version: 66.06
glider: 506
mission: 2
dive: 16
start: 12 15 109 9 47 19
data:
$ID,506
$MISSION,2
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,83
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,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,-7565.522
$T_RSLEEP,8
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3940
$C_PITCH,3162
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,45
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,22
$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,80
$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
$GPS1,094134,4808.106,-12223.243,12,5.8,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.5
$GPS2,094713,4808.208,-12223.323,9,1.3,14,18.3
$SPEED_LIMITS,0.104,0.252
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$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,135.9,6600,-7.2,-6.024
$D_GRID,101
$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,-0.54,-215.0,0.0,0.0,0,81,0.00,0.00,-67.20,0.000,2,0.000,0.000,150,2227,2378,0,0,0,0,0,0
$GC,82,-0.54,-215.0,3.2,-4.5,16,134,12.23,2.67,-33.28,0.000,4,0.262,0.084,2968,3818,3899,0,0,0,0,0,0
$GC,155,-0.54,-215.0,10.2,-5.5,33,160,0.00,2.53,0.00,0.000,6,0.000,0.044,2968,2233,3899,0,0,0,0,0,0
$GC,194,-0.54,-215.0,13.2,-7.9,42,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2233,3899,0,0,0,0,0,0
$GC,228,-0.54,-215.0,16.2,-8.3,50,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2232,3899,0,0,0,0,0,0
$GC,263,-0.54,-215.0,19.1,-8.4,58,269,0.00,2.53,0.00,0.000,4,0.000,0.052,2968,658,3899,0,0,0,0,0,0
$GC,294,-0.54,-215.0,21.8,-9.1,65,299,0.00,2.55,0.00,0.000,6,0.000,0.051,2958,2228,3899,0,0,0,0,0,0
$GC,333,-0.54,-215.0,25.3,-8.7,74,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2228,3899,0,0,0,0,0,0
$GC,367,-0.54,-215.0,28.5,-9.2,82,372,0.10,0.00,0.00,0.000,6,0.176,0.000,2982,2228,3899,0,0,0,0,0,0
$GC,405,-0.54,-215.0,31.7,-8.5,91,411,0.00,2.65,0.00,0.000,4,0.000,0.070,2972,3807,3899,0,0,0,0,0,0
$GC,436,-0.54,-215.0,34.2,-8.0,98,442,0.00,2.50,0.00,0.000,6,0.000,0.044,2972,2230,3899,0,0,0,0,0,0
$GC,475,-0.54,-215.0,37.3,-8.2,107,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2229,3899,0,0,0,0,0,0
$GC,509,-0.54,-215.0,40.1,-8.1,115,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2230,3899,0,0,0,0,0,0
$GC,544,-0.54,-215.0,42.9,-7.9,123,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2229,3899,0,0,0,0,0,0
$GC,579,-0.54,-215.0,45.6,-8.0,131,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2230,3899,0,0,0,0,0,0
$GC,613,-0.54,-215.0,48.3,-7.9,139,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2229,3899,0,0,0,0,0,0
$GC,647,-0.54,-215.0,51.1,-7.9,147,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2229,3899,0,0,0,0,0,0
$GC,682,-0.54,-215.0,53.6,-7.7,155,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2230,3899,0,0,0,0,0,0
$GC,716,-0.54,-215.0,56.4,-7.8,163,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2229,3899,0,0,0,0,0,0
$GC,751,-0.54,-215.0,59.1,-7.6,171,757,0.00,2.65,0.00,0.000,4,0.000,0.071,2961,3814,3899,0,0,0,0,0,0
$GC,777,-0.54,-215.0,61.2,-8.1,177,783,0.00,2.50,0.00,0.000,6,0.000,0.044,2961,2226,3899,0,0,0,0,0,0
$GC,817,-0.54,-215.0,64.3,-8.0,186,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,851,-0.54,-215.0,67.0,-7.8,194,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3898,0,0,0,0,0,0
$GC,886,-0.54,-215.0,69.8,-8.0,202,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2226,3899,0,0,0,0,0,0
$GC,921,-0.54,-215.0,72.4,-7.5,210,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2226,3899,0,0,0,0,0,0
$GC,958,-0.54,-215.0,75.3,-7.6,219,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,993,-0.54,-215.0,77.9,-7.7,227,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,1028,-0.54,-215.0,80.7,-7.8,235,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,1062,-0.54,-215.0,83.3,-7.6,243,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,1096,-0.54,-215.0,86.0,-7.8,251,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2225,3899,0,0,0,0,0,0
$GC,1131,-0.54,-215.0,88.6,-7.7,259,1137,0.00,2.62,0.00,0.000,4,0.000,0.071,2951,3807,3898,0,0,0,0,0,0
$GC,1153,-0.54,-215.0,90.4,-7.8,264,1159,0.10,2.47,0.00,0.000,6,0.123,0.044,2985,2227,3899,0,0,0,0,0,0
$GC,1192,-0.54,-215.0,93.0,-6.7,273,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2227,3899,0,0,0,0,0,0
$GC,1230,-0.54,-215.0,95.3,-6.3,282,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2227,3899,0,0,0,0,0,0
$GC,1265,-0.54,-215.0,97.6,-6.5,290,1270,0.00,2.58,0.00,0.000,4,0.000,0.069,2976,3818,3898,0,0,0,0,0,0
$GC,1291,-0.54,-215.0,99.3,-6.2,296,1297,0.00,2.47,0.00,0.000,6,0.000,0.043,2977,2215,3899,0,0,0,0,0,0
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1318,-0.19,0.0,101.1,6.6,302,1488,0.35,0.00,165.90,0.647,6,0.120,0.000,3095,2215,3020,0,0,0,0,0,0
$STATE,1489,end apogee,CONTROL_FINISHED_OK
$STATE,1489,begin climb
$GC,1490,0.54,215.0,104.9,0.0,342,1669,0.70,2.75,169.70,0.613,4,0.091,0.066,3329,3777,2142,0,0,0,0,0,0
$GC,1689,0.54,215.0,89.3,10.1,389,1695,0.00,2.62,0.00,0.000,6,0.000,0.041,3340,2193,2140,0,0,0,0,0,0
$GC,1729,0.54,215.0,85.4,9.9,398,1734,0.00,2.62,0.00,0.000,4,0.000,0.050,3352,605,2140,0,0,0,0,0,0
$GC,1751,0.54,215.0,83.3,9.9,403,1756,0.00,2.62,0.00,0.000,6,0.000,0.046,3351,2193,2140,0,0,0,0,0,0
$GC,1790,0.54,215.0,79.0,10.8,412,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2193,2139,0,0,0,0,0,0
$GC,1824,0.54,215.0,75.3,10.6,420,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2193,2140,0,0,0,0,0,0
$GC,1859,0.54,215.0,71.6,10.9,428,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2193,2140,0,0,0,0,0,0
$GC,1897,0.54,215.0,67.5,10.6,437,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2193,2139,0,0,0,0,0,0
$GC,1931,0.54,215.0,63.9,10.6,445,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2193,2139,0,0,0,0,0,0
$GC,1966,0.54,215.0,60.4,10.2,453,1972,0.00,2.58,0.00,0.000,4,0.000,0.052,3363,604,2140,0,0,0,0,0,0
$GC,1984,0.54,215.0,58.4,10.5,457,1990,0.00,2.55,0.00,0.000,6,0.000,0.047,3363,2181,2139,0,0,0,0,0,0
$GC,2023,0.54,215.0,54.1,11.1,466,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2182,2139,0,0,0,0,0,0
$GC,2057,0.54,215.0,50.3,10.9,474,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2182,2139,0,0,0,0,0,0
$GC,2092,0.54,215.0,46.6,10.5,482,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2182,2139,0,0,0,0,0,0
$GC,2127,0.54,215.0,42.9,10.7,490,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2182,2139,0,0,0,0,0,0
$GC,2165,0.54,215.0,38.9,10.5,499,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2182,2139,0,0,0,0,0,0
$GC,2199,0.54,215.0,35.1,10.9,507,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2181,2139,0,0,0,0,0,0
$GC,2234,0.54,215.0,31.6,10.5,515,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2182,2139,0,0,0,0,0,0
$GC,2268,0.54,215.0,27.8,10.7,523,2274,0.00,2.53,0.00,0.000,4,0.000,0.052,3374,607,2139,0,0,1,0,0,0
$GC,2286,0.54,215.0,26.0,10.7,527,2292,0.10,2.50,0.00,0.000,6,0.133,0.045,3341,2184,2139,0,0,0,0,0,0
$GC,2325,0.54,215.0,22.1,9.9,536,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2185,2139,0,0,0,0,0,0
$GC,2360,0.54,215.0,19.1,8.9,544,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2184,2139,0,0,0,0,0,0
$GC,2398,0.54,215.0,15.5,9.2,553,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2184,2139,0,0,0,0,0,0
$GC,2432,0.54,215.0,12.5,8.7,561,2438,0.00,2.50,0.00,0.000,4,0.000,0.051,3351,611,2139,0,0,0,0,0,0
$GC,2459,0.54,215.0,10.2,8.4,567,2464,0.00,2.47,0.00,0.000,6,0.000,0.046,3351,2194,2139,0,0,0,0,0,0
$GC,2498,0.54,215.0,7.0,8.3,576,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2194,2139,0,0,0,0,0,0
$GC,2536,0.59,255.9,5.3,5.2,585,2576,0.00,2.62,32.33,0.570,4,0.000,0.064,3351,3764,1975,0,0,0,0,0,0
$STATE,2739,end climb,NO_VERTICAL_VELOCITY
$STATE,2739,begin surface
$SM_CCo,2740,243.32,0.539,6,0,429,635.32
$SM_GC,1.08,9.00,0.00,0.00,0.052,0.000,0.000,152,2225,423,-9.36,-0.14,637.03
$IRIDIUM_FIX,4748.51,-12233.46,110399,080845
$TT8_MAMPS,0.052923
$HUMID,20.66
$INTERNAL_PRESSURE,9.23577
$TCM_TEMP,19.50
$XPDR_PINGS,1
$24V_AH,24.1,6.630
$10V_AH,10.4,2.511
$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,22.575,61.650,367.925,243.325,0.000,24.285,28.555,218.341,2.500,0.000,16.061,0.000,1230.976,719.130,1171.974,332.239,0.000,1300.889,0.000,905.894,0.000,19.991,0.000
$DEVICE_MAMPS,262.314,83.603,647.348,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324644
$DATA_FILE_SIZE,19010,632
$CAP_FILE_SIZE,94263,0
$CFSIZE,260165632,257974272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,6,0
$GPS,151209,103943,4808.126,-12223.257,9,1.5,9,18.3