version: 66.06
glider: 503
mission: 5
dive: 21
start: 3 20 110 13 36 19
data:
$ID,503
$MISSION,5
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,0
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$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,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8711.4131
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-51.589809
$PRESSURE_SLOPE,0.00011732637
$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,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$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,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,133000,3645.447,-12211.722,36,1.1,41,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.6
$GPS2,133613,3645.438,-12211.688,11,1.2,11,14.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,3641.000,-12210.000
$TGT_RADIUS,2000.000
$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,148.2,8592,-17.5,-10.000
$D_GRID,696
$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,-0.65,-146.0,0.0,0.0,0,62,0.00,0.00,-48.92,0.000,2,0.000,0.000,184,1747,2704,0,0,0,0,0,0
$GC,63,-0.65,-146.0,3.5,-9.0,9,95,8.77,2.30,-14.90,0.000,4,0.222,0.049,2473,3188,3391,0,0,0,0,0,0
$GC,313,-0.65,-146.0,51.1,-16.5,56,320,0.00,2.17,0.00,0.000,6,0.000,0.030,2473,1796,3392,0,0,0,0,0,0
$GC,640,-0.60,-146.0,102.8,-14.7,117,646,0.12,2.20,0.00,0.000,4,0.151,0.035,2502,3191,3393,0,0,0,0,0,0
$GC,682,-0.65,-146.0,107.9,-10.4,125,689,0.00,2.15,0.00,0.000,6,0.000,0.028,2502,1801,3393,0,0,0,0,0,0
$GC,1009,-0.65,-146.0,144.5,-10.4,186,1015,0.00,2.17,0.00,0.000,4,0.000,0.042,2502,398,3393,0,0,0,0,0,0
$GC,1025,-0.65,-146.0,146.3,-11.0,189,1032,0.00,2.10,0.00,0.000,6,0.000,0.027,2496,1796,3393,0,0,0,0,0,0
$GC,1352,-0.65,-146.0,185.6,-12.9,250,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1797,3394,0,0,0,0,0,0
$GC,1669,-0.65,-146.0,223.5,-11.5,292,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1797,3393,0,0,0,0,0,0
$GC,1980,-0.65,-146.0,258.5,-11.4,322,1984,0.00,2.15,0.00,0.000,4,0.000,0.036,2491,3191,3393,0,0,0,0,0,0
$GC,2012,-0.71,-146.0,261.9,-10.8,325,2016,0.00,2.12,0.00,0.000,6,0.000,0.029,2491,1804,3393,0,0,0,0,0,0
$GC,2332,-0.71,-146.0,298.4,-11.4,356,2337,0.00,2.15,0.00,0.000,4,0.000,0.043,2491,406,3393,0,0,0,0,0,0
$GC,2358,-0.71,-146.0,301.6,-12.0,358,2366,0.00,2.10,0.00,0.000,6,0.000,0.026,2482,1807,3393,0,0,0,0,0,0
$GC,2675,-0.71,-146.0,337.7,-11.4,389,2679,0.00,2.17,0.00,0.000,4,0.000,0.041,2482,398,3393,0,0,0,0,0,0
$GC,2700,-0.71,-146.0,341.1,-12.8,391,2707,0.00,2.10,0.00,0.000,6,0.000,0.027,2477,1795,3393,0,0,0,0,0,0
$GC,3016,-0.71,-146.0,378.0,-11.0,422,3021,0.00,2.17,0.00,0.000,4,0.000,0.035,2467,3204,3393,0,0,0,0,0,0
$GC,3048,-0.71,-146.0,381.4,-10.5,425,3052,0.00,2.12,0.00,0.000,6,0.000,0.028,2467,1807,3392,0,0,0,0,0,0
$GC,3368,-0.71,-146.0,418.8,-12.0,456,3373,0.00,2.20,0.00,0.000,4,0.000,0.043,2467,382,3392,0,0,0,0,0,0
$GC,3422,-0.71,-146.0,425.6,-12.9,461,3427,0.00,2.12,0.00,0.000,6,0.000,0.028,2457,1807,3392,0,0,0,0,0,0
$GC,3742,-0.71,-146.0,466.4,-13.0,492,3747,0.00,2.17,0.00,0.000,4,0.000,0.041,2457,397,3392,0,0,0,0,0,0
$GC,3758,-0.66,-146.0,468.6,-13.5,493,3765,0.08,2.12,0.00,0.000,6,0.124,0.028,2481,1805,3392,0,0,0,0,0,0
$GC,4084,-0.66,-146.0,505.7,-11.4,523,4088,0.00,2.15,0.00,0.000,4,0.000,0.041,2481,406,3391,0,0,0,0,0,0
$GC,4098,-0.66,-146.0,507.3,-10.7,523,4105,0.00,2.10,0.00,0.000,6,0.000,0.027,2477,1803,3391,0,0,0,0,0,0
$GC,4410,-0.66,-146.0,544.3,-12.6,539,4414,0.00,2.15,0.00,0.000,4,0.000,0.041,2477,406,3391,0,0,0,0,0,0
$GC,4419,-0.66,-146.0,545.7,-12.7,539,4424,0.00,2.10,0.00,0.000,6,0.000,0.026,2467,1802,3390,0,0,0,0,0,0
$GC,4736,-0.66,-146.0,582.7,-11.1,555,4739,0.00,2.12,0.00,0.000,4,0.000,0.035,2464,3194,3390,0,0,0,0,0,0
$GC,4745,-0.66,-146.0,583.9,-11.2,555,4750,0.00,2.15,0.00,0.000,6,0.000,0.028,2465,1794,3390,0,0,0,0,0,0
$GC,5062,-0.66,-146.0,619.7,-11.2,571,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1794,3390,0,0,0,0,0,0
$GC,5366,-0.66,-146.0,652.7,-11.0,586,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1794,3389,0,0,0,0,0,0
$GC,5672,-0.66,-146.0,687.5,-11.3,601,5676,0.00,2.12,0.00,0.000,4,0.000,0.043,2465,407,3389,0,0,0,0,0,0
$STATE,5744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5744,begin apogee
$GC,5749,-0.14,0.0,696.6,11.6,604,5866,0.55,0.00,115.00,1.000,6,0.113,0.000,2649,1761,2792,0,0,0,0,0,0
$STATE,5867,end apogee,CONTROL_FINISHED_OK
$STATE,5867,begin climb
$GC,5868,0.65,146.0,701.7,0.0,610,6001,0.75,2.40,123.40,0.967,4,0.061,0.044,2931,356,2196,0,0,0,0,0,0
$GC,6043,0.51,146.0,698.1,10.8,619,6047,0.20,2.20,0.00,0.000,6,0.143,0.026,2869,1744,2193,0,0,0,0,0,0
$GC,6370,0.58,198.1,672.8,7.6,635,6414,0.00,0.00,42.60,0.950,6,0.000,0.000,2870,1745,1984,0,0,0,0,0,0
$GC,6714,0.61,226.6,643.3,8.7,652,6743,0.00,2.30,23.52,0.926,4,0.000,0.033,2870,3160,1868,0,0,0,0,0,0
$GC,6765,0.65,260.9,639.0,8.4,654,6800,0.00,2.28,29.73,0.920,6,0.000,0.031,2880,1753,1728,0,0,0,0,0,0
$GC,7121,0.65,260.9,599.4,10.6,672,7126,0.00,2.20,0.00,0.000,4,0.000,0.031,2880,3150,1728,0,0,0,0,0,0
$GC,7169,0.65,260.9,594.0,11.1,674,7174,0.00,2.22,0.00,0.000,6,0.000,0.031,2890,1751,1728,0,0,0,0,0,0
$GC,7490,0.65,260.9,558.9,11.1,690,7495,0.00,2.20,0.00,0.000,4,0.000,0.044,2901,354,1727,0,0,0,0,0,0
$GC,7564,0.65,260.9,549.8,12.0,693,7569,0.00,2.15,0.00,0.000,6,0.000,0.025,2901,1760,1727,0,0,0,0,0,0
$GC,7881,0.65,260.9,508.7,13.2,709,7885,0.00,2.12,0.00,0.000,4,0.000,0.032,2901,3140,1726,0,0,0,0,0,0
$GC,7917,0.65,260.9,503.8,12.5,710,7925,0.00,2.17,0.00,0.000,6,0.000,0.031,2912,1749,1726,0,0,0,0,0,0
$GC,8233,0.65,260.9,463.8,12.0,739,8237,0.00,2.22,0.00,0.000,4,0.000,0.044,2923,326,1726,0,0,0,0,0,0
$GC,8285,0.65,260.9,457.0,13.2,744,8290,0.00,2.15,0.00,0.000,6,0.000,0.027,2924,1752,1725,0,0,0,0,0,0
$GC,8607,0.65,260.9,418.5,11.9,775,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1753,1725,0,0,0,0,0,0
$GC,8918,0.65,260.9,379.5,13.2,805,8921,0.00,2.17,0.00,0.000,4,0.000,0.044,2934,345,1725,0,0,0,0,0,0
$GC,8948,0.61,260.9,375.1,14.0,808,8953,0.08,2.10,0.00,0.000,6,0.123,0.027,2906,1749,1724,0,0,0,0,0,0
$GC,9269,0.61,260.9,337.0,11.4,839,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1749,1725,0,0,0,0,0,0
$GC,9580,0.61,260.9,303.9,11.3,869,9581,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1749,1725,0,0,0,0,0,0
$GC,9891,0.61,260.9,269.2,11.7,899,9894,0.00,2.17,0.00,0.000,4,0.000,0.044,2915,350,1725,0,0,0,0,0,0
$GC,9911,0.61,260.9,266.5,13.2,901,9915,0.00,2.10,0.00,0.000,6,0.000,0.028,2915,1754,1724,0,0,0,0,0,0
$GC,10231,0.61,260.9,229.1,11.4,932,10237,0.00,2.15,0.00,0.000,4,0.000,0.032,2915,3162,1725,0,0,0,0,0,0
$GC,10268,0.61,260.9,224.4,13.7,935,10275,0.00,2.20,0.00,0.000,6,0.000,0.031,2926,1745,1724,0,0,0,0,0,0
$GC,10589,0.61,260.9,184.4,12.0,978,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,1745,1724,0,0,0,0,0,0
$GC,10914,0.61,260.9,146.8,12.1,1039,10921,0.00,2.15,0.00,0.000,4,0.000,0.031,2926,3150,1724,0,0,0,0,0,0
$GC,10947,0.61,260.9,142.7,12.5,1045,10953,0.10,2.15,0.00,0.000,6,0.122,0.031,2900,1751,1724,0,0,0,0,0,0
$GC,11273,0.70,284.5,110.0,8.9,1106,11296,0.00,2.17,18.35,0.643,4,0.000,0.043,2909,338,1632,0,0,0,0,0,0
$GC,11316,0.77,302.3,106.1,9.2,1114,11339,0.08,2.12,15.85,0.618,6,0.058,0.026,2969,1753,1559,0,0,0,0,0,0
$GC,11658,0.77,302.3,61.0,12.3,1178,11665,0.00,2.15,0.00,0.000,4,0.000,0.032,2969,3148,1562,0,0,0,0,0,0
$GC,11690,0.77,302.3,56.8,13.0,1184,11698,0.08,2.17,0.00,0.000,6,0.133,0.031,2952,1751,1562,0,0,0,0,0,0
$GC,12018,0.77,302.3,22.0,10.1,1245,12024,0.00,2.17,0.00,0.000,4,0.000,0.044,2961,350,1562,0,0,0,0,0,0
$GC,12071,0.77,302.3,16.6,10.7,1255,12078,0.00,2.10,0.00,0.000,6,0.000,0.027,2961,1748,1562,0,0,0,0,0,0
$STATE,12204,end climb,SURFACE_DEPTH_REACHED
$STATE,12204,begin surface coast
$FINISH,0.1,1.012086
$STATE,12231,end surface coast,CONTROL_FINISHED_OK
$STATE,12231,begin surface
$SM_CCo,12302,0.00,0.000,0,0,1561,301.71
$SM_GC,1.10,7.10,0.00,0.00,0.041,0.000,0.000,186,1749,1561,-7.77,-1.44,301.71
$IRIDIUM_FIX,3629.60,-12206.02,140699,090940
$TT8_MAMPS,0.052156
$HUMID,55.71
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.20
$XPDR_PINGS,3
$24V_AH,24.0,7.565
$10V_AH,10.1,7.197
$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,17.900,112.475,368.450,0.000,0.000,27.992,32.785,219.544,0.750,0.000,13.242,0.000,8410.813,497.568,3299.587,438.269,0.000,1565.491,0.000,2849.939,0.000,0.534,0.000
$DEVICE_MAMPS,222.430,49.088,1000.168,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,889.615,2719.470,1987.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246424
$DATA_FILE_SIZE,91907,1285
$CAP_FILE_SIZE,138185,0
$CFSIZE,260165632,253870080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,170207,3643.573,-12211.189,29,1.0,29,14.8