version: 66.06
glider: 503
mission: 5
dive: 221
start: 5 3 110 3 15 32
data:
$ID,503
$MISSION,5
$DIVE,221
$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,-14549.521
$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,39
$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
$GPS1,030800,3644.845,-12216.840,65,0.9,65,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.7
$GPS2,031526,3644.765,-12216.836,14,1.5,14,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$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,262.9,3240,-26.9,-7.865
$D_GRID,944
$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,-0.78,-44.0,0.0,0.0,0,67,0.00,0.00,-53.22,0.000,2,0.000,0.000,168,1749,2959,0,0,0,0,0,0
$GC,69,-0.83,-81.6,3.1,-3.4,10,85,8.55,2.28,-3.92,0.000,4,0.208,0.043,2418,3207,3124,0,0,0,0,0,0
$GC,218,-0.83,-81.6,35.3,-19.1,38,225,0.00,2.22,0.00,0.000,6,0.000,0.026,2418,1790,3126,0,0,0,0,0,0
$GC,545,-0.83,-81.6,93.7,-16.5,99,551,0.00,2.17,0.00,0.000,4,0.000,0.038,2418,404,3127,0,0,0,0,0,0
$GC,593,-0.83,-81.6,102.1,-17.5,108,599,0.00,2.12,0.00,0.000,6,0.000,0.023,2409,1801,3126,0,0,0,0,0,0
$GC,920,-0.83,-81.6,162.7,-19.4,169,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1801,3127,0,0,0,0,0,0
$GC,1242,-0.83,-81.6,220.3,-17.9,219,1245,0.00,2.17,0.00,0.000,4,0.000,0.037,2409,394,3127,0,0,0,0,0,0
$GC,1310,-0.79,-81.6,233.4,-18.8,225,1317,0.12,2.12,0.00,0.000,6,0.134,0.023,2440,1804,3127,0,0,0,0,0,0
$GC,1626,-0.85,-81.6,277.6,-12.8,256,1630,0.00,2.17,0.00,0.000,4,0.000,0.036,2440,406,3127,0,0,0,0,0,0
$GC,1652,-0.85,-81.6,281.3,-13.8,258,1659,0.00,2.10,0.00,0.000,6,0.000,0.023,2431,1803,3127,0,0,0,0,0,0
$GC,1969,-0.91,-81.6,327.3,-14.1,289,1972,0.00,2.15,0.00,0.000,4,0.000,0.037,2432,399,3127,0,0,0,0,0,0
$GC,1993,-0.91,-81.6,331.3,-15.3,291,2000,0.00,2.12,0.00,0.000,6,0.000,0.023,2421,1802,3127,0,0,0,0,0,0
$GC,2309,-0.95,-81.6,379.8,-15.6,322,2314,0.00,2.17,0.00,0.000,4,0.000,0.037,2421,404,3127,0,0,0,0,0,0
$GC,2352,-0.95,-81.6,387.1,-17.7,326,2356,0.00,2.10,0.00,0.000,6,0.000,0.024,2411,1805,3127,0,0,0,0,0,0
$GC,2673,-0.95,-81.6,440.3,-15.4,357,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1807,3126,0,0,0,0,0,0
$GC,2985,-0.95,-81.6,485.0,-14.2,387,2988,0.00,2.17,0.00,0.000,4,0.000,0.038,2411,393,3126,0,0,0,0,0,0
$GC,3079,-0.95,-81.6,499.6,-15.3,395,3087,0.00,2.10,0.00,0.000,6,0.000,0.023,2401,1793,3126,0,0,0,0,0,0
$GC,3391,-0.95,-81.6,544.8,-14.9,411,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1794,3125,0,0,0,0,0,0
$GC,3694,-0.95,-81.6,588.6,-14.0,426,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1794,3125,0,0,0,0,0,0
$GC,4001,-0.95,-81.6,633.2,-14.5,441,4004,0.00,2.17,0.00,0.000,4,0.000,0.038,2401,384,3125,0,0,0,0,0,0
$GC,4091,-0.95,-81.6,647.1,-14.6,445,4095,0.00,2.12,0.00,0.000,6,0.000,0.023,2391,1801,3125,0,0,0,0,0,0
$GC,4412,-0.95,-81.6,693.6,-14.5,461,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1802,3124,0,0,0,0,0,0
$GC,4717,-0.95,-81.6,736.5,-13.6,476,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1802,3124,0,0,0,0,0,0
$GC,5022,-0.95,-81.6,780.5,-14.9,491,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1802,3123,0,0,0,0,0,0
$GC,5327,-0.95,-81.6,824.9,-14.8,506,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1802,3123,0,0,0,0,0,0
$GC,5633,-0.95,-81.6,867.0,-13.4,521,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1802,3122,0,0,0,0,0,0
$GC,5937,-0.95,-81.6,906.4,-13.0,536,5942,0.00,2.17,0.00,0.000,4,0.000,0.038,2391,408,3121,0,0,0,0,0,0
$GC,6002,-0.95,-81.6,914.7,-13.2,539,6006,0.00,2.08,0.00,0.000,6,0.000,0.025,2380,1807,3121,0,0,0,0,0,0
$STATE,6265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6265,begin apogee
$GC,6268,-0.14,0.0,944.8,11.5,552,6338,0.85,0.00,67.20,1.174,6,0.120,0.000,2657,1732,2792,0,0,0,0,0,0
$STATE,6338,end apogee,CONTROL_FINISHED_OK
$STATE,6339,begin climb
$GC,6340,0.83,81.6,946.0,0.0,555,6415,0.82,0.00,72.22,1.141,6,0.058,0.000,2967,1732,2459,0,0,0,0,0,0
$GC,6720,0.83,88.1,925.0,7.1,573,6729,0.00,2.25,5.43,0.867,4,0.000,0.035,2967,3141,2433,0,0,0,0,0,0
$GC,6806,0.83,88.1,918.2,8.3,577,6809,0.00,2.17,0.00,0.000,6,0.000,0.031,2977,1766,2432,0,0,0,0,0,0
$GC,7126,0.83,88.1,892.7,8.2,593,7129,0.00,2.15,0.00,0.000,4,0.000,0.031,2978,3145,2430,0,0,0,0,0,0
$GC,7141,0.78,88.1,891.5,8.1,593,7147,0.10,2.20,0.00,0.000,6,0.170,0.030,2959,1754,2429,0,0,0,0,0,0
$GC,7452,0.78,88.1,866.6,8.0,609,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1754,2428,0,0,0,0,0,0
$GC,7756,0.78,88.1,842.1,8.3,624,7760,0.00,2.17,0.00,0.000,4,0.000,0.031,2959,3141,2427,0,0,0,0,0,0
$GC,7830,0.78,88.1,835.9,8.2,627,7835,0.00,2.17,0.00,0.000,6,0.000,0.028,2968,1753,2427,0,0,0,0,0,0
$GC,8148,0.80,99.2,813.5,6.5,643,8162,0.00,2.17,10.00,1.009,4,0.000,0.032,2968,3144,2387,0,0,0,0,0,0
$GC,8316,0.80,103.5,801.4,7.4,650,8326,0.00,2.20,5.53,0.860,6,0.000,0.029,2978,1750,2369,0,0,0,0,0,0
$GC,8637,0.81,107.0,778.4,7.4,666,8643,0.00,0.00,4.88,0.811,6,0.000,0.000,2978,1749,2354,0,0,0,0,0,0
$GC,8943,0.81,107.0,751.2,9.1,681,8947,0.00,2.17,0.00,0.000,4,0.000,0.031,2978,3138,2354,0,0,0,0,0,0
$GC,9129,0.81,107.0,732.5,10.0,689,9135,0.00,2.17,0.00,0.000,6,0.000,0.029,2989,1752,2353,0,0,0,0,0,0
$GC,9440,0.81,107.0,704.7,8.8,705,9444,0.00,2.17,0.00,0.000,4,0.000,0.031,2989,3142,2352,0,0,0,0,0,0
$GC,9569,0.76,107.0,693.0,9.0,711,9573,0.20,2.17,0.00,0.000,6,0.173,0.029,2944,1741,2352,0,0,0,0,0,0
$GC,9890,0.77,119.0,670.4,6.4,727,9905,0.00,2.20,11.40,0.956,4,0.000,0.029,2944,3150,2305,0,0,0,0,0,0
$GC,10001,0.77,119.0,662.0,8.3,731,10004,0.00,2.20,0.00,0.000,6,0.000,0.028,2953,1752,2305,0,0,0,0,0,0
$GC,10317,0.78,121.8,639.2,7.5,747,10325,0.00,2.20,4.07,0.679,4,0.000,0.031,2953,3144,2295,0,0,0,0,0,0
$GC,10374,0.78,121.8,634.2,8.6,749,10380,0.00,2.17,0.00,0.000,6,0.000,0.028,2964,1754,2295,0,0,0,0,0,0
$GC,10685,0.78,121.8,607.1,9.0,765,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1754,2295,0,0,0,0,0,0
$GC,10989,0.78,121.8,580.2,8.7,780,10994,0.00,2.17,0.00,0.000,4,0.000,0.031,2964,3146,2294,0,0,0,0,0,0
$GC,11102,0.78,121.8,570.2,8.8,785,11106,0.00,2.17,0.00,0.000,6,0.000,0.028,2975,1754,2294,0,0,0,0,0,0
$GC,11423,0.78,121.8,541.3,8.6,801,11427,0.00,2.15,0.00,0.000,4,0.000,0.031,2975,3136,2293,0,0,0,0,0,0
$GC,11518,0.78,121.8,532.7,9.1,805,11523,0.10,2.17,0.00,0.000,6,0.145,0.029,2953,1747,2293,0,0,0,0,0,0
$GC,11836,0.82,121.8,507.9,8.1,821,11839,0.00,2.15,0.00,0.000,4,0.000,0.031,2953,3147,2293,0,0,0,0,0,0
$GC,11957,0.82,121.8,497.7,8.3,828,11961,0.00,2.17,0.00,0.000,6,0.000,0.029,2962,1751,2293,0,0,0,0,0,0
$GC,12279,0.82,121.8,469.7,8.8,859,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1751,2293,0,0,0,0,0,0
$GC,12590,0.82,121.8,441.4,9.4,889,12594,0.00,2.17,0.00,0.000,4,0.000,0.042,2973,345,2293,0,0,0,0,0,0
$GC,12620,0.82,121.8,438.3,10.0,891,12627,0.00,2.12,0.00,0.000,6,0.000,0.024,2973,1750,2293,0,0,0,0,0,0
$GC,12936,0.82,121.8,409.9,8.6,922,12940,0.00,2.17,0.00,0.000,4,0.000,0.031,2973,3147,2293,0,0,0,0,0,0
$GC,13161,0.82,121.8,389.6,8.3,943,13165,0.00,2.15,0.00,0.000,6,0.000,0.028,2983,1745,2293,0,0,0,0,0,0
$GC,13481,0.82,121.8,362.8,8.3,974,13485,0.00,2.17,0.00,0.000,4,0.000,0.030,2984,3148,2293,0,0,0,0,0,0
$GC,13567,0.82,121.8,355.2,9.2,982,13571,0.00,2.15,0.00,0.000,6,0.000,0.028,2994,1757,2293,0,0,0,0,0,0
$GC,13888,0.82,121.8,326.9,8.7,1013,13891,0.00,2.15,0.00,0.000,4,0.000,0.030,2995,3148,2293,0,0,0,0,0,0
$GC,13919,0.82,121.8,323.9,9.6,1016,13923,0.10,2.17,0.00,0.000,6,0.145,0.028,2972,1746,2293,0,0,0,0,0,0
$GC,14241,0.83,129.0,299.4,7.0,1047,14251,0.00,0.00,7.18,0.704,6,0.000,0.000,2972,1746,2266,0,0,0,0,0,0
$GC,14560,0.84,137.1,276.0,6.9,1078,14572,0.00,0.00,8.68,0.711,6,0.000,0.000,2972,1746,2232,0,0,0,0,0,0
$GC,14882,0.89,140.2,251.9,7.5,1109,14892,0.00,2.20,4.35,0.570,4,0.000,0.030,2971,3148,2220,0,0,0,0,0,0
$GC,14993,0.89,141.4,242.9,7.7,1119,14998,0.00,2.17,0.00,0.000,6,0.000,0.028,2981,1750,2220,0,0,0,0,0,0
$GC,15307,0.89,141.4,216.1,8.4,1150,15312,0.00,2.22,0.00,0.000,4,0.000,0.041,2993,346,2220,0,0,0,0,0,0
$GC,15350,0.89,141.4,212.3,9.4,1154,15354,0.00,2.10,0.00,0.000,6,0.000,0.024,2992,1741,2220,0,0,0,0,0,0
$GC,15672,0.89,141.4,184.9,8.1,1201,15679,0.00,2.17,0.00,0.000,4,0.000,0.030,2992,3151,2220,0,0,0,0,0,0
$GC,15822,0.89,141.4,171.5,8.1,1229,15828,0.00,2.17,0.00,0.000,6,0.000,0.028,3003,1750,2220,0,0,0,0,0,0
$GC,16148,0.89,141.4,141.9,10.6,1290,16155,0.00,2.17,0.00,0.000,4,0.000,0.030,3003,3151,2219,0,0,0,0,0,0
$GC,16325,0.89,141.4,122.8,10.8,1323,16332,0.00,2.17,0.00,0.000,6,0.000,0.028,3014,1749,2219,0,0,0,0,0,0
$GC,16652,0.89,141.4,93.0,8.7,1384,16658,0.00,2.17,0.00,0.000,4,0.000,0.030,3014,3155,2219,0,0,0,0,0,0
$GC,16899,0.89,141.4,69.5,9.9,1430,16904,0.10,2.17,0.00,0.000,6,0.144,0.028,2991,1753,2219,0,0,0,0,0,0
$GC,17226,0.91,162.5,47.9,5.3,1491,17248,0.00,0.00,20.10,0.604,6,0.000,0.000,2991,1752,2129,0,0,0,0,0,0
$GC,17569,0.98,168.1,24.0,7.2,1555,17580,0.00,2.17,6.07,0.525,4,0.000,0.028,2991,3157,2106,0,0,0,0,0,0
$GC,17821,0.98,168.1,3.5,10.4,1602,17826,0.00,2.20,0.00,0.000,6,0.000,0.029,3001,1751,2103,0,0,0,0,0,0
$STATE,17830,end climb,SURFACE_DEPTH_REACHED
$STATE,17830,begin surface coast
$FINISH,0.4,1.025824
$STATE,17857,end surface coast,CONTROL_FINISHED_OK
$STATE,17857,begin surface
$SM_CCo,17869,46.35,0.567,0,0,1771,250.20
$SM_GC,0.64,0.00,0.00,46.35,0.000,0.000,0.567,183,1749,1771,-7.86,-1.44,250.20
$IRIDIUM_FIX,3632.29,-12217.14,270799,222223
$TT8_MAMPS,0.052156
$HUMID,53.89
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,14.80
$XPDR_PINGS,87
$24V_AH,23.6,30.768
$10V_AH,9.7,48.303
$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,18.175,130.200,227.100,46.350,0.000,27.690,31.426,253.538,24.000,0.000,17.218,0.000,12961.425,417.089,4311.186,634.757,0.000,1788.774,0.000,3732.925,0.000,17.205,0.000
$DEVICE_MAMPS,207.857,98.943,1174.277,566.813,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1119.268,3367.830,2378.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286676
$DATA_FILE_SIZE,113953,1609
$CAP_FILE_SIZE,180271,0
$CFSIZE,260165632,232222720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030510,081606,3643.535,-12219.194,97,1.0,97,14.8