version: 66.06
glider: 503
mission: 5
dive: 200
start: 4 28 110 12 54 25
data:
$ID,503
$MISSION,5
$DIVE,200
$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,-12052.11
$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,36
$R_STBD_OVSHOOT,51
$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
$GPS1,124507,3645.275,-12211.877,33,1.0,33,14.8
$_CALLS,1
$_XMS_NAKs,31
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.6
$GPS2,125420,3645.309,-12211.914,10,1.4,10,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,THREE
$TGT_LATLONG,3650.000,-12215.000
$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,317.4,9819,-15.7,-7.865
$D_GRID,691
$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,-43.47,0.000,2,0.000,0.000,152,1752,2724,0,0,0,0,0,0
$GC,60,-0.57,-116.8,3.1,-5.9,8,87,9.05,2.15,-12.88,0.000,4,0.216,0.062,2511,392,3271,0,0,0,0,0,0
$GC,187,-0.44,-116.8,24.6,-16.1,32,194,0.15,2.15,0.00,0.000,6,0.114,0.029,2555,1791,3273,0,0,0,0,0,0
$GC,514,-0.44,-116.8,60.3,-9.3,93,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1791,3273,0,0,0,0,0,0
$GC,839,-0.49,-116.8,89.1,-10.1,154,846,0.00,2.17,0.00,0.000,4,0.000,0.031,2547,3195,3274,0,0,0,0,0,0
$GC,921,-0.59,-116.8,97.1,-9.4,169,927,0.08,2.17,0.00,0.000,6,0.061,0.025,2496,1786,3274,0,0,0,0,0,0
$GC,1248,-0.53,-116.8,136.6,-10.4,230,1254,0.10,2.17,0.00,0.000,4,0.156,0.039,2526,404,3274,0,0,0,0,0,0
$GC,1312,-0.53,-116.8,143.3,-10.3,242,1318,0.00,2.10,0.00,0.000,6,0.000,0.023,2521,1803,3274,0,0,0,0,0,0
$GC,1639,-0.53,-116.8,174.4,-8.7,303,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1803,3274,0,0,0,0,0,0
$GC,1964,-0.53,-116.8,199.6,-7.7,364,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1803,3274,0,0,0,0,0,0
$GC,2279,-0.53,-116.8,224.4,-8.4,395,2282,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,403,3274,0,0,0,0,0,0
$GC,2342,-0.53,-116.8,230.5,-9.6,400,2349,0.00,2.08,0.00,0.000,6,0.000,0.022,2511,1793,3273,0,0,0,0,0,0
$GC,2658,-0.53,-116.8,262.9,-10.9,431,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1793,3274,0,0,0,0,0,0
$GC,2970,-0.53,-116.8,299.0,-11.8,461,2973,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,397,3273,0,0,0,0,0,0
$GC,3064,-0.53,-116.8,310.8,-11.9,469,3070,0.00,2.10,0.00,0.000,6,0.000,0.023,2506,1803,3273,0,0,0,0,0,0
$GC,3379,-0.53,-116.8,345.5,-11.0,500,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1803,3273,0,0,0,0,0,0
$GC,3690,-0.53,-116.8,377.6,-9.6,530,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1803,3273,0,0,0,0,0,0
$GC,4001,-0.53,-116.8,404.8,-8.6,560,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1803,3272,0,0,0,0,0,0
$GC,4312,-0.53,-116.8,432.5,-9.6,590,4315,0.00,2.17,0.00,0.000,4,0.000,0.038,2506,405,3272,0,0,0,0,0,0
$GC,4353,-0.53,-116.8,436.9,-10.7,594,4357,0.00,2.08,0.00,0.000,6,0.000,0.023,2496,1798,3271,0,0,0,0,0,0
$GC,4674,-0.53,-116.8,470.7,-10.7,625,4678,0.10,2.15,0.00,0.000,4,0.151,0.031,2519,3193,3271,0,0,0,0,0,0
$GC,4733,-0.62,-116.8,476.0,-8.1,630,4740,0.00,2.12,0.00,0.000,6,0.000,0.025,2519,1803,3270,0,0,0,0,0,0
$GC,5058,-0.66,-116.8,503.7,-8.5,660,5062,0.00,2.17,0.00,0.000,4,0.000,0.039,2519,403,3270,0,0,0,0,0,0
$GC,5116,-0.66,-116.8,508.9,-9.2,662,5123,0.00,2.08,0.00,0.000,6,0.000,0.023,2509,1793,3270,0,0,0,0,0,0
$GC,5426,-0.66,-116.8,533.7,-7.8,678,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1793,3270,0,0,0,0,0,0
$GC,5733,-0.66,-116.8,556.6,-7.4,693,5736,0.00,2.12,0.00,0.000,4,0.000,0.031,2505,3200,3270,0,0,0,0,0,0
$GC,5775,-0.74,-116.8,559.6,-6.8,695,5779,0.10,2.15,0.00,0.000,6,0.048,0.026,2437,1798,3269,0,0,0,0,0,0
$GC,6101,-0.63,-116.8,596.9,-12.2,711,6103,0.20,0.00,0.00,0.000,6,0.129,0.000,2500,1799,3269,0,0,0,0,0,0
$GC,6406,-0.63,-116.8,622.2,-7.7,726,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1799,3269,0,0,0,0,0,0
$STATE,6629,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6629,begin apogee
$GC,6632,-0.14,0.0,638.9,7.8,737,6731,0.45,0.00,92.95,0.968,6,0.095,0.000,2660,1799,2791,0,0,0,0,0,0
$STATE,6731,end apogee,CONTROL_FINISHED_OK
$STATE,6731,begin climb
$GC,6733,0.57,116.8,639.4,0.0,742,6838,0.60,2.40,98.53,0.939,4,0.061,0.041,2900,355,2315,0,0,0,0,0,0
$GC,6998,0.46,116.8,629.5,8.4,754,7004,0.15,2.15,0.00,0.000,6,0.115,0.023,2850,1739,2309,0,0,0,0,0,0
$GC,7308,0.52,169.9,611.6,5.5,770,7357,0.00,2.30,43.80,0.926,4,0.000,0.029,2849,3151,2098,0,0,0,0,0,0
$GC,7374,0.57,207.6,607.8,6.2,773,7412,0.00,2.25,33.00,0.904,6,0.000,0.027,2859,1758,1945,0,0,0,0,0,0
$GC,7714,0.65,269.5,586.2,5.1,790,7770,0.15,2.30,51.17,0.911,4,0.075,0.043,2945,348,1692,0,0,0,0,0,0
$GC,7850,0.55,269.5,572.4,11.7,795,7856,0.17,2.17,0.00,0.000,6,0.108,0.023,2883,1744,1693,0,0,0,0,0,0
$GC,8161,0.56,275.1,550.4,7.6,811,8171,0.00,2.20,6.80,0.765,4,0.000,0.041,2893,347,1668,0,0,0,0,0,0
$GC,8198,0.56,275.1,547.4,8.2,813,8201,0.00,2.15,0.00,0.000,6,0.000,0.024,2893,1744,1669,0,0,0,0,0,0
$GC,8524,0.56,275.1,516.4,9.9,829,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1746,1669,0,0,0,0,0,0
$GC,8830,0.56,275.1,485.6,9.9,850,8835,0.00,2.22,0.00,0.000,4,0.000,0.042,2904,349,1669,0,0,0,0,0,0
$GC,8888,0.56,275.1,479.3,11.1,855,8895,0.00,2.15,0.00,0.000,6,0.000,0.024,2904,1757,1669,0,0,0,0,0,0
$GC,9204,0.56,275.1,447.5,10.0,886,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1759,1669,0,0,0,0,0,0
$GC,9515,0.56,275.1,414.4,10.5,916,9519,0.00,2.22,0.00,0.000,4,0.000,0.041,2915,349,1669,0,0,0,0,0,0
$GC,9583,0.56,275.1,406.5,11.6,922,9591,0.10,2.12,0.00,0.000,6,0.104,0.024,2876,1751,1668,0,0,0,0,0,0
$GC,9900,0.61,275.1,376.8,9.7,953,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1752,1668,0,0,0,0,0,0
$GC,10211,0.66,275.1,348.6,8.6,983,10215,0.10,2.22,0.00,0.000,4,0.099,0.042,2947,339,1668,0,0,0,0,0,0
$GC,10268,0.59,275.1,341.1,14.3,988,10273,0.15,2.10,0.00,0.000,6,0.104,0.024,2891,1742,1668,0,0,0,0,0,0
$GC,10590,0.59,275.1,310.2,9.4,1019,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1743,1668,0,0,0,0,0,0
$GC,10901,0.59,275.1,281.3,9.1,1049,10904,0.00,2.15,0.00,0.000,4,0.000,0.042,2901,346,1668,0,0,0,0,0,0
$GC,10927,0.59,275.1,278.7,10.1,1051,10930,0.00,2.05,0.00,0.000,6,0.000,0.025,2901,1749,1668,0,0,0,0,0,0
$GC,11247,0.59,275.1,247.6,9.8,1082,11251,0.00,2.22,0.00,0.000,4,0.000,0.042,2912,350,1668,0,0,0,0,0,0
$GC,11262,0.59,275.1,246.0,10.1,1083,11269,0.00,2.12,0.00,0.000,6,0.000,0.024,2912,1756,1668,0,0,0,0,0,0
$GC,11578,0.59,275.1,214.7,10.1,1114,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1757,1668,0,0,0,0,0,0
$GC,11895,0.59,275.1,185.6,9.4,1159,11901,0.00,2.10,0.00,0.000,4,0.000,0.030,2912,3138,1668,0,0,0,0,0,0
$GC,11921,0.59,275.1,182.7,10.6,1164,11928,0.08,2.15,0.00,0.000,6,0.113,0.028,2892,1750,1668,0,0,0,0,0,0
$GC,12249,0.63,275.1,154.8,8.1,1225,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1750,1668,0,0,0,0,0,0
$GC,12574,0.69,275.1,129.2,8.3,1286,12580,0.00,2.22,0.00,0.000,4,0.000,0.042,2901,346,1668,0,0,0,0,0,0
$GC,12601,0.73,275.1,127.0,8.3,1291,12607,0.08,2.10,0.00,0.000,6,0.054,0.025,2966,1748,1668,0,0,0,0,0,0
$GC,12928,0.65,275.1,86.6,11.9,1352,12934,0.17,0.00,0.00,0.000,6,0.137,0.000,2910,1750,1668,0,0,0,0,0,0
$GC,13255,0.73,304.6,63.2,6.5,1413,13282,0.00,2.20,23.60,0.603,4,0.000,0.030,2910,3154,1550,0,0,0,0,0,0
$GC,13368,0.80,304.6,53.1,9.3,1434,13374,0.08,2.20,0.00,0.000,6,0.061,0.028,2974,1745,1552,0,0,0,0,0,0
$GC,13695,0.75,304.6,12.8,11.2,1495,13701,0.12,2.20,0.00,0.000,4,0.143,0.041,2945,357,1552,0,0,0,0,0,0
$GC,13732,0.75,304.6,8.6,11.0,1502,13738,0.00,2.10,0.00,0.000,6,0.000,0.023,2946,1753,1552,0,0,0,0,0,0
$STATE,13789,end climb,SURFACE_DEPTH_REACHED
$STATE,13789,begin surface coast
$FINISH,0.2,1.024618
$STATE,13822,end surface coast,CONTROL_FINISHED_OK
$STATE,13823,begin surface
$SM_CCo,13895,0.00,0.000,0,0,1552,304.17
$SM_GC,1.01,7.05,0.00,0.00,0.038,0.000,0.000,180,1755,1552,-7.76,-1.27,304.17
$IRIDIUM_FIX,3629.60,-12206.02,230799,080807
$TT8_MAMPS,0.051389
$HUMID,54.88
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.20
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,600.9,47.6
$24V_AH,23.9,28.291
$10V_AH,9.7,43.906
$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,19.225,95.250,349.850,0.000,0.000,22.203,29.374,376.381,22.500,0.000,11.918,0.000,9379.246,441.057,3909.827,677.465,0.000,1671.837,0.000,3389.126,0.000,9.127,0.000
$DEVICE_MAMPS,215.527,62.127,967.954,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.949,3225.526,2395.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246436
$DATA_FILE_SIZE,104566,1519
$CAP_FILE_SIZE,158566,0
$CFSIZE,260165632,234532864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,164655,3646.883,-12213.078,36,1.5,36,14.8