version: 66.07
glider: 505
mission: 2
dive: 14
start: 12 15 109 6 52 23
data:
$ID,505
$MISSION,2
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,103
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,0
$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,-22228.541
$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,39
$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
$GPS1,151209,064632,4807.942,-12223.760,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.8
$GPS2,151209,065126,4807.976,-12223.781,15,1.0,15,18.3
$SPEED_LIMITS,0.138,0.271
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.109
$KALMAN_X,-1177.8,-195.3,261.2,-2122.6,-59.8
$KALMAN_Y,-1722.4,-128.9,-206.1,7635.5,-218.5
$MHEAD_RNG_PITCHd_Wd,303.5,274,-26.9,-7.984
$D_GRID,105
$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,-0.95,-45.0,0.0,0.0,0,62,0.00,0.00,-45.47,0.000,2,0.000,0.000,109,1909,2018,0,0,0,0,0,0
$GC,64,-0.97,-60.8,3.2,-6.1,11,109,11.20,2.38,-24.25,0.000,4,0.289,0.065,2513,476,3056,0,0,0,0,0,0
$GC,372,-0.97,-60.8,47.4,-15.1,78,378,0.00,2.25,0.00,0.000,6,0.000,0.043,2508,1895,3056,0,0,0,0,0,0
$GC,415,-0.97,-60.8,53.9,-15.2,87,420,0.00,2.25,0.00,0.000,4,0.000,0.051,2508,485,3056,0,0,0,0,0,0
$GC,508,-0.97,-60.8,68.0,-15.6,107,514,0.00,2.25,0.00,0.000,6,0.000,0.045,2508,1902,3056,0,0,0,0,0,0
$GC,551,-0.97,-60.8,74.3,-15.0,116,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1902,3056,0,0,0,0,0,0
$GC,593,-0.97,-60.8,80.4,-14.4,125,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1902,3056,0,0,0,0,0,0
$GC,635,-0.97,-60.8,86.4,-14.4,134,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1903,3056,0,0,0,0,0,0
$GC,677,-0.97,-60.8,92.2,-13.6,143,682,0.00,2.22,0.00,0.000,4,0.000,0.051,2507,3314,3056,0,0,0,0,0,0
$GC,724,-0.97,-60.8,98.9,-14.4,153,730,0.00,2.25,0.00,0.000,6,0.000,0.045,2507,1886,3056,0,0,0,0,0,0
$STATE,756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,757,begin apogee
$GC,760,-0.17,0.0,103.2,12.8,160,787,0.95,0.00,21.30,1.238,6,0.206,0.000,2770,1682,2806,0,0,0,0,0,0
$STATE,788,end apogee,CONTROL_FINISHED_OK
$STATE,788,begin climb
$GC,789,0.97,60.8,104.9,0.0,166,821,1.10,2.40,21.52,1.211,4,0.117,0.045,3136,3111,2558,0,0,0,0,0,0
$GC,835,0.97,60.8,99.8,14.0,176,841,0.00,2.30,0.00,0.000,6,0.000,0.044,3147,1707,2558,0,0,0,0,0,0
$GC,878,0.97,60.8,91.8,19.3,185,883,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1707,2558,0,0,0,0,0,0
$GC,921,0.97,60.8,84.3,18.1,194,926,0.00,2.25,0.00,0.000,4,0.000,0.044,3147,3113,2557,0,0,0,0,0,0
$GC,931,0.97,60.8,82.0,18.6,196,937,0.00,2.28,0.00,0.000,6,0.000,0.042,3157,1698,2558,0,0,0,0,0,0
$GC,974,0.97,60.8,74.1,19.1,205,979,0.00,2.28,0.00,0.000,4,0.000,0.044,3157,3125,2558,0,0,0,0,0,0
$GC,1040,0.97,60.8,61.6,19.5,219,1046,0.10,2.28,0.00,0.000,6,0.259,0.044,3150,1699,2558,0,0,0,0,0,0
$GC,1083,0.97,60.8,53.7,18.1,228,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1700,2558,0,0,0,0,0,0
$GC,1125,0.97,60.8,46.6,16.9,237,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1700,2558,0,0,0,0,0,0
$GC,1167,0.97,60.8,40.1,15.5,246,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1700,2558,0,0,0,0,0,0
$GC,1209,0.97,60.8,33.5,15.4,255,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1699,2557,0,0,0,0,0,0
$GC,1251,0.97,60.8,26.9,16.0,264,1256,0.00,2.22,0.00,0.000,4,0.000,0.044,3150,3113,2558,0,0,0,0,0,0
$GC,1520,1.05,122.7,8.9,0.6,322,1547,0.00,2.22,20.20,0.759,6,0.000,0.042,3158,1694,2302,0,0,0,0,0,0
$GC,1584,1.09,157.1,7.3,3.9,336,1604,0.08,2.33,10.88,0.722,4,0.146,0.044,3185,3117,2159,0,0,0,0,0,0
$GC,1770,1.18,226.2,7.2,-0.2,376,1798,0.00,2.25,22.40,0.746,6,0.000,0.043,3196,1699,1880,0,0,0,0,0,0
$GC,1836,1.24,279.5,6.5,1.6,390,1860,0.10,2.30,17.38,0.729,4,0.122,0.050,3246,287,1662,0,0,0,0,0,0
$FREEZE,4.98,5.573,-1.314,0,1,0
$FREEZE,4.95,5.574,-1.310,0,1,0
$FREEZE,4.96,5.561,-1.308,0,1,0
$FREEZE,4.99,5.556,-1.306,0,1,0
$FREEZE,4.82,5.548,-1.305,0,1,0
$FREEZE,4.83,5.529,-1.303,0,1,0
$FREEZE,4.70,5.539,-1.300,0,1,0
$FREEZE,4.71,5.543,-1.296,0,1,0
$FREEZE,4.51,5.533,-1.290,0,1,0
$GC,2003,1.32,342.2,4.8,0.5,426,2032,0.00,2.25,20.67,0.725,6,0.000,0.038,3246,1711,1407,0,0,0,0,0,0
$FREEZE,3.99,5.445,-1.270,0,1,0
$STATE,2037,end climb,SURFACE_DEPTH_REACHED
$STATE,2037,begin surface coast
$FREEZE,3.88,5.415,-1.264,0,1,0
$FREEZE,3.64,5.408,-1.259,0,1,0
$FREEZE,3.46,5.389,-1.255,0,1,0
$FREEZE,3.22,5.375,-1.249,0,1,0
$FREEZE,3.01,5.365,-1.242,0,1,0
$FREEZE,2.77,5.360,-1.238,0,1,0
$FREEZE,2.62,5.347,-1.234,0,1,0
$FREEZE,2.34,5.340,-1.232,0,1,0
$FREEZE,2.20,5.330,-1.228,0,1,0
$FREEZE,1.98,5.318,-1.224,0,1,0
$FREEZE,1.80,5.318,-1.222,0,1,0
$FREEZE,1.46,5.319,-1.220,0,1,0
$FREEZE,1.28,5.317,-1.218,0,1,0
$FREEZE,0.96,5.317,-1.216,0,1,0
$FREEZE,0.79,5.319,-1.215,0,1,0
$FREEZE,0.54,5.320,-1.214,0,1,0
$FREEZE,0.33,5.322,-1.213,0,1,0
$FREEZE,0.18,5.365,-1.211,0,1,0
$FREEZE,0.29,5.393,-1.211,0,1,0
$FREEZE,0.25,5.332,-1.199,0,1,0
$FREEZE,0.20,5.360,-0.810,0,1,0
$FREEZE,0.28,5.369,-1.043,0,1,0
$FREEZE,0.29,5.342,-1.021,0,1,0
$FREEZE,0.32,5.521,-0.949,0,1,0
$FREEZE,0.16,5.345,-1.194,0,1,0
$FREEZE,0.25,5.338,-0.203,0,1,0
$FREEZE,0.30,5.340,-0.718,0,1,0
$FREEZE,0.19,5.379,-0.814,0,1,0
$FREEZE,0.22,5.468,-0.900,0,1,0
$FREEZE,0.28,5.353,-0.659,0,1,0
$FREEZE,0.37,5.367,-0.687,0,1,0
$FREEZE,0.29,5.374,-0.875,0,1,0
$FREEZE,0.21,5.362,-0.841,0,1,0
$FREEZE,0.19,5.367,-1.197,0,1,0
$FREEZE,0.27,5.367,-0.837,0,1,0
$FREEZE,0.21,5.330,-0.430,0,1,0
$FREEZE,0.23,5.340,-0.883,0,1,0
$FREEZE,0.27,5.340,-1.193,0,1,0
$FREEZE,0.23,5.392,-1.210,0,1,0
$FREEZE,0.22,5.398,-1.207,0,1,0
$FREEZE,0.22,5.390,-1.209,0,1,0
$FREEZE,0.29,5.343,-1.210,0,1,0
$FREEZE,0.32,5.366,-1.210,0,1,0
$FREEZE,0.27,5.355,-1.211,0,1,0
$FREEZE,0.21,5.326,-0.518,0,1,0
$FREEZE,0.22,5.332,-0.671,0,1,0
$FREEZE,0.19,5.373,-0.619,0,1,0
$FREEZE,0.25,5.322,-0.664,0,1,0
$FREEZE,0.20,5.365,-0.469,0,1,0
$FREEZE,0.26,5.371,-1.211,0,1,0
$FINISH,0.3,1.017615
$STATE,2246,end surface coast,CONTROL_FINISHED_OK
$STATE,2246,begin surface
$SM_CCo,2261,55.20,0.732,0,0,764,500.16
$SM_GC,1.91,0.00,0.00,55.20,0.000,0.000,0.732,102,1906,764,-8.54,0.17,500.16
$IRIDIUM_FIX,4748.51,-12221.84,100611,000009
$TT8_MAMPS,0.029146
$HUMID,1077314176
$INTERNAL_PRESSURE,8.92694
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.2,14.922
$10V_AH,10.5,4.964
$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,21.875,41.525,134.350,55.200,0.000,25.053,24.893,173.383,0.000,0.000,15.515,791.231,575.526,285.667,935.299,43.690,33.322,704.485,0.000,699.684,0.000,0.536,0.000
$DEVICE_MAMPS,289.159,65.195,1237.938,731.718,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324120
$DATA_FILE_SIZE,16798,482
$CAP_FILE_SIZE,62685,0
$CFSIZE,260165632,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,073149,4808.100,-12223.940,8,1.6,13,18.3