version: 66.06
glider: 506
mission: 2
dive: 21
start: 12 15 109 14 44 56
data:
$ID,506
$MISSION,2
$DIVE,21
$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,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,-7711.0889
$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,28
$R_STBD_OVSHOOT,21
$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,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
$GPS1,143908,4807.657,-12223.308,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.3
$GPS2,144450,4807.708,-12223.400,11,1.4,11,18.3
$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,131.1,5828,-7.2,-6.024
$D_GRID,107
$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,-215.0,0.0,0.0,0,89,0.00,0.00,-75.68,0.000,2,0.000,0.000,155,2228,2600,0,0,0,0,0,0
$GC,90,-0.54,-215.0,3.1,-4.6,18,138,12.52,2.62,-27.38,0.000,4,0.272,0.064,2980,632,3899,0,0,0,0,0,0
$GC,150,-0.54,-215.0,10.4,-7.7,32,156,0.00,2.60,0.00,0.000,6,0.000,0.051,2970,2224,3899,0,0,0,0,0,0
$GC,190,-0.54,-215.0,13.4,-7.6,41,195,0.00,2.65,0.00,0.000,4,0.000,0.069,2959,3807,3899,0,0,0,0,0,0
$GC,211,-0.54,-215.0,15.4,-8.3,46,217,0.00,2.58,0.00,0.000,6,0.000,0.044,2958,2197,3899,0,0,0,0,0,0
$GC,251,-0.54,-215.0,18.8,-8.9,55,255,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,289,-0.54,-215.0,22.4,-9.2,64,289,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,323,-0.54,-215.0,25.6,-9.3,72,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2196,3899,0,0,0,0,0,0
$GC,357,-0.54,-215.0,29.1,-9.8,80,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2197,3899,0,0,0,0,0,0
$GC,392,-0.54,-215.0,32.5,-10.3,88,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,430,-0.54,-215.0,36.6,-10.6,97,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,464,-0.54,-215.0,40.3,-10.8,105,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,499,-0.54,-215.0,44.2,-11.2,113,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,537,-0.54,-215.0,48.3,-11.0,122,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,571,-0.54,-215.0,52.2,-11.0,130,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,606,-0.54,-215.0,55.6,-10.4,138,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2196,3899,0,0,0,0,0,0
$GC,641,-0.54,-215.0,59.0,-9.7,146,646,0.00,2.67,0.00,0.000,4,0.000,0.072,2947,3819,3899,0,0,1,0,0,0
$GC,671,-0.54,-215.0,61.8,-9.5,153,677,0.10,2.58,0.00,0.000,6,0.123,0.044,2981,2188,3899,0,0,0,0,0,0
$GC,711,-0.54,-215.0,64.6,-7.6,162,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2188,3899,0,0,0,0,0,0
$GC,748,-0.54,-215.0,67.0,-6.1,171,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2188,3899,0,0,0,0,0,0
$GC,783,-0.54,-215.0,69.1,-6.0,179,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2188,3899,0,0,0,0,0,0
$GC,821,-0.54,-215.0,71.3,-6.0,188,827,0.00,2.70,0.00,0.000,4,0.000,0.073,2971,3819,3899,0,0,0,0,0,0
$GC,852,-0.54,-215.0,73.2,-6.2,195,857,0.00,2.55,0.00,0.000,6,0.000,0.045,2970,2194,3899,0,0,0,0,0,0
$GC,891,-0.54,-215.0,76.0,-6.7,204,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2194,3899,0,0,0,0,0,0
$GC,929,-0.54,-215.0,78.5,-6.9,213,934,0.00,2.67,0.00,0.000,4,0.000,0.071,2960,3813,3899,0,0,0,0,0,0
$GC,955,-0.54,-215.0,80.3,-6.9,219,961,0.00,2.47,0.00,0.000,6,0.000,0.044,2960,2215,3899,0,0,0,0,0,0
$GC,994,-0.54,-215.0,83.3,-7.5,228,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2214,3899,0,0,0,0,0,0
$GC,1032,-0.54,-215.0,86.1,-7.6,237,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2215,3899,0,0,0,0,0,0
$GC,1070,-0.54,-215.0,89.0,-7.5,246,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2215,3899,0,0,0,0,0,0
$GC,1104,-0.54,-215.0,91.6,-7.6,254,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2215,3899,0,0,0,0,0,0
$GC,1139,-0.54,-215.0,94.1,-7.4,262,1145,0.00,2.65,0.00,0.000,4,0.000,0.072,2949,3821,3899,0,0,0,0,0,0
$GC,1165,-0.54,-215.0,96.2,-7.7,268,1172,0.10,2.47,0.00,0.000,6,0.122,0.044,2984,2235,3899,0,0,0,0,0,0
$GC,1205,-0.54,-215.0,99.0,-7.3,277,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2235,3899,0,0,0,0,0,0
$GC,1240,-0.54,-215.0,101.2,-6.2,285,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2235,3899,0,0,0,0,0,0
$GC,1274,-0.54,-215.0,103.3,-6.1,293,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2235,3899,0,0,0,0,0,0
$GC,1312,-0.54,-215.0,105.5,-5.9,302,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2235,3899,0,0,0,0,0,0
$STATE,1340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1340,begin apogee
$GC,1343,-0.19,0.0,107.1,5.6,309,1513,0.32,0.00,166.10,0.644,6,0.123,0.000,3097,2234,3020,0,0,0,0,0,0
$STATE,1513,end apogee,CONTROL_FINISHED_OK
$STATE,1513,begin climb
$GC,1514,0.54,215.0,110.0,0.0,349,1693,0.70,2.72,169.80,0.610,4,0.091,0.068,3332,3777,2141,0,0,0,0,0,0
$GC,1709,0.54,215.0,94.4,9.9,395,1715,0.00,2.62,0.00,0.000,6,0.000,0.042,3343,2199,2140,0,0,0,0,0,0
$GC,1749,0.54,215.0,90.1,10.5,404,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2197,2140,0,0,0,0,0,0
$GC,1787,0.54,215.0,86.7,9.5,413,1792,0.00,2.62,0.00,0.000,4,0.000,0.052,3355,603,2139,0,0,0,0,0,0
$GC,1808,0.54,215.0,84.4,9.8,418,1814,0.00,2.62,0.00,0.000,6,0.000,0.048,3355,2193,2139,0,0,0,0,0,0
$GC,1848,0.54,215.0,80.3,10.5,427,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2193,2139,0,0,0,0,0,0
$GC,1886,0.54,215.0,76.2,10.8,436,1891,0.00,2.70,0.00,0.000,4,0.000,0.067,3356,3779,2139,0,0,0,0,0,0
$GC,1912,0.54,215.0,73.0,11.5,442,1918,0.08,2.58,0.00,0.000,6,0.142,0.043,3342,2184,2139,0,0,0,0,0,0
$GC,1951,0.54,215.0,68.6,11.4,451,1957,0.00,2.55,0.00,0.000,4,0.000,0.052,3353,607,2139,0,0,0,0,0,0
$GC,1973,0.54,215.0,66.2,10.5,456,1979,0.00,2.58,0.00,0.000,6,0.000,0.049,3353,2190,2139,0,0,0,0,0,0
$GC,2012,0.54,215.0,61.8,11.4,465,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2047,0.54,215.0,58.0,11.2,473,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2081,0.54,215.0,54.0,11.1,481,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2119,0.54,215.0,49.8,11.2,490,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2154,0.54,215.0,45.9,11.2,498,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2188,0.54,215.0,42.3,10.8,506,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2223,0.54,215.0,38.7,10.5,514,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2191,2139,0,0,0,0,0,0
$GC,2260,0.54,215.0,34.8,10.6,523,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2191,2139,0,0,0,0,0,0
$GC,2295,0.54,215.0,31.4,9.7,531,2301,0.00,2.53,0.00,0.000,4,0.000,0.052,3364,610,2139,0,0,0,0,0,0
$GC,2317,0.54,215.0,29.2,10.0,536,2322,0.00,2.53,0.00,0.000,6,0.000,0.049,3365,2187,2139,0,0,0,0,0,0
$GC,2356,0.54,215.0,25.2,10.2,545,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2187,2139,0,0,0,0,0,0
$GC,2394,0.54,215.0,21.6,9.7,554,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2188,2139,0,0,0,0,0,0
$GC,2428,0.54,215.0,18.5,9.2,562,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2187,2139,0,0,0,0,0,0
$GC,2463,0.54,215.0,15.2,9.1,570,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2187,2139,0,0,0,0,0,0
$GC,2498,0.54,215.0,11.9,9.5,578,2503,0.00,2.50,0.00,0.000,4,0.000,0.051,3376,611,2139,0,0,0,0,0,0
$GC,2750,0.54,215.0,7.9,6.5,636,2756,0.10,2.47,0.00,0.000,6,0.097,0.048,3337,2175,2139,0,0,0,0,0,0
$GC,2789,0.95,545.8,8.4,-0.4,645,2944,0.35,0.00,151.23,0.568,2,0.070,0.000,3473,2175,1344,0,0,0,0,0,0
$STATE,2945,end climb,SURFACE_DEPTH_REACHED
$STATE,2945,begin surface coast
$FINISH,0.1,1.017745
$STATE,3012,end surface coast,CONTROL_FINISHED_OK
$STATE,3012,begin surface
$SM_CCo,3025,29.77,0.423,1,0,1143,460.18
$SM_GC,1.38,0.00,0.00,29.77,0.000,0.000,0.423,157,2227,1143,-9.39,-0.08,460.18
$IRIDIUM_FIX,4751.72,-12228.02,110399,131330
$TT8_MAMPS,0.052156
$HUMID,21.21
$INTERNAL_PRESSURE,9.31389
$TCM_TEMP,19.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,85.1,39.2
$24V_AH,24.1,7.189
$10V_AH,10.4,2.676
$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,23.575,62.325,487.125,29.775,0.000,23.114,22.889,228.466,1.500,0.000,13.342,0.000,1218.979,579.210,1260.233,338.939,0.000,1234.125,0.000,997.867,0.000,7.042,0.000
$DEVICE_MAMPS,272.285,125.021,644.280,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324676
$DATA_FILE_SIZE,22177,697
$CAP_FILE_SIZE,98660,0
$CFSIZE,260165632,257761280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,151209,153654,4807.416,-12223.209,22,0.9,40,18.3