version: 66.07
glider: 505
mission: 2
dive: 43
start: 12 16 109 0 39 59
data:
$ID,505
$MISSION,2
$DIVE,43
$D_SURF,4
$D_FLARE,3
$D_TGT,30
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,1
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52152
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,480
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-5
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22902.678
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3893
$C_PITCH,2915
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,175
$ROLL_MAX,3810
$ROLL_DEG,45
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,2807
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-66.661293
$PRESSURE_SLOPE,0.00011485742
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.80000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$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,0.0042964104
$SEABIRD_T_H,0.00061985431
$SEABIRD_T_I,2.235871e-05
$SEABIRD_T_J,2.3254006e-06
$SEABIRD_C_G,-9.7945118
$SEABIRD_C_H,1.1383005
$SEABIRD_C_I,-0.0013506444
$SEABIRD_C_J,0.00018750974
$GPS1,161209,003408,4806.949,-12222.906,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.4
$GPS2,161209,003902,4806.974,-12222.935,12,1.9,12,18.3
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.188
$KALMAN_X,-8542.0,-1825.9,-211.0,8395.7,-103.2
$KALMAN_Y,3122.4,1271.3,333.2,-1004.7,137.0
$MHEAD_RNG_PITCHd_Wd,126.2,4369,-4.6,-5.000
$D_GRID,30
$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,-0.42,-214.2,0.0,0.0,0,68,0.00,0.00,-50.58,0.000,2,0.000,0.000,109,1717,2186,0,0,0,0,0,0
$GC,70,-0.42,-214.2,3.1,-4.7,12,124,12.12,2.55,-35.80,0.000,4,0.280,0.062,2773,3281,3680,0,0,0,0,0,0
$GC,139,-0.42,-214.2,10.1,-8.9,27,144,0.00,2.55,0.00,0.000,6,0.000,0.041,2773,1689,3681,0,0,0,0,0,0
$GC,182,-0.42,-214.2,11.9,-5.3,36,187,0.00,2.42,0.00,0.000,4,0.000,0.050,2773,178,3681,0,0,0,0,0,0
$GC,202,-0.42,-214.2,12.9,-4.6,40,207,0.00,2.38,0.00,0.000,6,0.000,0.038,2773,1692,3681,0,0,0,0,0,0
$GC,245,-0.42,-214.2,15.2,-5.3,49,250,0.00,2.55,0.00,0.000,4,0.000,0.048,2773,3288,3681,0,0,0,0,0,0
$GC,352,-0.42,-214.2,22.7,-7.0,72,358,0.00,2.38,0.00,0.000,6,0.000,0.040,2775,1779,3681,0,0,0,0,0,0
$GC,395,-0.42,-214.2,25.4,-6.6,81,401,0.00,2.55,0.00,0.000,4,0.000,0.049,2775,178,3681,0,0,0,0,0,0
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,457,-0.17,0.0,30.1,8.2,93,535,0.25,0.00,72.88,0.920,6,0.093,0.000,2874,1684,2805,0,0,0,0,0,0
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,537,0.42,214.2,34.3,0.0,111,620,0.47,2.67,74.03,0.882,4,0.055,0.044,3062,3263,1930,0,0,0,0,0,0
$GC,676,0.42,214.2,14.9,20.6,142,682,0.10,2.62,0.00,0.000,6,0.196,0.044,3051,1683,1926,0,0,0,0,0,0
$GC,720,0.42,214.2,7.7,17.6,151,725,0.00,2.50,0.00,0.000,4,0.000,0.052,3060,168,1926,0,0,0,0,0,0
$GC,730,0.42,214.2,6.5,16.4,153,736,0.00,2.38,0.00,0.000,6,0.000,0.038,3060,1633,1926,0,0,0,0,0,0
$STATE,772,end climb,SURFACE_DEPTH_REACHED
$STATE,772,begin surface coast
$FINISH,3.2,1.019089
$STATE,834,end surface coast,CONTROL_FINISHED_OK
$STATE,834,begin surface
$SM_CCo,848,89.32,0.157,0,0,848,480.04
$SM_GC,1.37,0.00,0.00,89.32,0.000,0.000,0.157,113,1721,848,-8.76,0.59,480.04
$IRIDIUM_FIX,4751.72,-12214.67,100611,181825
$TT8_MAMPS,0.029146
$HUMID,1077360627
$INTERNAL_PRESSURE,8.95623
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,23.9,16.886
$10V_AH,10.5,5.593
$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,21.175,30.050,146.900,89.325,0.000,31.235,26.517,172.835,0.000,0.000,12.578,272.790,159.529,295.549,500.768,28.081,33.344,501.213,0.000,265.431,0.000,0.995,0.000
$DEVICE_MAMPS,279.955,94.341,920.400,157.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,113.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324108
$DATA_FILE_SIZE,3520,175
$CAP_FILE_SIZE,32786,0
$CFSIZE,260165632,256712704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,005620,4806.936,-12222.913,11,1.5,11,18.3