version: 66.06
glider: 503
mission: 5
dive: 231
start: 5 5 110 12 2 56
data:
$ID,503
$MISSION,5
$DIVE,231
$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,-14709.232
$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,49
$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
$GPS1,114325,3644.076,-12205.641,37,1.9,37,14.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.2
$GPS2,120250,3644.010,-12205.687,10,2.0,10,14.8
$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,276.7,10066,-15.7,-7.865
$D_GRID,1195
$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,-43.50,0.000,2,0.000,0.000,136,1752,2814,0,0,0,0,0,0
$GC,60,-0.57,-116.8,3.4,-7.0,8,87,9.07,2.33,-10.77,0.000,4,0.209,0.047,2502,3195,3272,0,0,0,0,0,0
$GC,140,-0.57,-116.8,14.6,-12.7,23,145,0.00,2.20,0.00,0.000,6,0.000,0.025,2502,1792,3272,0,0,0,0,0,0
$GC,466,-0.51,-116.8,53.1,-10.0,84,472,0.10,2.20,0.00,0.000,4,0.156,0.039,2531,408,3273,0,0,0,0,0,0
$GC,498,-0.51,-116.8,56.5,-10.4,90,504,0.00,2.12,0.00,0.000,6,0.000,0.023,2523,1804,3272,0,0,0,0,0,0
$GC,825,-0.51,-116.8,87.8,-8.8,151,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1805,3273,0,0,0,0,0,0
$GC,1150,-0.51,-116.8,119.7,-9.4,212,1156,0.00,2.15,0.00,0.000,4,0.000,0.032,2521,3190,3273,0,0,0,0,0,0
$GC,1182,-0.51,-116.8,122.9,-9.6,218,1189,0.00,2.15,0.00,0.000,6,0.000,0.025,2520,1798,3273,0,0,0,0,0,0
$GC,1509,-0.51,-116.8,150.8,-7.7,279,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1798,3273,0,0,0,0,0,0
$GC,1834,-0.51,-116.8,174.6,-7.3,340,1840,0.00,2.17,0.00,0.000,4,0.000,0.038,2520,407,3273,0,0,0,0,0,0
$GC,1866,-0.51,-116.8,177.3,-8.5,346,1872,0.00,2.10,0.00,0.000,6,0.000,0.024,2513,1802,3273,0,0,0,0,0,0
$GC,2190,-0.51,-116.8,206.0,-9.2,401,2194,0.00,2.12,0.00,0.000,4,0.000,0.031,2506,3198,3273,0,0,0,0,0,0
$GC,2238,-0.56,-116.8,210.4,-9.1,405,2243,0.00,2.15,0.00,0.000,6,0.000,0.025,2506,1798,3273,0,0,0,0,0,0
$GC,2553,-0.56,-116.8,240.2,-9.4,436,2557,0.00,2.17,0.00,0.000,4,0.000,0.038,2506,405,3273,0,0,0,0,0,0
$GC,2638,-0.56,-116.8,249.4,-11.1,444,2642,0.00,2.08,0.00,0.000,6,0.000,0.023,2497,1790,3273,0,0,0,0,0,0
$GC,2960,-0.56,-116.8,282.8,-10.7,475,2963,0.00,2.15,0.00,0.000,4,0.000,0.032,2495,3201,3273,0,0,0,0,0,0
$GC,3002,-0.56,-116.8,287.3,-10.5,479,3005,0.00,2.15,0.00,0.000,6,0.000,0.025,2495,1800,3273,0,0,0,0,0,0
$GC,3322,-0.56,-116.8,323.8,-11.7,510,3326,0.00,2.20,0.00,0.000,4,0.000,0.038,2495,401,3272,0,0,0,0,0,0
$GC,3348,-0.52,-116.8,326.8,-11.7,512,3356,0.10,2.10,0.00,0.000,6,0.109,0.023,2525,1801,3272,0,0,0,0,0,0
$GC,3665,-0.57,-116.8,354.5,-8.4,543,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1802,3272,0,0,0,0,0,0
$GC,3977,-0.62,-116.8,379.1,-7.7,573,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1802,3272,0,0,0,0,0,0
$GC,4286,-0.67,-116.8,402.8,-7.4,603,4290,0.12,2.17,0.00,0.000,4,0.084,0.038,2451,404,3272,0,0,0,0,0,0
$GC,4334,-0.54,-116.8,408.4,-13.1,607,4338,0.28,2.08,0.00,0.000,6,0.125,0.024,2527,1803,3271,0,0,0,0,0,0
$GC,4649,-0.60,-116.8,430.9,-7.0,637,4652,0.00,2.15,0.00,0.000,4,0.000,0.038,2527,404,3271,0,0,0,0,0,0
$GC,4702,-0.65,-116.8,435.0,-7.9,642,4706,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1800,3271,0,0,0,0,0,0
$GC,5023,-0.69,-116.8,458.4,-7.1,673,5024,0.12,0.00,0.00,0.000,6,0.084,0.000,2444,1802,3270,0,0,0,0,0,0
$GC,5333,-0.60,-116.8,495.1,-11.7,703,5337,0.20,2.17,0.00,0.000,4,0.123,0.038,2510,404,3270,0,0,0,0,0,0
$GC,5407,-0.60,-116.8,501.9,-7.9,709,5411,0.00,2.10,0.00,0.000,6,0.000,0.024,2506,1799,3270,0,0,0,0,0,0
$GC,5724,-0.60,-116.8,524.2,-7.0,725,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3270,0,0,0,0,0,0
$GC,6028,-0.60,-116.8,546.4,-7.4,740,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1799,3269,0,0,0,0,0,0
$GC,6334,-0.60,-116.8,570.6,-8.3,755,6337,0.00,2.15,0.00,0.000,4,0.000,0.039,2505,404,3269,0,0,0,0,0,0
$GC,6364,-0.60,-116.8,573.6,-9.3,756,6369,0.00,2.10,0.00,0.000,6,0.000,0.024,2496,1800,3269,0,0,0,0,0,0
$GC,6680,-0.60,-116.8,600.0,-8.2,772,6686,0.00,2.17,0.00,0.000,4,0.000,0.038,2496,407,3269,0,0,0,0,0,0
$GC,6723,-0.60,-116.8,603.9,-9.3,774,6727,0.00,2.10,0.00,0.000,6,0.000,0.025,2492,1798,3269,0,0,0,0,0,0
$GC,7049,-0.60,-116.8,632.6,-9.1,790,7050,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1798,3268,0,0,0,0,0,0
$GC,7355,-0.60,-116.8,657.9,-8.0,805,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1799,3268,0,0,0,0,0,0
$GC,7660,-0.60,-116.8,683.3,-8.4,820,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1799,3268,0,0,0,0,0,0
$GC,7965,-0.60,-116.8,709.8,-8.6,835,7969,0.00,2.17,0.00,0.000,4,0.000,0.039,2493,407,3267,0,0,0,0,0,0
$GC,8012,-0.60,-116.8,714.2,-8.8,837,8017,0.00,2.10,0.00,0.000,6,0.000,0.024,2483,1803,3267,0,0,0,0,0,0
$GC,8335,-0.60,-116.8,740.3,-7.6,853,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1805,3266,0,0,0,0,0,0
$GC,8639,-0.60,-116.8,762.3,-7.1,868,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1804,3266,0,0,0,0,0,0
$GC,8945,-0.60,-116.8,786.0,-8.4,883,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1805,3266,0,0,0,0,0,0
$GC,9249,-0.60,-116.8,816.1,-10.3,898,9254,0.00,2.20,0.00,0.000,4,0.000,0.040,2483,405,3266,0,0,0,0,0,0
$GC,9291,-0.60,-116.8,820.6,-10.8,900,9296,0.00,2.10,0.00,0.000,6,0.000,0.025,2478,1797,3265,0,0,0,0,0,0
$GC,9619,-0.60,-116.8,851.4,-9.0,916,9622,0.00,2.12,0.00,0.000,4,0.000,0.033,2469,3205,3265,0,0,0,0,0,0
$GC,9644,-0.60,-116.8,853.9,-8.8,917,9649,0.10,2.15,0.00,0.000,6,0.100,0.026,2508,1809,3265,0,0,0,0,0,0
$GC,9962,-0.65,-116.8,876.9,-7.1,933,9965,0.00,2.17,0.00,0.000,4,0.000,0.041,2509,401,3265,0,0,0,0,0,0
$GC,10013,-0.69,-116.8,881.2,-8.2,935,10020,0.00,2.10,0.00,0.000,6,0.000,0.025,2506,1799,3265,0,0,0,0,0,0
$GC,10325,-0.74,-116.8,902.3,-6.8,951,10326,0.12,0.00,0.00,0.000,6,0.091,0.000,2442,1799,3264,0,0,0,0,0,0
$GC,10630,-0.67,-116.8,930.6,-9.1,966,10634,0.15,2.20,0.00,0.000,4,0.129,0.041,2490,401,3264,0,0,0,0,0,0
$GC,10687,-0.67,-116.8,934.9,-6.5,968,10695,0.00,2.12,0.00,0.000,6,0.000,0.025,2481,1802,3264,0,0,0,0,0,0
$GC,10998,-0.67,-116.8,952.7,-5.6,984,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1802,3263,0,0,0,0,0,0
$GC,11304,-0.67,-116.8,971.8,-7.0,999,11307,0.00,2.20,0.00,0.000,4,0.000,0.041,2481,408,3263,0,0,0,0,0,0
$GC,11334,-0.67,-116.8,974.5,-8.8,1000,11339,0.00,2.10,0.00,0.000,6,0.000,0.025,2472,1794,3264,0,0,0,0,0,0
$STATE,11527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11527,begin apogee
$GC,11531,-0.14,0.0,992.4,9.6,1010,11631,0.55,0.00,96.88,1.210,6,0.100,0.000,2661,1794,2792,0,0,0,0,0,0
$STATE,11632,end apogee,CONTROL_FINISHED_OK
$STATE,11632,begin climb
$GC,11633,0.57,116.8,996.5,0.0,1015,11745,0.60,2.50,105.07,1.185,4,0.059,0.044,2898,356,2314,0,0,0,0,0,0
$GC,11793,0.50,167.1,994.9,5.6,1023,11843,0.12,2.25,45.85,1.159,6,0.141,0.026,2865,1747,2110,0,0,0,0,0,0
$GC,12154,0.53,194.2,971.4,6.6,1041,12183,0.00,2.30,23.65,1.126,4,0.000,0.033,2865,3149,2000,0,0,0,0,0,0
$GC,12231,0.53,194.2,965.6,8.0,1044,12238,0.00,2.25,0.00,0.000,6,0.000,0.030,2874,1763,2000,0,0,0,0,0,0
$GC,12542,0.53,194.2,939.9,8.7,1060,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1763,1999,0,0,0,0,0,0
$GC,12847,0.53,194.2,911.9,9.0,1075,12851,0.00,2.28,0.00,0.000,4,0.000,0.044,2885,348,1998,0,0,0,0,0,0
$GC,12868,0.49,194.2,909.9,9.3,1076,12872,0.00,2.15,0.00,0.000,6,0.000,0.025,2885,1751,1998,0,0,0,0,0,0
$GC,13195,0.44,194.2,879.0,9.7,1092,13199,0.15,2.20,0.00,0.000,4,0.151,0.034,2842,3143,1996,0,0,0,0,0,0
$GC,13259,0.44,194.2,873.5,8.6,1095,13262,0.00,2.20,0.00,0.000,6,0.000,0.031,2850,1748,1996,0,0,0,0,0,0
$GC,13585,0.44,194.2,846.6,8.8,1111,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1747,1995,0,0,0,0,0,0
$GC,13889,0.44,194.2,819.6,8.5,1126,13894,0.00,2.20,0.00,0.000,4,0.000,0.032,2849,3150,1994,0,0,0,0,0,0
$GC,13927,0.44,194.2,816.2,9.9,1127,13934,0.00,2.20,0.00,0.000,6,0.000,0.030,2860,1748,1994,0,0,0,0,0,0
$GC,14238,0.44,194.2,788.3,8.8,1143,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1748,1994,0,0,0,0,0,0
$GC,14542,0.46,206.6,765.6,7.3,1158,14557,0.00,2.20,10.95,1.002,4,0.000,0.032,2860,3156,1949,0,0,0,0,0,0
$GC,14589,0.46,206.6,762.0,8.0,1160,14594,0.00,2.22,0.00,0.000,6,0.000,0.029,2870,1744,1949,0,0,0,0,0,0
$GC,14910,0.46,206.6,735.4,8.4,1176,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1743,1949,0,0,0,0,0,0
$GC,15216,0.46,206.6,708.5,8.6,1191,15219,0.00,2.20,0.00,0.000,4,0.000,0.031,2871,3151,1948,0,0,0,0,0,0
$GC,15247,0.46,206.6,705.5,10.1,1192,15251,0.08,2.20,0.00,0.000,6,0.117,0.029,2853,1746,1948,0,0,0,0,0,0
$GC,15563,0.46,206.6,680.5,7.9,1208,15564,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1746,1949,0,0,0,0,0,0
$GC,15869,0.49,236.5,658.6,6.5,1223,15898,0.00,2.20,25.67,0.989,4,0.000,0.030,2852,3154,1828,0,0,0,0,0,0
$GC,15941,0.51,254.0,653.7,7.1,1226,15962,0.00,2.22,16.95,0.952,6,0.000,0.028,2860,1750,1756,0,0,0,0,0,0
$GC,16267,0.58,272.7,631.0,7.0,1242,16289,0.00,2.28,17.20,0.946,4,0.000,0.042,2871,339,1681,0,0,0,0,0,0
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$STATE,22645,end climb,SURFACE_DEPTH_REACHED
$STATE,22645,begin surface coast
$FINISH,0.3,1.012040
$STATE,22673,end surface coast,CONTROL_FINISHED_OK
$STATE,22673,begin surface
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$HUMID,54.52
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,14.60
$XPDR_PINGS,105
$24V_AH,23.1,32.033
$10V_AH,9.7,50.464
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.975,161.050,369.850,0.000,0.000,108.156,163.096,533.710,28.750,0.000,12.713,0.000,17043.604,511.707,5104.984,1200.915,0.000,2140.176,0.000,4384.780,0.000,19.007,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246380
$DATA_FILE_SIZE,139059,1982
$CAP_FILE_SIZE,231160,0
$CFSIZE,260165632,231043072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,182255,3644.903,-12210.036,35,1.4,35,14.8