version: 66.06
glider: 503
mission: 5
dive: 96
start: 4 5 110 19 29 38
data:
$ID,503
$MISSION,5
$DIVE,96
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$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,420
$T_MISSION,480
$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,120
$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,-10093.388
$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,37
$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,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$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
$GPS1,191725,3644.893,-12209.559,39,1.2,39,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.7
$GPS2,192932,3644.921,-12209.614,9,1.8,9,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$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,284.7,4065,-18.1,-7.865
$D_GRID,820
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.60,-92.2,0.0,0.0,0,63,0.00,0.00,-49.25,0.000,2,0.000,0.000,151,1747,2745,0,0,0,0,0,0
$GC,65,-0.62,-110.9,3.3,-6.8,9,92,8.90,2.33,-11.35,0.000,4,0.216,0.045,2483,3201,3247,0,0,0,0,0,0
$GC,128,-0.55,-110.9,15.5,-16.8,21,135,0.10,2.20,0.00,0.000,6,0.121,0.026,2518,1798,3248,0,0,0,0,0,0
$GC,455,-0.55,-110.9,58.3,-11.5,82,461,0.00,2.17,0.00,0.000,4,0.000,0.038,2518,403,3248,0,0,0,0,0,0
$GC,487,-0.55,-110.9,62.3,-12.4,88,493,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1797,3248,0,0,0,0,0,0
$GC,813,-0.55,-110.9,98.0,-10.2,149,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1798,3249,0,0,0,0,0,0
$GC,1134,-0.55,-110.9,126.5,-8.7,209,1141,0.00,2.15,0.00,0.000,4,0.000,0.031,2500,3193,3249,0,0,0,0,0,0
$GC,1167,-0.60,-110.9,129.3,-8.8,215,1173,0.00,2.12,0.00,0.000,6,0.000,0.026,2500,1805,3249,0,0,0,0,0,0
$GC,1492,-0.60,-110.9,166.0,-11.7,276,1499,0.00,2.17,0.00,0.000,4,0.000,0.038,2500,396,3249,0,0,0,0,0,0
$GC,1541,-0.60,-110.9,172.3,-13.5,285,1548,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1799,3249,0,0,0,0,0,0
$GC,1868,-0.60,-110.9,214.7,-12.3,336,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1799,3249,0,0,0,0,0,0
$GC,2180,-0.60,-110.9,248.9,-10.4,366,2183,0.00,2.17,0.00,0.000,4,0.000,0.038,2495,406,3249,0,0,0,0,0,0
$GC,2211,-0.60,-110.9,252.4,-11.3,369,2215,0.00,2.08,0.00,0.000,6,0.000,0.024,2485,1798,3249,0,0,0,0,0,0
$GC,2531,-0.60,-110.9,285.5,-9.3,400,2536,0.00,2.12,0.00,0.000,4,0.000,0.031,2475,3189,3249,0,0,0,0,0,0
$GC,2617,-0.60,-110.9,293.2,-9.4,408,2621,0.08,2.12,0.00,0.000,6,0.113,0.026,2505,1798,3249,0,0,0,0,0,0
$GC,2938,-0.64,-110.9,317.9,-8.1,439,2942,0.00,2.15,0.00,0.000,4,0.000,0.038,2505,399,3248,0,0,0,0,0,0
$GC,2974,-0.64,-110.9,321.1,-8.8,442,2982,0.00,2.10,0.00,0.000,6,0.000,0.023,2496,1805,3248,0,0,0,0,0,0
$GC,3290,-0.64,-110.9,353.7,-11.2,473,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1805,3248,0,0,0,0,0,0
$GC,3601,-0.64,-110.9,384.6,-8.1,503,3605,0.00,2.15,0.00,0.000,4,0.000,0.038,2496,406,3247,0,0,0,0,0,0
$GC,3627,-0.64,-110.9,387.1,-8.3,505,3633,0.00,2.08,0.00,0.000,6,0.000,0.024,2487,1805,3247,0,0,0,0,0,0
$GC,3942,-0.64,-110.9,412.4,-8.8,536,3947,0.00,2.15,0.00,0.000,4,0.000,0.038,2487,404,3247,0,0,0,0,0,0
$GC,3975,-0.64,-110.9,415.6,-10.6,539,3978,0.00,2.08,0.00,0.000,6,0.000,0.025,2480,1797,3247,0,0,0,0,0,0
$GC,4294,-0.64,-110.9,452.3,-12.4,570,4299,0.00,2.15,0.00,0.000,4,0.000,0.038,2480,405,3246,0,0,0,0,0,0
$GC,4380,-0.64,-110.9,463.4,-12.8,578,4384,0.00,2.08,0.00,0.000,6,0.000,0.024,2470,1797,3246,0,0,0,0,0,0
$GC,4702,-0.64,-110.9,500.7,-10.8,609,4705,0.00,2.12,0.00,0.000,4,0.000,0.032,2460,3205,3246,0,0,0,0,0,0
$GC,4744,-0.64,-110.9,505.3,-10.5,611,4748,0.08,2.12,0.00,0.000,6,0.115,0.026,2491,1804,3246,0,0,0,0,0,0
$GC,5071,-0.64,-110.9,534.7,-9.1,627,5074,0.00,2.12,0.00,0.000,4,0.000,0.040,2492,403,3245,0,0,0,0,0,0
$GC,5170,-0.64,-110.9,545.1,-10.4,631,5177,0.00,2.10,0.00,0.000,6,0.000,0.023,2482,1804,3245,0,0,0,0,0,0
$GC,5482,-0.64,-110.9,582.0,-13.5,647,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1806,3244,0,0,0,0,0,0
$GC,5786,-0.64,-110.9,617.8,-10.3,662,5791,0.00,2.17,0.00,0.000,4,0.000,0.040,2483,399,3244,0,0,0,0,0,0
$GC,5829,-0.64,-110.9,622.6,-12.0,664,5833,0.00,2.10,0.00,0.000,6,0.000,0.024,2473,1802,3244,0,0,0,0,0,0
$GC,6155,-0.64,-110.9,653.1,-9.5,680,6159,0.00,2.17,0.00,0.000,4,0.000,0.040,2473,400,3243,0,0,0,0,0,0
$GC,6192,-0.64,-110.9,656.8,-9.7,681,6199,0.00,2.10,0.00,0.000,6,0.000,0.025,2465,1799,3243,0,0,0,0,0,0
$GC,6503,-0.64,-110.9,684.9,-8.9,697,6507,0.00,2.12,0.00,0.000,4,0.000,0.033,2456,3193,3242,0,0,0,0,0,0
$GC,6555,-0.64,-110.9,689.7,-10.4,699,6560,0.10,2.12,0.00,0.000,6,0.104,0.026,2495,1797,3242,0,0,0,0,0,0
$STATE,6768,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6768,begin apogee
$GC,6771,-0.14,0.0,707.7,9.3,710,6860,0.47,0.00,87.30,1.017,6,0.103,0.000,2661,1797,2792,0,0,0,0,0,0
$STATE,6861,end apogee,CONTROL_FINISHED_OK
$STATE,6861,begin climb
$GC,6862,0.62,110.9,709.9,0.0,714,6963,0.68,2.38,94.47,0.984,4,0.062,0.041,2918,352,2338,0,0,0,0,0,0
$GC,6998,0.54,143.1,709.4,6.0,721,7032,0.12,2.20,27.80,0.950,6,0.137,0.024,2879,1742,2208,0,0,0,0,0,0
$GC,7334,0.54,143.1,679.3,9.2,738,7338,0.00,2.22,0.00,0.000,4,0.000,0.031,2879,3153,2201,0,0,0,0,0,0
$GC,7408,0.54,143.1,672.1,9.5,741,7413,0.00,2.22,0.00,0.000,6,0.000,0.028,2889,1752,2199,0,0,0,0,0,0
$GC,7725,0.54,143.1,642.8,10.0,757,7729,0.00,2.20,0.00,0.000,4,0.000,0.031,2888,3154,2198,0,0,0,0,0,0
$GC,7804,0.49,143.1,634.2,11.0,760,7811,0.10,2.17,0.00,0.000,6,0.127,0.027,2863,1754,2197,0,0,0,0,0,0
$GC,8114,0.49,143.1,605.3,8.9,776,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1754,2196,0,0,0,0,0,0
$GC,8420,0.50,154.4,582.2,7.2,791,8434,0.00,2.25,8.60,0.853,4,0.000,0.042,2874,335,2162,0,0,0,0,0,0
$GC,8493,0.50,154.4,576.3,8.9,794,8498,0.00,2.17,0.00,0.000,6,0.000,0.024,2873,1762,2162,0,0,0,0,0,0
$GC,8809,0.50,154.4,551.6,8.2,810,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1762,2161,0,0,0,0,0,0
$GC,9115,0.50,154.4,525.7,8.4,825,9119,0.00,2.22,0.00,0.000,4,0.000,0.041,2885,344,2161,0,0,0,0,0,0
$GC,9157,0.50,154.4,521.9,9.1,827,9161,0.00,2.10,0.00,0.000,6,0.000,0.025,2885,1744,2160,0,0,0,0,0,0
$GC,9474,0.52,166.5,496.1,7.2,845,9489,0.00,2.15,11.25,0.849,4,0.000,0.029,2885,3149,2112,0,0,0,0,0,0
$GC,9547,0.52,166.5,490.3,8.6,851,9554,0.00,2.20,0.00,0.000,6,0.000,0.028,2896,1745,2113,0,0,0,0,0,0
$GC,9863,0.52,166.5,464.0,9.7,882,9868,0.00,2.17,0.00,0.000,4,0.000,0.041,2906,350,2111,0,0,0,0,0,0
$GC,9889,0.52,166.5,461.2,10.7,884,9897,0.12,2.12,0.00,0.000,6,0.145,0.025,2870,1750,2111,0,0,0,0,0,0
$GC,10206,0.52,166.5,433.8,8.8,915,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1751,2110,0,0,0,0,0,0
$GC,10516,0.52,169.4,408.3,7.7,945,10527,0.00,2.20,3.60,0.558,4,0.000,0.041,2880,352,2101,0,0,0,0,0,0
$GC,10537,0.52,169.4,406.6,8.2,947,10540,0.00,2.10,0.00,0.000,6,0.000,0.025,2880,1751,2100,0,0,0,0,0,0
$GC,10857,0.53,174.0,380.9,7.6,978,10870,0.00,2.17,5.60,0.693,4,0.000,0.031,2880,3154,2081,0,0,0,0,0,0
$GC,10927,0.53,174.0,375.1,8.9,984,10934,0.00,2.17,0.00,0.000,6,0.000,0.028,2891,1748,2082,0,0,0,0,0,0
$GC,11243,0.53,174.0,348.6,8.4,1015,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1747,2081,0,0,0,0,0,0
$GC,11554,0.53,174.0,321.4,9.0,1045,11558,0.00,2.15,0.00,0.000,4,0.000,0.041,2902,344,2081,0,0,0,0,0,0
$GC,11595,0.53,174.0,317.3,9.9,1048,11603,0.12,2.12,0.00,0.000,6,0.142,0.024,2864,1752,2081,0,0,0,0,0,0
$GC,11912,0.58,174.0,291.4,8.2,1079,11915,0.00,2.12,0.00,0.000,4,0.000,0.031,2864,3142,2081,0,0,0,0,0,0
$GC,11947,0.63,174.0,288.2,9.0,1082,11955,0.00,2.17,0.00,0.000,6,0.000,0.028,2875,1743,2081,0,0,0,0,0,0
$GC,12264,0.68,180.6,263.3,7.5,1113,12275,0.12,2.15,6.75,0.671,4,0.087,0.028,2941,3151,2056,0,0,0,0,0,0
$GC,12295,0.60,180.6,260.2,10.7,1116,12300,0.15,2.17,0.00,0.000,6,0.127,0.028,2899,1745,2055,0,0,0,0,0,0
$GC,12617,0.60,181.2,233.0,7.8,1147,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1745,2056,0,0,0,0,0,0
$GC,12928,0.60,181.2,208.0,8.1,1177,12931,0.00,2.15,0.00,0.000,4,0.000,0.030,2899,3156,2056,0,0,0,0,0,0
$GC,13039,0.60,181.2,198.0,9.1,1189,13045,0.00,2.15,0.00,0.000,6,0.000,0.028,2908,1754,2055,0,0,0,0,0,0
$GC,13365,0.60,181.2,168.1,8.8,1250,13372,0.00,2.15,0.00,0.000,4,0.000,0.030,2908,3152,2055,0,0,0,0,0,0
$GC,13408,0.60,181.2,164.0,9.4,1258,13415,0.00,2.15,0.00,0.000,6,0.000,0.028,2919,1752,2055,0,0,0,0,0,0
$GC,13734,0.60,181.2,135.7,8.0,1319,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1752,2055,0,0,0,0,0,0
$GC,14060,0.60,181.2,107.6,8.4,1380,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,1752,2055,0,0,0,0,0,0
$GC,14385,0.60,181.2,83.2,9.7,1441,14392,0.00,2.12,0.00,0.000,4,0.000,0.030,2919,3138,2056,0,0,0,0,0,0
$GC,14423,0.60,181.2,79.0,11.1,1448,14430,0.10,2.12,0.00,0.000,6,0.119,0.028,2892,1750,2055,0,0,0,0,0,0
$GC,14751,0.67,191.7,52.2,7.3,1509,14767,0.00,2.12,10.52,0.590,4,0.000,0.030,2892,3152,2010,0,0,0,0,0,0
$GC,14798,0.73,196.3,48.5,7.6,1518,14810,0.00,2.15,5.35,0.508,6,0.000,0.028,2901,1751,1991,0,0,0,0,0,0
$GC,15131,0.85,233.0,29.2,5.8,1580,15168,0.20,2.20,29.70,0.583,4,0.067,0.031,3007,3149,1842,0,0,0,0,0,0
$STATE,15374,end climb,SURFACE_DEPTH_REACHED
$STATE,15374,begin surface coast
$FINISH,0.3,1.024907
$STATE,15402,end surface coast,CONTROL_FINISHED_OK
$STATE,15402,begin surface
$SM_CCo,15415,7.75,0.522,0,0,1771,250.20
$SM_GC,3.17,0.00,0.00,7.75,0.000,0.000,0.522,194,1795,1771,-7.83,-0.14,250.20
$IRIDIUM_FIX,3632.29,-12212.00,300699,191929
$TT8_MAMPS,0.052156
$HUMID,54.72
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,700.2,16.5
$24V_AH,24.0,16.551
$10V_AH,10.0,22.460
$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,18.700,137.850,290.950,7.750,0.000,53.947,85.495,404.698,2.500,0.000,11.743,0.000,10631.610,463.242,4227.205,787.039,0.000,1805.328,0.000,3664.036,0.000,12.638,0.000
$DEVICE_MAMPS,215.527,45.253,1017.042,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.975,3455.373,2528.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246660
$DATA_FILE_SIZE,113806,1631
$CAP_FILE_SIZE,180495,0
$CFSIZE,260165632,245743616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050410,234826,3646.009,-12213.112,65,2.1,84,14.8