version: 66.07
glider: 505
mission: 2
dive: 77
start: 12 16 109 17 10 59
data:
$ID,505
$MISSION,2
$DIVE,77
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,500
$D_BOOST,120
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,-23282.709
$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,50
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,38
$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,0
$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
$GPS1,161209,170408,4806.420,-12222.875,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.3
$GPS2,161209,171002,4806.500,-12222.944,14,1.1,14,18.3
$SPEED_LIMITS,0.104,0.251
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,-0.245
$KALMAN_X,-17416.2,636.1,1171.9,13402.3,-935.4
$KALMAN_Y,45500.1,-11563.3,-16421.8,-14545.5,7838.4
$MHEAD_RNG_PITCHd_Wd,148.3,1491,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-214.2,0.0,0.0,0,84,0.00,0.00,-67.03,0.000,2,0.000,0.000,105,1689,2630,0,0,0,0,0,0
$GC,87,-0.50,-214.2,3.3,-4.8,16,132,11.15,2.45,-26.15,0.000,4,0.265,0.061,2665,177,3682,0,0,0,0,0,0
$GC,146,-0.50,-214.2,9.0,-6.1,29,152,0.00,2.42,0.00,0.000,6,0.000,0.041,2665,1694,3682,0,0,0,0,0,0
$GC,189,-0.50,-214.2,13.8,-11.4,38,195,0.00,2.83,0.00,0.000,4,0.000,0.048,2665,3466,3682,0,0,0,0,0,0
$GC,232,-0.50,-214.2,18.5,-11.0,47,238,0.00,2.80,0.00,0.000,6,0.000,0.038,2664,1698,3682,0,0,0,0,0,0
$GC,275,-0.50,-214.2,23.3,-11.1,56,279,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1697,3683,0,0,0,0,0,0
$GC,317,-0.50,-214.2,28.0,-11.1,65,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1697,3683,0,0,0,0,0,0
$GC,358,-0.50,-214.2,32.8,-11.4,74,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,1697,3682,0,0,0,0,0,0
$GC,401,-0.50,-214.2,37.4,-11.1,83,406,0.00,2.85,0.00,0.000,4,0.000,0.048,2665,3473,3682,0,0,0,0,0,0
$GC,411,-0.50,-214.2,38.7,-11.1,85,417,0.00,2.78,0.00,0.000,6,0.000,0.035,2665,1696,3682,0,0,0,0,0,0
$GC,454,-0.50,-214.2,43.5,-11.0,94,460,0.00,2.40,0.00,0.000,4,0.000,0.049,2665,184,3682,0,0,0,0,0,0
$GC,465,-0.50,-214.2,44.6,-11.1,96,470,0.00,2.40,0.00,0.000,6,0.000,0.039,2665,1713,3682,0,0,0,0,0,0
$GC,508,-0.50,-214.2,49.2,-10.8,105,513,0.00,2.78,0.00,0.000,4,0.000,0.048,2665,3460,3682,0,0,0,0,0,0
$GC,520,-0.50,-214.2,50.3,-10.5,107,525,0.00,2.75,0.00,0.000,6,0.000,0.035,2665,1700,3682,0,0,0,0,0,0
$GC,563,-0.50,-214.2,54.9,-10.2,116,568,0.00,2.40,0.00,0.000,4,0.000,0.046,2665,181,3682,0,0,0,0,0,0
$GC,573,-0.50,-214.2,55.9,-10.3,118,578,0.00,2.38,0.00,0.000,6,0.000,0.037,2665,1701,3682,0,0,0,0,0,0
$GC,616,-0.50,-214.2,60.5,-10.7,127,622,0.00,2.80,0.00,0.000,4,0.000,0.048,2665,3466,3682,0,0,0,0,0,0
$GC,627,-0.50,-214.2,61.6,-10.7,129,632,0.00,2.72,0.00,0.000,6,0.000,0.034,2665,1701,3683,0,0,0,0,0,0
$GC,669,-0.50,-214.2,65.9,-10.1,138,675,0.00,2.42,0.00,0.000,4,0.000,0.047,2665,182,3682,0,0,0,0,0,0
$GC,684,-0.50,-214.2,67.6,-10.1,141,690,0.00,2.40,0.00,0.000,6,0.000,0.039,2665,1705,3682,0,0,0,0,0,0
$GC,727,-0.50,-214.2,72.1,-10.6,150,733,0.00,2.78,0.00,0.000,4,0.000,0.047,2665,3460,3682,0,0,0,0,0,0
$GC,738,-0.50,-214.2,73.1,-10.3,152,743,0.00,2.75,0.00,0.000,6,0.000,0.035,2665,1697,3683,0,0,0,0,0,0
$GC,781,-0.50,-214.2,77.4,-9.9,161,786,0.00,2.40,0.00,0.000,4,0.000,0.048,2665,182,3682,0,0,0,0,0,0
$GC,791,-0.50,-214.2,78.5,-10.0,163,797,0.00,2.40,0.00,0.000,6,0.000,0.038,2664,1710,3682,0,0,0,0,0,0
$GC,835,-0.50,-214.2,82.8,-10.0,172,841,0.00,2.75,0.00,0.000,4,0.000,0.048,2665,3463,3682,0,0,0,0,0,0
$GC,866,-0.50,-214.2,85.5,-9.6,178,872,0.00,2.75,0.00,0.000,6,0.000,0.038,2665,1696,3682,0,0,0,0,0,0
$GC,909,-0.50,-214.2,89.5,-8.9,187,914,0.00,2.40,0.00,0.000,4,0.000,0.048,2665,182,3682,0,0,0,0,0,0
$GC,919,-0.50,-214.2,90.5,-9.0,189,925,0.00,2.38,0.00,0.000,6,0.000,0.038,2665,1699,3682,0,0,0,0,0,0
$GC,962,-0.50,-214.2,94.5,-9.5,198,968,0.00,2.78,0.00,0.000,4,0.000,0.047,2665,3471,3682,0,0,0,0,0,0
$GC,973,-0.50,-214.2,95.5,-9.2,200,978,0.00,2.75,0.00,0.000,6,0.000,0.035,2665,1701,3682,0,0,0,0,0,0
$GC,1016,-0.50,-214.2,99.3,-8.8,209,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1700,3682,0,0,0,0,0,0
$STATE,1038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1038,begin apogee
$GC,1041,-0.17,0.0,101.4,8.7,214,1119,0.32,0.00,73.90,0.495,6,0.126,0.000,2776,1699,2806,0,0,0,0,0,0
$STATE,1121,end apogee,CONTROL_FINISHED_OK
$STATE,1121,begin climb
$GC,1122,0.50,214.2,104.0,0.0,232,1205,0.62,2.50,75.00,0.485,4,0.102,0.047,3000,185,1931,0,0,0,0,0,0
$GC,1215,0.50,214.2,95.5,11.6,253,1220,0.00,2.40,0.00,0.000,6,0.000,0.035,2999,1683,1931,0,0,0,0,0,0
$GC,1258,0.50,214.2,90.0,13.0,262,1263,0.00,2.85,0.00,0.000,4,0.000,0.044,2999,3440,1929,0,0,0,0,0,0
$GC,1287,0.50,214.2,85.8,13.5,268,1292,0.00,2.85,0.00,0.000,6,0.000,0.039,3007,1680,1927,0,0,0,0,0,0
$GC,1330,0.50,214.2,80.2,13.4,277,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1679,1927,0,0,0,0,0,0
$GC,1372,0.50,214.2,74.4,13.4,286,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1679,1927,0,0,0,0,0,0
$GC,1415,0.50,214.2,69.0,13.2,295,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1679,1927,0,0,0,0,0,0
$GC,1457,0.50,214.2,63.4,13.1,304,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,1679,1927,0,0,0,0,0,0
$GC,1499,0.50,214.2,57.9,12.9,313,1504,0.00,2.42,0.00,0.000,4,0.000,0.049,3017,170,1927,0,0,0,0,0,0
$GC,1519,0.50,214.2,55.4,12.9,317,1525,0.08,2.40,0.00,0.000,6,0.180,0.037,2998,1689,1928,0,0,0,0,0,0
$GC,1562,0.50,214.2,49.9,12.8,326,1568,0.00,2.75,0.00,0.000,4,0.000,0.044,2998,3437,1927,0,0,0,0,0,0
$GC,1596,0.50,214.2,45.6,12.5,333,1602,0.00,2.80,0.00,0.000,6,0.000,0.040,3005,1675,1927,0,0,0,0,0,0
$GC,1639,0.50,214.2,40.1,12.6,342,1645,0.00,2.38,0.00,0.000,4,0.000,0.049,3006,172,1927,0,0,0,0,0,0
$GC,1664,0.50,214.2,37.1,12.6,347,1669,0.00,2.38,0.00,0.000,6,0.000,0.037,3006,1683,1927,0,0,0,0,0,0
$GC,1707,0.50,214.2,31.8,12.3,356,1712,0.00,2.78,0.00,0.000,4,0.000,0.044,3007,3439,1927,0,0,0,0,0,0
$GC,1731,0.50,214.2,28.4,12.9,361,1737,0.00,2.80,0.00,0.000,6,0.000,0.041,3007,1676,1927,0,0,0,0,0,0
$GC,1774,0.50,214.2,23.1,12.8,370,1780,0.00,2.38,0.00,0.000,4,0.000,0.049,3007,181,1927,0,0,0,0,0,0
$GC,1793,0.50,214.2,20.7,12.5,374,1799,0.00,2.35,0.00,0.000,6,0.000,0.036,3007,1681,1927,0,0,0,0,0,0
$GC,1836,0.50,214.2,15.5,12.0,383,1842,0.00,2.78,0.00,0.000,4,0.000,0.044,3007,3439,1927,0,0,0,0,0,0
$GC,1861,0.50,214.2,12.4,12.4,388,1867,0.00,2.80,0.00,0.000,6,0.000,0.040,3007,1672,1927,0,0,0,0,0,0
$GC,1904,0.50,214.2,7.3,12.1,397,1909,0.00,2.35,0.00,0.000,4,0.000,0.049,3007,178,1927,0,0,0,0,0,0
$GC,1924,0.50,214.2,5.3,11.1,401,1929,0.00,2.35,0.00,0.000,6,0.000,0.036,3006,1681,1927,0,0,0,0,0,0
$STATE,1947,end climb,SURFACE_DEPTH_REACHED
$STATE,1947,begin surface coast
$FINISH,1.6,1.019803
$STATE,1980,end surface coast,CONTROL_FINISHED_OK
$STATE,1981,begin surface
$SM_CCo,1995,88.72,0.153,0,0,847,480.04
$SM_GC,1.30,0.00,0.00,88.72,0.000,0.000,0.153,113,1687,847,-8.51,-0.37,480.04
$IRIDIUM_FIX,4751.72,-12219.12,110611,101032
$TT8_MAMPS,0.029146
$HUMID,1077358047
$INTERNAL_PRESSURE,9.00506
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,31.0
$24V_AH,24.6,18.954
$10V_AH,10.5,6.210
$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,19.875,114.000,148.900,88.725,0.000,30.208,31.174,208.907,1.000,0.000,14.880,669.400,418.836,409.007,884.538,73.333,33.316,849.469,0.000,603.357,0.000,9.898,0.000
$DEVICE_MAMPS,264.615,61.360,495.482,152.633,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324116
$DATA_FILE_SIZE,13468,413
$CAP_FILE_SIZE,77131,0
$CFSIZE,260165632,255795200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161209,174626,4806.197,-12222.908,10,1.0,10,18.3