version: 66.06
glider: 506
mission: 2
dive: 3
start: 12 14 109 23 1 19
data:
$ID,506
$MISSION,2
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,72
$T_MISSION,80
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51509
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,510
$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,-7194.4053
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3940
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,180
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,430
$VBD_MAX,3959
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-43.606201
$PRESSURE_SLOPE,0.00011645618
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.54000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.004302992
$SEABIRD_T_H,0.00062119117
$SEABIRD_T_I,2.2739867e-05
$SEABIRD_T_J,2.4046374e-06
$SEABIRD_C_G,-9.8404341
$SEABIRD_C_H,1.104722
$SEABIRD_C_I,-0.0022409149
$SEABIRD_C_J,0.00025927747
$GPS1,225844,4805.394,-12221.724,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.0
$GPS2,230114,4805.409,-12221.745,12,1.6,12,18.3
$SPEED_LIMITS,0.120,0.192
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,325.6,1139,-15.4,-6.944
$D_GRID,109
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.74,-97.7,0.0,0.0,0,72,0.00,0.00,-58.83,0.000,2,0.000,0.000,150,2228,2631,0,0,0,0,0,0
$GC,74,-0.74,-97.7,3.2,-5.3,14,109,11.73,2.25,-18.27,0.000,4,0.264,0.072,2922,826,3419,0,0,0,0,0,0
$GC,355,-0.74,-97.7,25.7,-7.3,79,361,0.00,2.22,0.00,0.000,6,0.000,0.051,2913,2224,3420,0,0,0,0,0,0
$GC,394,-0.74,-97.7,28.5,-7.5,88,400,0.00,2.25,0.00,0.000,4,0.000,0.059,2914,822,3420,0,0,0,0,0,0
$GC,530,-0.74,-97.7,39.8,-8.9,119,535,0.00,2.22,0.00,0.000,6,0.000,0.050,2903,2230,3420,0,0,0,0,0,0
$GC,568,-0.74,-97.7,43.4,-9.4,128,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2230,3420,0,0,0,0,0,0
$GC,603,-0.74,-97.7,46.6,-9.2,136,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2230,3420,0,0,0,0,0,0
$GC,637,-0.74,-97.7,49.6,-8.9,144,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2230,3420,0,0,0,0,0,0
$GC,672,-0.74,-97.7,52.7,-8.9,152,678,0.00,2.28,0.00,0.000,4,0.000,0.063,2893,3630,3420,0,0,0,0,0,0
$GC,716,-0.74,-97.7,57.0,-10.0,162,721,0.10,2.15,0.00,0.000,6,0.162,0.044,2922,2235,3420,0,0,1,0,0,0
$GC,755,-0.74,-97.7,60.5,-8.7,171,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2235,3420,0,0,0,0,0,0
$GC,789,-0.74,-97.7,63.4,-8.6,179,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2235,3420,0,0,0,0,0,0
$GC,824,-0.74,-97.7,66.2,-8.1,187,830,0.00,2.22,0.00,0.000,4,0.000,0.058,2923,829,3420,0,0,0,0,0,0
$GC,867,-0.74,-97.7,70.1,-9.0,197,873,0.00,2.20,0.00,0.000,6,0.000,0.048,2914,2226,3420,0,0,0,0,0,0
$GC,907,-0.74,-97.7,73.5,-8.5,206,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2226,3420,0,0,0,0,0,0
$GC,941,-0.74,-97.7,76.4,-8.6,214,947,0.00,2.22,0.00,0.000,4,0.000,0.058,2914,829,3420,0,0,0,0,0,0
$GC,989,-0.74,-97.7,80.8,-9.4,225,995,0.00,2.20,0.00,0.000,6,0.000,0.048,2904,2227,3420,0,0,0,0,0,0
$GC,1028,-0.74,-97.7,84.5,-9.2,234,1034,0.00,2.25,0.00,0.000,4,0.000,0.063,2893,3629,3420,0,0,0,0,0,0
$GC,1059,-0.74,-97.7,87.4,-9.0,241,1065,0.10,2.17,0.00,0.000,6,0.158,0.042,2923,2221,3421,0,0,0,0,0,0
$GC,1098,-0.74,-97.7,90.4,-7.7,250,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2221,3421,0,0,0,0,0,0
$GC,1133,-0.74,-97.7,92.9,-7.0,258,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2221,3420,0,0,0,0,0,0
$GC,1167,-0.74,-97.7,95.3,-7.0,266,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2221,3420,0,0,0,0,0,0
$GC,1205,-0.74,-97.7,97.9,-7.1,275,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2221,3421,0,0,0,0,0,0
$GC,1243,-0.74,-97.7,100.9,-7.5,284,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2221,3421,0,0,0,0,0,0
$GC,1278,-0.74,-97.7,103.3,-7.1,292,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2221,3421,0,0,0,0,0,0
$GC,1316,-0.74,-97.7,105.9,-6.8,301,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2221,3421,0,0,0,0,0,0
$GC,1354,-0.74,-97.7,108.3,-6.2,310,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2221,3421,0,0,0,0,0,0
$STATE,1364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1365,begin apogee
$GC,1367,-0.20,0.0,109.1,6.5,313,1448,0.55,0.00,75.95,0.676,6,0.144,0.000,3101,2221,3020,0,0,0,0,0,0
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1449,0.74,97.7,110.0,0.0,332,1530,0.88,0.00,77.07,0.643,6,0.090,0.000,3401,2221,2621,0,0,0,0,0,0
$GC,1563,0.74,97.7,99.3,12.2,359,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2221,2620,0,0,0,0,0,0
$GC,1598,0.74,97.7,94.9,12.6,367,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2221,2619,0,0,0,0,0,0
$GC,1636,0.74,97.7,90.2,12.7,376,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2221,2619,0,0,0,0,0,0
$GC,1670,0.74,97.7,85.7,12.7,384,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2221,2619,0,0,0,0,0,0
$GC,1704,0.74,97.7,81.4,12.5,392,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2221,2619,0,0,0,0,0,0
$GC,1739,0.74,97.7,77.4,11.9,400,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2221,2619,0,0,0,0,0,0
$GC,1777,0.74,97.7,72.7,12.4,409,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2221,2619,0,0,0,0,0,0
$GC,1811,0.74,97.7,68.4,12.5,417,1817,0.00,2.30,0.00,0.000,4,0.000,0.057,3411,789,2619,0,0,0,0,0,0
$GC,1846,0.74,97.7,63.9,12.8,425,1852,0.00,2.25,0.00,0.000,6,0.000,0.048,3411,2192,2619,0,0,0,0,0,0
$GC,1885,0.74,97.7,58.9,13.0,434,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2619,0,0,0,0,0,0
$GC,1920,0.74,97.7,54.6,12.3,442,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2619,0,0,0,0,0,0
$GC,1954,0.74,97.7,50.3,12.7,450,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,1989,0.74,97.7,46.0,12.4,458,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2619,0,0,0,0,0,0
$GC,2027,0.74,97.7,41.3,12.3,467,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,2061,0.74,97.7,37.3,11.9,475,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2619,0,0,0,0,0,0
$GC,2096,0.74,97.7,33.1,12.0,483,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2192,2619,0,0,0,0,0,0
$GC,2130,0.74,97.7,28.8,12.5,491,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2191,2620,0,0,0,0,0,0
$GC,2168,0.74,97.7,24.0,12.5,500,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,2203,0.74,97.7,19.9,11.8,508,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,2238,0.74,97.7,15.9,11.9,516,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,2272,0.74,97.7,11.8,11.7,524,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,2310,0.74,97.7,7.4,11.5,533,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2192,2620,0,0,0,0,0,0
$GC,2344,0.74,97.7,4.7,8.6,541,2350,0.00,2.22,0.00,0.000,4,0.000,0.054,3421,787,2621,0,0,0,0,0,0
$STATE,2517,end climb,NO_VERTICAL_VELOCITY
$STATE,2517,begin surface
$SM_CCo,2519,362.08,0.547,9,0,430,635.32
$SM_GC,1.08,9.15,0.00,0.00,0.051,0.000,0.000,154,2235,424,-9.37,0.14,636.79
$IRIDIUM_FIX,4748.51,-12220.12,100399,232319
$TT8_MAMPS,0.052923
$HUMID,21.01
$INTERNAL_PRESSURE,9.23577
$TCM_TEMP,19.50
$XPDR_PINGS,2
$24V_AH,24.3,5.240
$10V_AH,10.4,2.152
$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,22.500,35.850,153.025,362.075,0.000,0.000,0.000,0.000,0.500,0.000,14.236,0.000,1299.311,672.162,1068.440,33.314,0.000,1155.910,0.000,833.692,0.000,0.535,0.000
$DEVICE_MAMPS,263.848,72.098,675.727,546.871,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324740
$DATA_FILE_SIZE,18998,581
$CAP_FILE_SIZE,95333,0
$CFSIZE,260165632,258433024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
$GPS,141209,235236,4805.592,-12221.903,13,1.0,29,18.3