version: 66.07
glider: 33
mission: 23
dive: 5
start: 8 26 110 22 24 34
data:
$ID,33
$MISSION,23
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,6099
$D_NO_BLEED,200
$D_BOOST,0
$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,50
$T_MISSION,60
$T_ABORT,2880
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,180
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,6084
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,12
$HD_A,0.0048177
$HD_B,0.011392
$HD_C,1.0709e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,18.5
$TGT_DEFAULT_LON,-66
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-231172.16
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,146
$VBD_MAX,3959
$C_VBD,2682
$VBD_DBAND,2
$VBD_CNV,-0.29522699
$VBD_TIMEOUT,950
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.047844
$PRESSURE_SLOPE,0.00093601202
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,101
$DEVICE4,-1
$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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,260810,222006,4805.900,-12221.825,41,1.0,46,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-53.8
$GPS2,260810,222350,4805.912,-12221.843,14,1.2,14,18.3
$SPEED_LIMITS,0.100,0.247
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.207
$KALMAN_X,403.5,0.0,0.0,9.5,-52.0
$KALMAN_Y,-372.8,0.0,0.0,-692.1,59.1
$MHEAD_RNG_PITCHd_Wd,128.6,1985,-19.6,-10.000
$D_GRID,110
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-1.41,-146.6,0.0,0.0,0,121,0.00,0.00,-104.53,0.000,2,0.000,0.000,15,2406,2168,0,0,0,0,0,0
$GC,123,-1.41,-146.6,3.5,-5.4,18,188,6.97,0.00,-51.08,0.000,6,0.196,0.000,1334,2404,3178,0,0,0,0,0,0
$GC,255,-1.41,-146.6,16.9,-11.6,41,262,0.00,2.80,0.00,0.000,4,0.000,0.104,1334,978,3178,0,0,0,0,0,0
$GC,335,-1.41,-146.6,27.6,-13.5,50,340,0.00,2.83,0.00,0.000,6,0.000,0.102,1334,2409,3178,0,0,0,0,0,0
$GC,468,-1.41,-146.6,45.3,-13.4,62,473,0.00,2.80,0.00,0.000,4,0.000,0.104,1334,976,3178,0,0,0,0,0,0
$GC,518,-1.41,-146.6,51.8,-13.4,66,523,0.00,2.80,0.00,0.000,6,0.000,0.107,1334,2402,3178,0,0,1,0,0,0
$GC,651,-1.41,-146.6,69.7,-13.3,78,655,0.00,2.78,0.00,0.000,4,0.000,0.112,1334,990,3178,0,0,0,0,0,0
$GC,722,-1.41,-146.6,80.0,-14.2,84,730,0.00,2.78,0.00,0.000,6,0.000,0.107,1334,2399,3178,0,0,1,0,0,0
$GC,856,-1.41,-146.6,97.6,-13.2,97,860,0.00,2.80,0.00,0.000,4,0.000,0.109,1334,985,3178,0,0,0,0,0,0
$GC,932,-1.41,-146.6,108.3,-14.6,103,940,0.00,2.83,0.00,0.000,6,0.000,0.109,1334,2402,3178,0,0,1,0,0,0
$STATE,949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,949,begin apogee
$GC,953,-0.31,0.0,110.5,13.6,105,1062,1.08,0.00,101.20,0.867,6,0.127,0.000,1574,1899,2682,0,0,0,0,0,0
$STATE,1062,end apogee,CONTROL_FINISHED_OK
$STATE,1062,begin climb
$GC,1064,1.41,146.6,115.6,0.0,116,1176,1.65,3.00,102.72,0.842,4,0.094,0.122,1956,3315,2184,0,0,0,0,0,0
$GC,1245,1.59,292.5,115.0,3.3,133,1356,0.17,2.85,100.78,0.827,6,0.092,0.099,2005,1895,1691,0,0,0,0,0,0
$GC,1480,1.59,292.5,90.1,13.9,155,1485,0.00,2.83,0.00,0.000,4,0.000,0.112,2005,481,1690,0,0,0,0,0,0
$GC,1722,1.59,292.5,55.8,14.9,176,1726,0.00,2.78,0.00,0.000,6,0.000,0.102,2005,1903,1690,0,0,1,0,0,0
$GC,1855,1.59,292.5,38.4,12.8,188,1859,0.00,2.80,0.00,0.000,4,0.000,0.112,2005,486,1690,0,0,0,0,0,0
$GC,1950,1.59,292.5,25.7,13.6,196,1954,0.00,2.78,0.00,0.000,6,0.000,0.104,2006,1906,1690,0,0,1,0,0,0
$GC,2088,1.59,292.5,9.0,12.1,216,2095,0.00,2.83,0.00,0.000,4,0.000,0.112,2005,486,1690,0,0,0,0,0,0
$STATE,2139,end climb,SURFACE_DEPTH_REACHED
$STATE,2139,begin surface coast
$FINISH,1.5,1.019463
$STATE,2179,end surface coast,CONTROL_FINISHED_OK
$STATE,2179,begin surface
$SM_CCo,2196,144.93,0.777,0,0,988,500.11
$SM_GC,1.15,0.00,0.00,144.93,0.000,0.000,0.777,20,2415,988,-7.50,0.45,500.11
$IRIDIUM_FIX,4745.30,-12220.12,260810,212100
$TT8_MAMPS,0.021721
$HUMID,56.93
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,20.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.5
$24V_AH,24.8,38.522
$10V_AH,10.4,13.570
$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,18.150,47.100,304.700,144.925,0.000,29.730,36.475,91.163,2.000,0.000,15.513,527.898,803.913,566.097,661.708,46.091,0.471,887.113,0.000,460.692,0.000,13.265,0.000
$DEVICE_MAMPS,196.157,121.667,866.567,777.179,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,AA4330,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,152.347,0.000,354.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323948
$DATA_FILE_SIZE,13586,232
$CAP_FILE_SIZE,43725,0
$CFSIZE,260280320,251244544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,260810,230436,4805.763,-12221.767,11,1.3,27,18.3