version: 66.06
glider: 503
mission: 5
dive: 225
start: 5 4 110 2 5 44
data:
$ID,503
$MISSION,5
$DIVE,225
$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,-14625.269
$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,40
$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
$GPS1,015737,3644.471,-12213.667,28,1.0,28,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.0
$GPS2,020538,3644.380,-12213.656,11,1.3,11,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FIVE
$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,24.5,3878,-19.7,-7.865
$D_GRID,840
$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,-0.63,-79.0,0.0,0.0,0,57,0.00,0.00,-43.40,0.000,2,0.000,0.000,162,1745,2727,0,0,0,0,0,0
$GC,59,-0.66,-107.9,3.2,-5.9,8,85,8.77,2.15,-12.35,0.000,4,0.208,0.050,2479,390,3231,0,0,0,0,0,0
$GC,256,-0.60,-107.9,33.5,-14.9,45,262,0.10,2.17,0.00,0.000,6,0.121,0.024,2505,1803,3232,0,0,0,0,0,0
$GC,582,-0.60,-107.9,72.6,-12.1,106,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1804,3233,0,0,0,0,0,0
$GC,908,-0.60,-107.9,111.3,-11.6,167,914,0.00,2.20,0.00,0.000,4,0.000,0.037,2505,402,3233,0,0,0,0,0,0
$GC,961,-0.60,-107.9,117.8,-11.8,177,968,0.00,2.15,0.00,0.000,6,0.000,0.025,2496,1809,3233,0,0,0,0,0,0
$GC,1287,-0.60,-107.9,154.7,-8.5,238,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1810,3233,0,0,0,0,0,0
$GC,1613,-0.64,-107.9,190.2,-10.6,299,1619,0.00,2.22,0.00,0.000,4,0.000,0.038,2496,392,3233,0,0,0,0,0,0
$GC,1677,-0.64,-107.9,197.5,-11.3,311,1684,0.00,2.12,0.00,0.000,6,0.000,0.025,2487,1798,3233,0,0,0,0,0,0
$GC,1993,-0.64,-107.9,233.7,-11.5,344,1998,0.00,2.15,0.00,0.000,4,0.000,0.031,2477,3192,3233,0,0,0,0,0,0
$GC,2047,-0.71,-107.9,239.7,-11.3,349,2051,0.00,2.15,0.00,0.000,6,0.000,0.025,2477,1795,3233,0,0,0,0,0,0
$GC,2367,-0.71,-107.9,274.6,-10.8,380,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1794,3233,0,0,0,0,0,0
$GC,2678,-0.71,-107.9,306.9,-10.8,410,2682,0.00,2.17,0.00,0.000,4,0.000,0.038,2477,401,3233,0,0,0,0,0,0
$GC,2711,-0.71,-107.9,310.6,-11.2,413,2714,0.00,2.10,0.00,0.000,6,0.000,0.025,2467,1813,3233,0,0,0,0,0,0
$GC,3030,-0.71,-107.9,343.8,-9.8,444,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1813,3233,0,0,0,0,0,0
$GC,3342,-0.71,-107.9,374.9,-11.6,474,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1813,3233,0,0,0,0,0,0
$GC,3652,-0.71,-107.9,407.6,-10.5,504,3655,0.00,2.20,0.00,0.000,4,0.000,0.038,2467,392,3232,0,0,0,0,0,0
$GC,3715,-0.71,-107.9,415.1,-11.9,510,3719,0.00,2.10,0.00,0.000,6,0.000,0.024,2458,1790,3232,0,0,0,0,0,0
$GC,4037,-0.71,-107.9,451.0,-11.1,541,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1790,3232,0,0,0,0,0,0
$GC,4348,-0.71,-107.9,485.5,-11.8,571,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1790,3232,0,0,0,0,0,0
$GC,4664,-0.71,-107.9,521.8,-11.3,593,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1790,3232,0,0,0,0,0,0
$GC,4969,-0.71,-107.9,556.1,-11.2,608,4973,0.00,2.17,0.00,0.000,4,0.000,0.039,2458,404,3231,0,0,0,0,0,0
$GC,5033,-0.71,-107.9,563.3,-11.4,611,5037,0.00,2.10,0.00,0.000,6,0.000,0.025,2452,1798,3231,0,0,0,0,0,0
$GC,5360,-0.71,-107.9,596.5,-10.2,627,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1798,3231,0,0,0,0,0,0
$GC,5665,-0.71,-107.9,629.5,-11.6,642,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1798,3230,0,0,0,0,0,0
$GC,5970,-0.71,-107.9,668.0,-13.3,657,5974,0.00,2.17,0.00,0.000,4,0.000,0.039,2452,408,3229,0,0,0,0,0,0
$GC,6039,-0.71,-107.9,677.6,-12.6,660,6043,0.08,2.08,0.00,0.000,6,0.118,0.023,2471,1797,3229,0,0,0,0,0,0
$GC,6361,-0.76,-107.9,710.0,-9.4,676,6364,0.00,2.12,0.00,0.000,4,0.000,0.032,2461,3197,3228,0,0,0,0,0,0
$GC,6402,-0.84,-107.9,714.0,-9.9,678,6406,0.00,2.15,0.00,0.000,6,0.000,0.025,2461,1799,3228,0,0,0,0,0,0
$GC,6724,-0.84,-107.9,741.8,-8.0,694,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1799,3228,0,0,0,0,0,0
$GC,7029,-0.84,-107.9,767.7,-9.1,709,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1798,3227,0,0,0,0,0,0
$GC,7334,-1.18,-116.8,785.6,-0.0,724,7338,0.38,2.20,0.00,0.000,4,0.065,0.034,2313,3194,3228,0,0,0,0,0,0
$STATE,7412,end dive,NO_VERTICAL_VELOCITY
$STATE,7412,begin apogee
$GC,7418,-0.14,0.0,785.6,0.0,727,7507,0.93,0.00,86.90,1.071,6,0.065,0.000,2664,1747,2792,0,0,0,0,0,0
$STATE,7508,end apogee,CONTROL_FINISHED_OK
$STATE,7508,begin climb
$GC,7509,0.68,116.8,785.6,0.0,732,7619,0.70,2.38,101.47,1.039,4,0.071,0.032,2914,3148,2315,0,0,1,0,0,0
$GC,7790,0.61,116.8,772.7,9.8,745,7794,0.00,2.25,0.00,0.000,6,0.000,0.028,2925,1756,2308,0,0,0,0,0,0
$GC,8106,0.56,116.8,742.9,9.5,761,8107,0.15,0.00,0.00,0.000,6,0.153,0.000,2883,1756,2305,0,0,0,0,0,0
$GC,8410,0.57,125.3,721.2,7.3,776,8420,0.00,2.17,6.22,0.841,4,0.000,0.032,2882,3144,2281,0,0,0,0,0,0
$GC,8442,0.57,125.3,718.7,7.9,777,8446,0.00,2.20,0.00,0.000,6,0.000,0.028,2892,1751,2281,0,0,0,0,0,0
$GC,8758,0.58,136.2,696.0,7.1,793,8772,0.00,2.17,10.70,0.937,4,0.000,0.032,2892,3147,2236,0,0,0,0,0,0
$GC,8869,0.59,144.6,688.5,7.3,797,8883,0.00,2.20,9.02,0.903,6,0.000,0.028,2902,1751,2202,0,0,0,0,0,0
$GC,9206,0.63,175.6,665.3,5.8,814,9239,0.00,2.28,27.38,0.979,4,0.000,0.031,2902,3146,2076,0,0,0,0,0,0
$GC,9277,0.65,190.6,660.5,6.9,817,9296,0.00,2.22,14.77,0.930,6,0.000,0.028,2913,1755,2014,0,0,0,0,0,0
$GC,9613,0.65,190.8,633.2,7.9,834,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1754,2013,0,0,0,0,0,0
$GC,9919,0.65,190.8,609.3,8.0,849,9922,0.00,2.22,0.00,0.000,4,0.000,0.042,2924,342,2013,0,0,0,0,0,0
$GC,9961,0.65,190.8,605.2,9.6,851,9965,0.00,2.12,0.00,0.000,6,0.000,0.025,2924,1739,2012,0,0,0,0,0,0
$GC,10288,0.65,190.8,571.8,10.8,867,10291,0.00,2.15,0.00,0.000,4,0.000,0.031,2925,3148,2012,0,0,0,0,0,0
$GC,10345,0.65,190.8,564.6,13.0,869,10351,0.00,2.17,0.00,0.000,6,0.000,0.028,2935,1754,2011,0,0,0,0,0,0
$GC,10656,0.65,190.8,524.0,14.1,885,10660,0.00,2.22,0.00,0.000,4,0.000,0.041,2946,345,2010,0,0,0,0,0,0
$GC,10709,0.61,190.8,515.9,15.4,887,10713,0.12,2.12,0.00,0.000,6,0.114,0.024,2900,1750,2010,0,0,0,0,0,0
$GC,11029,0.65,190.8,479.8,11.3,911,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1751,2010,0,0,0,0,0,0
$GC,11340,0.69,190.8,444.8,11.0,941,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1751,2010,0,0,0,0,0,0
$GC,11650,0.74,190.8,413.4,9.4,971,11653,0.10,2.22,0.00,0.000,4,0.098,0.041,2979,340,2009,0,0,0,0,0,0
$GC,11669,0.74,190.8,410.9,11.6,972,11676,0.10,2.12,0.00,0.000,6,0.131,0.024,2945,1753,2009,0,0,0,0,0,0
$GC,11985,0.74,190.8,374.8,10.6,1003,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1752,2009,0,0,0,0,0,0
$GC,12297,0.74,190.8,343.6,9.8,1033,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,1752,2009,0,0,0,0,0,0
$GC,12607,0.74,190.8,313.4,9.4,1063,12610,0.00,2.17,0.00,0.000,4,0.000,0.040,2954,347,2009,0,0,0,0,0,0
$GC,12633,0.69,190.8,310.9,9.1,1065,12636,0.00,2.10,0.00,0.000,6,0.000,0.025,2954,1743,2009,0,0,0,0,0,0
$GC,12952,0.69,190.8,280.2,9.4,1096,12957,0.00,2.20,0.00,0.000,4,0.000,0.040,2965,345,2009,0,0,0,0,0,0
$GC,12979,0.63,190.8,277.7,9.2,1098,12986,0.17,2.12,0.00,0.000,6,0.113,0.024,2903,1757,2009,0,0,0,0,0,0
$GC,13296,0.70,206.7,255.3,6.8,1129,13317,0.00,2.15,13.20,0.723,4,0.000,0.030,2903,3144,1949,0,0,0,0,0,0
$GC,13338,0.76,210.0,252.2,7.6,1133,13348,0.00,2.17,4.10,0.528,6,0.000,0.028,2912,1746,1938,0,0,0,0,0,0
$GC,13658,0.82,220.0,229.1,7.2,1164,13673,0.15,2.22,10.02,0.684,4,0.077,0.040,3022,346,1895,0,0,0,0,0,0
$GC,13684,0.71,220.0,226.2,10.8,1166,13691,0.28,2.12,0.00,0.000,6,0.135,0.024,2933,1748,1895,0,0,0,0,0,0
$GC,14000,0.71,220.0,197.4,9.2,1199,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1748,1894,0,0,0,0,0,0
$GC,14325,0.71,220.0,165.5,10.1,1260,14331,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1748,1895,0,0,0,0,0,0
$GC,14651,0.71,220.0,134.5,9.2,1321,14657,0.00,2.20,0.00,0.000,4,0.000,0.049,2943,352,1895,0,0,0,0,0,0
$GC,14689,0.71,220.0,130.7,10.3,1328,14695,0.00,2.10,0.00,0.000,6,0.000,0.026,2943,1740,1895,0,0,0,0,0,0
$GC,15014,0.71,220.0,97.3,10.5,1389,15022,0.00,2.20,0.00,0.000,4,0.000,0.040,2954,345,1894,0,0,0,0,0,0
$GC,15043,0.71,220.0,94.2,11.4,1394,15049,0.00,2.10,0.00,0.000,6,0.000,0.025,2954,1742,1894,0,0,0,0,0,0
$GC,15369,0.71,220.0,61.1,10.7,1455,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1742,1894,0,0,0,0,0,0
$GC,15695,0.71,220.6,31.2,7.8,1516,15701,0.00,2.15,0.00,0.000,4,0.000,0.031,2954,3145,1894,0,0,0,0,0,0
$GC,15941,0.71,220.6,8.2,11.6,1562,15948,0.10,2.15,0.00,0.000,6,0.117,0.025,2928,1745,1894,0,0,0,0,0,0
$STATE,15994,end climb,SURFACE_DEPTH_REACHED
$STATE,15994,begin surface coast
$FINISH,0.4,1.025727
$STATE,16027,end surface coast,CONTROL_FINISHED_OK
$STATE,16027,begin surface
$SM_CCo,16039,13.55,0.560,0,0,1772,250.20
$SM_GC,3.06,0.00,0.00,13.55,0.000,0.000,0.560,185,1744,1772,-7.86,-1.58,250.20
$IRIDIUM_FIX,3632.29,-12215.70,280799,191908
$TT8_MAMPS,0.052156
$HUMID,54.05
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.70
$XPDR_PINGS,115
$24V_AH,23.5,31.245
$10V_AH,9.7,49.134
$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,19.100,108.575,283.800,13.550,0.000,29.658,40.370,271.747,30.500,0.000,13.911,0.000,11359.173,407.136,4089.601,634.361,0.000,1696.590,0.000,3537.407,0.000,14.654,0.000
$DEVICE_MAMPS,207.857,49.855,1071.499,559.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.955,3327.056,2402.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286676
$DATA_FILE_SIZE,111096,1578
$CAP_FILE_SIZE,166814,0
$CFSIZE,260165632,231800832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040510,063437,3645.719,-12212.859,59,1.1,59,14.8