version: 66.06
glider: 503
mission: 5
dive: 171
start: 4 22 110 4 42 14
data:
$ID,503
$MISSION,5
$DIVE,171
$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,-11573.684
$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,40
$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
$GPS1,043407,3645.047,-12218.854,25,1.7,25,14.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-58.4
$GPS2,044208,3644.993,-12218.838,13,1.7,13,14.8
$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,64.8,10315,-15.7,-7.865
$D_GRID,1112
$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,-0.57,-116.8,0.0,0.0,0,99,0.00,0.00,-84.32,0.000,2,0.000,0.000,154,1745,2626,0,0,0,0,0,0
$GC,101,-0.57,-116.8,3.2,-6.7,16,133,8.95,2.15,-15.55,0.000,4,0.212,0.051,2514,400,3272,0,0,0,0,0,0
$GC,367,-0.46,-116.8,50.2,-14.4,66,374,0.12,2.15,0.00,0.000,6,0.112,0.024,2550,1807,3272,0,0,0,0,0,0
$GC,694,-0.46,-116.8,78.2,-10.4,127,700,0.00,2.20,0.00,0.000,4,0.000,0.038,2550,402,3273,0,0,0,0,0,0
$GC,758,-0.46,-116.8,84.6,-9.8,139,764,0.00,2.10,0.00,0.000,6,0.000,0.024,2548,1791,3273,0,0,0,0,0,0
$GC,1085,-0.50,-116.8,108.8,-8.0,200,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1791,3273,0,0,0,0,0,0
$GC,1411,-0.56,-116.8,136.0,-8.0,261,1417,0.00,2.17,0.00,0.000,4,0.000,0.040,2548,402,3273,0,0,0,0,0,0
$GC,1448,-0.56,-116.8,139.5,-8.9,268,1454,0.00,2.10,0.00,0.000,6,0.000,0.024,2547,1802,3273,0,0,0,0,0,0
$GC,1775,-0.61,-116.8,165.4,-7.8,329,1781,0.12,0.00,0.00,0.000,6,0.086,0.000,2473,1803,3273,0,0,0,0,0,0
$GC,2100,-0.53,-116.8,207.3,-13.1,385,2103,0.17,2.17,0.00,0.000,4,0.126,0.038,2528,397,3272,0,0,0,0,0,0
$GC,2194,-0.53,-116.8,217.5,-9.7,393,2201,0.00,2.12,0.00,0.000,6,0.000,0.023,2521,1806,3272,0,0,0,0,0,0
$GC,2509,-0.53,-116.8,247.3,-9.5,424,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1807,3272,0,0,0,0,0,0
$GC,2821,-0.53,-116.8,275.6,-8.5,454,2825,0.00,2.20,0.00,0.000,4,0.000,0.038,2521,393,3272,0,0,0,0,0,0
$GC,2868,-0.53,-116.8,280.3,-9.2,458,2875,0.00,2.10,0.00,0.000,6,0.000,0.024,2511,1796,3272,0,0,0,0,0,0
$GC,3184,-0.53,-116.8,307.6,-8.7,489,3188,0.00,2.17,0.00,0.000,4,0.000,0.038,2512,399,3271,0,0,0,0,0,0
$GC,3221,-0.53,-116.8,311.2,-9.8,492,3227,0.00,2.10,0.00,0.000,6,0.000,0.024,2507,1802,3271,0,0,0,0,0,0
$GC,3536,-0.53,-116.8,339.9,-9.6,523,3540,0.00,2.15,0.00,0.000,4,0.000,0.031,2503,3202,3271,0,0,0,0,0,0
$GC,3573,-0.58,-116.8,343.3,-9.1,526,3580,0.00,2.15,0.00,0.000,6,0.000,0.025,2503,1795,3271,0,0,0,0,0,0
$GC,3889,-0.58,-116.8,374.8,-10.0,557,3893,0.00,2.15,0.00,0.000,4,0.000,0.038,2503,408,3271,0,0,0,0,0,0
$GC,3936,-0.58,-116.8,379.9,-10.7,561,3943,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1803,3271,0,0,0,0,0,0
$GC,4251,-0.58,-116.8,411.5,-10.0,592,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3271,0,0,0,0,0,0
$GC,4563,-0.58,-116.8,441.4,-9.3,622,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3270,0,0,0,0,0,0
$GC,4873,-0.58,-116.8,468.6,-8.3,652,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3270,0,0,0,0,0,0
$GC,5183,-0.58,-116.8,494.2,-8.6,682,5187,0.00,2.12,0.00,0.000,4,0.000,0.031,2486,3187,3269,0,0,0,0,0,0
$GC,5226,-0.58,-116.8,498.0,-8.9,686,5230,0.00,2.12,0.00,0.000,6,0.000,0.026,2486,1804,3269,0,0,0,0,0,0
$GC,5552,-0.58,-116.8,531.4,-10.4,703,5556,0.00,2.17,0.00,0.000,4,0.000,0.040,2486,401,3269,0,0,0,0,0,0
$GC,5583,-0.53,-116.8,534.9,-10.9,704,5588,0.12,2.08,0.00,0.000,6,0.104,0.025,2527,1788,3268,0,0,0,0,0,0
$GC,5899,-0.59,-116.8,557.5,-6.8,720,5903,0.00,2.15,0.00,0.000,4,0.000,0.040,2526,406,3268,0,0,0,0,0,0
$GC,5968,-0.63,-116.8,562.9,-8.1,723,5972,0.00,2.08,0.00,0.000,6,0.000,0.024,2522,1797,3268,0,0,0,0,0,0
$GC,6290,-0.68,-116.8,586.3,-7.6,739,6294,0.12,2.17,0.00,0.000,4,0.084,0.040,2445,394,3267,0,0,0,0,0,0
$GC,6342,-0.57,-116.8,592.6,-12.4,741,6348,0.20,2.10,0.00,0.000,6,0.106,0.025,2508,1799,3266,0,0,0,0,0,0
$GC,6654,-0.57,-116.8,618.2,-7.8,757,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1799,3267,0,0,0,0,0,0
$GC,6957,-0.57,-116.8,641.6,-7.9,772,6962,0.00,2.15,0.00,0.000,4,0.000,0.032,2499,3196,3266,0,0,0,0,0,0
$GC,7016,-0.64,-116.8,646.0,-7.6,774,7023,0.00,2.15,0.00,0.000,6,0.000,0.026,2499,1795,3266,0,0,0,0,0,0
$GC,7326,-0.64,-116.8,670.5,-7.7,790,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1795,3266,0,0,0,0,0,0
$GC,7632,-0.64,-116.8,695.2,-7.8,805,7636,0.00,2.12,0.00,0.000,4,0.000,0.041,2499,404,3265,0,0,0,0,0,0
$GC,7701,-0.64,-116.8,701.3,-8.9,808,7705,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1806,3265,0,0,0,0,0,0
$GC,8021,-0.64,-116.8,728.1,-8.6,824,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3264,0,0,0,0,0,0
$GC,8328,-0.64,-116.8,754.7,-8.8,839,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3264,0,0,0,0,0,0
$GC,8632,-0.64,-116.8,781.0,-8.4,854,8637,0.00,2.12,0.00,0.000,4,0.000,0.032,2495,3185,3264,0,0,0,0,0,0
$GC,8679,-0.70,-116.8,785.3,-9.4,856,8684,0.00,2.12,0.00,0.000,6,0.000,0.026,2495,1802,3264,0,0,0,0,0,0
$GC,9001,-0.70,-116.8,813.7,-8.6,872,9005,0.00,2.20,0.00,0.000,4,0.000,0.041,2495,405,3263,0,0,0,0,0,0
$GC,9043,-0.70,-116.8,817.5,-9.4,874,9048,0.00,2.08,0.00,0.000,6,0.000,0.025,2491,1795,3263,0,0,0,0,0,0
$GC,9369,-0.70,-116.8,843.4,-7.8,890,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1795,3262,0,0,0,0,0,0
$GC,9676,-0.70,-116.8,868.6,-8.6,905,9679,0.00,2.12,0.00,0.000,4,0.000,0.033,2488,3194,3262,0,0,0,0,0,0
$GC,9706,-0.75,-116.8,871.3,-7.9,906,9711,0.00,2.15,0.00,0.000,6,0.000,0.026,2488,1798,3263,0,0,0,0,0,0
$GC,10022,-0.75,-116.8,898.3,-8.4,922,10026,0.00,2.17,0.00,0.000,4,0.000,0.041,2488,402,3262,0,0,0,0,0,0
$GC,10065,-0.75,-116.8,902.4,-9.7,924,10069,0.00,2.10,0.00,0.000,6,0.000,0.025,2479,1802,3262,0,0,0,0,0,0
$GC,10391,-0.75,-116.8,931.6,-7.7,940,10395,0.00,2.20,0.00,0.000,4,0.000,0.041,2479,397,3261,0,0,0,0,0,0
$GC,10433,-0.75,-116.8,935.3,-8.4,942,10437,0.00,2.10,0.00,0.000,6,0.000,0.025,2469,1795,3261,0,0,0,0,0,0
$STATE,10699,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10699,begin apogee
$GC,10702,-0.14,0.0,958.2,8.8,955,10800,0.55,0.00,94.95,1.183,6,0.099,0.000,2659,1794,2792,0,0,0,0,0,0
$STATE,10801,end apogee,CONTROL_FINISHED_OK
$STATE,10801,begin climb
$GC,10802,0.57,116.8,960.4,0.0,960,10912,0.60,2.28,103.65,1.150,4,0.054,0.035,2889,3149,2315,0,0,0,0,0,0
$GC,10954,0.46,132.0,955.8,7.2,967,10974,0.15,2.33,15.00,1.060,6,0.130,0.031,2852,1757,2252,0,0,0,0,0,0
$GC,11290,0.49,149.4,930.5,7.1,984,11312,0.00,2.35,15.30,1.073,4,0.000,0.046,2863,344,2182,0,0,0,0,0,0
$GC,11332,0.49,149.4,927.1,8.3,986,11337,0.00,2.20,0.00,0.000,6,0.000,0.025,2863,1748,2182,0,0,0,0,0,0
$GC,11659,0.49,149.5,902.6,7.9,1002,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1749,2179,0,0,0,0,0,0
$GC,11964,0.49,149.5,877.9,8.1,1017,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1749,2178,0,0,0,0,0,0
$GC,12269,0.49,152.4,854.6,7.7,1032,12273,0.00,2.17,0.00,0.000,4,0.000,0.033,2863,3144,2177,0,0,0,0,0,0
$GC,12333,0.44,152.4,849.4,8.5,1035,12337,0.08,2.20,0.00,0.000,6,0.137,0.031,2847,1748,2176,0,0,0,0,0,0
$GC,12660,0.44,152.4,824.8,8.1,1051,12663,0.00,2.20,0.00,0.000,4,0.000,0.032,2847,3151,2175,0,0,0,0,0,0
$GC,12691,0.44,152.4,822.0,9.6,1052,12695,0.00,2.20,0.00,0.000,6,0.000,0.030,2856,1748,2174,0,0,0,0,0,0
$GC,13006,0.44,152.4,795.9,8.5,1068,13011,0.00,2.20,0.00,0.000,4,0.000,0.031,2856,3152,2174,0,0,0,0,0,0
$GC,13038,0.44,152.4,793.1,8.5,1069,13042,0.00,2.20,0.00,0.000,6,0.000,0.029,2867,1747,2173,0,0,0,0,0,0
$GC,13355,0.44,152.4,767.4,8.1,1085,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1747,2173,0,0,0,0,0,0
$GC,13659,0.44,152.4,742.6,8.5,1100,13660,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1747,2173,0,0,0,0,0,0
$GC,13966,0.44,152.8,718.0,7.8,1115,13969,0.00,2.17,0.00,0.000,4,0.000,0.032,2867,3157,2172,0,0,0,0,0,0
$GC,13990,0.45,159.5,715.9,7.6,1116,14003,0.08,2.20,8.20,0.932,6,0.124,0.029,2850,1749,2140,0,0,0,0,0,0
$GC,14306,0.47,176.9,693.8,7.1,1132,14329,0.00,0.00,16.23,0.992,6,0.000,0.000,2850,1749,2070,0,0,0,0,0,0
$GC,14631,0.47,176.9,666.9,8.9,1148,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1749,2068,0,0,0,0,0,0
$GC,14937,0.50,195.8,642.7,7.0,1163,14958,0.00,2.22,17.02,0.963,4,0.000,0.043,2859,346,1993,0,0,0,0,0,0
$GC,14973,0.53,226.6,640.2,6.5,1164,15004,0.00,2.15,27.00,0.960,6,0.000,0.025,2859,1747,1868,0,0,0,0,0,0
$GC,15318,0.54,232.5,612.4,7.6,1182,15328,0.00,2.20,6.50,0.817,4,0.000,0.033,2859,3151,1844,0,0,0,0,0,0
$GC,15355,0.54,232.5,609.3,9.1,1184,15360,0.00,2.22,0.00,0.000,6,0.000,0.028,2869,1753,1844,0,0,0,0,0,0
$GC,15682,0.54,232.5,581.6,8.5,1200,15682,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1752,1844,0,0,0,0,0,0
$GC,15987,0.54,232.5,553.8,9.5,1215,15988,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1752,1843,0,0,0,0,0,0
$GC,16292,0.54,232.5,524.7,8.7,1230,16296,0.00,2.22,0.00,0.000,4,0.000,0.044,2881,351,1843,0,0,0,0,0,0
$GC,16339,0.54,232.5,520.5,9.3,1232,16344,0.00,2.15,0.00,0.000,6,0.000,0.025,2881,1755,1842,0,0,0,0,0,0
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$STATE,21873,end climb,SURFACE_DEPTH_REACHED
$STATE,21873,begin surface coast
$FINISH,0.2,1.025410
$STATE,21896,end surface coast,CONTROL_FINISHED_OK
$STATE,21896,begin surface
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$IRIDIUM_FIX,3632.29,-12219.41,160799,232342
$TT8_MAMPS,0.052156
$HUMID,54.29
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,16.00
$XPDR_PINGS,55
$ALTIM_BOTTOM_PING,950.9,16.8
$24V_AH,23.5,25.023
$10V_AH,9.7,37.974
$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
$DEVICE_SECS,19.100,168.925,377.800,0.000,0.000,24.365,31.825,297.472,16.500,0.000,15.657,0.000,16194.882,546.737,4986.691,678.833,0.000,2172.028,0.000,4290.609,0.000,21.636,0.000
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$SENSOR_SECS,1341.125,4027.566,2821.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286628
$DATA_FILE_SIZE,132927,1933
$CAP_FILE_SIZE,217768,0
$CFSIZE,260165632,237568000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,104927,3645.108,-12214.227,26,2.3,45,14.8