version: 66.06
glider: 503
mission: 5
dive: 248
start: 5 9 110 3 49 15
data:
$ID,503
$MISSION,5
$DIVE,248
$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,150
$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,-15058.605
$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,50
$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
$GPS1,033825,3645.923,-12159.423,38,1.8,38,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.0
$GPS2,034908,3645.813,-12159.397,13,1.7,13,14.8
$SPEED_LIMITS,0.136,0.239
$TGT_NAME,MIDWAY
$TGT_LATLONG,3647.000,-12156.100
$TGT_RADIUS,600.000
$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,51.0,5363,-13.8,-7.865
$D_GRID,701
$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,-0.55,-146.0,0.0,0.0,0,62,0.00,0.00,-48.40,0.000,2,0.000,0.000,157,1745,2941,0,0,0,0,0,0
$GC,64,-0.55,-146.0,3.2,-4.4,9,91,8.88,2.17,-10.07,0.000,4,0.206,0.051,2514,394,3390,0,0,0,0,0,0
$GC,278,-0.47,-146.0,31.9,-10.7,49,284,0.10,2.15,0.00,0.000,6,0.103,0.025,2546,1790,3391,0,0,0,0,0,0
$GC,604,-0.51,-146.0,59.6,-8.2,110,610,0.00,2.22,0.00,0.000,4,0.000,0.034,2546,3209,3391,0,0,0,0,0,0
$GC,658,-0.62,-146.0,63.5,-7.1,120,664,0.10,2.17,0.00,0.000,6,0.053,0.025,2486,1801,3392,0,0,0,0,0,0
$GC,986,-0.53,-146.0,101.8,-11.2,181,992,0.12,2.22,0.00,0.000,4,0.140,0.039,2525,401,3392,0,0,0,0,0,0
$GC,1071,-0.53,-146.0,110.4,-9.3,197,1077,0.00,2.12,0.00,0.000,6,0.000,0.024,2521,1806,3392,0,0,0,0,0,0
$GC,1398,-0.53,-146.0,140.3,-8.9,258,1403,0.00,2.15,0.00,0.000,4,0.000,0.032,2520,3195,3392,0,0,0,0,0,0
$GC,1435,-0.58,-146.0,143.4,-8.5,265,1441,0.00,2.15,0.00,0.000,6,0.000,0.025,2520,1795,3392,0,0,0,0,0,0
$GC,1761,-0.58,-146.0,170.1,-8.3,326,1767,0.00,2.17,0.00,0.000,4,0.000,0.038,2520,407,3392,0,0,0,0,0,0
$GC,1810,-0.58,-146.0,174.5,-9.1,335,1816,0.00,2.10,0.00,0.000,6,0.000,0.025,2511,1798,3392,0,0,0,0,0,0
$GC,2140,-0.58,-146.0,204.3,-9.1,393,2143,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,395,3392,0,0,0,0,0,0
$GC,2176,-0.58,-146.0,208.1,-10.4,396,2183,0.00,2.12,0.00,0.000,6,0.000,0.025,2507,1805,3392,0,0,0,0,0,0
$GC,2492,-0.58,-146.0,237.0,-8.9,427,2496,0.00,2.12,0.00,0.000,4,0.000,0.032,2507,3199,3392,0,0,0,0,0,0
$GC,2524,-0.58,-146.0,239.6,-8.4,430,2527,0.00,2.15,0.00,0.000,6,0.000,0.025,2507,1801,3392,0,0,0,0,0,0
$GC,2844,-0.58,-146.0,268.5,-9.3,461,2848,0.00,2.17,0.00,0.000,4,0.000,0.039,2507,408,3392,0,0,0,0,0,0
$GC,2875,-0.58,-146.0,271.5,-10.0,464,2880,0.00,2.10,0.00,0.000,6,0.000,0.024,2497,1808,3392,0,0,0,0,0,0
$GC,3197,-0.58,-146.0,303.0,-9.5,495,3201,0.00,2.20,0.00,0.000,4,0.000,0.038,2497,402,3391,0,0,0,0,0,0
$GC,3223,-0.53,-146.0,305.7,-10.8,497,3229,0.10,2.10,0.00,0.000,6,0.100,0.025,2531,1798,3391,0,0,0,0,0,0
$GC,3538,-0.57,-146.0,328.1,-7.3,528,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1797,3391,0,0,0,0,0,0
$GC,3850,-0.62,-146.0,351.7,-7.6,558,3853,0.00,2.15,0.00,0.000,4,0.000,0.038,2531,404,3391,0,0,0,0,0,0
$GC,3876,-0.67,-146.0,353.8,-8.3,560,3880,0.10,2.10,0.00,0.000,6,0.048,0.024,2454,1805,3391,0,0,0,0,0,0
$GC,4198,-0.56,-146.0,396.2,-13.7,591,4199,0.20,0.00,0.00,0.000,6,0.120,0.000,2518,1805,3390,0,0,0,0,0,0
$GC,4507,-0.56,-146.0,422.8,-8.8,621,4511,0.00,2.17,0.00,0.000,4,0.000,0.038,2519,407,3390,0,0,0,0,0,0
$GC,4549,-0.56,-146.0,426.7,-9.3,625,4553,0.00,2.10,0.00,0.000,6,0.000,0.025,2511,1803,3390,0,0,0,0,0,0
$GC,4869,-0.56,-146.0,454.1,-8.2,656,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1803,3390,0,0,0,0,0,0
$GC,5181,-0.56,-146.0,479.7,-7.9,686,5185,0.00,2.12,0.00,0.000,4,0.000,0.033,2509,3200,3390,0,0,0,0,0,0
$GC,5214,-0.62,-146.0,482.1,-7.8,689,5217,0.00,2.10,0.00,0.000,6,0.000,0.026,2508,1800,3389,0,0,0,0,0,0
$GC,5537,-0.62,-146.0,505.5,-6.5,716,5541,0.00,2.20,0.00,0.000,4,0.000,0.039,2508,405,3389,0,0,0,0,0,0
$GC,5580,-0.62,-146.0,508.5,-7.6,718,5584,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1803,3389,0,0,0,0,0,0
$GC,5905,-0.62,-146.0,532.3,-8.0,734,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1803,3389,0,0,0,0,0,0
$GC,6213,-0.62,-146.0,556.8,-7.7,749,6216,0.00,2.17,0.00,0.000,4,0.000,0.039,2505,402,3389,0,0,0,0,0,0
$GC,6242,-0.62,-146.0,559.4,-8.7,750,6250,0.00,2.10,0.00,0.000,6,0.000,0.024,2498,1796,3389,0,0,0,0,0,0
$GC,6554,-0.62,-146.0,581.7,-7.5,766,6557,0.00,2.15,0.00,0.000,4,0.000,0.032,2496,3194,3388,0,0,0,0,0,0
$GC,6596,-0.67,-146.0,584.5,-6.0,768,6600,0.00,2.15,0.00,0.000,6,0.000,0.026,2496,1797,3388,0,0,0,0,0,0
$GC,6922,-0.67,-146.0,606.7,-6.4,784,6926,0.00,2.17,0.00,0.000,4,0.000,0.040,2495,409,3387,0,0,0,0,0,0
$GC,6948,-0.67,-146.0,608.7,-7.9,785,6952,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1805,3388,0,0,0,0,0,0
$GC,7270,-0.67,-146.0,629.7,-8.6,801,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3388,0,0,0,0,0,0
$GC,7574,-0.67,-146.0,656.6,-7.9,816,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3387,0,0,0,0,0,0
$GC,7881,-0.67,-146.0,678.9,-7.0,831,7884,0.00,2.17,0.00,0.000,4,0.000,0.038,2495,398,3386,0,0,0,0,0,0
$GC,7943,-0.67,-146.0,684.5,-8.6,834,7948,0.00,2.12,0.00,0.000,6,0.000,0.025,2492,1801,3386,0,0,0,0,0,0
$STATE,8162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8162,begin apogee
$GC,8166,-0.14,0.0,702.8,8.8,845,8286,0.47,0.00,117.65,1.016,6,0.094,0.000,2658,1803,2792,0,0,0,0,0,0
$STATE,8286,end apogee,CONTROL_FINISHED_OK
$STATE,8286,begin climb
$GC,8288,0.55,146.0,709.4,0.0,851,8420,0.57,2.25,124.82,0.988,4,0.051,0.029,2884,3153,2195,0,0,0,0,0,0
$GC,8473,0.45,160.8,708.3,7.3,860,8492,0.12,2.30,14.20,0.907,6,0.114,0.028,2852,1760,2136,0,0,0,0,0,0
$GC,8815,0.50,202.1,686.4,6.4,877,8856,0.00,0.00,35.53,0.966,6,0.000,0.000,2852,1760,1967,0,0,0,0,0,0
$GC,9160,0.50,202.1,658.3,8.6,894,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1760,1967,0,0,0,0,0,0
$GC,9465,0.50,202.1,632.7,8.1,909,9469,0.00,2.25,0.00,0.000,4,0.000,0.043,2862,339,1966,0,0,0,0,0,0
$GC,9480,0.50,202.1,631.5,8.4,909,9486,0.00,2.15,0.00,0.000,6,0.000,0.024,2862,1748,1966,0,0,0,0,0,0
$GC,9791,0.50,202.1,604.0,9.1,925,9795,0.00,2.15,0.00,0.000,4,0.000,0.031,2862,3154,1965,0,0,0,0,0,0
$GC,9843,0.50,202.1,598.7,10.7,927,9848,0.00,2.20,0.00,0.000,6,0.000,0.028,2873,1751,1965,0,0,0,0,0,0
$GC,10160,0.50,202.1,572.6,8.2,943,10163,0.00,2.15,0.00,0.000,4,0.000,0.031,2872,3157,1964,0,0,0,0,0,0
$GC,10197,0.46,202.1,569.5,8.2,944,10203,0.10,2.20,0.00,0.000,6,0.110,0.028,2846,1749,1964,0,0,0,0,0,0
$GC,10506,0.47,214.8,546.6,7.4,960,10521,0.00,2.20,10.93,0.870,4,0.000,0.031,2846,3162,1916,0,0,0,0,0,0
$GC,10543,0.49,225.6,543.8,7.5,961,10557,0.00,2.22,10.52,0.846,6,0.000,0.028,2854,1751,1871,0,0,0,0,0,0
$GC,10875,0.51,245.6,518.6,7.1,978,10896,0.00,0.00,17.10,0.880,6,0.000,0.000,2854,1750,1793,0,0,0,0,0,0
$GC,11202,0.52,254.4,494.3,7.5,997,11212,0.00,0.00,9.85,0.825,6,0.000,0.000,2854,1751,1754,0,0,0,0,0,0
$GC,11520,0.52,254.4,469.5,8.2,1028,11525,0.00,2.20,0.00,0.000,4,0.000,0.031,2854,3146,1754,0,0,0,0,0,0
$GC,11547,0.52,254.4,467.4,8.1,1030,11554,0.00,2.20,0.00,0.000,6,0.000,0.028,2862,1750,1754,0,0,0,0,0,0
$GC,11863,0.52,254.4,441.9,8.7,1061,11867,0.00,2.25,0.00,0.000,4,0.000,0.043,2873,349,1755,0,0,0,0,0,0
$GC,11894,0.52,254.4,439.2,8.9,1064,11898,0.00,2.12,0.00,0.000,6,0.000,0.025,2873,1747,1754,0,0,0,0,0,0
$GC,12216,0.52,254.4,413.0,8.2,1095,12219,0.00,2.15,0.00,0.000,4,0.000,0.031,2873,3151,1754,0,0,0,0,0,0
$GC,12258,0.52,254.4,409.5,9.2,1099,12262,0.00,2.17,0.00,0.000,6,0.000,0.028,2884,1755,1755,0,0,0,0,0,0
$GC,12579,0.52,254.4,382.2,8.1,1130,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1755,1755,0,0,0,0,0,0
$GC,12889,0.52,254.4,357.0,8.4,1160,12893,0.00,2.22,0.00,0.000,4,0.000,0.042,2895,347,1755,0,0,0,0,0,0
$GC,12904,0.52,254.4,355.6,8.7,1161,12910,0.00,2.12,0.00,0.000,6,0.000,0.025,2895,1752,1754,0,0,0,0,0,0
$GC,13220,0.52,254.4,328.0,8.5,1192,13224,0.00,2.15,0.00,0.000,4,0.000,0.030,2895,3146,1755,0,0,0,0,0,0
$GC,13241,0.52,254.4,326.2,8.2,1194,13245,0.10,2.17,0.00,0.000,6,0.107,0.028,2866,1748,1754,0,0,0,0,0,0
$GC,13563,0.58,298.2,304.9,6.3,1225,13605,0.00,2.20,37.10,0.769,4,0.000,0.029,2866,3152,1576,0,0,0,0,0,0
$GC,13626,0.67,326.3,300.7,6.8,1231,13656,0.12,2.20,24.73,0.739,6,0.086,0.028,2932,1749,1461,0,0,0,0,0,0
$GC,13965,0.60,326.3,262.2,11.3,1264,13970,0.12,2.28,0.00,0.000,4,0.136,0.042,2903,348,1464,0,0,0,0,0,0
$GC,13992,0.60,326.3,259.4,10.0,1266,13998,0.00,2.12,0.00,0.000,6,0.000,0.024,2903,1738,1464,0,0,0,0,0,0
$GC,14308,0.60,326.3,228.3,10.2,1297,14309,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1739,1464,0,0,0,0,0,0
$GC,14619,0.60,326.3,197.2,9.8,1329,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1738,1464,0,0,0,0,0,0
$GC,14945,0.60,326.3,166.7,9.6,1390,14950,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1738,1464,0,0,0,0,0,0
$GC,15270,0.60,326.3,136.3,9.5,1451,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1738,1464,0,0,0,0,0,0
$GC,15597,0.60,326.3,103.8,10.2,1512,15602,0.00,2.20,0.00,0.000,4,0.000,0.041,2914,348,1464,0,0,0,0,0,0
$GC,15612,0.60,326.3,102.1,10.6,1515,15619,0.00,2.12,0.00,0.000,6,0.000,0.024,2914,1754,1464,0,0,0,0,0,0
$GC,15939,0.60,326.3,66.4,10.4,1576,15945,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1755,1464,0,0,0,0,0,0
$GC,16265,0.60,326.3,33.8,9.6,1637,16271,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1754,1464,0,0,0,0,0,0
$GC,16592,0.60,326.3,3.1,8.2,1698,16597,0.00,2.12,0.00,0.000,4,0.000,0.029,2914,3142,1465,0,0,0,0,0,0
$STATE,16601,end climb,SURFACE_DEPTH_REACHED
$STATE,16601,begin surface coast
$FINISH,0.1,1.025711
$STATE,16633,end surface coast,CONTROL_FINISHED_OK
$STATE,16633,begin surface
$SM_CCo,16707,0.00,0.000,0,0,1465,325.51
$SM_GC,1.17,6.97,0.00,0.00,0.037,0.000,0.000,181,1790,1465,-7.78,-0.28,325.51
$IRIDIUM_FIX,3634.97,-12157.76,030899,030335
$TT8_MAMPS,0.051389
$HUMID,54.76
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,15.50
$XPDR_PINGS,123
$24V_AH,23.4,33.939
$10V_AH,9.7,53.932
$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,18.200,134.175,402.425,0.000,0.000,58.928,64.586,303.792,32.000,0.000,15.701,0.000,11677.643,527.404,4342.859,762.562,0.000,1904.796,0.000,3757.974,0.000,9.986,0.000
$DEVICE_MAMPS,205.556,50.622,1016.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.945,3606.360,2613.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,247020
$DATA_FILE_SIZE,117091,1706
$CAP_FILE_SIZE,179690,0
$CFSIZE,260165632,229294080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090510,082836,3646.405,-12156.432,34,1.2,34,14.8