version: 66.06
glider: 506
mission: 2
dive: 43
start: 12 16 109 2 32 21
data:
$ID,506
$MISSION,2
$DIVE,43
$D_SURF,0
$D_FLARE,3
$D_TGT,30
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,4
$D_FINISH,1
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,17
$T_MISSION,25
$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,-5
$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,-8080.4624
$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,45
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2190
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,28
$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
$GPS1,015214,4805.858,-12222.702,10,1.8,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-7.2
$GPS2,015214,4805.858,-12222.702,10,1.8,10,18.3
$SPEED_LIMITS,0.102,0.249
$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,108.7,2639,-6.8,-5.882
$D_GRID,90
$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,-0.53,-215.0,0.0,0.0,0,75,0.00,0.00,-62.55,0.000,6,0.000,0.000,3260,3768,3897,0,0,0,0,0,0
$GC,76,-0.53,-215.0,3.4,-5.7,15,81,0.70,0.00,0.00,0.000,6,0.080,0.000,3010,3769,3897,0,0,0,0,0,0
$GC,114,-0.53,-215.0,7.5,-9.9,24,121,0.00,5.05,0.00,0.000,4,0.000,0.044,3010,648,3899,0,0,0,0,0,0
$GC,167,-0.53,-215.0,11.8,-7.9,36,173,0.00,2.58,0.00,0.000,6,0.000,0.047,3000,2224,3899,0,0,0,0,0,0
$GC,206,-0.53,-215.0,14.5,-7.0,45,211,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3899,0,0,0,0,0,0
$GC,244,-0.53,-215.0,16.9,-5.9,54,245,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2224,3899,0,0,0,0,0,0
$GC,279,-0.53,-215.0,18.8,-6.3,62,283,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3899,0,0,0,0,0,0
$GC,317,-0.53,-215.0,21.0,-5.8,71,321,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2225,3899,0,0,0,0,0,0
$GC,355,-0.53,-215.0,23.3,-5.6,80,359,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2225,3899,0,0,0,0,0,0
$GC,393,-0.53,-215.0,25.7,-6.3,89,399,0.00,2.65,0.00,0.000,4,0.000,0.067,2997,3817,3899,0,0,0,0,0,0
$GC,419,-0.53,-215.0,27.2,-6.2,95,425,0.00,2.55,0.00,0.000,6,0.000,0.041,2998,2207,3899,0,0,0,0,0,0
$GC,458,-0.53,-215.0,29.5,-6.2,104,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2207,3899,0,0,0,0,0,0
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,464,-0.19,0.0,30.1,6.4,105,637,0.35,0.00,166.35,0.574,6,0.118,0.000,3115,2207,3019,0,0,0,0,0,0
$STATE,638,end apogee,CONTROL_FINISHED_OK
$STATE,638,begin climb
$GC,639,0.53,215.0,34.1,0.0,146,817,0.68,2.72,168.88,0.553,4,0.091,0.049,3355,611,2141,0,0,0,0,0,0
$GC,846,0.53,215.0,18.7,9.2,195,852,0.00,2.65,0.00,0.000,6,0.000,0.044,3355,2193,2141,0,0,0,0,0,0
$GC,886,0.53,215.0,14.9,9.6,204,892,0.00,2.70,0.00,0.000,4,0.000,0.062,3355,3776,2141,0,0,0,0,0,0
$GC,899,0.53,215.0,13.5,9.7,207,905,0.00,2.53,0.00,0.000,6,0.000,0.038,3367,2212,2140,0,0,1,0,0,0
$GC,938,0.53,215.0,9.4,10.4,216,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2211,2140,0,0,0,0,0,0
$GC,976,0.53,215.0,6.3,8.4,225,982,0.00,2.58,0.00,0.000,4,0.000,0.048,3378,610,2140,0,0,0,0,0,0
$GC,1050,0.73,377.8,3.7,2.8,242,1129,0.08,2.62,67.97,0.466,2,0.069,0.043,3429,2226,1696,0,0,0,0,1,0
$STATE,1129,end climb,FINISH_DEPTH_REACHED
$STATE,1129,begin subsurface finish
$FINISH1,0.7,1.019133,206
$GC,1132,0.25,205.8,0.7,-4.1,260,1158,0.52,2.67,-18.12,0.000,4,0.110,0.078,3260,3767,2183,0,0,0,0,0,0
$FINISH2,-0.1
$STATE,1159,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1159,begin surface
$IRIDIUM_FIX,4748.51,-12220.12,120399,010150
$TT8_MAMPS,0.052923
$HUMID,21.45
$INTERNAL_PRESSURE,9.45062
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.0,9.091
$10V_AH,10.5,3.090
$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,2.325,31.300,403.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,305.731,380.062,479.222,18.924,0.000,692.745,0.000,388.178,0.000,0.992,0.000
$DEVICE_MAMPS,118.118,78.234,574.483,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.106,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324972
$DATA_FILE_SIZE,9604,266
$CAP_FILE_SIZE,33474,0
$CFSIZE,260165632,257241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,161209,015214,4805.858,-12222.702,10,1.8,10,18.3