version: 66.07
glider: 156
mission: 5
dive: 7
start: 11 10 110 22 8 57
data:
$ID,156
$MISSION,5
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,130
$D_ABORT,1050
$D_NO_BLEED,80
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,62
$T_MISSION,70
$T_ABORT,720
$T_TURN,220
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0276
$MASS,52055
$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,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5630.2998
$TGT_DEFAULT_LON,-535.5
$TGT_AUTO_DEFAULT,0
$SM_CC,570
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,0
$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,-612522.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3900
$C_PITCH,2046
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,217
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,451
$VBD_MAX,3959
$C_VBD,3001
$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,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,-17.204157
$PRESSURE_SLOPE,0.00011457827
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,101
$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,0.0043913
$SEABIRD_T_H,0.00064457668
$SEABIRD_T_I,2.9442117e-05
$SEABIRD_T_J,3.6341848e-06
$SEABIRD_C_G,-10.157008
$SEABIRD_C_H,1.1437986
$SEABIRD_C_I,-0.00075999805
$SEABIRD_C_J,0.00015497212
$GPS1,101110,220106,4806.636,-12222.564,34,0.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.0
$GPS2,101110,220801,4806.583,-12222.501,14,1.1,19,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.210
$KALMAN_X,-365.2,-243.5,-95.7,1764.0,43.0
$KALMAN_Y,11.7,-108.5,-46.3,-2358.4,121.3
$MHEAD_RNG_PITCHd_Wd,138.5,1246,-12.1,-6.989
$D_GRID,130
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,112,0.00,0.00,-92.28,0.000,2,0.000,0.000,154,2281,3132,0,0,0,0,0,0
$GC,115,-0.51,-146.0,3.2,-2.5,13,146,6.93,2.50,-14.60,0.000,4,0.246,0.070,1877,879,3597,0,0,0,0,0,0
$GC,375,-0.51,-146.0,28.8,-11.7,61,383,0.00,2.42,0.00,0.000,6,0.000,0.053,1867,2271,3598,0,0,0,0,0,0
$GC,449,-0.51,-146.0,37.6,-12.4,74,457,0.00,2.42,0.00,0.000,4,0.000,0.056,1868,876,3598,0,0,0,0,0,0
$GC,615,-0.51,-146.0,57.8,-11.4,104,624,0.00,2.42,0.00,0.000,6,0.000,0.052,1857,2278,3598,0,0,0,0,0,0
$GC,756,-0.51,-146.0,74.8,-11.7,129,762,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2276,3598,0,0,0,0,0,0
$GC,892,-0.51,-146.0,91.3,-11.7,154,899,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,2275,3598,0,0,0,0,0,0
$GC,1033,-0.51,-146.0,107.9,-12.0,179,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,2275,3598,0,0,0,0,0,0
$STATE,1088,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1088,begin apogee
$GC,1094,-0.19,0.0,114.7,11.4,189,1210,0.38,0.00,108.53,0.645,6,0.150,0.000,1977,2206,3001,0,0,0,0,0,0
$STATE,1213,end apogee,CONTROL_FINISHED_OK
$STATE,1213,begin climb
$GC,1216,0.51,146.0,120.3,0.0,207,1339,0.70,0.00,113.38,0.622,6,0.111,0.000,2204,2205,2403,0,0,0,0,0,0
$GC,1470,0.51,146.0,96.2,11.6,250,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2205,2397,0,0,0,0,0,0
$GC,1609,0.51,146.0,79.9,11.4,275,1616,0.00,2.25,0.00,0.000,4,0.000,0.057,2204,3639,2396,0,0,0,0,0,0
$GC,1657,0.51,146.0,73.8,13.2,283,1664,0.00,2.22,0.00,0.000,6,0.000,0.050,2214,2226,2397,0,0,0,0,0,0
$GC,1796,0.51,146.0,56.7,12.3,308,1804,0.00,2.47,0.00,0.000,4,0.000,0.059,2226,804,2394,0,0,0,0,0,0
$GC,1832,0.51,146.0,52.2,12.2,314,1840,0.00,2.45,0.00,0.000,6,0.000,0.050,2225,2221,2393,0,0,0,0,0,0
$GC,1971,0.51,146.0,34.8,12.4,339,1980,0.00,2.22,0.00,0.000,4,0.000,0.057,2225,3633,2394,0,0,0,0,0,0
$GC,2003,0.51,146.0,30.5,13.2,344,2012,0.00,2.22,0.00,0.000,6,0.000,0.050,2235,2212,2395,0,0,0,0,0,0
$GC,2077,0.51,146.0,20.6,13.1,357,2085,0.00,2.40,0.00,0.000,4,0.000,0.057,2247,819,2393,0,0,0,0,0,0
$GC,2114,0.51,146.0,15.9,12.9,363,2123,0.10,2.42,0.00,0.000,6,0.151,0.049,2213,2230,2392,0,0,0,0,0,0
$GC,2188,0.51,146.0,8.8,9.0,376,2196,0.00,2.17,0.00,0.000,4,0.000,0.056,2213,3626,2394,0,0,0,0,0,0
$GC,2225,0.51,146.0,5.4,9.2,382,2233,0.00,2.20,0.00,0.000,6,0.000,0.049,2222,2211,2393,0,0,0,0,0,0
$STATE,2265,end climb,SURFACE_DEPTH_REACHED
$STATE,2265,begin surface coast
$FINISH,2.9,1.019450
$STATE,2324,end surface coast,CONTROL_FINISHED_OK
$STATE,2326,begin surface
$SM_CCo,2342,335.05,0.540,1,0,676,570.07
$SM_GC,1.89,0.00,0.00,335.05,0.000,0.000,0.540,147,2290,676,-5.94,0.28,570.07
$IRIDIUM_FIX,4748.51,-12224.57,101110,212100
$TT8_MAMPS,0.026964
$HUMID,33.93
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.5,29.0
$24V_AH,23.9,3.042
$10V_AH,10.3,6.293
$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,13.700,33.050,221.900,335.050,0.000,29.555,29.469,217.930,0.750,0.000,20.098,875.410,204.399,640.873,1219.316,168.153,33.322,1061.030,0.000,952.420,0.000,7.052,0.000
$DEVICE_MAMPS,246.330,98.685,644.895,540.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.644,209.744,692.916,710.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,30507,400
$CAP_FILE_SIZE,51034,0
$CFSIZE,260165632,256778240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,225430,4806.275,-12222.389,8,1.2,12,18.3