version: 66.06
glider: 503
mission: 5
dive: 105
start: 4 7 110 20 21 56
data:
$ID,503
$MISSION,5
$DIVE,105
$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,-2
$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,-10282.934
$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,34
$R_STBD_OVSHOOT,46
$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
$GPS1,201425,3645.700,-12214.896,39,1.1,39,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-73.1
$GPS2,202151,3645.628,-12214.893,7,3.4,26,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FIVE
$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,66.1,4346,-15.7,-7.865
$D_GRID,679
$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,13,-0.57,-116.8,0.0,0.0,0,58,0.00,0.00,-43.88,0.000,2,0.000,0.000,176,1753,2555,0,0,0,0,0,0
$GC,60,-0.57,-116.8,3.1,-5.9,8,91,8.85,2.15,-17.60,0.000,4,0.216,0.052,2513,388,3269,0,0,0,0,0,0
$GC,294,-0.39,-116.8,41.5,-19.8,52,300,0.20,2.15,0.00,0.000,6,0.111,0.025,2573,1796,3271,0,0,0,0,0,0
$GC,620,-0.46,-116.8,62.1,-6.9,113,627,0.00,2.20,0.00,0.000,4,0.000,0.041,2574,397,3271,0,0,0,0,0,0
$GC,658,-0.54,-116.8,64.9,-8.0,120,665,0.10,2.12,0.00,0.000,6,0.051,0.026,2508,1791,3271,0,0,0,0,0,0
$GC,985,-0.49,-116.8,105.0,-12.2,181,991,0.10,2.20,0.00,0.000,4,0.156,0.032,2529,3205,3272,0,0,0,0,0,0
$GC,1017,-0.49,-116.8,108.4,-10.4,187,1023,0.00,2.17,0.00,0.000,6,0.000,0.027,2529,1791,3272,0,0,0,0,0,0
$GC,1343,-0.49,-116.8,138.8,-8.8,248,1350,0.00,2.15,0.00,0.000,4,0.000,0.041,2529,404,3272,0,0,0,0,0,0
$GC,1376,-0.49,-116.8,141.7,-9.2,254,1382,0.00,2.12,0.00,0.000,6,0.000,0.025,2522,1818,3272,0,0,0,0,0,0
$GC,1702,-0.49,-116.8,168.2,-8.1,315,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1818,3272,0,0,0,0,0,0
$GC,2028,-0.49,-116.8,195.8,-9.0,376,2034,0.00,2.20,0.00,0.000,4,0.000,0.041,2522,403,3272,0,0,0,0,0,0
$GC,2074,-0.49,-116.8,200.8,-11.1,384,2082,0.00,2.12,0.00,0.000,6,0.000,0.025,2511,1807,3272,0,0,0,0,0,0
$GC,2390,-0.49,-116.8,231.6,-9.5,415,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1807,3272,0,0,0,0,0,0
$GC,2702,-0.49,-116.8,262.0,-10.3,445,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1807,3272,0,0,0,0,0,0
$GC,3012,-0.49,-116.8,292.4,-9.4,475,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1807,3271,0,0,0,0,0,0
$GC,3322,-0.49,-116.8,322.3,-9.1,505,3326,0.00,2.17,0.00,0.000,4,0.000,0.040,2512,402,3270,0,0,0,0,0,0
$GC,3353,-0.49,-116.8,325.3,-10.1,508,3358,0.08,2.12,0.00,0.000,6,0.114,0.025,2535,1812,3270,0,0,0,0,0,0
$GC,3675,-0.55,-116.8,348.7,-6.9,539,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1812,3270,0,0,0,0,0,0
$GC,3986,-0.61,-116.8,368.3,-5.9,569,3989,0.00,2.15,0.00,0.000,4,0.000,0.040,2535,393,3269,0,0,0,0,0,0
$GC,4016,-0.61,-116.8,370.3,-6.9,571,4023,0.00,2.12,0.00,0.000,6,0.000,0.025,2532,1804,3269,0,0,0,0,0,0
$GC,4332,-0.66,-116.8,389.1,-5.8,602,4336,0.12,2.15,0.00,0.000,4,0.087,0.031,2453,3199,3269,0,0,0,0,0,0
$GC,4364,-0.61,-116.8,391.8,-9.5,605,4368,0.12,2.12,0.00,0.000,6,0.105,0.026,2509,1798,3269,0,0,0,0,0,0
$GC,4684,-0.61,-116.8,415.2,-7.4,636,4688,0.00,2.15,0.00,0.000,4,0.000,0.040,2509,401,3269,0,0,0,0,0,0
$GC,4710,-0.61,-116.8,417.4,-9.0,638,4718,0.00,2.10,0.00,0.000,6,0.000,0.025,2502,1798,3269,0,0,0,0,0,0
$GC,5027,-0.61,-116.8,445.1,-9.3,669,5030,0.00,2.12,0.00,0.000,4,0.000,0.032,2494,3194,3268,0,0,0,0,0,0
$GC,5057,-0.61,-116.8,448.1,-9.5,672,5062,0.00,2.12,0.00,0.000,6,0.000,0.026,2496,1801,3268,0,0,0,0,0,0
$GC,5379,-0.61,-116.8,480.3,-10.2,703,5383,0.00,2.15,0.00,0.000,4,0.000,0.041,2495,406,3268,0,0,0,0,0,0
$GC,5422,-0.61,-116.8,484.9,-11.4,707,5425,0.00,2.08,0.00,0.000,6,0.000,0.025,2488,1797,3268,0,0,0,0,0,0
$GC,5749,-0.61,-116.8,520.3,-10.6,730,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1798,3267,0,0,0,0,0,0
$GC,6055,-0.61,-116.8,553.0,-10.6,745,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1798,3267,0,0,0,0,0,0
$GC,6359,-0.61,-116.8,585.0,-10.4,760,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1798,3267,0,0,0,0,0,0
$GC,6666,-0.61,-116.8,612.5,-8.6,775,6669,0.00,2.17,0.00,0.000,4,0.000,0.041,2488,398,3266,0,0,0,0,0,0
$GC,6708,-0.61,-116.8,616.3,-9.4,777,6711,0.00,2.08,0.00,0.000,6,0.000,0.025,2479,1793,3266,0,0,0,0,0,0
$GC,7034,-0.61,-116.8,642.2,-7.8,793,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1793,3266,0,0,0,0,0,0
$GC,7338,-0.61,-116.8,668.0,-8.4,808,7343,0.00,2.15,0.00,0.000,4,0.000,0.032,2469,3200,3265,0,0,0,0,0,0
$GC,7376,-0.61,-116.8,670.6,-7.5,809,7382,0.08,2.12,0.00,0.000,6,0.107,0.026,2501,1805,3265,0,0,0,0,0,0
$STATE,7502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7502,begin apogee
$GC,7504,-0.14,0.0,679.0,6.6,816,7598,0.45,0.00,91.53,0.999,6,0.100,0.000,2659,1804,2792,0,0,0,0,0,0
$STATE,7598,end apogee,CONTROL_FINISHED_OK
$STATE,7598,begin climb
$GC,7599,0.57,116.8,680.3,0.0,820,7704,0.60,2.22,98.43,0.967,4,0.061,0.031,2886,3139,2315,0,0,0,0,0,0
$GC,7773,0.45,116.8,674.4,9.7,828,7778,0.15,2.25,0.00,0.000,6,0.127,0.027,2847,1749,2311,0,0,0,0,0,0
$GC,8089,0.48,140.8,652.4,6.8,844,8113,0.00,2.25,19.52,0.928,4,0.000,0.031,2847,3148,2217,0,0,0,0,0,0
$GC,8210,0.48,140.8,642.5,8.8,849,8216,0.00,2.22,0.00,0.000,6,0.000,0.028,2857,1746,2216,0,0,0,0,0,0
$GC,8521,0.50,157.4,618.4,7.1,865,8541,0.00,0.00,14.60,0.907,6,0.000,0.000,2857,1746,2150,0,0,0,0,0,0
$GC,8845,0.52,167.2,594.2,7.4,881,8860,0.00,2.22,9.70,0.861,4,0.000,0.031,2857,3147,2110,0,0,0,0,0,0
$GC,8887,0.52,167.2,591.0,8.2,883,8891,0.00,2.20,0.00,0.000,6,0.000,0.028,2868,1754,2109,0,0,0,0,0,0
$GC,9215,0.52,167.2,565.1,8.6,899,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1754,2108,0,0,0,0,0,0
$GC,9518,0.52,167.2,539.6,8.2,914,9522,0.00,2.17,0.00,0.000,4,0.000,0.030,2868,3149,2107,0,0,0,0,0,0
$GC,9571,0.52,167.2,535.0,9.1,916,9576,0.00,2.17,0.00,0.000,6,0.000,0.028,2878,1750,2106,0,0,0,0,0,0
$GC,9887,0.52,167.2,508.6,8.6,932,9891,0.00,2.22,0.00,0.000,4,0.000,0.043,2889,345,2106,0,0,0,0,0,0
$GC,9924,0.46,167.2,505.1,9.6,933,9930,0.10,2.12,0.00,0.000,6,0.114,0.025,2852,1751,2106,0,0,0,0,0,0
$GC,10238,0.47,175.5,481.8,7.5,960,10250,0.00,2.20,7.25,0.790,4,0.000,0.042,2863,342,2077,0,0,0,0,0,0
$GC,10281,0.47,175.5,478.4,8.6,964,10286,0.00,2.15,0.00,0.000,6,0.000,0.025,2863,1762,2078,0,0,0,0,0,0
$GC,10602,0.47,175.5,452.5,8.3,995,10606,0.00,2.22,0.00,0.000,4,0.000,0.042,2874,349,2077,0,0,0,0,0,0
$GC,10633,0.47,175.5,449.5,9.6,998,10638,0.00,2.10,0.00,0.000,6,0.000,0.025,2874,1741,2077,0,0,0,0,0,0
$GC,10955,0.47,175.5,420.8,9.6,1029,10959,0.00,2.17,0.00,0.000,4,0.000,0.031,2874,3155,2077,0,0,0,0,0,0
$GC,10976,0.47,175.5,418.7,10.5,1031,10980,0.08,2.17,0.00,0.000,6,0.123,0.028,2856,1750,2077,0,0,0,0,0,0
$GC,11296,0.47,175.5,389.5,9.0,1062,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1749,2077,0,0,0,0,0,0
$GC,11607,0.48,177.2,364.4,7.8,1092,11611,0.00,2.15,0.00,0.000,4,0.000,0.030,2855,3147,2077,0,0,0,0,0,0
$GC,11632,0.49,191.8,362.4,7.2,1094,11653,0.00,2.17,14.77,0.792,6,0.000,0.028,2865,1748,2010,0,0,0,0,0,0
$GC,11969,0.50,196.7,335.6,7.6,1127,11980,0.00,0.00,5.82,0.675,6,0.000,0.000,2865,1748,1989,0,0,0,0,0,0
$GC,12289,0.50,196.7,309.8,8.2,1158,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1748,1989,0,0,0,0,0,0
$GC,12600,0.50,196.7,284.3,8.4,1188,12604,0.00,2.17,0.00,0.000,4,0.000,0.042,2876,353,1989,0,0,0,0,0,0
$GC,12615,0.50,196.7,283.0,8.5,1189,12622,0.00,2.10,0.00,0.000,6,0.000,0.025,2876,1751,1989,0,0,0,0,0,0
$GC,12930,0.50,196.7,255.8,8.5,1220,12935,0.00,2.15,0.00,0.000,4,0.000,0.031,2876,3151,1988,0,0,0,0,0,0
$GC,12957,0.50,196.7,253.6,8.9,1222,12964,0.00,2.17,0.00,0.000,6,0.000,0.028,2886,1751,1989,0,0,0,0,0,0
$GC,13273,0.50,196.7,225.2,8.6,1253,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1750,1989,0,0,0,0,0,0
$GC,13585,0.50,196.7,199.4,8.0,1283,13590,0.00,2.20,0.00,0.000,4,0.000,0.043,2897,354,1989,0,0,0,0,0,0
$GC,13616,0.50,196.7,196.5,8.4,1289,13623,0.10,2.10,0.00,0.000,6,0.110,0.025,2859,1752,1989,0,0,0,0,0,0
$GC,13943,0.55,198.9,172.1,7.8,1350,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1752,1989,0,0,0,0,0,0
$GC,14269,0.60,201.4,147.1,7.7,1411,14281,0.10,2.12,5.38,0.578,4,0.100,0.029,2919,3158,1970,0,0,0,0,0,0
$GC,14338,0.53,201.4,139.5,11.6,1424,14345,0.15,2.17,0.00,0.000,6,0.116,0.028,2876,1749,1970,0,0,0,0,0,0
$GC,14665,0.53,201.4,110.6,8.3,1485,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1749,1970,0,0,0,0,0,0
$GC,14990,0.57,233.3,86.5,6.4,1546,15018,0.00,0.00,26.35,0.627,6,0.000,0.000,2876,1749,1839,0,0,0,0,0,0
$GC,15339,0.73,316.7,66.7,4.1,1611,15411,0.17,2.25,65.75,0.599,4,0.071,0.031,2962,3146,1500,0,0,0,0,0,0
$GC,15481,0.68,316.7,51.8,12.7,1638,15488,0.15,2.22,0.00,0.000,6,0.115,0.029,2921,1752,1502,0,0,0,0,0,0
$GC,15808,0.74,316.7,22.9,8.3,1699,15814,0.00,2.22,0.00,0.000,4,0.000,0.044,2930,347,1502,0,0,0,0,0,0
$GC,15889,0.79,316.7,15.5,9.0,1714,15894,0.00,2.12,0.00,0.000,6,0.000,0.025,2930,1748,1502,0,0,0,0,0,0
$STATE,16037,end climb,SURFACE_DEPTH_REACHED
$STATE,16037,begin surface coast
$FINISH,0.3,1.025243
$STATE,16080,end surface coast,CONTROL_FINISHED_OK
$STATE,16080,begin surface
$SM_CCo,16152,0.00,0.000,0,0,1501,316.43
$SM_GC,0.99,7.00,0.00,0.00,0.037,0.000,0.000,192,1750,1501,-7.76,-1.44,316.43
$IRIDIUM_FIX,3632.29,-12219.41,020799,151526
$TT8_MAMPS,0.052156
$HUMID,54.33
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.20
$XPDR_PINGS,7
$24V_AH,24.0,17.596
$10V_AH,9.9,24.342
$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,18.700,121.150,359.100,0.000,0.000,27.397,32.881,258.466,2.750,0.000,29.052,0.000,11088.806,477.852,4443.164,549.902,0.000,1873.373,0.000,3832.515,0.000,8.190,0.000
$DEVICE_MAMPS,215.527,52.156,999.401,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1213.495,3708.430,2741.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286660
$DATA_FILE_SIZE,123528,1750
$CAP_FILE_SIZE,177135,0
$CFSIZE,260165632,244748288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080410,005201,3646.149,-12214.031,35,1.8,35,14.8