version: 66.06
glider: 503
mission: 5
dive: 14
start: 3 19 110 18 56 4
data:
$ID,503
$MISSION,5
$DIVE,14
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1070
$D_NO_BLEED,100
$D_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,150
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$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,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8611.8301
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-51.589809
$PRESSURE_SLOPE,0.00011732637
$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,350
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,185052,3646.186,-12159.753,9,4.8,28,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.2
$GPS2,185558,3646.178,-12159.731,13,4.5,32,14.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,3646.000,-12212.000
$TGT_RADIUS,2000.000
$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,254.2,18205,-17.5,-10.000
$D_GRID,678
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.65,-146.0,0.0,0.0,0,62,0.00,0.00,-48.85,0.000,2,0.000,0.000,196,1753,2756,0,0,0,0,0,0
$GC,63,-0.65,-146.0,3.3,-8.2,9,90,8.68,2.12,-13.90,0.000,4,0.223,0.054,2485,391,3388,0,0,0,0,0,0
$GC,244,-0.65,-146.0,36.5,-15.5,43,251,0.00,2.15,0.00,0.000,6,0.000,0.029,2478,1791,3390,0,0,0,0,0,0
$GC,571,-0.65,-146.0,79.8,-13.9,104,577,0.00,2.20,0.00,0.000,4,0.000,0.037,2467,3204,3391,0,0,0,0,0,0
$GC,603,-0.65,-146.0,84.0,-13.1,110,610,0.00,2.17,0.00,0.000,6,0.000,0.031,2467,1797,3391,0,0,0,0,0,0
$GC,929,-0.65,-146.0,128.5,-13.6,171,936,0.00,2.17,0.00,0.000,4,0.000,0.044,2471,398,3391,0,0,0,0,0,0
$GC,962,-0.65,-146.0,133.2,-14.5,177,968,0.00,2.12,0.00,0.000,6,0.000,0.028,2463,1804,3391,0,0,0,0,0,0
$GC,1288,-0.65,-146.0,180.5,-13.7,238,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1804,3391,0,0,0,0,0,0
$GC,1612,-0.65,-146.0,224.4,-13.8,283,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1805,3392,0,0,0,0,0,0
$GC,1923,-0.65,-146.0,266.9,-12.9,313,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1805,3392,0,0,0,0,0,0
$GC,2233,-0.65,-146.0,309.2,-13.0,343,2237,0.00,2.17,0.00,0.000,4,0.000,0.043,2462,401,3391,0,0,0,0,0,0
$GC,2254,-0.65,-146.0,312.1,-13.9,345,2258,0.08,2.10,0.00,0.000,6,0.118,0.028,2484,1800,3391,0,0,0,0,0,0
$GC,2574,-0.65,-146.0,345.4,-9.8,376,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1802,3391,0,0,0,0,0,0
$STATE,2628,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2628,begin apogee
$GC,2631,-0.14,0.0,350.5,9.7,381,2748,0.50,0.00,110.28,0.769,6,0.103,0.000,2659,1748,2792,0,0,0,0,0,0
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2750,0.65,146.0,355.0,0.0,393,2874,0.70,2.30,118.12,0.740,4,0.055,0.031,2920,3160,2195,0,0,0,0,0,0
$GC,2894,0.65,222.0,354.6,6.5,407,2960,0.00,2.28,61.40,0.724,6,0.000,0.031,2931,1762,1886,0,0,0,0,0,0
$GC,3270,0.59,222.0,307.5,12.8,443,3274,0.15,2.25,0.00,0.000,4,0.144,0.048,2897,350,1877,0,0,0,0,0,0
$GC,3301,0.59,222.0,303.9,11.2,446,3306,0.00,2.17,0.00,0.000,6,0.000,0.027,2897,1757,1876,0,0,0,0,0,0
$GC,3623,0.59,222.0,270.2,11.4,477,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1756,1874,0,0,0,0,0,0
$GC,3933,0.59,222.0,233.9,11.9,507,3937,0.00,2.25,0.00,0.000,4,0.000,0.047,2908,341,1874,0,0,0,0,0,0
$GC,3975,0.59,222.0,228.1,14.6,511,3979,0.00,2.12,0.00,0.000,6,0.000,0.028,2908,1746,1873,0,0,0,0,0,0
$GC,4293,0.59,222.0,189.0,13.0,549,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1748,1872,0,0,0,0,0,0
$GC,4614,0.59,222.0,152.3,11.2,609,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1748,1872,0,0,0,0,0,0
$GC,4935,0.61,234.7,119.3,9.4,669,4948,0.00,2.17,8.85,0.609,4,0.000,0.044,2919,338,1835,0,0,0,0,0,0
$GC,4974,0.61,234.7,115.2,11.5,676,4980,0.00,2.12,0.00,0.000,6,0.000,0.027,2919,1753,1835,0,0,0,0,0,0
$GC,5299,0.61,234.7,80.4,11.4,737,5306,0.00,2.15,0.00,0.000,4,0.000,0.033,2919,3153,1834,0,0,0,0,0,0
$GC,5353,0.61,234.7,74.6,10.5,747,5360,0.08,2.17,0.00,0.000,6,0.127,0.032,2901,1751,1835,0,0,0,0,0,0
$GC,5681,0.70,272.6,44.5,8.2,808,5718,0.00,2.20,30.35,0.593,4,0.000,0.035,2901,3148,1680,0,0,0,0,0,0
$GC,5738,0.82,308.3,39.8,8.4,819,5771,0.10,2.20,29.00,0.571,6,0.054,0.032,2974,1749,1535,0,0,0,0,0,0
$STATE,6047,end climb,SURFACE_DEPTH_REACHED
$STATE,6047,begin surface coast
$FINISH,-0.0,1.025037
$STATE,6068,end surface coast,CONTROL_FINISHED_OK
$STATE,6068,begin surface
$SM_CCo,6140,0.00,0.000,0,0,1535,308.34
$SM_GC,0.77,7.20,0.00,0.00,0.042,0.000,0.000,198,1749,1535,-7.76,-1.41,308.34
$IRIDIUM_FIX,3632.29,-12157.76,130699,171746
$TT8_MAMPS,0.051389
$HUMID,56.34
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.5,6.7
$24V_AH,24.3,6.862
$10V_AH,10.2,6.228
$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,17.475,43.675,358.000,0.000,0.000,22.374,31.260,156.188,0.500,0.000,35.507,0.000,3493.085,367.699,2252.769,317.548,0.000,1081.404,0.000,1959.450,0.000,5.419,0.000
$DEVICE_MAMPS,223.197,143.429,768.534,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,605.948,1940.188,1575.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246376
$DATA_FILE_SIZE,60410,881
$CAP_FILE_SIZE,82233,0
$CFSIZE,260165632,254451712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,203907,3645.826,-12200.874,26,1.2,26,14.8