version: 66.07
glider: 505
mission: 2
dive: 102
start: 12 17 109 2 4 33
data:
$ID,505
$MISSION,2
$DIVE,102
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$D_FINISH,10
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,-23541.531
$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,45
$C_ROLL_DIVE,180
$C_ROLL_CLIMB,3805
$HEAD_ERRBAND,181
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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,4
$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
$GPS1,171209,015706,4807.916,-12222.620,10,2.0,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.4
$GPS2,171209,020340,4807.900,-12222.650,12,2.1,31,18.3
$SPEED_LIMITS,0.087,0.169
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,-0.109
$KALMAN_X,-16983.2,-1181.4,878.1,15446.5,-254.1
$KALMAN_Y,35106.0,-8324.2,6373.3,-27789.7,-1573.9
$MHEAD_RNG_PITCHd_Wd,111.7,3610,-10.4,-5.000
$D_GRID,150
$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,-0.47,-97.3,0.0,0.0,0,71,0.00,0.00,-54.35,0.000,2,0.000,0.000,105,172,2288,0,0,0,0,0,0
$GC,73,-0.47,-97.3,3.2,-3.6,13,110,11.88,0.00,-20.08,0.000,6,0.281,0.000,2675,168,3205,0,0,0,0,0,0
$GC,149,-0.47,-97.3,17.5,-20.3,29,153,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,191,-0.47,-97.3,21.5,-9.9,38,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,233,-0.47,-97.3,25.3,-8.9,47,237,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,168,3206,0,0,0,0,0,0
$GC,275,-0.47,-97.3,29.1,-8.9,56,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,317,-0.47,-97.3,33.1,-9.2,65,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,359,-0.47,-97.3,36.9,-9.2,74,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,401,-0.47,-97.3,40.5,-8.7,83,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,444,-0.47,-97.3,44.3,-8.7,92,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,169,3206,0,0,0,0,0,0
$GC,486,-0.47,-97.3,48.2,-9.2,101,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,528,-0.47,-97.3,52.2,-9.5,110,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,169,3206,0,0,0,0,0,0
$GC,570,-0.47,-97.3,56.2,-9.6,119,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,613,-0.47,-97.3,60.2,-9.4,128,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,655,-0.47,-97.3,63.9,-8.9,137,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,697,-0.47,-97.3,67.6,-8.7,146,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,739,-0.47,-97.3,71.3,-8.8,155,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,781,-0.47,-97.3,75.0,-8.8,164,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,823,-0.47,-97.3,78.9,-9.1,173,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,168,3206,0,0,0,0,0,0
$GC,867,-0.47,-97.3,82.8,-8.8,182,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,911,-0.47,-97.3,86.4,-8.6,191,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,953,-0.47,-97.3,90.2,-8.6,200,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,995,-0.47,-97.3,93.7,-8.6,209,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$GC,1037,-0.47,-97.3,97.3,-8.1,218,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,1081,-0.47,-97.3,99.9,-7.2,227,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,169,3206,0,0,0,0,0,0
$GC,1123,-0.47,-97.3,102.9,-6.8,236,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,168,3206,0,0,0,0,0,0
$STATE,1137,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1137,begin apogee
$GC,1146,-0.17,0.0,104.0,6.8,239,1183,0.32,0.00,33.83,0.507,6,0.173,0.000,2771,3811,2806,0,0,0,0,0,0
$STATE,1183,end apogee,CONTROL_FINISHED_OK
$STATE,1183,begin climb
$GC,1185,0.47,97.3,105.6,0.0,247,1224,0.62,0.00,33.65,0.502,6,0.119,0.000,2982,3812,2408,0,0,0,0,0,0
$GC,1264,0.47,97.3,98.7,10.5,264,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3811,2408,0,0,0,0,0,0
$GC,1306,0.47,97.3,93.8,11.4,273,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2408,0,0,0,0,0,0
$GC,1348,0.47,97.3,88.7,11.8,282,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2407,0,0,0,0,0,0
$GC,1390,0.47,97.3,83.5,12.3,291,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2407,0,0,0,0,0,0
$GC,1433,0.47,97.3,78.3,12.2,300,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2408,0,0,0,0,0,0
$GC,1475,0.47,97.3,73.2,12.2,309,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2407,0,0,0,0,0,0
$GC,1517,0.47,97.3,68.1,12.0,318,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2407,0,0,0,0,0,0
$GC,1559,0.47,97.3,63.2,11.7,327,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2407,0,0,0,0,0,0
$GC,1602,0.47,97.3,58.3,11.8,336,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2407,0,0,0,0,0,0
$GC,1644,0.47,97.3,53.4,11.4,345,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2407,0,0,0,0,0,0
$GC,1686,0.47,97.3,48.7,11.3,354,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2407,0,0,0,0,0,0
$GC,1728,0.47,97.3,44.0,11.1,363,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,3812,2407,0,0,0,0,0,0
$GC,1772,0.47,97.3,39.3,11.2,372,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2407,0,0,0,0,0,0
$GC,1814,0.47,97.3,34.5,10.8,381,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2407,0,0,0,0,0,0
$GC,1856,0.47,97.3,30.0,10.9,390,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2407,0,0,0,0,0,0
$GC,1898,0.47,97.3,25.5,10.9,399,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3811,2407,0,0,0,0,0,0
$GC,1942,0.47,97.3,21.1,10.3,408,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3811,2407,0,0,0,0,0,0
$GC,1984,0.47,97.3,16.4,10.9,417,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2408,0,0,0,0,0,0
$GC,2026,0.47,97.3,12.4,9.6,426,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,3812,2408,0,0,0,0,0,0
$GC,2069,0.49,114.2,11.6,4.4,435,2079,0.00,0.00,5.45,0.207,6,0.000,0.000,2982,3812,2337,0,0,0,0,0,0
$GC,2118,0.74,322.5,12.7,-2.3,445,2193,0.25,0.00,67.30,0.187,6,0.064,0.000,3102,3812,1488,0,0,0,0,0,0
$FREEZE,8.99,7.218,-1.387,0,1,0
$FREEZE,8.69,7.016,-1.368,0,1,0
$FREEZE,8.47,6.869,-1.355,0,1,0
$FREEZE,8.20,6.886,-1.343,0,1,0
$FREEZE,7.94,6.760,-1.330,0,1,0
$FREEZE,7.45,6.744,-1.323,0,1,0
$FREEZE,7.04,6.740,-1.318,0,1,0
$FREEZE,6.60,6.748,-1.315,0,1,0
$GC,2228,0.74,322.5,6.6,7.9,470,2233,0.10,0.00,0.00,0.000,6,0.139,0.000,3068,3812,1484,0,0,0,0,0,0
$FREEZE,5.89,6.734,-1.310,0,1,0
$FREEZE,5.75,6.724,-1.311,0,1,0
$FREEZE,5.68,6.723,-1.310,0,1,0
$FREEZE,5.66,6.725,-1.309,0,1,0
$FREEZE,5.45,6.734,-1.307,0,1,0
$FREEZE,5.41,6.730,-1.307,0,1,0
$FREEZE,5.37,6.734,-1.307,0,1,0
$FREEZE,5.26,6.730,-1.307,0,1,0
$GC,2268,0.74,322.5,5.3,5.2,479,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,3812,1483,0,0,0,0,0,0
$FREEZE,5.07,6.725,-1.306,0,1,0
$FREEZE,4.87,6.705,-1.303,0,1,0
$FREEZE,4.85,6.699,-1.300,0,1,0
$FREEZE,4.83,6.712,-1.301,0,1,0
$FREEZE,4.79,6.688,-1.302,0,1,0
$FREEZE,4.64,6.684,-1.300,0,1,0
$FREEZE,4.43,6.690,-1.299,0,1,0
$FREEZE,4.28,6.697,-1.298,0,1,0
$FREEZE,3.99,6.721,-1.297,0,1,0
$GC,2307,0.84,402.6,4.3,2.2,488,2316,0.12,0.00,5.82,0.184,2,0.092,0.000,3129,3812,1409,0,0,0,0,0,0
$STATE,2317,end climb,SURFACE_DEPTH_REACHED
$STATE,2317,begin surface coast
$FREEZE,3.27,6.716,-1.298,0,1,0
$FREEZE,2.91,6.716,-1.299,0,1,0
$FREEZE,2.70,6.698,-1.298,0,1,0
$FREEZE,2.33,6.677,-1.295,0,1,0
$FREEZE,2.12,6.643,-1.294,0,1,0
$FREEZE,1.91,6.640,-1.293,0,1,0
$FREEZE,1.73,6.636,-1.292,0,1,0
$FREEZE,1.54,6.625,-1.290,0,1,0
$FREEZE,1.27,6.626,-1.289,0,1,0
$FREEZE,0.93,6.610,-1.288,0,1,0
$FREEZE,0.82,6.599,-1.287,0,1,0
$FREEZE,0.55,6.597,-1.285,0,1,0
$FREEZE,0.31,6.646,-1.283,0,1,0
$FREEZE,0.22,6.657,-1.227,0,1,0
$FREEZE,0.37,6.628,-0.645,0,1,0
$FREEZE,0.27,6.625,-1.247,0,1,0
$FREEZE,0.36,6.637,-0.738,0,1,0
$FREEZE,0.30,6.698,-0.686,0,1,0
$FREEZE,0.22,6.652,-0.532,0,1,0
$FREEZE,0.31,6.623,-0.647,0,1,0
$FREEZE,0.31,6.645,-0.665,0,1,0
$FREEZE,0.27,6.683,-0.764,0,1,0
$FREEZE,0.29,6.618,-1.281,0,1,0
$FREEZE,0.29,6.738,-1.182,0,1,0
$FREEZE,0.26,6.728,-1.004,0,1,0
$FREEZE,0.24,6.746,-0.733,0,1,0
$FREEZE,0.15,6.642,-0.714,0,1,0
$FREEZE,0.34,6.683,-1.281,0,1,0
$FREEZE,0.17,6.647,-1.283,0,1,0
$FREEZE,0.22,6.644,-1.284,0,1,0
$FREEZE,0.26,6.731,-1.282,0,1,0
$FREEZE,0.26,6.676,-1.263,0,1,0
$FREEZE,0.30,6.695,-1.009,0,1,0
$FREEZE,0.18,6.694,-0.777,0,1,0
$FREEZE,0.17,6.767,-1.282,0,1,0
$FREEZE,0.28,6.682,-1.016,0,1,0
$FREEZE,0.16,6.764,-0.753,0,1,0
$FREEZE,0.27,6.660,-1.279,0,1,0
$FREEZE,0.28,6.669,-0.662,0,1,0
$FREEZE,0.30,6.654,-0.667,0,1,0
$FREEZE,0.28,6.698,-1.285,0,1,0
$FREEZE,0.31,6.714,-1.278,0,1,0
$FREEZE,0.28,6.707,-1.281,0,1,0
$FREEZE,0.27,6.668,-1.194,0,1,0
$FREEZE,0.31,6.708,-1.196,0,1,0
$FREEZE,0.23,6.722,-1.193,0,1,0
$FINISH,0.2,1.017232
$STATE,2506,end surface coast,CONTROL_FINISHED_OK
$STATE,2506,begin surface
$SM_CCo,2526,47.80,0.159,0,0,848,480.04
$SM_GC,1.80,0.00,0.00,47.80,0.000,0.000,0.159,111,169,848,-8.51,-0.31,480.04
$IRIDIUM_FIX,4751.72,-12219.12,110611,191927
$TT8_MAMPS,0.028379
$HUMID,1077376111
$INTERNAL_PRESSURE,8.966
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,33.6
$24V_AH,24.8,19.477
$10V_AH,10.5,6.550
$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,21.275,11.825,146.050,47.800,0.000,30.550,27.838,228.982,0.500,0.000,32.933,897.439,547.005,348.678,1091.200,86.613,33.337,850.242,0.000,775.001,0.000,5.512,0.000
$DEVICE_MAMPS,280.722,46.787,506.987,158.769,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,20151,535
$CAP_FILE_SIZE,78045,0
$CFSIZE,260165632,255217664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171209,024828,4807.914,-12222.679,13,3.2,32,18.3