version: 66.07
glider: 505
mission: 2
dive: 21
start: 12 15 109 12 28 12
data:
$ID,505
$MISSION,2
$DIVE,21
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,100
$T_MISSION,105
$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,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,460
$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,-22365.992
$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,30
$R_STBD_OVSHOOT,43
$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,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
$GPS1,151209,122101,4808.274,-12224.468,39,1.5,39,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-75.4
$GPS2,151209,122714,4808.392,-12224.574,13,1.5,13,18.4
$SPEED_LIMITS,0.087,0.232
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.185,-0.139
$KALMAN_X,-3712.2,326.8,-610.6,-217.2,-649.2
$KALMAN_Y,780.6,485.1,1118.6,3966.0,429.7
$MHEAD_RNG_PITCHd_Wd,108.4,7682,-4.6,-5.000
$D_GRID,99
$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,14,-0.42,-214.2,0.0,0.0,0,68,0.00,0.00,-50.83,0.000,2,0.000,0.000,106,1912,2293,0,0,0,0,0,0
$GC,70,-0.42,-214.2,3.2,-4.6,12,120,11.85,2.25,-31.88,0.000,4,0.283,0.064,2685,3306,3681,0,0,0,0,0,0
$GC,125,-0.42,-214.2,9.3,-10.6,24,130,0.00,2.22,0.00,0.000,6,0.000,0.041,2685,1899,3684,0,0,0,0,0,0
$GC,167,-0.42,-214.2,13.7,-9.0,33,173,0.00,2.25,0.00,0.000,4,0.000,0.051,2685,482,3684,0,0,0,0,0,0
$GC,210,-0.42,-214.2,18.3,-10.7,42,216,0.00,2.25,0.00,0.000,6,0.000,0.043,2685,1890,3684,0,0,0,0,0,0
$GC,255,-0.42,-214.2,22.7,-10.5,51,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1891,3684,0,0,0,0,0,0
$GC,297,-0.42,-214.2,27.2,-10.1,60,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1891,3684,0,0,0,0,0,0
$GC,338,-0.42,-214.2,31.5,-10.2,69,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1891,3684,0,0,0,0,0,0
$GC,380,-0.42,-214.2,35.6,-10.0,78,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1891,3684,0,0,0,0,0,0
$GC,422,-0.42,-214.2,40.0,-9.9,87,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1891,3684,0,0,0,0,0,0
$GC,464,-0.42,-214.2,43.4,-9.4,96,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1890,3684,0,0,0,0,0,0
$GC,506,-0.42,-214.2,47.3,-9.3,105,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1891,3684,0,0,0,0,0,0
$GC,548,-0.42,-214.2,51.5,-9.2,114,554,0.00,2.25,0.00,0.000,4,0.000,0.052,2685,484,3684,0,0,0,0,0,0
$GC,572,-0.42,-214.2,53.8,-9.7,119,578,0.00,2.25,0.00,0.000,6,0.000,0.043,2685,1910,3685,0,0,0,0,0,0
$GC,615,-0.42,-214.2,57.0,-8.4,128,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1910,3685,0,0,0,0,0,0
$GC,657,-0.42,-214.2,60.7,-8.6,137,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1911,3685,0,0,0,0,0,0
$GC,699,-0.42,-214.2,64.3,-8.7,146,705,0.00,2.28,0.00,0.000,4,0.000,0.051,2685,485,3684,0,0,0,0,0,0
$GC,719,-0.42,-214.2,66.1,-8.7,150,724,0.00,2.22,0.00,0.000,6,0.000,0.043,2685,1901,3684,0,0,0,0,0,0
$GC,761,-0.42,-214.2,69.9,-9.0,159,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1901,3684,0,0,0,0,0,0
$GC,803,-0.42,-214.2,73.5,-8.7,168,809,0.00,2.22,0.00,0.000,4,0.000,0.051,2685,489,3685,0,0,0,0,0,0
$GC,823,-0.42,-214.2,75.3,-8.8,172,828,0.00,2.22,0.00,0.000,6,0.000,0.042,2685,1902,3685,0,0,0,0,0,0
$GC,866,-0.42,-214.2,78.8,-8.8,181,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1903,3684,0,0,0,0,0,0
$GC,909,-0.42,-214.2,82.4,-8.1,190,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1903,3684,0,0,0,0,0,0
$GC,951,-0.42,-214.2,85.7,-7.8,199,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1903,3684,0,0,0,0,0,0
$GC,993,-0.42,-214.2,88.9,-7.8,208,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1903,3684,0,0,0,0,0,0
$GC,1035,-0.42,-214.2,92.1,-7.5,217,1040,0.00,2.25,0.00,0.000,4,0.000,0.051,2685,485,3685,0,0,0,0,0,0
$GC,1059,-0.42,-214.2,94.1,-7.8,222,1064,0.00,2.22,0.00,0.000,6,0.000,0.042,2685,1904,3685,0,0,0,0,0,0
$GC,1102,-0.42,-214.2,97.2,-7.5,231,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1905,3685,0,0,0,0,0,0
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1133,-0.17,0.0,99.2,7.2,237,1211,0.25,0.00,75.18,1.233,6,0.123,0.000,2774,1682,2805,0,0,0,0,0,0
$STATE,1212,end apogee,CONTROL_FINISHED_OK
$STATE,1212,begin climb
$GC,1213,0.42,214.2,101.3,0.0,255,1295,0.57,0.00,75.80,1.194,6,0.107,0.000,2964,1682,1932,0,0,0,0,0,0
$GC,1333,0.42,214.2,92.1,9.7,282,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1682,1930,0,0,0,0,0,0
$GC,1374,0.42,214.2,88.3,9.4,291,1380,0.00,2.33,0.00,0.000,4,0.000,0.046,2964,3110,1930,0,0,0,0,0,0
$GC,1399,0.42,214.2,85.9,9.5,296,1404,0.00,2.30,0.00,0.000,6,0.000,0.043,2968,1703,1929,0,0,0,0,0,0
$GC,1442,0.42,214.2,81.7,9.9,305,1447,0.00,2.33,0.00,0.000,4,0.000,0.053,2971,284,1929,0,0,0,0,0,0
$GC,1475,0.42,214.2,78.4,9.9,312,1481,0.00,2.28,0.00,0.000,6,0.000,0.040,2971,1701,1929,0,0,0,0,0,0
$GC,1518,0.42,214.2,74.4,9.5,321,1523,0.00,2.25,0.00,0.000,4,0.000,0.045,2970,3112,1929,0,0,0,0,0,0
$GC,1552,0.42,214.2,70.8,10.3,328,1557,0.00,2.28,0.00,0.000,6,0.000,0.043,2976,1693,1929,0,0,0,0,0,0
$GC,1595,0.42,214.2,66.3,10.4,337,1600,0.00,2.28,0.00,0.000,4,0.000,0.053,2978,283,1929,0,0,0,0,0,0
$GC,1619,0.42,214.2,63.9,10.2,342,1625,0.00,2.25,0.00,0.000,6,0.000,0.039,2978,1702,1928,0,0,0,0,0,0
$GC,1662,0.42,214.2,59.6,10.2,351,1668,0.00,2.20,0.00,0.000,4,0.000,0.045,2979,3110,1929,0,0,0,0,0,0
$GC,1696,0.42,214.2,55.8,10.8,358,1701,0.00,2.22,0.00,0.000,6,0.000,0.043,2978,1697,1929,0,0,0,0,0,0
$GC,1738,0.42,214.2,51.3,10.8,367,1744,0.00,2.25,0.00,0.000,4,0.000,0.053,2978,291,1929,0,0,0,0,0,0
$GC,1767,0.42,214.2,48.2,10.6,373,1773,0.00,2.22,0.00,0.000,6,0.000,0.039,2978,1704,1929,0,0,0,0,0,0
$GC,1810,0.42,214.2,44.1,10.0,382,1815,0.00,2.20,0.00,0.000,4,0.000,0.045,2978,3106,1929,0,0,0,0,0,0
$GC,1857,0.42,214.2,39.1,10.5,392,1862,0.00,2.22,0.00,0.000,6,0.000,0.043,2978,1700,1928,0,0,0,0,0,0
$GC,1900,0.42,214.2,34.9,9.9,401,1905,0.00,2.25,0.00,0.000,4,0.000,0.053,2978,288,1929,0,0,0,0,0,0
$GC,1924,0.42,214.2,32.6,9.7,406,1930,0.00,2.22,0.00,0.000,6,0.000,0.038,2978,1710,1929,0,0,0,0,0,0
$GC,1967,0.42,214.2,28.7,9.3,415,1972,0.00,2.15,0.00,0.000,4,0.000,0.045,2978,3103,1929,0,0,0,0,0,0
$GC,2004,0.42,214.2,24.7,9.9,423,2010,0.00,2.22,0.00,0.000,6,0.000,0.043,2979,1692,1929,0,0,0,0,0,0
$GC,2047,0.42,214.2,20.8,9.6,432,2052,0.00,2.22,0.00,0.000,4,0.000,0.052,2978,290,1929,0,0,0,0,0,0
$GC,2076,0.42,214.2,18.2,9.1,438,2081,0.00,2.20,0.00,0.000,6,0.000,0.039,2978,1698,1929,0,0,0,0,0,0
$GC,2119,0.42,214.2,14.4,8.8,447,2124,0.00,2.17,0.00,0.000,4,0.000,0.046,2978,3105,1929,0,0,0,0,0,0
$GC,2148,0.42,214.2,11.9,8.9,453,2153,0.00,2.22,0.00,0.000,6,0.000,0.043,2978,1693,1928,0,0,0,0,0,0
$GC,2190,0.42,214.2,8.3,8.7,462,2196,0.00,2.20,0.00,0.000,4,0.000,0.052,2978,288,1929,0,0,0,0,0,0
$FREEZE,4.99,7.158,-1.359,0,1,0
$FREEZE,4.70,7.128,-1.357,0,1,0
$FREEZE,4.57,7.103,-1.352,0,1,0
$FREEZE,4.20,7.079,-1.350,0,1,0
$FREEZE,3.95,6.980,-1.342,0,1,0
$GC,2363,0.75,485.5,6.1,0.6,499,2429,0.28,2.20,59.78,0.754,2,0.100,0.039,3075,1702,1203,0,0,0,0,0,0
$STATE,2430,end climb,SURFACE_DEPTH_REACHED
$STATE,2430,begin surface coast
$FREEZE,3.41,6.901,-1.332,0,1,0
$FREEZE,3.15,6.929,-1.333,0,1,0
$FREEZE,2.96,6.919,-1.333,0,1,0
$FREEZE,2.76,6.825,-1.329,0,1,0
$FREEZE,2.64,6.779,-1.322,0,1,0
$FREEZE,2.40,6.707,-1.320,0,1,0
$FREEZE,2.24,6.722,-1.313,0,1,0
$FREEZE,1.90,6.712,-1.312,0,1,0
$FREEZE,1.84,6.717,-1.313,0,1,0
$FREEZE,1.61,6.693,-1.311,0,1,0
$FREEZE,1.43,6.711,-1.311,0,1,0
$FREEZE,1.30,6.693,-1.311,0,1,0
$FREEZE,1.21,6.665,-1.308,0,1,0
$FREEZE,1.14,6.666,-1.308,0,1,0
$FREEZE,0.77,6.662,-1.306,0,1,0
$FREEZE,0.70,6.662,-1.306,0,1,0
$FREEZE,0.51,6.661,-1.306,0,1,0
$FREEZE,0.36,6.685,-1.306,0,1,0
$FREEZE,0.25,6.658,-1.305,0,1,0
$FREEZE,0.26,6.747,-0.732,0,1,0
$FREEZE,0.25,6.742,-0.648,0,1,0
$FREEZE,0.27,6.649,-1.176,0,1,0
$FREEZE,0.32,6.545,-0.166,0,1,0
$FREEZE,0.21,6.669,-0.586,0,1,0
$FREEZE,0.35,7.021,-0.660,0,1,0
$FREEZE,0.19,6.672,-1.289,0,1,0
$FREEZE,0.20,6.663,-1.051,0,1,0
$FREEZE,0.21,6.675,-0.618,0,1,0
$FREEZE,0.27,6.662,-0.716,0,1,0
$FINISH,0.3,1.010340
$STATE,2551,end surface coast,CONTROL_FINISHED_OK
$STATE,2552,begin surface
$SM_CCo,2565,23.12,0.716,0,0,929,460.18
$SM_GC,1.05,0.00,0.00,23.12,0.000,0.000,0.716,110,1912,929,-8.52,0.34,460.18
$IRIDIUM_FIX,4751.72,-12223.57,100611,050531
$TT8_MAMPS,0.029146
$HUMID,1077337401
$INTERNAL_PRESSURE,8.9953
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,38.0
$24V_AH,23.6,15.510
$10V_AH,10.5,5.168
$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,20.850,81.225,210.750,23.125,0.000,28.139,26.031,240.478,0.500,0.000,13.768,868.793,578.040,378.128,1089.727,64.290,33.315,904.641,0.000,783.500,0.000,5.526,0.000
$DEVICE_MAMPS,283.023,63.661,1232.569,716.378,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324088
$DATA_FILE_SIZE,16766,541
$CAP_FILE_SIZE,84988,0
$CFSIZE,260165632,257224704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151209,131228,4808.232,-12224.409,12,2.7,31,18.3