version: 66.06
glider: 503
mission: 5
dive: 266
start: 5 10 110 7 53 40
data:
$ID,503
$MISSION,5
$DIVE,266
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1070
$D_NO_BLEED,200
$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,60
$T_MISSION,90
$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,120
$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,-15443.314
$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,41
$R_STBD_OVSHOOT,51
$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,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,074852,3647.318,-12151.153,8,2.2,27,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.2
$GPS2,075334,3647.329,-12151.169,8,2.4,27,14.8
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,PICKUP
$TGT_LATLONG,3647.400,-12151.500
$TGT_RADIUS,400.000
$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,270.2,508,-27.2,-10.000
$D_GRID,218
$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,12,-0.81,-63.0,0.0,0.0,0,52,0.00,0.00,-38.45,0.000,2,0.000,0.000,166,1746,2665,0,0,0,0,0,0
$GC,54,-0.84,-86.2,3.0,-7.5,7,80,8.30,2.15,-12.18,0.000,4,0.202,0.051,2421,394,3145,0,0,0,0,0,0
$GC,135,-0.78,-86.2,17.7,-21.2,22,140,0.10,2.15,0.00,0.000,6,0.137,0.031,2446,1794,3147,0,0,0,0,0,0
$GC,461,-0.84,-86.2,67.1,-15.6,83,467,0.00,2.20,0.00,0.000,4,0.000,0.037,2446,395,3147,0,0,0,0,0,0
$GC,498,-0.84,-86.2,73.0,-15.5,90,505,0.00,2.15,0.00,0.000,6,0.000,0.024,2437,1810,3147,0,0,0,0,0,0
$GC,825,-0.89,-86.2,122.0,-15.2,151,831,0.00,2.20,0.00,0.000,4,0.000,0.036,2437,401,3148,0,0,0,0,0,0
$GC,868,-0.89,-86.2,128.7,-15.7,159,875,0.00,2.12,0.00,0.000,6,0.000,0.023,2427,1811,3148,0,0,0,0,0,0
$STATE,1188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1188,begin apogee
$GC,1192,-0.14,0.0,180.2,15.4,219,1260,0.68,0.00,65.12,0.663,6,0.118,0.000,2653,1734,2792,0,0,0,0,0,0
$STATE,1260,end apogee,CONTROL_FINISHED_OK
$STATE,1260,begin climb
$GC,1262,0.84,86.2,183.4,0.0,232,1335,0.85,2.33,67.12,0.639,4,0.065,0.028,2970,3152,2439,0,0,0,0,0,0
$GC,1372,0.95,171.1,184.1,1.0,253,1446,0.00,2.22,68.03,0.634,6,0.000,0.025,2981,1759,2093,0,0,0,0,0,0
$GC,1767,1.00,171.1,147.5,11.2,327,1773,0.12,2.20,0.00,0.000,4,0.083,0.029,3064,3150,2089,0,0,0,0,0,0
$GC,1804,0.93,171.1,142.6,13.6,334,1810,0.22,2.20,0.00,0.000,6,0.142,0.036,3004,1749,2087,0,0,0,0,0,0
$GC,2130,0.93,171.1,103.6,12.7,395,2137,0.00,2.17,0.00,0.000,4,0.000,0.028,3004,3150,2087,0,0,0,0,0,0
$GC,2168,0.93,171.1,98.7,13.4,402,2175,0.00,2.17,0.00,0.000,6,0.000,0.033,3013,1754,2086,0,0,0,0,0,0
$GC,2495,0.93,171.1,58.7,11.2,463,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,1754,2086,0,0,0,0,0,0
$GC,2820,0.97,171.1,19.8,11.4,524,2826,0.00,2.15,0.00,0.000,4,0.000,0.029,3013,3144,2085,0,0,0,0,0,0
$GC,2847,0.99,186.1,17.5,8.4,529,2863,0.00,2.15,11.52,0.553,6,0.000,0.027,3023,1749,2032,0,0,0,0,0,0
$STATE,3000,end climb,SURFACE_DEPTH_REACHED
$STATE,3000,begin surface coast
$FINISH,0.3,1.013663
$STATE,3027,end surface coast,CONTROL_FINISHED_OK
$STATE,3027,begin surface
$SM_CCo,3040,34.42,0.556,0,0,1771,250.20
$SM_GC,1.53,0.00,0.00,34.42,0.000,0.000,0.556,173,1749,1771,-7.90,-1.44,250.20
$IRIDIUM_FIX,3634.97,-12149.49,040899,060613
$TT8_MAMPS,0.052923
$HUMID,54.60
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,15.50
$XPDR_PINGS,98
$24V_AH,24.3,35.179
$10V_AH,9.7,55.713
$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,17.525,30.650,211.800,34.425,0.000,23.517,30.651,122.381,24.500,0.000,30.425,0.000,1317.021,235.167,1491.245,304.326,0.000,724.568,0.000,1309.063,0.000,0.994,0.000
$DEVICE_MAMPS,202.488,98.176,663.455,556.075,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,385.473,1307.657,1189.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,247408
$DATA_FILE_SIZE,38081,563
$CAP_FILE_SIZE,54029,0
$CFSIZE,260165632,228593664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100510,084544,3647.326,-12151.600,29,1.9,29,14.8