version: 66.07
glider: 505
mission: 2
dive: 66
start: 12 16 109 8 46 57
data:
$ID,505
$MISSION,2
$DIVE,66
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,83
$T_MISSION,90
$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,480
$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,-23085.381
$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,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,50
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,42
$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,10
$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
$GPS1,161209,082437,4807.127,-12223.064,8,1.3,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.8
$GPS2,161209,084601,4807.329,-12223.281,12,1.7,29,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.011,-0.251
$KALMAN_X,-11775.2,-224.7,-224.7,9633.2,8178.4
$KALMAN_Y,12135.6,339.7,339.7,-8466.8,123756.8
$MHEAD_RNG_PITCHd_Wd,164.1,5155,-7.2,-6.024
$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,14,-0.50,-214.2,0.0,0.0,0,84,0.00,0.00,-67.20,0.000,2,0.000,0.000,103,1698,2151,0,0,0,0,0,0
$GC,86,-0.50,-214.2,3.0,-4.3,16,140,11.55,2.50,-34.60,0.000,4,0.281,0.067,2665,174,3683,0,0,0,0,0,0
$GC,164,-0.50,-214.2,14.1,-12.5,33,170,0.00,2.45,0.00,0.000,6,0.000,0.044,2665,1692,3684,0,0,0,0,0,0
$GC,207,-0.50,-214.2,19.2,-11.9,42,213,0.00,2.85,0.00,0.000,4,0.000,0.052,2664,3472,3684,0,0,0,0,0,0
$GC,218,-0.50,-214.2,20.3,-11.6,44,223,0.00,2.80,0.00,0.000,6,0.000,0.041,2665,1697,3684,0,0,0,0,0,0
$GC,261,-0.50,-214.2,25.4,-11.6,53,266,0.00,2.45,0.00,0.000,4,0.000,0.053,2664,173,3684,0,0,0,0,0,0
$GC,271,-0.50,-214.2,26.6,-11.8,55,277,0.00,2.45,0.00,0.000,6,0.000,0.041,2665,1707,3684,0,0,0,0,0,0
$GC,314,-0.50,-214.2,31.8,-12.1,64,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1708,3684,0,0,0,0,0,0
$GC,356,-0.50,-214.2,36.7,-11.7,73,362,0.00,2.80,0.00,0.000,4,0.000,0.052,2665,3463,3684,0,0,0,0,0,0
$GC,381,-0.50,-214.2,39.5,-11.4,78,386,0.00,2.83,0.00,0.000,6,0.000,0.043,2665,1691,3684,0,0,0,0,0,0
$GC,424,-0.50,-214.2,44.0,-10.7,87,429,0.00,2.42,0.00,0.000,4,0.000,0.054,2665,179,3684,0,0,0,0,0,0
$GC,434,-0.50,-214.2,45.1,-10.7,89,440,0.00,2.42,0.00,0.000,6,0.000,0.041,2665,1708,3684,0,0,0,0,0,0
$GC,477,-0.50,-214.2,49.9,-10.8,98,483,0.00,2.80,0.00,0.000,4,0.000,0.051,2665,3461,3684,0,0,0,0,0,0
$GC,489,-0.50,-214.2,50.9,-10.6,100,495,0.00,2.78,0.00,0.000,6,0.000,0.039,2665,1698,3684,0,0,0,0,0,0
$GC,532,-0.50,-214.2,55.5,-10.5,109,538,0.00,2.42,0.00,0.000,4,0.000,0.051,2665,176,3684,0,0,0,0,0,0
$GC,544,-0.50,-214.2,56.7,-10.5,111,550,0.00,2.42,0.00,0.000,6,0.000,0.041,2665,1705,3684,0,0,0,0,0,0
$GC,587,-0.50,-214.2,61.2,-10.3,120,593,0.00,2.80,0.00,0.000,4,0.000,0.051,2665,3462,3684,0,0,0,0,0,0
$GC,598,-0.50,-214.2,62.3,-10.3,122,603,0.00,2.78,0.00,0.000,6,0.000,0.039,2665,1700,3684,0,0,0,0,0,0
$GC,640,-0.50,-214.2,66.6,-9.9,131,646,0.00,2.42,0.00,0.000,4,0.000,0.051,2664,179,3684,0,0,0,0,0,0
$GC,651,-0.50,-214.2,67.6,-9.9,133,656,0.00,2.40,0.00,0.000,6,0.000,0.040,2665,1701,3684,0,0,0,0,0,0
$GC,694,-0.50,-214.2,71.8,-9.8,142,699,0.00,2.80,0.00,0.000,4,0.000,0.051,2665,3461,3684,0,0,0,0,0,0
$GC,732,-0.50,-214.2,75.4,-9.5,150,738,0.00,2.78,0.00,0.000,6,0.000,0.041,2665,1695,3684,0,0,0,0,0,0
$GC,775,-0.50,-214.2,79.5,-9.3,159,781,0.00,2.42,0.00,0.000,4,0.000,0.051,2664,171,3684,0,0,0,0,0,0
$GC,801,-0.50,-214.2,82.0,-9.7,164,806,0.00,2.40,0.00,0.000,6,0.000,0.042,2665,1702,3684,0,0,0,0,0,0
$GC,843,-0.50,-214.2,86.0,-9.3,173,849,0.00,2.78,0.00,0.000,4,0.000,0.050,2664,3465,3684,0,0,0,0,0,0
$GC,877,-0.50,-214.2,89.1,-9.3,180,883,0.00,2.78,0.00,0.000,6,0.000,0.041,2665,1698,3684,0,0,0,0,0,0
$GC,920,-0.50,-214.2,92.9,-8.7,189,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1698,3684,0,0,0,0,0,0
$GC,963,-0.50,-214.2,96.6,-9.0,198,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1698,3684,0,0,0,0,0,0
$GC,1005,-0.50,-214.2,100.4,-8.8,207,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1698,3684,0,0,0,0,0,0
$STATE,1036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1036,begin apogee
$GC,1040,-0.17,0.0,103.3,8.8,214,1122,0.32,0.00,76.88,1.262,6,0.127,0.000,2778,1697,2806,0,0,0,0,0,0
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1125,0.50,214.2,105.7,0.0,233,1212,0.62,3.03,78.90,1.209,4,0.104,0.046,2986,3441,1932,0,0,0,0,0,0
$GC,1226,0.50,214.2,96.2,12.1,256,1232,0.00,2.97,0.00,0.000,6,0.000,0.041,2994,1681,1928,0,0,0,0,0,0
$GC,1269,0.50,214.2,90.8,12.6,265,1275,0.00,2.53,0.00,0.000,4,0.000,0.051,3004,178,1928,0,0,0,0,0,0
$GC,1294,0.50,214.2,87.8,12.5,270,1299,0.00,2.47,0.00,0.000,6,0.000,0.038,3005,1681,1928,0,0,0,0,0,0
$GC,1337,0.50,214.2,82.3,12.7,279,1343,0.00,2.90,0.00,0.000,4,0.000,0.047,3005,3449,1927,0,0,0,0,0,0
$GC,1367,0.50,214.2,78.0,13.8,285,1372,0.00,2.90,0.00,0.000,6,0.000,0.043,3007,1679,1927,0,0,0,0,0,0
$GC,1410,0.50,214.2,72.1,13.8,294,1415,0.00,2.47,0.00,0.000,4,0.000,0.051,3017,167,1927,0,0,0,0,0,0
$GC,1430,0.50,214.2,69.4,13.5,298,1436,0.08,2.45,0.00,0.000,6,0.186,0.038,3000,1690,1927,0,0,0,0,0,0
$GC,1473,0.50,214.2,64.1,12.9,307,1479,0.00,2.83,0.00,0.000,4,0.000,0.047,3000,3442,1927,0,0,0,0,0,0
$GC,1507,0.50,214.2,59.3,13.2,314,1513,0.00,2.83,0.00,0.000,6,0.000,0.042,3006,1678,1927,0,0,0,0,0,0
$GC,1550,0.50,214.2,53.8,12.6,323,1556,0.00,2.40,0.00,0.000,4,0.000,0.051,3017,179,1927,0,0,0,0,0,0
$GC,1579,0.50,214.2,50.1,12.8,329,1585,0.08,2.40,0.00,0.000,6,0.184,0.038,3000,1688,1927,0,0,0,0,0,0
$GC,1623,0.50,214.2,44.8,12.2,338,1628,0.00,2.78,0.00,0.000,4,0.000,0.047,3000,3440,1927,0,0,0,0,0,0
$GC,1648,0.50,214.2,41.7,12.2,343,1653,0.00,2.80,0.00,0.000,6,0.000,0.041,3008,1675,1927,0,0,0,0,0,0
$GC,1691,0.50,214.2,36.1,12.8,352,1696,0.00,2.40,0.00,0.000,4,0.000,0.051,3018,180,1927,0,0,0,0,0,0
$GC,1711,0.50,214.2,33.8,12.5,356,1717,0.08,2.38,0.00,0.000,6,0.187,0.039,3001,1681,1927,0,0,0,0,0,0
$GC,1754,0.50,214.2,28.4,12.5,365,1760,0.00,2.80,0.00,0.000,4,0.000,0.047,3001,3442,1927,0,0,0,0,0,0
$GC,1779,0.50,214.2,25.3,12.3,370,1785,0.00,2.75,0.00,0.000,6,0.000,0.041,3009,1687,1927,0,0,0,0,0,0
$GC,1822,0.50,214.2,19.9,12.3,379,1828,0.00,2.40,0.00,0.000,4,0.000,0.052,3020,175,1927,0,0,0,0,0,0
$GC,1847,0.50,214.2,16.9,12.1,384,1853,0.10,2.38,0.00,0.000,6,0.168,0.039,2994,1681,1927,0,0,0,0,0,0
$GC,1891,0.50,214.2,12.2,11.2,393,1896,0.00,2.78,0.00,0.000,4,0.000,0.045,2993,3441,1927,0,0,0,0,0,0
$GC,1915,0.50,214.2,9.9,9.6,398,1921,0.00,2.80,0.00,0.000,6,0.000,0.042,2994,1678,1927,0,0,0,0,0,0
$GC,1959,0.59,287.9,8.1,4.6,407,1991,0.10,2.42,23.70,0.180,4,0.114,0.051,3037,183,1629,0,0,0,0,0,0
$GC,2093,0.91,541.7,6.2,1.1,436,2172,0.25,2.35,72.30,0.168,2,0.112,0.039,3123,1683,750,0,0,0,0,0,0
$STATE,2173,end climb,SURFACE_DEPTH_REACHED
$STATE,2173,begin surface coast
$FINISH,0.1,1.009063
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2316,0.00,0.000,0,0,741,506.78
$SM_GC,1.04,7.85,0.00,0.00,0.041,0.000,0.000,99,1689,741,-8.49,-0.31,506.78
$IRIDIUM_FIX,4751.72,-12223.57,110611,030313
$TT8_MAMPS,0.028379
$HUMID,1077363208
$INTERNAL_PRESSURE,8.95623
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,42.4
$24V_AH,23.3,18.251
$10V_AH,10.4,5.908
$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,21.025,125.950,251.775,0.000,0.000,111.020,116.988,704.002,0.500,0.000,30.017,718.253,710.872,395.542,1677.751,120.202,32.633,894.967,0.000,681.933,0.000,5.535,0.000
$DEVICE_MAMPS,280.722,66.729,1262.482,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,309.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324040
$DATA_FILE_SIZE,16773,469
$CAP_FILE_SIZE,100319,0
$CFSIZE,260165632,256176128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,092634,4807.151,-12223.436,10,5.1,29,18.3