDIUM_FIX,4722.92,-12226.07,030512,202033
$TT8_MAMPS,0.026215
$HUMID,37.39
$INTERNAL_PRESSURE,9.0245
$TCM_TEMP,13.40
$XPDR_PINGS,2
$24V_AH,24.2,1.842
$10V_AH,10.4,0.851
$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,14.300,0.125,147.425,136.525,0.000,0.000,0.000,0.000,2.750,0.000,13.996,615.575,117.637,397.300,777.271,49.015,0.000,767.781,0.000,775.295,0.000,14.891,0.000
$DEVICE_MAMPS,262.395,133.875,849.150,728.280,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.104,119.572,594.920,95.051,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,17021,261
$CAP_FILE_SIZE,98835,0
$CFSIZE,260165632,240193536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030512,213706,4741.292,-12226.314,12,1.1,28,18.2