version: 66.06
glider: 506
mission: 2
dive: 24
start: 12 15 109 17 32 32
data:
$ID,506
$MISSION,2
$DIVE,24
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$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,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,-7752.8887
$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,44
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.027000001
$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,3
$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
$GPS1,172626,4806.828,-12222.791,9,1.3,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.8
$GPS2,173226,4806.861,-12222.854,9,1.7,9,18.3
$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,128.1,4141,-7.2,-6.024
$D_GRID,105
$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,11,-0.54,-215.0,0.0,0.0,0,68,0.00,0.00,-55.08,0.000,2,0.000,0.000,157,2230,2632,0,0,0,0,0,0
$GC,70,-0.54,-215.0,3.2,-4.6,13,113,12.40,2.50,-26.90,0.000,4,0.271,0.059,2980,657,3897,0,0,0,0,0,0
$GC,121,-0.54,-215.0,10.2,-11.9,25,127,0.00,2.55,0.00,0.000,6,0.000,0.048,2970,2230,3898,0,0,0,0,0,0
$GC,160,-0.54,-215.0,13.7,-9.1,34,166,0.00,2.65,0.00,0.000,4,0.000,0.066,2958,3811,3899,0,0,0,0,0,0
$GC,221,-0.54,-215.0,19.2,-8.9,48,227,0.00,2.50,0.00,0.000,6,0.000,0.040,2959,2225,3898,0,0,0,0,0,0
$GC,260,-0.54,-215.0,22.5,-8.6,57,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2225,3899,0,0,0,0,0,0
$GC,295,-0.54,-215.0,25.5,-8.5,65,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2225,3899,0,0,0,0,0,0
$GC,329,-0.54,-215.0,28.4,-8.7,73,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2225,3899,0,0,0,0,0,0
$GC,364,-0.54,-215.0,31.4,-8.6,81,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2225,3898,0,0,0,0,0,0
$GC,399,-0.54,-215.0,34.4,-8.5,89,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2224,3899,0,0,0,0,0,0
$GC,433,-0.54,-215.0,37.2,-8.3,97,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2225,3898,0,0,0,0,0,0
$GC,467,-0.54,-215.0,40.1,-8.6,105,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2225,3898,0,0,0,0,0,0
$GC,502,-0.54,-215.0,43.1,-8.5,113,508,0.00,2.65,0.00,0.000,4,0.000,0.071,2947,3835,3898,0,0,0,0,0,0
$GC,520,-0.54,-215.0,44.7,-8.7,117,526,0.10,2.53,0.00,0.000,6,0.123,0.040,2981,2216,3898,0,0,0,0,0,0
$GC,559,-0.54,-215.0,47.8,-7.9,126,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3898,0,0,0,0,0,0
$GC,597,-0.54,-215.0,50.5,-7.4,135,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3898,0,0,0,0,0,0
$GC,632,-0.54,-215.0,53.2,-7.5,143,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3898,0,0,0,0,0,0
$GC,669,-0.54,-215.0,56.0,-7.3,152,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3898,0,0,0,0,0,0
$GC,704,-0.54,-215.0,58.6,-7.6,160,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2216,3898,0,0,0,0,0,0
$GC,739,-0.54,-215.0,61.2,-7.5,168,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2215,3898,0,0,0,0,0,0
$GC,773,-0.54,-215.0,63.7,-7.4,176,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2215,3898,0,0,0,0,0,0
$GC,811,-0.54,-215.0,66.7,-7.8,185,817,0.00,2.65,0.00,0.000,4,0.000,0.067,2972,3819,3898,0,0,0,0,0,0
$GC,833,-0.54,-215.0,68.4,-7.8,190,839,0.00,2.47,0.00,0.000,6,0.000,0.041,2972,2231,3898,0,0,0,0,0,0
$GC,872,-0.54,-215.0,71.5,-7.8,199,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2231,3898,0,0,0,0,0,0
$GC,910,-0.54,-215.0,74.6,-8.1,208,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2231,3898,0,0,0,0,0,0
$GC,945,-0.54,-215.0,77.3,-7.7,216,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2231,3898,0,0,0,0,0,0
$GC,982,-0.54,-215.0,80.1,-7.9,224,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2231,3898,0,0,0,0,0,0
$GC,1020,-0.54,-215.0,83.2,-7.9,233,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2230,3898,0,0,0,0,0,0
$GC,1058,-0.54,-215.0,86.0,-7.4,242,1063,0.00,2.62,0.00,0.000,4,0.000,0.067,2960,3820,3898,0,0,0,0,0,0
$GC,1084,-0.54,-215.0,88.2,-7.8,248,1090,0.00,2.50,0.00,0.000,6,0.000,0.041,2961,2208,3898,0,0,0,0,0,0
$GC,1123,-0.54,-215.0,91.2,-7.9,257,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2208,3898,0,0,0,0,0,0
$GC,1158,-0.54,-215.0,93.9,-7.7,265,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2208,3898,0,0,0,0,0,0
$GC,1196,-0.54,-215.0,96.7,-7.5,274,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2208,3898,0,0,0,0,0,0
$GC,1230,-0.54,-215.0,99.4,-7.5,282,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2208,3898,0,0,0,0,0,0
$GC,1268,-0.54,-215.0,102.1,-7.5,291,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2208,3898,0,0,0,0,0,0
$GC,1303,-0.54,-215.0,104.8,-7.5,299,1308,0.00,2.60,0.00,0.000,4,0.000,0.067,2950,3819,3898,0,0,0,0,0,0
$STATE,1311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1311,begin apogee
$GC,1315,-0.19,0.0,105.5,7.6,301,1486,0.43,0.00,166.07,0.643,6,0.124,0.000,3092,2176,3019,0,0,0,0,0,0
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1487,0.54,215.0,109.2,0.0,341,1666,0.70,2.80,169.62,0.608,4,0.094,0.063,3328,3778,2142,0,0,0,0,0,0
$GC,1708,0.54,215.0,90.2,11.1,393,1714,0.00,2.58,0.00,0.000,6,0.000,0.038,3340,2199,2141,0,0,0,0,0,0
$GC,1747,0.54,215.0,86.3,10.2,402,1753,0.00,2.58,0.00,0.000,4,0.000,0.048,3352,611,2141,0,0,0,0,0,0
$GC,1773,0.54,215.0,83.7,10.1,408,1779,0.00,2.55,0.00,0.000,6,0.000,0.044,3352,2170,2140,0,0,0,0,0,0
$GC,1813,0.54,215.0,79.5,10.5,417,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2171,2140,0,0,0,0,0,0
$GC,1847,0.54,215.0,76.0,10.3,425,1853,0.00,2.65,0.00,0.000,4,0.000,0.063,3352,3773,2140,0,0,0,0,0,0
$GC,1860,0.54,215.0,74.6,10.2,428,1866,0.00,2.55,0.00,0.000,6,0.000,0.038,3364,2174,2140,0,0,0,0,0,0
$GC,1900,0.54,215.0,70.2,11.0,437,1905,0.00,2.50,0.00,0.000,4,0.000,0.048,3375,611,2140,0,0,0,0,0,0
$GC,1926,0.54,215.0,67.6,10.4,443,1932,0.10,2.50,0.00,0.000,6,0.134,0.044,3342,2161,2140,0,0,0,0,0,0
$GC,1966,0.54,215.0,63.8,9.8,452,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2161,2140,0,0,0,0,0,0
$GC,2003,0.54,215.0,60.5,8.8,461,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2162,2140,0,0,0,0,0,0
$GC,2038,0.54,215.0,57.4,8.9,469,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2162,2140,0,0,0,0,0,0
$GC,2073,0.54,215.0,54.4,8.7,477,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2162,2140,0,0,0,0,0,0
$GC,2107,0.54,215.0,51.3,8.9,485,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2162,2140,0,0,0,0,0,0
$GC,2145,0.54,215.0,48.0,8.8,494,2151,0.00,2.47,0.00,0.000,4,0.000,0.047,3352,605,2140,0,0,0,0,0,0
$GC,2162,0.54,215.0,46.3,9.0,498,2168,0.00,2.47,0.00,0.000,6,0.000,0.043,3352,2163,2140,0,0,0,0,0,0
$GC,2202,0.54,215.0,42.5,9.7,507,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2240,0.54,215.0,38.9,9.5,516,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2274,0.54,215.0,35.5,9.5,524,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2164,2140,0,0,0,0,0,0
$GC,2309,0.54,215.0,32.3,9.4,532,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2343,0.54,215.0,29.2,9.3,540,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2381,0.54,215.0,25.5,9.8,549,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2415,0.54,215.0,22.1,9.8,557,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2450,0.54,215.0,18.6,10.1,565,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2485,0.54,215.0,15.3,9.5,573,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2163,2140,0,0,0,0,0,0
$GC,2522,0.54,215.0,12.2,8.5,582,2528,0.00,2.45,0.00,0.000,4,0.000,0.046,3364,605,2140,0,0,0,0,0,0
$GC,2548,0.54,215.0,10.4,7.3,588,2554,0.00,2.42,0.00,0.000,6,0.000,0.043,3363,2154,2140,0,0,0,0,0,0
$GC,2588,0.59,255.8,8.4,5.2,597,2628,0.00,2.67,32.10,0.570,4,0.000,0.062,3363,3767,1976,0,0,0,0,0,0
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,0.3,1.018994
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2850,129.23,0.477,1,0,1063,480.04
$SM_GC,0.89,0.00,0.00,129.23,0.000,0.000,0.477,153,2226,1063,-9.40,-0.11,480.04
$IRIDIUM_FIX,4748.51,-12221.84,110399,161640
$TT8_MAMPS,0.051389
$HUMID,20.70
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,43.8
$24V_AH,24.1,7.479
$10V_AH,10.5,2.771
$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,22.325,66.400,367.800,129.225,0.000,30.747,23.821,240.890,1.500,0.000,11.695,0.000,1200.770,584.383,1194.699,359.503,0.000,1181.935,0.000,937.021,0.000,5.518,0.000
$DEVICE_MAMPS,270.751,71.331,642.746,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324668
$DATA_FILE_SIZE,22158,654
$CAP_FILE_SIZE,96591,0
$CFSIZE,260165632,257642496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151209,182307,4806.565,-12222.577,33,0.9,33,18.3