version: 66.06
glider: 506
mission: 2
dive: 65
start: 12 16 109 12 41 7
data:
$ID,506
$MISSION,2
$DIVE,65
$D_SURF,3
$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,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,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,-8266.6973
$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,3180
$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,50
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,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
$GPS1,123454,4806.073,-12222.044,39,1.0,39,18.3
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.4
$GPS2,124101,4806.136,-12222.093,7,1.5,12,18.3
$SPEED_LIMITS,0.104,0.252
$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,137.2,276,-26.4,-6.024
$D_GRID,108
$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,-1.05,-29.6,0.0,0.0,0,72,0.00,0.00,-58.83,0.000,2,0.000,0.000,155,2237,2705,0,0,0,0,0,0
$GC,74,-1.07,-41.2,3.0,-4.4,14,105,12.07,2.83,-11.07,0.000,4,0.275,0.087,2815,3865,3189,0,0,0,0,0,0
$GC,126,-1.07,-41.2,10.2,-12.3,26,131,0.00,2.67,0.00,0.000,6,0.000,0.050,2819,2224,3190,0,0,0,0,0,0
$GC,165,-1.07,-46.5,12.0,-5.3,35,170,0.00,0.00,-0.43,0.000,6,0.000,0.000,2819,2224,3212,0,0,0,0,0,0
$GC,204,-1.11,-75.9,12.8,-2.0,44,210,0.00,2.75,-2.12,0.000,4,0.000,0.083,2808,3867,3332,0,0,0,0,0,0
$GC,235,-1.14,-103.7,13.7,-2.2,51,241,0.00,2.65,-1.92,0.000,6,0.000,0.048,2808,2222,3445,0,0,0,0,0,0
$GC,275,-1.14,-103.7,16.6,-6.6,60,280,0.00,2.83,0.00,0.000,4,0.000,0.058,2808,470,3446,0,0,0,0,0,0
$GC,345,-1.14,-103.7,24.3,-11.6,76,350,0.00,2.85,0.00,0.000,6,0.000,0.056,2795,2226,3446,0,0,0,0,0,0
$GC,384,-1.14,-103.7,28.8,-11.5,85,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2226,3446,0,0,0,0,0,0
$GC,422,-1.14,-103.7,33.1,-11.4,94,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2226,3446,0,0,0,0,0,0
$GC,456,-1.14,-103.7,37.3,-12.2,102,462,0.00,2.72,0.00,0.000,4,0.000,0.073,2783,3874,3446,0,0,0,0,0,0
$GC,478,-1.14,-103.7,40.1,-12.5,107,484,0.00,2.62,0.00,0.000,6,0.000,0.050,2783,2235,3446,0,0,0,0,0,0
$GC,517,-1.14,-103.7,45.3,-13.3,116,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2235,3446,0,0,0,0,0,0
$GC,555,-1.14,-103.7,50.1,-13.0,125,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2234,3446,0,0,0,0,0,0
$GC,590,-1.14,-103.7,54.6,-13.1,133,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2235,3446,0,0,0,0,0,0
$GC,627,-1.14,-103.7,59.7,-13.2,142,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2234,3446,0,0,0,0,0,0
$GC,662,-1.14,-103.7,64.4,-13.6,150,668,0.00,2.72,0.00,0.000,4,0.000,0.073,2771,3879,3446,0,0,0,0,0,0
$GC,684,-1.14,-103.7,67.3,-13.3,155,690,0.08,2.62,0.00,0.000,6,0.201,0.050,2805,2230,3445,0,0,0,0,0,0
$GC,723,-1.14,-103.7,72.3,-13.0,164,729,0.00,2.83,0.00,0.000,4,0.000,0.059,2805,472,3446,0,0,0,0,0,0
$GC,736,-1.14,-103.7,73.9,-12.6,167,742,0.00,2.83,0.00,0.000,6,0.000,0.054,2794,2239,3446,0,0,0,0,0,0
$GC,776,-1.14,-103.7,78.8,-12.5,176,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2238,3445,0,0,0,0,0,0
$GC,814,-1.14,-103.7,83.3,-11.7,185,820,0.00,2.83,0.00,0.000,4,0.000,0.062,2794,472,3446,0,0,0,0,0,0
$GC,862,-1.14,-103.7,89.5,-12.6,196,868,0.12,2.83,0.00,0.000,6,0.209,0.054,2809,2234,3445,0,0,0,0,0,0
$GC,902,-1.14,-103.7,93.8,-11.5,205,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2234,3445,0,0,0,0,0,0
$GC,940,-1.14,-103.7,97.8,-10.3,214,945,0.00,2.67,0.00,0.000,4,0.000,0.072,2798,3875,3445,0,0,0,0,0,0
$GC,948,-1.14,-103.7,98.6,-10.4,216,954,0.00,2.60,0.00,0.000,6,0.000,0.048,2801,2228,3445,0,0,0,0,0,0
$GC,988,-1.14,-103.7,102.7,-10.4,225,993,0.00,2.78,0.00,0.000,4,0.000,0.058,2802,473,3445,0,0,0,0,0,0
$GC,1018,-1.14,-103.7,105.7,-9.8,232,1024,0.00,2.80,0.00,0.000,6,0.000,0.054,2790,2232,3445,0,0,0,0,0,0
$STATE,1043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1043,begin apogee
$GC,1046,-0.19,0.0,108.2,9.8,238,1132,1.08,0.00,81.47,0.648,6,0.178,0.000,3107,2232,3019,0,0,0,0,0,0
$STATE,1132,end apogee,CONTROL_FINISHED_OK
$STATE,1132,begin climb
$GC,1133,1.14,103.7,109.1,0.0,258,1223,1.25,0.00,82.38,0.618,6,0.087,0.000,3537,2232,2596,0,0,0,0,0,0
$GC,1256,1.14,103.7,88.6,21.1,287,1262,0.00,3.03,0.00,0.000,4,0.000,0.055,3550,433,2595,0,0,0,0,0,0
$GC,1270,1.14,103.7,85.4,21.6,290,1275,0.00,2.88,0.00,0.000,6,0.000,0.049,3550,2190,2595,0,0,1,0,0,0
$GC,1309,1.14,103.7,76.6,23.0,299,1315,0.00,2.92,0.00,0.000,4,0.000,0.054,3564,428,2595,0,0,1,0,0,0
$GC,1323,1.14,103.7,73.5,23.0,302,1328,0.00,2.88,0.00,0.000,6,0.000,0.049,3563,2190,2595,0,0,1,0,0,0
$GC,1361,1.14,103.7,64.3,23.5,311,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2190,2595,0,0,0,0,0,0
$GC,1399,1.14,103.7,55.6,22.7,320,1405,0.00,2.85,0.00,0.000,4,0.000,0.069,3564,3875,2595,0,0,0,0,0,0
$GC,1408,1.14,103.7,53.6,22.8,322,1414,0.00,2.70,0.00,0.000,6,0.000,0.044,3576,2184,2595,0,0,0,0,0,0
$GC,1447,1.14,103.7,44.2,23.7,331,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2183,2595,0,0,0,0,0,0
$GC,1485,1.14,103.7,35.3,23.5,340,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2183,2595,0,0,0,0,0,0
$GC,1523,1.14,103.7,26.5,23.3,349,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2183,2595,0,0,0,0,0,0
$GC,1561,1.14,103.7,18.0,22.7,358,1567,0.00,2.83,0.00,0.000,4,0.000,0.056,3589,432,2595,0,0,0,0,0,0
$GC,1574,1.14,103.7,15.1,22.3,361,1580,0.15,2.83,0.00,0.000,6,0.203,0.049,3554,2196,2594,0,0,1,0,0,0
$GC,1614,1.14,103.7,6.8,21.2,370,1620,0.00,2.85,0.00,0.000,4,0.000,0.054,3566,432,2594,0,0,0,0,0,0
$STATE,1644,end climb,SURFACE_DEPTH_REACHED
$STATE,1644,begin surface coast
$FINISH,2.6,1.019494
$STATE,1661,end surface coast,CONTROL_FINISHED_OK
$STATE,1661,begin surface
$SM_CCo,1678,240.57,0.525,6,0,1063,480.04
$SM_GC,0.94,0.00,0.00,240.57,0.000,0.000,0.525,160,2236,1063,-9.44,0.17,480.04
$IRIDIUM_FIX,4748.51,-12217.40,120399,121207
$TT8_MAMPS,0.05369
$HUMID,21.13
$INTERNAL_PRESSURE,9.33343
$TCM_TEMP,19.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,45.5
$24V_AH,24.1,10.847
$10V_AH,10.5,3.477
$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,24.625,78.100,163.850,240.575,0.000,23.995,24.451,250.598,1.250,0.000,15.018,0.000,650.257,577.510,732.221,354.487,0.000,945.768,0.000,550.801,0.000,5.521,0.000
$DEVICE_MAMPS,275.353,87.438,648.115,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324696
$DATA_FILE_SIZE,12733,381
$CAP_FILE_SIZE,68740,0
$CFSIZE,260165632,256655360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,6,0
$GPS,161209,131402,4806.026,-12222.040,8,1.5,8,18.3