version: 66.06
glider: 503
mission: 5
dive: 213
start: 5 1 110 10 58 3
data:
$ID,503
$MISSION,5
$DIVE,213
$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,-12987.957
$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,47
$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
$GPS1,104631,3643.999,-12205.130,62,1.9,62,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.3
$GPS2,105756,3643.995,-12205.195,12,2.0,12,14.8
$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,275.4,10756,-15.7,-7.865
$D_GRID,1159
$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,-116.8,0.0,0.0,0,53,0.00,0.00,-38.62,0.000,2,0.000,0.000,135,1750,2759,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.1,-6.5,7,81,8.88,2.30,-11.90,0.000,4,0.206,0.043,2499,3211,3268,0,0,0,0,0,0
$GC,128,-0.57,-116.8,14.8,-12.1,21,135,0.00,2.22,0.00,0.000,6,0.000,0.035,2499,1803,3270,0,0,0,0,0,0
$GC,456,-0.49,-116.8,62.0,-13.6,82,462,0.15,2.25,0.00,0.000,4,0.137,0.039,2544,396,3271,0,0,0,0,0,0
$GC,558,-0.49,-116.8,73.4,-10.5,101,563,0.00,2.15,0.00,0.000,6,0.000,0.024,2537,1808,3271,0,0,0,0,0,0
$GC,884,-0.49,-116.8,102.5,-7.5,162,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1808,3271,0,0,0,0,0,0
$GC,1210,-0.49,-116.8,132.2,-9.0,223,1216,0.00,2.22,0.00,0.000,4,0.000,0.038,2536,393,3271,0,0,0,0,0,0
$GC,1236,-0.49,-116.8,134.8,-9.6,228,1243,0.00,2.12,0.00,0.000,6,0.000,0.024,2532,1801,3271,0,0,0,0,0,0
$GC,1563,-0.49,-116.8,161.2,-8.4,289,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1801,3271,0,0,0,0,0,0
$GC,1889,-0.49,-116.8,188.6,-9.3,350,1895,0.00,2.15,0.00,0.000,4,0.000,0.031,2522,3193,3271,0,0,0,0,0,0
$GC,1948,-0.56,-116.8,194.1,-9.4,361,1954,0.00,2.15,0.00,0.000,6,0.000,0.025,2522,1793,3271,0,0,0,0,0,0
$GC,2270,-0.56,-116.8,224.6,-9.0,398,2274,0.00,2.17,0.00,0.000,4,0.000,0.038,2522,398,3271,0,0,0,0,0,0
$GC,2318,-0.56,-116.8,229.2,-9.2,402,2325,0.00,2.10,0.00,0.000,6,0.000,0.023,2513,1793,3270,0,0,0,0,0,0
$GC,2634,-0.56,-116.8,258.7,-9.1,433,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1793,3270,0,0,0,0,0,0
$GC,2945,-0.56,-116.8,289.8,-9.7,463,2948,0.00,2.15,0.00,0.000,4,0.000,0.038,2512,393,3271,0,0,0,0,0,0
$GC,2987,-0.56,-116.8,294.2,-10.7,467,2990,0.00,2.12,0.00,0.000,6,0.000,0.025,2508,1806,3271,0,0,0,0,0,0
$GC,3307,-0.56,-116.8,321.8,-8.1,498,3311,0.00,2.17,0.00,0.000,4,0.000,0.038,2508,406,3271,0,0,0,0,0,0
$GC,3349,-0.56,-116.8,325.4,-8.6,502,3353,0.00,2.08,0.00,0.000,6,0.000,0.024,2505,1793,3271,0,0,0,0,0,0
$GC,3670,-0.56,-116.8,353.9,-9.3,533,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1792,3270,0,0,0,0,0,0
$GC,3982,-0.56,-116.8,382.7,-8.8,563,3985,0.00,2.15,0.00,0.000,4,0.000,0.038,2505,401,3270,0,0,0,0,0,0
$GC,4072,-0.56,-116.8,391.6,-10.3,571,4076,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1803,3270,0,0,0,0,0,0
$GC,4392,-0.56,-116.8,420.6,-9.0,602,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3270,0,0,0,0,0,0
$GC,4703,-0.56,-116.8,447.5,-8.4,632,4707,0.00,2.15,0.00,0.000,4,0.000,0.038,2496,402,3269,0,0,0,0,0,0
$GC,4756,-0.56,-116.8,452.7,-10.0,637,4760,0.08,2.10,0.00,0.000,6,0.115,0.025,2517,1803,3269,0,0,0,0,0,0
$GC,5076,-0.56,-116.8,476.0,-7.5,668,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1803,3269,0,0,0,0,0,0
$GC,5388,-0.56,-116.8,499.7,-7.7,698,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1803,3268,0,0,0,0,0,0
$GC,5702,-0.56,-116.8,525.8,-7.9,714,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1803,3268,0,0,0,0,0,0
$GC,6008,-0.60,-116.8,548.6,-7.4,729,6012,0.00,2.17,0.00,0.000,4,0.000,0.039,2517,398,3268,0,0,0,0,0,0
$GC,6034,-0.60,-116.8,550.7,-8.4,730,6038,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1799,3268,0,0,0,0,0,0
$GC,6355,-0.60,-116.8,575.9,-8.1,746,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1800,3267,0,0,0,0,0,0
$GC,6661,-0.60,-116.8,603.4,-9.6,761,6664,0.00,2.20,0.00,0.000,4,0.000,0.040,2509,404,3267,0,0,0,0,0,0
$GC,6692,-0.60,-116.8,606.7,-10.5,762,6696,0.00,2.10,0.00,0.000,6,0.000,0.025,2506,1800,3267,0,0,0,0,0,0
$GC,7007,-0.60,-116.8,637.0,-8.8,778,7012,0.00,2.17,0.00,0.000,4,0.000,0.039,2505,408,3267,0,0,0,0,0,0
$GC,7033,-0.60,-116.8,639.5,-10.2,779,7038,0.00,2.10,0.00,0.000,6,0.000,0.024,2497,1802,3266,0,0,0,0,0,0
$GC,7356,-0.60,-116.8,665.7,-7.3,795,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1802,3266,0,0,0,0,0,0
$GC,7660,-0.60,-116.8,689.8,-8.3,810,7664,0.00,2.20,0.00,0.000,4,0.000,0.039,2497,399,3266,0,0,0,0,0,0
$GC,7697,-0.60,-116.8,693.3,-10.1,811,7703,0.00,2.10,0.00,0.000,6,0.000,0.025,2493,1797,3266,0,0,0,0,0,0
$GC,8008,-0.60,-116.8,719.1,-7.9,827,8012,0.00,2.10,0.00,0.000,4,0.000,0.032,2492,3197,3266,0,0,0,0,0,0
$GC,8034,-0.60,-116.8,721.2,-8.0,828,8038,0.00,2.15,0.00,0.000,6,0.000,0.025,2492,1801,3266,0,0,0,0,0,0
$GC,8355,-0.60,-116.8,743.7,-6.8,844,8359,0.00,2.17,0.00,0.000,4,0.000,0.041,2492,408,3265,0,0,0,0,0,0
$GC,8419,-0.60,-116.8,748.8,-8.4,847,8423,0.00,2.10,0.00,0.000,6,0.000,0.025,2482,1804,3265,0,0,0,0,0,0
$GC,8745,-0.60,-116.8,774.9,-8.1,863,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1804,3265,0,0,0,0,0,0
$GC,9051,-0.60,-116.8,801.9,-9.2,878,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1804,3265,0,0,0,0,0,0
$GC,9356,-0.60,-116.8,830.5,-9.5,893,9359,0.00,2.20,0.00,0.000,4,0.000,0.040,2482,405,3264,0,0,0,0,0,0
$GC,9413,-0.60,-116.8,836.4,-10.4,895,9420,0.00,2.10,0.00,0.000,6,0.000,0.025,2477,1798,3264,0,0,0,0,0,0
$GC,9725,-0.60,-116.8,865.1,-9.3,911,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1798,3263,0,0,0,0,0,0
$GC,10029,-0.60,-116.8,891.4,-8.0,926,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1798,3263,0,0,0,0,0,0
$GC,10335,-0.60,-116.8,918.1,-8.9,941,10339,0.00,2.17,0.00,0.000,4,0.000,0.041,2478,402,3262,0,0,0,0,0,0
$GC,10366,-0.56,-116.8,921.3,-10.4,942,10371,0.12,2.10,0.00,0.000,6,0.107,0.025,2515,1789,3262,0,0,0,0,0,0
$GC,10683,-0.63,-116.8,945.6,-7.9,958,10686,0.00,2.15,0.00,0.000,4,0.000,0.041,2515,404,3262,0,0,0,0,0,0
$GC,10713,-0.68,-116.8,948.1,-8.4,959,10718,0.00,2.10,0.00,0.000,6,0.000,0.025,2509,1795,3262,0,0,0,0,0,0
$GC,11031,-0.74,-116.8,970.8,-6.4,975,11032,0.12,0.00,0.00,0.000,6,0.094,0.000,2448,1796,3262,0,0,0,0,0,0
$STATE,11251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11251,begin apogee
$GC,11255,-0.14,0.0,991.1,8.8,986,11356,0.62,0.00,96.22,1.207,6,0.102,0.000,2659,1796,2792,0,0,0,0,0,0
$STATE,11356,end apogee,CONTROL_FINISHED_OK
$STATE,11356,begin climb
$GC,11357,0.57,116.8,992.9,0.0,991,11469,0.60,2.30,104.65,1.179,4,0.061,0.033,2884,3151,2314,0,0,0,0,0,0
$GC,11520,0.46,116.8,986.4,8.4,999,11525,0.12,2.33,0.00,0.000,6,0.130,0.031,2856,1763,2311,0,0,0,0,0,0
$GC,11842,0.46,116.8,959.4,8.4,1015,11843,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1763,2305,0,0,0,0,0,0
$GC,12147,0.46,116.8,935.0,7.9,1030,12151,0.00,2.22,0.00,0.000,4,0.000,0.032,2856,3158,2303,0,0,0,0,0,0
$GC,12184,0.42,116.8,931.8,8.3,1031,12190,0.08,2.25,0.00,0.000,6,0.139,0.030,2840,1745,2301,0,0,0,0,0,0
$GC,12496,0.44,138.9,909.6,6.9,1047,12519,0.00,2.33,17.48,1.105,4,0.000,0.045,2850,336,2225,0,0,0,0,0,0
$GC,12546,0.44,138.9,905.7,8.5,1049,12550,0.00,2.20,0.00,0.000,6,0.000,0.025,2850,1752,2225,0,0,0,0,0,0
$GC,12862,0.46,152.6,882.1,7.2,1065,12883,0.00,2.28,13.27,1.068,4,0.000,0.033,2849,3158,2170,0,0,0,0,0,0
$GC,12935,0.46,152.6,876.4,8.2,1068,12939,0.00,2.28,0.00,0.000,6,0.000,0.030,2860,1745,2170,0,0,0,0,0,0
$GC,13251,0.49,175.8,854.1,6.8,1084,13276,0.00,2.28,21.42,1.092,4,0.000,0.033,2860,3157,2075,0,0,0,0,0,0
$GC,13298,0.52,198.9,850.9,6.8,1086,13323,0.00,2.28,21.50,1.068,6,0.000,0.030,2871,1749,1981,0,0,0,0,0,0
$GC,13634,0.52,198.9,823.1,8.3,1103,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1749,1980,0,0,0,0,0,0
$GC,13939,0.52,198.9,798.4,7.9,1118,13943,0.00,2.22,0.00,0.000,4,0.000,0.032,2871,3154,1980,0,0,0,0,0,0
$GC,13981,0.52,198.9,794.6,8.6,1120,13986,0.00,2.22,0.00,0.000,6,0.000,0.030,2882,1750,1980,0,0,0,0,0,0
$GC,14307,0.52,198.9,762.2,10.4,1136,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1749,1979,0,0,0,0,0,0
$GC,14614,0.52,198.9,730.2,10.2,1151,14617,0.00,2.17,0.00,0.000,4,0.000,0.032,2882,3151,1979,0,0,0,0,0,0
$GC,14639,0.52,198.9,727.3,10.7,1152,14643,0.00,2.22,0.00,0.000,6,0.000,0.029,2892,1740,1979,0,0,0,0,0,0
$GC,14961,0.47,198.9,692.0,10.8,1168,14965,0.15,2.22,0.00,0.000,4,0.140,0.031,2847,3148,1979,0,0,0,0,0,0
$GC,14997,0.47,198.9,688.6,8.1,1169,15003,0.00,2.20,0.00,0.000,6,0.000,0.028,2856,1746,1978,0,0,0,0,0,0
$GC,15308,0.48,211.3,666.4,7.3,1185,15321,0.00,0.00,11.40,0.955,6,0.000,0.000,2856,1746,1930,0,0,0,0,0,0
$GC,15613,0.49,216.4,643.2,7.6,1200,15623,0.00,2.22,6.18,0.834,4,0.000,0.044,2867,342,1909,0,0,0,0,0,0
$GC,15644,0.49,217.1,640.7,7.8,1201,15650,0.00,2.15,0.00,0.000,6,0.000,0.024,2867,1750,1909,0,0,0,0,0,0
$GC,15955,0.49,217.1,610.4,10.3,1217,15959,0.00,2.15,0.00,0.000,4,0.000,0.031,2868,3150,1909,0,0,0,0,0,0
$GC,15980,0.49,217.1,607.5,11.6,1218,15985,0.00,2.20,0.00,0.000,6,0.000,0.028,2877,1751,1909,0,0,0,0,0,0
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$STATE,22423,end climb,SURFACE_DEPTH_REACHED
$STATE,22423,begin surface coast
$FINISH,0.3,1.025496
$STATE,22455,end surface coast,CONTROL_FINISHED_OK
$STATE,22455,begin surface
$SM_CCo,22527,0.00,0.000,0,0,1636,283.32
$SM_GC,0.91,6.90,0.00,0.00,0.034,0.000,0.000,187,1755,1636,-7.76,-1.27,283.32
$IRIDIUM_FIX,3629.60,-12206.02,260799,101043
$TT8_MAMPS,0.052923
$HUMID,54.37
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,15.70
$XPDR_PINGS,121
$24V_AH,23.2,29.845
$10V_AH,9.7,46.682
$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,18.675,161.500,352.200,0.000,0.000,56.759,67.791,357.510,32.750,0.000,13.982,0.000,16743.926,502.785,5088.808,833.804,0.000,2119.267,0.000,4373.052,0.000,18.980,0.000
$DEVICE_MAMPS,205.556,45.253,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1378.777,4129.202,2900.773,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246412
$DATA_FILE_SIZE,139132,1982
$CAP_FILE_SIZE,221604,0
$CFSIZE,260165632,233000960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,171425,3644.396,-12208.987,36,2.0,36,14.8