version: 66.06
glider: 503
mission: 5
dive: 136
start: 4 14 110 10 10 6
data:
$ID,503
$MISSION,5
$DIVE,136
$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,-10956.212
$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,38
$R_STBD_OVSHOOT,44
$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
$GPS1,100237,3644.397,-12212.675,35,1.0,35,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-75.1
$GPS2,101001,3644.382,-12212.683,17,0.9,22,14.8
$SPEED_LIMITS,0.136,0.217
$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,132.7,7423,-15.7,-7.865
$D_GRID,819
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.57,-116.8,0.0,0.0,0,63,0.00,0.00,-48.53,0.000,2,0.000,0.000,171,1754,2787,0,0,0,0,0,0
$GC,65,-0.57,-116.8,3.4,-5.8,9,92,8.93,2.33,-10.70,0.000,4,0.216,0.046,2500,3202,3270,0,0,0,0,0,0
$GC,331,-0.57,-116.8,43.7,-11.4,59,338,0.00,2.20,0.00,0.000,6,0.000,0.026,2500,1795,3272,0,0,0,0,0,0
$GC,657,-0.51,-116.8,84.9,-11.9,120,664,0.12,2.22,0.00,0.000,4,0.143,0.031,2530,3206,3272,0,0,0,0,0,0
$GC,685,-0.51,-116.8,87.6,-10.4,125,691,0.00,2.17,0.00,0.000,6,0.000,0.027,2530,1809,3272,0,0,0,0,0,0
$GC,1011,-0.51,-116.8,118.2,-10.0,186,1018,0.00,2.20,0.00,0.000,4,0.000,0.040,2530,399,3273,0,0,0,0,0,0
$GC,1071,-0.51,-116.8,124.6,-10.7,197,1077,0.00,2.12,0.00,0.000,6,0.000,0.025,2522,1805,3273,0,0,0,0,0,0
$GC,1397,-0.51,-116.8,155.4,-8.5,258,1403,0.00,2.15,0.00,0.000,4,0.000,0.032,2520,3200,3272,0,0,0,0,0,0
$GC,1424,-0.51,-116.8,157.8,-8.8,263,1430,0.00,2.15,0.00,0.000,6,0.000,0.026,2520,1803,3273,0,0,0,0,0,0
$GC,1750,-0.51,-116.8,186.7,-9.3,324,1757,0.00,2.17,0.00,0.000,4,0.000,0.041,2520,406,3273,0,0,0,0,0,0
$GC,1803,-0.51,-116.8,192.2,-10.3,334,1810,0.00,2.10,0.00,0.000,6,0.000,0.025,2510,1802,3273,0,0,0,0,0,0
$GC,2128,-0.51,-116.8,221.7,-8.6,373,2131,0.00,2.17,0.00,0.000,4,0.000,0.040,2510,400,3272,0,0,0,0,0,0
$GC,2149,-0.51,-116.8,223.8,-9.7,375,2152,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1801,3273,0,0,0,0,0,0
$GC,2468,-0.51,-116.8,253.1,-9.4,406,2473,0.00,2.17,0.00,0.000,4,0.000,0.039,2505,403,3272,0,0,0,0,0,0
$GC,2480,-0.51,-116.8,254.1,-9.5,407,2484,0.10,2.10,0.00,0.000,6,0.107,0.025,2534,1801,3272,0,0,0,0,0,0
$GC,2800,-0.57,-116.8,279.6,-7.9,438,2804,0.00,2.17,0.00,0.000,4,0.000,0.039,2534,400,3272,0,0,0,0,0,0
$GC,2837,-0.61,-116.8,282.9,-8.9,441,2843,0.00,2.10,0.00,0.000,6,0.000,0.025,2534,1798,3272,0,0,0,0,0,0
$GC,3152,-0.66,-116.8,308.8,-8.1,472,3154,0.15,0.00,0.00,0.000,6,0.075,0.000,2449,1798,3272,0,0,0,0,0,0
$GC,3463,-0.56,-116.8,350.5,-13.6,502,3467,0.22,2.17,0.00,0.000,4,0.123,0.039,2521,406,3271,0,0,0,0,0,0
$GC,3489,-0.56,-116.8,353.6,-11.2,504,3496,0.00,2.10,0.00,0.000,6,0.000,0.025,2513,1810,3271,0,0,0,0,0,0
$GC,3806,-0.56,-116.8,380.6,-9.0,535,3809,0.00,2.17,0.00,0.000,4,0.000,0.039,2513,404,3271,0,0,0,0,0,0
$GC,3852,-0.56,-116.8,385.3,-9.6,539,3859,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1804,3271,0,0,0,0,0,0
$GC,4168,-0.56,-116.8,416.9,-9.9,570,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1804,3270,0,0,0,0,0,0
$GC,4479,-0.56,-116.8,446.8,-9.1,600,4483,0.00,2.12,0.00,0.000,4,0.000,0.032,2504,3194,3270,0,0,0,0,0,0
$GC,4504,-0.60,-116.8,449.4,-9.5,602,4512,0.00,2.12,0.00,0.000,6,0.000,0.025,2504,1802,3270,0,0,0,0,0,0
$GC,4821,-0.60,-116.8,477.1,-8.6,633,4825,0.00,2.15,0.00,0.000,4,0.000,0.041,2504,393,3270,0,0,0,0,0,0
$GC,4852,-0.60,-116.8,479.9,-9.3,636,4856,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1798,3270,0,0,0,0,0,0
$GC,5182,-0.60,-116.8,510.0,-9.2,663,5186,0.00,2.12,0.00,0.000,4,0.000,0.032,2492,3191,3269,0,0,0,0,0,0
$GC,5203,-0.60,-116.8,511.9,-9.3,664,5207,0.00,2.12,0.00,0.000,6,0.000,0.026,2492,1800,3269,0,0,0,0,0,0
$GC,5529,-0.60,-116.8,540.5,-8.4,680,5533,0.00,2.15,0.00,0.000,4,0.000,0.039,2492,404,3268,0,0,0,0,0,0
$GC,5576,-0.60,-116.8,544.9,-8.7,682,5581,0.00,2.10,0.00,0.000,6,0.000,0.023,2482,1807,3269,0,0,0,0,0,0
$GC,5898,-0.60,-116.8,575.1,-9.1,698,5902,0.00,2.17,0.00,0.000,4,0.000,0.038,2482,403,3268,0,0,0,0,0,0
$GC,5940,-0.56,-116.8,579.2,-10.4,700,5945,0.10,2.08,0.00,0.000,6,0.108,0.025,2514,1794,3268,0,0,0,0,0,0
$GC,6267,-0.60,-116.8,602.0,-7.2,716,6271,0.00,2.12,0.00,0.000,4,0.000,0.032,2508,3201,3268,0,0,0,0,0,0
$GC,6309,-0.68,-116.8,605.3,-8.3,718,6313,0.00,2.12,0.00,0.000,6,0.000,0.025,2508,1805,3267,0,0,0,0,0,0
$GC,6635,-0.68,-116.8,633.0,-8.9,734,6639,0.00,2.15,0.00,0.000,4,0.000,0.040,2508,409,3267,0,0,0,0,0,0
$GC,6672,-0.68,-116.8,636.5,-9.7,735,6679,0.00,2.08,0.00,0.000,6,0.000,0.024,2505,1801,3267,0,0,0,0,0,0
$GC,6983,-0.68,-116.8,662.8,-8.0,751,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1801,3266,0,0,0,0,0,0
$GC,7288,-0.68,-116.8,684.2,-6.8,766,7292,0.00,2.12,0.00,0.000,4,0.000,0.032,2505,3188,3266,0,0,0,0,0,0
$GC,7310,-0.75,-116.8,685.5,-5.8,767,7313,0.12,2.10,0.00,0.000,6,0.088,0.027,2435,1796,3266,0,0,0,0,0,0
$GC,7636,-0.65,-116.8,719.6,-10.4,783,7639,0.17,2.15,0.00,0.000,4,0.133,0.041,2491,404,3266,0,0,0,0,0,0
$GC,7656,-0.60,-116.8,721.7,-10.3,784,7660,0.00,2.08,0.00,0.000,6,0.000,0.025,2483,1793,3265,0,0,0,0,0,0
$GC,7982,-0.60,-116.8,747.4,-8.2,800,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1792,3264,0,0,0,0,0,0
$GC,8288,-0.60,-116.8,769.9,-7.7,815,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1793,3264,0,0,0,0,0,0
$GC,8593,-0.60,-116.8,794.9,-8.4,830,8597,0.00,2.15,0.00,0.000,4,0.000,0.033,2473,3192,3264,0,0,0,0,0,0
$GC,8614,-0.60,-116.8,796.9,-9.7,831,8618,0.08,2.12,0.00,0.000,6,0.104,0.027,2505,1799,3264,0,0,0,0,0,0
$STATE,8918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8918,begin apogee
$GC,8922,-0.14,0.0,819.2,6.8,846,9022,0.43,0.00,93.82,1.090,6,0.094,0.000,2656,1798,2791,0,0,0,0,0,0
$STATE,9023,end apogee,CONTROL_FINISHED_OK
$STATE,9023,begin climb
$GC,9024,0.57,116.8,821.8,0.0,851,9131,0.62,2.42,101.28,1.058,4,0.054,0.042,2902,356,2315,0,0,0,0,0,0
$GC,9194,0.42,116.8,815.4,9.3,859,9201,0.20,2.20,0.00,0.000,6,0.130,0.024,2839,1744,2312,0,0,0,0,0,0
$GC,9505,0.49,174.1,797.9,5.3,875,9559,0.00,2.35,48.08,1.042,4,0.000,0.031,2840,3163,2082,0,0,0,0,0,0
$GC,9588,0.51,186.1,793.0,7.3,879,9607,0.00,2.28,12.18,0.951,6,0.000,0.030,2849,1750,2033,0,0,0,0,0,0
$GC,9912,0.51,186.1,766.7,8.7,895,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1751,2031,0,0,0,0,0,0
$GC,10216,0.51,186.1,740.0,8.7,910,10221,0.00,2.20,0.00,0.000,4,0.000,0.031,2849,3156,2028,0,0,0,0,0,0
$GC,10242,0.51,186.1,737.5,9.3,911,10247,0.00,2.22,0.00,0.000,6,0.000,0.028,2860,1749,2028,0,0,0,0,0,0
$GC,10564,0.51,186.1,709.8,8.2,927,10568,0.00,2.20,0.00,0.000,4,0.000,0.042,2871,351,2027,0,0,0,0,0,0
$GC,10600,0.51,186.1,706.5,8.6,928,10608,0.00,2.12,0.00,0.000,6,0.000,0.024,2871,1751,2026,0,0,0,0,0,0
$GC,10911,0.51,186.1,679.9,8.4,944,10915,0.00,2.15,0.00,0.000,4,0.000,0.031,2871,3143,2026,0,0,0,0,0,0
$GC,10985,0.46,186.1,673.1,9.3,947,10990,0.08,2.17,0.00,0.000,6,0.120,0.028,2853,1744,2025,0,0,0,0,0,0
$GC,11302,0.46,187.6,647.9,7.8,963,11305,0.00,2.15,0.00,0.000,4,0.000,0.030,2853,3153,2025,0,0,0,0,0,0
$GC,11332,0.46,187.6,645.1,8.9,964,11337,0.00,2.20,0.00,0.000,6,0.000,0.028,2862,1747,2024,0,0,0,0,0,0
$GC,11649,0.46,189.0,620.1,7.8,980,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1747,2024,0,0,0,0,0,0
$GC,11954,0.46,189.0,594.4,8.6,995,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1746,2023,0,0,0,0,0,0
$GC,12258,0.46,189.0,567.1,9.1,1010,12263,0.00,2.17,0.00,0.000,4,0.000,0.031,2862,3150,2023,0,0,0,0,0,0
$GC,12290,0.46,189.0,564.2,9.3,1011,12295,0.00,2.17,0.00,0.000,6,0.000,0.028,2872,1748,2023,0,0,0,0,0,0
$GC,12607,0.46,189.0,536.3,9.3,1027,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1748,2023,0,0,0,0,0,0
$GC,12911,0.46,189.0,509.9,8.5,1042,12916,0.00,2.17,0.00,0.000,4,0.000,0.041,2884,347,2022,0,0,0,0,0,0
$GC,12943,0.46,189.0,507.1,8.7,1043,12948,0.08,2.10,0.00,0.000,6,0.113,0.024,2853,1750,2022,0,0,0,0,0,0
$GC,13262,0.47,197.8,483.1,7.5,1070,13276,0.00,2.12,9.05,0.828,4,0.000,0.030,2853,3152,1985,0,0,0,0,0,0
$GC,13332,0.47,197.8,477.6,8.6,1076,13340,0.00,2.20,0.00,0.000,6,0.000,0.028,2861,1735,1985,0,0,0,0,0,0
$GC,13649,0.49,210.9,453.4,7.3,1107,13665,0.00,2.15,12.07,0.833,4,0.000,0.041,2872,344,1931,0,0,0,0,0,0
$GC,13685,0.51,224.4,450.7,7.3,1110,13701,0.00,2.12,12.40,0.815,6,0.000,0.025,2872,1744,1877,0,0,0,0,0,0
$GC,14011,0.51,224.4,425.1,7.9,1141,14014,0.00,2.17,0.00,0.000,4,0.000,0.031,2872,3145,1877,0,0,0,0,0,0
$GC,14042,0.51,224.4,422.4,8.4,1144,14046,0.00,2.17,0.00,0.000,6,0.000,0.028,2883,1755,1877,0,0,0,0,0,0
$GC,14363,0.51,224.4,393.5,10.0,1175,14367,0.00,2.22,0.00,0.000,4,0.000,0.043,2894,346,1877,0,0,0,0,0,0
$GC,14385,0.51,224.4,391.3,10.0,1177,14388,0.10,2.10,0.00,0.000,6,0.146,0.026,2864,1750,1877,0,0,0,0,0,0
$GC,14704,0.51,224.4,361.9,8.5,1208,14709,0.00,2.22,0.00,0.000,4,0.000,0.043,2874,354,1877,0,0,0,0,0,0
$GC,14737,0.51,224.4,359.0,10.2,1211,14740,0.00,2.10,0.00,0.000,6,0.000,0.025,2874,1749,1877,0,0,0,0,0,0
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$GC,15409,0.51,224.4,296.0,9.4,1276,15414,0.00,2.17,0.00,0.000,4,0.000,0.030,2885,3150,1877,0,0,0,0,0,0
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$STATE,18763,end climb,SURFACE_DEPTH_REACHED
$STATE,18763,begin surface coast
$FINISH,1.3,1.025086
$STATE,18779,end surface coast,CONTROL_FINISHED_OK
$STATE,18779,begin surface
$SM_CCo,18854,0.00,0.000,0,0,1612,289.20
$SM_GC,1.01,7.18,0.00,0.00,0.048,0.000,0.000,190,1792,1612,-7.77,-0.23,289.20
$IRIDIUM_FIX,3632.29,-12209.72,090799,050545
$TT8_MAMPS,0.051389
$HUMID,54.41
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.20
$XPDR_PINGS,54
$24V_AH,23.8,20.983
$10V_AH,9.8,30.662
$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,19.275,185.925,346.125,0.000,0.000,27.277,33.611,250.218,15.250,0.000,25.755,0.000,13465.702,538.395,4650.935,601.502,0.000,2035.606,0.000,3984.082,0.000,13.583,0.000
$DEVICE_MAMPS,216.294,46.020,1089.907,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1248.614,3777.409,2703.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286668
$DATA_FILE_SIZE,126342,1801
$CAP_FILE_SIZE,205750,0
$CFSIZE,260165632,241405952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3
$GPS,140410,152524,3643.169,-12211.686,27,1.1,45,14.8