version: 66.07
glider: 505
mission: 2
dive: 11
start: 12 15 109 4 56 4
data:
$ID,505
$MISSION,2
$DIVE,11
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,43
$T_MISSION,70
$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,200
$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,500
$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,-22163.314
$T_RSLEEP,8
$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,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,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,41
$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
$GPS1,151209,045007,4807.263,-12223.257,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.2
$GPS2,151209,045507,4807.282,-12223.296,12,1.8,17,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,0.261
$KALMAN_X,-968.6,-322.1,198.6,-1541.3,-12.7
$KALMAN_Y,-1173.1,-28.6,-130.5,5628.9,-359.6
$MHEAD_RNG_PITCHd_Wd,325.7,1589,-11.7,-7.984
$D_GRID,103
$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,-0.63,-194.7,0.0,0.0,0,62,0.00,0.00,-45.30,0.000,2,0.000,0.000,108,1915,2027,0,0,0,0,0,0
$GC,64,-0.63,-194.7,3.3,-6.7,11,117,11.73,2.38,-33.05,0.000,4,0.288,0.068,2624,481,3604,0,0,0,0,0,0
$GC,367,-0.63,-194.7,51.7,-15.0,77,373,0.00,2.25,0.00,0.000,6,0.000,0.047,2624,1888,3605,0,0,0,0,0,0
$GC,410,-0.63,-194.7,57.9,-14.6,86,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3606,0,0,0,0,0,0
$GC,452,-0.63,-194.7,64.1,-14.6,95,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1889,3606,0,0,0,0,0,0
$GC,494,-0.63,-194.7,69.9,-13.7,104,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3605,0,0,0,0,0,0
$GC,535,-0.63,-194.7,75.9,-14.6,113,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3606,0,0,0,0,0,0
$GC,577,-0.63,-194.7,81.7,-14.1,122,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3605,0,0,0,0,0,0
$GC,619,-0.63,-194.7,87.3,-13.5,131,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3605,0,0,0,0,0,0
$GC,660,-0.63,-194.7,92.9,-13.2,140,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3605,0,0,0,0,0,0
$GC,702,-0.63,-194.7,98.3,-12.9,149,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1889,3605,0,0,0,0,0,0
$STATE,738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,739,begin apogee
$GC,742,-0.17,0.0,103.1,12.8,157,815,0.45,0.00,68.65,1.254,6,0.145,0.000,2772,1687,2807,0,0,0,0,0,0
$STATE,816,end apogee,CONTROL_FINISHED_OK
$STATE,816,begin climb
$GC,818,0.63,194.7,106.4,0.0,174,896,0.80,2.42,70.47,1.213,4,0.111,0.046,3031,3112,2011,0,0,0,0,0,0
$GC,901,0.63,194.7,97.1,15.3,193,907,0.00,2.38,0.00,0.000,6,0.000,0.044,3041,1706,2009,0,0,0,0,0,0
$GC,944,0.63,194.7,89.9,18.1,202,949,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2009,0,0,0,0,0,0
$GC,986,0.63,194.7,82.6,18.0,211,991,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2009,0,0,0,0,0,0
$GC,1028,0.63,194.7,75.1,17.9,220,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2008,0,0,0,0,0,0
$GC,1070,0.63,194.7,67.9,17.5,229,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2008,0,0,0,0,0,0
$GC,1112,0.63,194.7,60.6,17.8,238,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2008,0,0,0,0,0,0
$GC,1154,0.63,194.7,54.2,15.6,247,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2008,0,0,0,0,0,0
$GC,1196,0.63,194.7,46.8,16.6,256,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2009,0,0,0,0,0,0
$GC,1237,0.63,194.7,40.2,16.0,265,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2008,0,0,0,0,0,0
$GC,1279,0.63,194.7,33.8,15.5,274,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2009,0,0,0,0,0,0
$GC,1321,0.63,194.7,27.5,15.2,283,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1706,2008,0,0,0,0,0,0
$GC,1364,0.63,194.7,21.5,14.4,292,1369,0.00,2.25,0.00,0.000,4,0.000,0.047,3041,3124,2008,0,0,0,0,0,0
$GC,1407,0.63,194.7,14.3,16.4,301,1412,0.00,2.28,0.00,0.000,6,0.000,0.046,3049,1699,2008,0,0,0,0,0,0
$GC,1449,0.63,194.7,7.9,15.1,310,1455,0.00,2.25,0.00,0.000,4,0.000,0.054,3056,282,2008,0,0,0,0,0,0
$FREEZE,4.83,5.618,-1.343,0,1,0
$FREEZE,4.52,5.570,-1.314,0,1,0
$FREEZE,4.16,5.480,-1.296,0,1,0
$FREEZE,3.90,5.474,-1.278,0,1,0
$GC,1718,0.98,480.7,6.3,0.0,368,1817,0.25,2.25,91.28,0.734,2,0.072,0.042,3163,1716,906,0,0,0,0,0,0
$STATE,1817,end climb,SURFACE_DEPTH_REACHED
$STATE,1818,begin surface coast
$FREEZE,3.50,5.421,-1.259,0,1,0
$FREEZE,3.30,5.317,-1.257,0,1,0
$FREEZE,2.96,5.315,-1.259,0,1,0
$FREEZE,2.90,5.297,-1.263,0,1,0
$FREEZE,2.67,5.301,-1.265,0,1,0
$FREEZE,2.58,5.316,-1.265,0,1,0
$FREEZE,2.58,5.304,-1.266,0,1,0
$FREEZE,2.50,5.311,-1.266,0,1,0
$FINISH,2.5,1.018381
$STATE,1851,end surface coast,CONTROL_FINISHED_OK
$STATE,1851,begin surface
$SM_CCo,1866,11.62,0.155,0,0,764,500.16
$SM_GC,1.16,0.00,0.00,11.62,0.000,0.000,0.155,112,1908,764,-8.51,0.23,500.16
$IRIDIUM_FIX,4751.72,-12226.29,090611,222204
$TT8_MAMPS,0.028379
$HUMID,1077306434
$INTERNAL_PRESSURE,8.95623
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.6,14.691
$10V_AH,10.5,4.891
$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,21.800,19.050,230.400,11.625,0.000,31.077,25.595,170.857,0.000,0.000,17.592,581.936,452.528,302.826,823.917,38.375,33.333,690.984,0.000,579.873,0.000,0.536,0.000
$DEVICE_MAMPS,288.392,68.263,1254.045,154.934,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324028
$DATA_FILE_SIZE,13487,397
$CAP_FILE_SIZE,52885,0
$CFSIZE,260165632,257622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,052828,4807.438,-12223.473,13,4.9,32,18.3