version: 66.07
glider: 505
mission: 2
dive: 1
start: 12 14 109 21 17 41
data:
$ID,505
$MISSION,2
$DIVE,1
$D_SURF,4
$D_FLARE,2
$D_TGT,45
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,0
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,1.0273
$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,575
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21713.566
$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,2835
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,141209,211408,4804.949,-12221.134,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-77.7
$GPS2,141209,211650,4804.963,-12221.169,13,1.1,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.229
$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,313.5,2179,-17.5,-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,14,-0.62,-146.0,0.0,0.0,0,66,0.00,0.00,-50.03,0.000,2,0.000,0.000,113,1893,1750,0,0,0,0,0,0
$GC,68,-0.62,-146.0,2.2,-4.8,12,138,11.93,2.58,-50.78,0.000,4,0.295,0.069,2626,3483,3401,0,0,0,0,0,0
$GC,401,-0.62,-146.0,42.3,-13.7,85,407,0.00,2.53,0.00,0.000,6,0.000,0.048,2626,1903,3402,0,0,0,0,0,0
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,424,-0.12,0.0,45.1,14.2,89,475,0.52,0.00,46.25,1.054,6,0.174,0.000,2784,1692,2804,0,0,0,0,0,0
$STATE,476,end apogee,CONTROL_FINISHED_OK
$STATE,476,begin climb
$GC,477,0.62,146.0,48.5,0.0,101,534,0.75,2.58,47.92,1.017,4,0.130,0.058,3034,186,2209,0,0,0,0,0,0
$GC,598,0.62,146.0,35.7,14.5,128,604,0.00,2.45,0.00,0.000,6,0.000,0.044,3034,1693,2208,0,0,0,0,0,0
$GC,641,0.62,146.0,29.3,14.9,137,646,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1693,2205,0,0,0,0,0,0
$GC,683,0.62,146.0,23.0,15.1,146,688,0.00,2.58,0.00,0.000,4,0.000,0.050,3034,3288,2205,0,0,0,0,0,0
$GC,721,0.62,146.0,17.2,15.4,154,726,0.00,2.58,0.00,0.000,6,0.000,0.047,3045,1699,2203,0,0,0,0,0,0
$GC,764,0.62,146.0,10.9,14.6,163,768,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1698,2203,0,0,0,0,0,0
$GC,805,0.62,146.0,5.3,12.9,172,811,0.00,2.47,0.00,0.000,4,0.000,0.058,3046,179,2204,0,0,0,0,0,0
$GC,1074,0.91,385.8,6.4,-1.1,230,1157,0.22,2.40,75.15,0.754,2,0.079,0.044,3138,1707,1231,0,0,0,0,0,0
$STATE,1158,end climb,SURFACE_DEPTH_REACHED
$STATE,1158,begin surface coast
$FREEZE,2.93,5.512,-1.317,0,1,0
$FREEZE,2.73,5.449,-1.317,0,1,0
$FREEZE,2.56,5.382,-1.317,0,1,0
$FREEZE,2.48,5.289,-1.318,0,1,0
$FINISH,2.5,1.019127
$STATE,1185,end surface coast,CONTROL_FINISHED_OK
$STATE,1185,begin surface
$SM_CCo,1199,64.25,0.709,0,0,459,575.46
$SM_GC,1.22,0.00,0.00,64.25,0.000,0.000,0.709,116,1908,459,-8.50,0.23,575.46
$IRIDIUM_FIX,4748.51,-12219.12,090611,151525
$TT8_MAMPS,0.029146
$HUMID,1077350305
$INTERNAL_PRESSURE,8.9367
$TCM_TEMP,18.60
$XPDR_PINGS,6
$24V_AH,24.1,13.886
$10V_AH,10.4,4.644
$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,21.975,20.775,169.325,64.250,0.000,0.000,0.000,0.000,1.500,0.000,14.037,364.671,283.339,288.073,382.354,16.252,29.238,547.915,0.000,379.083,0.000,0.536,0.000
$DEVICE_MAMPS,295.295,69.030,1053.858,708.708,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324164
$DATA_FILE_SIZE,6828,255
$CAP_FILE_SIZE,55559,0
$CFSIZE,260165632,257925120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141209,213932,4805.012,-12221.186,15,1.1,15,18.3