version: 66.06
glider: 503
mission: 5
dive: 212
start: 5 1 110 4 41 12
data:
$ID,503
$MISSION,5
$DIVE,212
$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,-12973.343
$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,42
$R_STBD_OVSHOOT,54
$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
$GPS1,043137,3642.158,-12207.039,39,0.9,39,14.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.9
$GPS2,044031,3642.025,-12207.079,12,1.2,12,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$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,25.4,4785,-18.7,-7.865
$D_GRID,1575
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.61,-87.1,0.0,0.0,0,56,0.00,0.00,-42.78,0.000,2,0.000,0.000,150,1745,2729,0,0,0,0,0,0
$GC,59,-0.61,-88.8,3.4,-7.8,8,85,8.85,2.17,-10.00,0.000,4,0.209,0.054,2496,401,3156,0,0,0,0,0,0
$GC,277,-0.51,-88.8,36.6,-14.0,49,284,0.12,2.12,0.00,0.000,6,0.122,0.023,2530,1795,3158,0,0,0,0,0,0
$GC,604,-0.55,-88.8,69.5,-11.3,110,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1795,3158,0,0,0,0,0,0
$GC,929,-0.61,-88.8,103.0,-10.2,171,936,0.00,2.17,0.00,0.000,4,0.000,0.038,2531,402,3158,0,0,0,0,0,0
$GC,1000,-0.61,-88.8,110.8,-11.1,184,1006,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1795,3159,0,0,0,0,0,0
$GC,1325,-0.66,-88.8,145.3,-9.9,245,1331,0.10,0.00,0.00,0.000,6,0.098,0.000,2452,1795,3159,0,0,0,0,0,0
$GC,1651,-0.57,-88.8,194.7,-16.2,306,1657,0.20,2.20,0.00,0.000,4,0.130,0.038,2515,399,3160,0,0,0,0,0,0
$GC,1694,-0.57,-88.8,200.6,-13.3,314,1698,0.00,2.10,0.00,0.000,6,0.000,0.024,2508,1797,3160,0,0,0,0,0,0
$GC,2015,-0.57,-88.8,234.3,-9.2,345,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1798,3160,0,0,0,0,0,0
$GC,2327,-0.63,-97.2,259.6,-7.4,375,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1798,3160,0,0,0,0,0,0
$GC,2637,-0.67,-97.2,285.0,-8.5,405,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1798,3159,0,0,0,0,0,0
$GC,2947,-0.71,-97.2,313.2,-9.4,435,2951,0.10,2.17,0.00,0.000,4,0.101,0.038,2439,398,3159,0,0,0,0,0,0
$GC,2973,-0.64,-97.2,316.7,-13.7,437,2977,0.20,2.08,0.00,0.000,6,0.138,0.023,2490,1804,3159,0,0,0,0,0,0
$GC,3293,-0.64,-97.2,350.6,-10.0,468,3297,0.00,2.12,0.00,0.000,4,0.000,0.031,2479,3188,3159,0,0,0,0,0,0
$GC,3340,-0.68,-97.2,355.0,-8.8,472,3348,0.00,2.15,0.00,0.000,6,0.000,0.025,2480,1792,3159,0,0,0,0,0,0
$GC,3657,-0.68,-97.2,389.4,-11.5,503,3660,0.00,2.15,0.00,0.000,4,0.000,0.038,2480,408,3158,0,0,0,0,0,0
$GC,3709,-0.68,-97.2,396.2,-12.9,508,3714,0.00,2.08,0.00,0.000,6,0.000,0.024,2471,1796,3158,0,0,0,0,0,0
$GC,4031,-0.68,-97.2,433.3,-11.5,539,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1796,3158,0,0,0,0,0,0
$GC,4342,-0.68,-97.2,467.3,-10.4,569,4345,0.00,2.15,0.00,0.000,4,0.000,0.038,2474,395,3158,0,0,0,0,0,0
$GC,4388,-0.68,-97.2,472.7,-11.6,573,4394,0.00,2.10,0.00,0.000,6,0.000,0.024,2466,1799,3158,0,0,0,0,0,0
$GC,4713,-0.68,-97.2,510.4,-11.5,601,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1799,3157,0,0,0,0,0,0
$GC,5018,-0.68,-97.2,542.0,-9.5,616,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1799,3157,0,0,0,0,0,0
$GC,5324,-0.68,-97.2,568.1,-8.4,631,5327,0.00,2.17,0.00,0.000,4,0.000,0.038,2466,406,3156,0,0,0,0,0,0
$GC,5360,-0.64,-97.2,571.7,-10.1,632,5368,0.10,2.08,0.00,0.000,6,0.110,0.023,2494,1796,3156,0,0,0,0,0,0
$GC,5671,-0.70,-109.8,593.3,-7.1,648,5675,0.00,2.15,0.00,0.000,4,0.000,0.031,2485,3196,3156,0,0,0,0,0,0
$GC,5707,-0.78,-116.8,595.9,-6.8,649,5714,0.08,2.15,0.00,0.000,6,0.052,0.025,2426,1798,3156,0,0,0,0,0,0
$GC,6020,-0.71,-116.8,625.7,-9.1,665,6023,0.15,2.15,0.00,0.000,4,0.143,0.040,2477,398,3155,0,0,0,0,0,0
$GC,6131,-0.71,-116.8,634.0,-7.3,670,6134,0.00,2.10,0.00,0.000,6,0.000,0.024,2468,1800,3155,0,0,0,0,0,0
$GC,6446,-0.71,-116.8,656.7,-7.8,686,6450,0.00,2.22,0.00,0.000,4,0.000,0.040,2472,396,3154,0,0,0,0,0,0
$GC,6498,-0.71,-116.8,661.5,-9.0,688,6503,0.00,2.10,0.00,0.000,6,0.000,0.024,2465,1798,3154,0,0,0,0,0,0
$GC,6814,-0.71,-116.8,690.7,-9.7,704,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1799,3154,0,0,0,0,0,0
$GC,7121,-0.71,-116.8,719.6,-9.2,719,7124,0.00,2.12,0.00,0.000,4,0.000,0.032,2455,3198,3154,0,0,0,0,0,0
$GC,7146,-0.71,-116.8,722.2,-9.8,720,7150,0.00,2.15,0.00,0.000,6,0.000,0.026,2455,1799,3154,0,0,0,0,0,0
$GC,7462,-0.71,-116.8,753.6,-10.1,736,7466,0.00,2.17,0.00,0.000,4,0.000,0.040,2458,404,3153,0,0,0,0,0,0
$GC,7527,-0.71,-116.8,760.8,-11.7,739,7530,0.00,2.08,0.00,0.000,6,0.000,0.025,2451,1806,3153,0,0,0,0,0,0
$GC,7853,-0.71,-116.8,797.6,-11.3,755,7856,0.00,2.10,0.00,0.000,4,0.000,0.031,2440,3194,3153,0,0,0,0,0,0
$GC,7889,-0.71,-116.8,801.8,-11.4,756,7896,0.08,2.15,0.00,0.000,6,0.113,0.026,2470,1798,3153,0,0,0,0,0,0
$GC,8200,-0.71,-116.8,831.8,-9.1,772,8203,0.00,2.17,0.00,0.000,4,0.000,0.041,2475,408,3152,0,0,0,0,0,0
$GC,8279,-0.71,-116.8,839.4,-10.0,775,8285,0.00,2.10,0.00,0.000,6,0.000,0.025,2467,1804,3152,0,0,0,0,0,0
$GC,8590,-0.71,-116.8,866.7,-9.0,791,8594,0.00,2.17,0.00,0.000,4,0.000,0.041,2467,405,3151,0,0,0,0,0,0
$GC,8632,-0.71,-116.8,870.8,-9.8,793,8636,0.00,2.10,0.00,0.000,6,0.000,0.025,2457,1797,3152,0,0,0,0,0,0
$GC,8959,-0.71,-116.8,899.7,-8.6,809,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1797,3151,0,0,0,0,0,0
$GC,9264,-0.71,-116.8,924.6,-8.1,824,9268,0.00,2.17,0.00,0.000,4,0.000,0.041,2457,411,3151,0,0,0,0,0,0
$GC,9337,-0.71,-116.8,931.4,-9.4,827,9342,0.00,2.12,0.00,0.000,6,0.000,0.025,2447,1821,3150,0,0,0,0,0,0
$GC,9654,-0.71,-116.8,958.0,-8.0,843,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1820,3150,0,0,0,0,0,0
$GC,9959,-0.71,-116.8,981.9,-7.5,858,9963,0.00,2.22,0.00,0.000,4,0.000,0.041,2447,407,3149,0,0,0,0,0,0
$STATE,10058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10058,begin apogee
$GC,10064,-0.14,0.0,991.2,9.6,862,10140,0.62,0.00,73.47,1.206,6,0.110,0.000,2649,1744,2792,0,0,0,0,0,0
$STATE,10140,end apogee,CONTROL_FINISHED_OK
$STATE,10140,begin climb
$GC,10141,0.65,116.8,992.7,0.0,866,10249,0.73,0.00,105.10,1.180,6,0.061,0.000,2910,1744,2315,0,0,0,0,0,0
$GC,10554,0.58,116.8,963.2,9.1,887,10558,0.00,2.25,0.00,0.000,4,0.000,0.046,2921,358,2307,0,0,0,0,0,0
$GC,10607,0.48,116.8,957.9,10.7,889,10613,0.20,2.17,0.00,0.000,6,0.131,0.026,2857,1744,2306,0,0,0,0,0,0
$GC,10918,0.49,125.6,934.4,7.3,905,10928,0.00,2.28,6.97,0.969,4,0.000,0.033,2857,3160,2279,0,0,0,0,0,0
$GC,10986,0.49,126.5,928.8,7.8,908,10990,0.00,2.22,0.00,0.000,6,0.000,0.030,2867,1763,2279,0,0,0,0,0,0
$GC,11301,0.49,126.5,902.9,8.4,924,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1763,2278,0,0,0,0,0,0
$GC,11608,0.49,129.4,878.4,7.7,939,11616,0.00,2.20,4.47,0.807,4,0.000,0.033,2867,3164,2264,0,0,0,0,0,0
$GC,11638,0.51,144.9,876.0,6.9,940,11658,0.00,2.22,15.40,1.074,6,0.000,0.030,2878,1752,2200,0,0,0,0,0,0
$GC,11976,0.51,144.9,850.1,7.9,957,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1752,2199,0,0,0,0,0,0
$GC,12280,0.51,144.9,826.1,7.9,972,12281,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1752,2198,0,0,0,0,0,0
$GC,12587,0.52,153.9,803.1,7.3,987,12600,0.00,2.22,8.98,0.986,4,0.000,0.033,2877,3148,2164,0,0,0,0,0,0
$GC,12644,0.53,157.3,798.5,7.7,989,12653,0.00,2.20,5.05,0.819,6,0.000,0.029,2888,1756,2149,0,0,0,0,0,0
$GC,12976,0.53,157.9,772.1,7.8,1006,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1756,2149,0,0,0,0,0,0
$GC,13280,0.53,157.9,747.2,8.3,1021,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1756,2149,0,0,0,0,0,0
$GC,13585,0.53,159.6,722.4,7.8,1036,13589,0.00,2.17,0.00,0.000,4,0.000,0.031,2888,3148,2148,0,0,0,0,0,0
$GC,13622,0.53,161.8,719.3,7.7,1037,13632,0.00,2.17,5.18,0.818,6,0.000,0.028,2898,1758,2132,0,0,0,0,0,0
$GC,13955,0.53,161.8,691.3,8.8,1054,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1758,2131,0,0,0,0,0,0
$GC,14259,0.53,161.8,664.4,9.4,1069,14263,0.00,2.17,0.00,0.000,4,0.000,0.031,2898,3151,2131,0,0,0,0,0,0
$GC,14284,0.53,161.8,661.7,10.1,1070,14289,0.10,2.20,0.00,0.000,6,0.124,0.028,2874,1746,2131,0,0,0,0,0,0
$GC,14606,0.53,161.8,633.8,9.0,1086,14610,0.00,2.20,0.00,0.000,4,0.000,0.041,2884,352,2131,0,0,0,0,0,0
$GC,14627,0.53,161.8,631.9,8.8,1087,14631,0.00,2.12,0.00,0.000,6,0.000,0.025,2884,1753,2131,0,0,0,0,0,0
$GC,14954,0.53,161.8,604.9,8.2,1103,14957,0.00,2.22,0.00,0.000,4,0.000,0.041,2894,348,2130,0,0,0,0,0,0
$GC,14980,0.53,161.8,602.6,8.3,1104,14984,0.00,2.12,0.00,0.000,6,0.000,0.025,2895,1752,2130,0,0,0,0,0,0
$GC,15300,0.53,161.8,574.6,8.9,1120,15305,0.00,2.17,0.00,0.000,4,0.000,0.031,2894,3156,2130,0,0,0,0,0,0
$GC,15343,0.53,161.8,570.8,9.1,1122,15348,0.08,2.17,0.00,0.000,6,0.127,0.028,2876,1756,2130,0,0,0,0,0,0
$GC,15670,0.54,169.1,547.9,7.4,1138,15679,0.00,0.00,7.65,0.844,6,0.000,0.000,2876,1756,2101,0,0,0,0,0,0
$GC,15975,0.55,176.7,524.7,7.4,1153,15989,0.00,2.28,8.02,0.834,4,0.000,0.043,2886,344,2071,0,0,0,0,0,0
$GC,16005,0.56,179.2,522.3,7.7,1154,16017,0.00,2.15,3.97,0.621,6,0.000,0.025,2886,1752,2061,0,0,0,0,0,0
$GC,16322,0.56,185.5,497.5,7.5,1171,16333,0.00,2.22,7.18,0.798,4,0.000,0.031,2886,3155,2035,0,0,0,0,0,0
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$STATE,21768,end climb,SURFACE_DEPTH_REACHED
$STATE,21768,begin surface coast
$FINISH,0.2,1.025739
$STATE,21811,end surface coast,CONTROL_FINISHED_OK
$STATE,21811,begin surface
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$IRIDIUM_FIX,3626.92,-12210.57,250799,222247
$TT8_MAMPS,0.052156
$HUMID,54.60
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.70
$XPDR_PINGS,110
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$10V_AH,9.7,46.451
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.225,173.075,285.725,13.225,0.000,28.356,35.223,323.713,30.000,0.000,14.147,0.000,16205.491,498.622,4884.552,771.132,0.000,2047.077,0.000,4183.792,0.000,18.978,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246744
$DATA_FILE_SIZE,133054,1886
$CAP_FILE_SIZE,216618,0
$CFSIZE,260165632,233132032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,104631,3643.999,-12205.130,62,1.9,62,14.8