version: 66.06
glider: 503
mission: 5
dive: 183
start: 4 24 110 20 57 39
data:
$ID,503
$MISSION,5
$DIVE,183
$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,-11785.812
$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,50
$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
$GPS1,204924,3644.847,-12211.104,35,1.5,35,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.7
$GPS2,205734,3644.781,-12211.091,15,2.2,34,14.8
$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,314.3,2629,-25.0,-7.865
$D_GRID,708
$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,-0.74,-50.4,0.0,0.0,0,58,0.00,0.00,-43.65,0.000,2,0.000,0.000,157,1749,2635,0,0,0,0,0,0
$GC,59,-0.76,-63.7,3.1,-6.5,8,81,8.82,0.00,-10.43,0.000,6,0.216,0.000,2451,1749,3054,0,0,0,0,0,0
$GC,401,-0.76,-63.7,63.8,-16.9,72,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1749,3056,0,0,0,0,0,0
$GC,726,-0.76,-63.7,112.5,-13.9,133,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1749,3057,0,0,0,0,0,0
$GC,1051,-0.76,-63.7,158.4,-13.6,194,1057,0.00,2.10,0.00,0.000,4,0.000,0.038,2453,402,3057,0,0,0,0,0,0
$GC,1137,-0.76,-63.7,171.5,-15.3,210,1144,0.00,2.10,0.00,0.000,6,0.000,0.023,2444,1800,3057,0,0,0,0,0,0
$GC,1459,-0.76,-63.7,216.0,-13.3,260,1463,0.00,2.22,0.00,0.000,4,0.000,0.038,2444,389,3057,0,0,0,0,0,0
$GC,1513,-0.76,-63.7,223.9,-15.0,265,1516,0.00,2.10,0.00,0.000,6,0.000,0.024,2434,1795,3057,0,0,0,0,0,0
$GC,1833,-0.76,-63.7,265.6,-11.8,296,1837,0.00,2.17,0.00,0.000,4,0.000,0.036,2434,397,3057,0,0,0,0,0,0
$GC,1902,-0.71,-63.7,274.9,-13.4,302,1909,0.12,2.10,0.00,0.000,6,0.124,0.023,2467,1800,3057,0,0,0,0,0,0
$GC,2219,-0.81,-63.7,306.3,-10.0,333,2222,0.00,2.17,0.00,0.000,4,0.000,0.037,2467,393,3057,0,0,0,0,0,0
$GC,2335,-0.81,-63.7,319.7,-11.0,344,2339,0.00,2.10,0.00,0.000,6,0.000,0.024,2459,1796,3057,0,0,0,0,0,0
$GC,2657,-0.86,-63.7,354.7,-11.0,375,2660,0.10,2.17,0.00,0.000,4,0.103,0.038,2385,395,3056,0,0,0,0,0,0
$GC,2800,-0.76,-63.7,377.3,-16.5,388,2807,0.22,2.10,0.00,0.000,6,0.131,0.023,2451,1802,3057,0,0,0,0,0,0
$GC,3117,-0.82,-63.7,412.7,-10.6,419,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1802,3056,0,0,0,0,0,0
$GC,3427,-0.88,-63.7,446.5,-11.2,449,3431,0.10,2.17,0.00,0.000,4,0.102,0.038,2379,394,3056,0,0,0,0,0,0
$GC,3496,-0.78,-63.7,457.1,-16.5,455,3500,0.25,2.08,0.00,0.000,6,0.144,0.024,2445,1804,3056,0,0,0,0,0,0
$GC,3816,-0.84,-63.7,491.5,-10.3,486,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1805,3055,0,0,0,0,0,0
$GC,4133,-0.90,-63.7,525.4,-11.2,506,4137,0.00,2.17,0.00,0.000,4,0.000,0.038,2444,401,3055,0,0,0,0,0,0
$GC,4180,-0.90,-63.7,531.3,-12.5,508,4185,0.00,2.10,0.00,0.000,6,0.000,0.024,2436,1802,3055,0,0,0,0,0,0
$GC,4502,-0.94,-63.7,570.8,-12.9,524,4503,0.12,0.00,0.00,0.000,6,0.082,0.000,2349,1803,3054,0,0,0,0,0,0
$GC,4807,-0.86,-63.7,620.4,-16.3,539,4811,0.25,2.17,0.00,0.000,4,0.143,0.038,2424,387,3054,0,0,0,0,0,0
$GC,4886,-0.86,-63.7,632.0,-13.9,542,4894,0.00,2.10,0.00,0.000,6,0.000,0.023,2415,1796,3054,0,0,0,0,0,0
$GC,5197,-0.86,-63.7,672.3,-13.3,558,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1796,3054,0,0,0,0,0,0
$STATE,5480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5480,begin apogee
$GC,5483,-0.14,0.0,708.6,13.3,572,5537,0.73,0.00,51.50,1.012,6,0.114,0.000,2657,1797,2792,0,0,0,0,0,0
$STATE,5537,end apogee,CONTROL_FINISHED_OK
$STATE,5537,begin climb
$GC,5539,0.76,63.7,710.9,0.0,574,5600,0.75,2.20,54.00,0.982,4,0.058,0.031,2945,3136,2532,0,0,0,0,0,0
$GC,5840,0.75,105.9,705.0,3.4,588,5880,0.00,2.20,35.85,0.979,6,0.000,0.028,2955,1751,2359,0,0,0,0,0,0
$GC,6195,0.75,105.9,676.7,9.0,606,6200,0.00,2.20,0.00,0.000,4,0.000,0.030,2955,3141,2356,0,0,0,0,0,0
$GC,6425,0.75,105.9,654.7,8.9,616,6432,0.00,2.20,0.00,0.000,6,0.000,0.028,2966,1748,2353,0,0,0,0,0,0
$GC,6735,0.75,105.9,627.4,8.7,632,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1748,2352,0,0,0,0,0,0
$GC,7042,0.75,105.9,599.2,9.6,647,7045,0.00,2.17,0.00,0.000,4,0.000,0.041,2978,348,2351,0,0,0,0,0,0
$GC,7122,0.67,105.9,591.4,10.3,651,7125,0.20,2.10,0.00,0.000,6,0.157,0.024,2921,1742,2350,0,0,0,0,0,0
$GC,7449,0.73,117.3,567.7,6.7,667,7462,0.00,2.20,9.20,0.861,4,0.000,0.031,2920,3149,2313,0,0,0,0,0,0
$GC,7681,0.73,117.3,549.2,8.5,678,7686,0.00,2.17,0.00,0.000,6,0.000,0.027,2930,1750,2313,0,0,0,0,0,0
$GC,8008,0.73,119.5,523.8,7.6,694,8012,0.00,2.20,0.00,0.000,4,0.000,0.031,2930,3150,2312,0,0,0,0,0,0
$GC,8104,0.73,119.5,515.7,8.3,698,8108,0.00,2.17,0.00,0.000,6,0.000,0.027,2941,1751,2312,0,0,0,0,0,0
$GC,8422,0.74,127.9,491.3,7.0,719,8434,0.00,0.00,10.18,0.838,6,0.000,0.000,2941,1751,2271,0,0,0,0,0,0
$GC,8741,0.74,127.9,465.8,8.2,750,8746,0.00,2.17,0.00,0.000,4,0.000,0.030,2940,3150,2270,0,0,0,0,0,0
$GC,8775,0.74,127.9,463.0,8.6,753,8778,0.00,2.15,0.00,0.000,6,0.000,0.028,2952,1749,2269,0,0,0,0,0,0
$GC,9094,0.74,127.9,435.0,8.5,784,9098,0.00,2.17,0.00,0.000,4,0.000,0.029,2952,3150,2269,0,0,0,0,0,0
$GC,9148,0.74,127.9,430.2,8.7,789,9152,0.00,2.17,0.00,0.000,6,0.000,0.028,2962,1731,2268,0,0,0,0,0,0
$GC,9468,0.74,127.9,402.7,8.4,820,9473,0.00,2.20,0.00,0.000,4,0.000,0.029,2963,3150,2268,0,0,0,0,0,0
$GC,9494,0.74,127.9,400.3,9.1,822,9502,0.10,2.20,0.00,0.000,6,0.134,0.027,2940,1742,2268,0,0,0,0,0,0
$GC,9811,0.75,133.2,376.3,7.3,853,9821,0.00,2.17,5.60,0.686,4,0.000,0.031,2939,3152,2249,0,0,0,0,0,0
$GC,9889,0.75,133.2,370.0,8.0,860,9896,0.00,2.20,0.00,0.000,6,0.000,0.027,2949,1738,2249,0,0,0,0,0,0
$GC,10206,0.75,133.2,344.9,8.2,891,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1738,2249,0,0,0,0,0,0
$GC,10517,0.75,137.8,320.4,7.4,921,10526,0.00,0.00,5.50,0.658,6,0.000,0.000,2949,1738,2231,0,0,0,0,0,0
$GC,10836,0.75,137.9,296.1,7.9,952,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1738,2231,0,0,0,0,0,0
$GC,11147,0.75,137.9,269.7,9.0,982,11150,0.00,2.17,0.00,0.000,4,0.000,0.030,2949,3158,2231,0,0,0,0,0,0
$GC,11222,0.75,137.9,262.5,9.7,989,11225,0.00,2.17,0.00,0.000,6,0.000,0.028,2960,1751,2230,0,0,0,0,0,0
$GC,11541,0.75,137.9,232.4,9.3,1020,11546,0.00,2.17,0.00,0.000,4,0.000,0.041,2971,353,2230,0,0,0,0,0,0
$GC,11562,0.75,137.9,230.2,10.4,1022,11567,0.00,2.08,0.00,0.000,6,0.000,0.024,2971,1740,2230,0,0,0,0,0,0
$GC,11884,0.75,137.9,199.8,9.4,1053,11890,0.00,2.17,0.00,0.000,4,0.000,0.041,2981,349,2230,0,0,0,0,0,0
$GC,11927,0.75,137.9,195.6,9.3,1061,11934,0.10,2.10,0.00,0.000,6,0.137,0.024,2948,1750,2230,0,0,0,0,0,0
$GC,12255,0.81,144.5,169.6,7.2,1122,12267,0.00,2.12,7.25,0.627,4,0.000,0.028,2948,3156,2204,0,0,0,0,0,0
$GC,12320,0.81,144.6,164.4,7.9,1134,12326,0.00,2.17,0.00,0.000,6,0.000,0.038,2958,1752,2204,0,0,0,0,0,0
$GC,12647,0.86,150.3,140.1,7.3,1195,12658,0.00,2.15,6.62,0.597,4,0.000,0.029,2958,3156,2180,0,0,0,0,0,0
$GC,12801,0.86,150.3,127.0,8.3,1224,12808,0.00,2.20,0.00,0.000,6,0.000,0.028,2969,1746,2180,0,0,0,0,0,0
$GC,13129,0.86,150.6,98.1,7.8,1285,13134,0.00,2.17,0.00,0.000,4,0.000,0.041,2980,349,2180,0,0,0,0,0,0
$GC,13182,0.86,150.6,93.8,8.0,1295,13188,0.00,2.10,0.00,0.000,6,0.000,0.035,2980,1751,2179,0,0,0,0,0,0
$GC,13509,0.88,160.8,69.3,6.8,1356,13525,0.00,2.22,10.40,0.594,4,0.000,0.041,2991,347,2136,0,0,0,0,0,0
$GC,13589,0.88,160.9,63.4,7.9,1371,13595,0.00,2.10,0.00,0.000,6,0.000,0.024,2991,1749,2136,0,0,0,0,0,0
$GC,13915,0.88,165.0,41.0,7.4,1432,13927,0.00,2.17,5.20,0.509,4,0.000,0.030,2991,3152,2119,0,0,0,0,0,0
$GC,14167,0.90,183.5,23.4,5.9,1479,14189,0.00,2.17,16.58,0.575,6,0.000,0.026,3002,1746,2042,0,0,0,0,0,0
$STATE,14384,end climb,SURFACE_DEPTH_REACHED
$STATE,14384,begin surface coast
$FINISH,0.3,1.025514
$STATE,14417,end surface coast,CONTROL_FINISHED_OK
$STATE,14417,begin surface
$SM_CCo,14430,37.10,0.560,0,0,1771,250.20
$SM_GC,1.59,0.00,0.00,37.10,0.000,0.000,0.560,185,1744,1771,-7.86,-1.58,250.20
$IRIDIUM_FIX,3632.29,-12209.72,190799,151555
$TT8_MAMPS,0.052923
$HUMID,53.78
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,15.50
$XPDR_PINGS,66
$24V_AH,24.0,26.311
$10V_AH,9.8,40.421
$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,19.025,107.900,217.875,37.100,0.000,31.300,45.952,262.191,17.750,0.000,37.278,0.000,9864.001,376.252,4084.850,589.997,0.000,1650.759,0.000,3522.643,0.000,9.986,0.000
$DEVICE_MAMPS,215.527,41.418,1012.440,559.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.768,3227.415,2366.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246420
$DATA_FILE_SIZE,107583,1526
$CAP_FILE_SIZE,162926,0
$CFSIZE,260165632,236347392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,010107,3645.515,-12211.828,121,1.0,121,14.8