version: 66.06
glider: 503
mission: 5
dive: 24
start: 3 21 110 2 44 49
data:
$ID,503
$MISSION,5
$DIVE,24
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$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,-8768.29
$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,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,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,023806,3642.539,-12206.990,25,1.0,25,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.6
$GPS2,024444,3642.487,-12206.941,13,1.4,13,14.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$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,31.0,4019,-23.2,-10.000
$D_GRID,1532
$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,-0.73,-86.2,0.0,0.0,0,63,0.00,0.00,-48.67,0.000,2,0.000,0.000,191,1753,2584,0,0,0,0,0,0
$GC,64,-0.79,-130.1,3.0,-6.6,9,96,8.55,2.12,-17.80,0.000,4,0.220,0.053,2439,396,3324,0,0,0,0,0,0
$GC,250,-0.73,-130.1,44.2,-19.4,44,257,0.08,2.15,0.00,0.000,6,0.134,0.027,2458,1793,3325,0,0,0,0,0,0
$GC,577,-0.73,-130.1,107.1,-17.2,105,583,0.00,2.17,0.00,0.000,4,0.000,0.038,2460,400,3326,0,0,0,0,0,0
$GC,641,-0.73,-130.1,118.5,-16.9,117,647,0.00,2.12,0.00,0.000,6,0.000,0.025,2451,1805,3326,0,0,0,0,0,0
$GC,967,-0.73,-130.1,167.8,-14.5,178,974,0.00,2.15,0.00,0.000,4,0.000,0.033,2440,3201,3327,0,0,0,0,0,0
$GC,1005,-0.80,-130.1,173.0,-13.8,185,1012,0.00,2.15,0.00,0.000,6,0.000,0.027,2440,1798,3327,0,0,0,0,0,0
$GC,1326,-0.80,-130.1,222.1,-15.4,232,1331,0.00,2.15,0.00,0.000,4,0.000,0.038,2440,401,3327,0,0,0,0,0,0
$GC,1433,-0.80,-130.1,239.6,-16.2,242,1438,0.00,2.12,0.00,0.000,6,0.000,0.025,2431,1818,3327,0,0,0,0,0,0
$GC,1754,-0.80,-130.1,291.2,-15.2,273,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1819,3327,0,0,0,0,0,0
$GC,2065,-0.80,-130.1,339.3,-15.8,303,2069,0.00,2.17,0.00,0.000,4,0.000,0.038,2430,404,3327,0,0,0,0,0,0
$GC,2107,-0.80,-130.1,346.4,-17.0,307,2111,0.00,2.08,0.00,0.000,6,0.000,0.026,2421,1791,3327,0,0,0,0,0,0
$GC,2427,-0.80,-130.1,398.8,-16.3,338,2432,0.00,2.17,0.00,0.000,4,0.000,0.033,2410,3214,3326,0,0,0,0,0,0
$GC,2453,-0.80,-130.1,403.1,-16.9,340,2461,0.12,2.17,0.00,0.000,6,0.152,0.027,2446,1797,3326,0,0,0,0,0,0
$GC,2770,-0.85,-130.1,446.5,-13.7,371,2774,0.00,2.12,0.00,0.000,4,0.000,0.040,2446,406,3326,0,0,0,0,0,0
$GC,2834,-0.85,-130.1,456.0,-14.4,377,2838,0.00,2.08,0.00,0.000,6,0.000,0.026,2440,1798,3326,0,0,0,0,0,0
$GC,3154,-0.89,-130.1,501.0,-13.6,408,3158,0.00,2.12,0.00,0.000,4,0.000,0.035,2430,3191,3325,0,0,0,0,0,0
$GC,3201,-0.98,-130.1,507.2,-12.9,410,3207,0.12,2.12,0.00,0.000,6,0.092,0.028,2362,1801,3325,0,0,0,0,0,0
$GC,3523,-0.90,-130.1,568.5,-19.8,426,3527,0.17,2.15,0.00,0.000,4,0.150,0.040,2414,406,3325,0,0,0,0,0,0
$GC,3597,-0.90,-130.1,581.7,-16.5,429,3602,0.00,2.10,0.00,0.000,6,0.000,0.025,2405,1809,3325,0,0,0,0,0,0
$GC,3913,-0.90,-130.1,630.1,-14.9,445,3917,0.00,2.10,0.00,0.000,4,0.000,0.033,2395,3185,3324,0,0,0,0,0,0
$GC,3949,-0.90,-130.1,635.5,-13.8,446,3957,0.00,2.12,0.00,0.000,6,0.000,0.028,2395,1799,3324,0,0,0,0,0,0
$GC,4260,-0.90,-130.1,685.3,-16.8,462,4265,0.00,2.12,0.00,0.000,4,0.000,0.040,2395,407,3323,0,0,0,0,0,0
$GC,4411,-0.90,-130.1,711.5,-16.4,469,4414,0.00,2.08,0.00,0.000,6,0.000,0.025,2386,1802,3323,0,0,0,0,0,0
$GC,4737,-0.90,-130.1,761.7,-15.7,485,4740,0.00,2.12,0.00,0.000,4,0.000,0.033,2375,3198,3322,0,0,0,0,0,0
$GC,4772,-0.90,-130.1,767.7,-15.5,486,4781,0.12,2.15,0.00,0.000,6,0.156,0.027,2410,1791,3322,0,0,0,0,0,0
$GC,5083,-0.90,-130.1,810.3,-14.1,502,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1791,3321,0,0,0,0,0,0
$GC,5389,-0.90,-130.1,852.8,-13.6,517,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1791,3320,0,0,0,0,0,0
$GC,5693,-0.90,-130.1,891.8,-12.5,532,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1791,3320,0,0,0,0,0,0
$GC,6000,-0.90,-130.1,929.6,-12.5,547,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1791,3320,0,0,0,0,0,0
$GC,6304,-0.90,-130.1,966.3,-11.8,562,6309,0.00,2.12,0.00,0.000,4,0.000,0.042,2414,406,3319,0,0,0,0,0,0
$GC,6362,-0.90,-130.1,973.8,-13.4,564,6370,0.00,2.10,0.00,0.000,6,0.000,0.026,2406,1806,3319,0,0,0,0,0,0
$STATE,6509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6509,begin apogee
$GC,6512,-0.14,0.0,991.9,12.1,572,6619,0.75,0.00,105.28,1.194,6,0.132,0.000,2650,1807,2792,0,0,0,0,0,0
$STATE,6620,end apogee,CONTROL_FINISHED_OK
$STATE,6620,begin climb
$GC,6621,0.79,130.1,993.1,0.0,577,6743,0.85,2.20,114.15,1.156,4,0.081,0.033,2945,3144,2261,0,0,0,0,0,0
$GC,6810,0.72,130.1,980.1,14.2,586,6815,0.00,2.28,0.00,0.000,6,0.000,0.032,2956,1764,2257,0,0,0,0,0,0
$GC,7131,0.67,130.1,937.7,13.0,602,7136,0.15,2.17,0.00,0.000,4,0.191,0.033,2918,3138,2251,0,0,0,0,0,0
$GC,7168,0.67,130.1,933.3,12.4,603,7175,0.00,2.22,0.00,0.000,6,0.000,0.031,2927,1745,2250,0,0,0,0,0,0
$GC,7479,0.67,130.1,900.5,10.4,619,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,1745,2248,0,0,0,0,0,0
$GC,7784,0.67,130.1,869.1,10.5,634,7789,0.00,2.20,0.00,0.000,4,0.000,0.034,2927,3151,2246,0,0,0,0,0,0
$GC,7853,0.67,130.1,861.1,11.3,637,7858,0.00,2.22,0.00,0.000,6,0.000,0.032,2939,1741,2245,0,0,0,0,0,0
$GC,8175,0.67,130.1,825.9,10.4,653,8179,0.00,2.17,0.00,0.000,4,0.000,0.034,2938,3137,2244,0,0,0,0,0,0
$GC,8206,0.62,130.1,822.4,11.3,654,8211,0.15,2.17,0.00,0.000,6,0.166,0.031,2903,1749,2243,0,0,0,0,0,0
$GC,8521,0.64,145.6,793.7,8.8,670,8536,0.00,2.20,11.15,1.008,4,0.000,0.035,2903,3141,2198,0,0,0,0,0,0
$GC,8568,0.64,147.9,789.3,9.8,672,8576,0.00,2.20,3.75,0.674,6,0.000,0.031,2912,1747,2189,0,0,0,0,0,0
$GC,8884,0.65,156.5,760.1,9.3,688,8899,0.00,2.25,9.12,0.963,4,0.000,0.034,2913,3153,2153,0,0,0,0,0,0
$GC,8979,0.65,156.5,750.1,11.2,692,8984,0.00,2.20,0.00,0.000,6,0.000,0.031,2923,1753,2153,0,0,0,0,0,0
$GC,9295,0.65,156.5,716.0,11.2,708,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1753,2153,0,0,0,0,0,0
$GC,9601,0.65,156.5,682.7,10.5,723,9605,0.00,2.15,0.00,0.000,4,0.000,0.033,2923,3138,2152,0,0,0,0,0,0
$GC,9707,0.65,156.5,670.1,12.2,728,9711,0.00,2.15,0.00,0.000,6,0.000,0.030,2934,1752,2151,0,0,0,0,0,0
$GC,10033,0.65,156.5,630.2,12.3,744,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1753,2151,0,0,0,0,0,0
$GC,10339,0.65,156.5,595.3,11.0,759,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1753,2151,0,0,0,0,0,0
$GC,10644,0.65,156.5,560.2,11.8,774,10648,0.00,2.17,0.00,0.000,4,0.000,0.041,2945,348,2150,0,0,0,0,0,0
$GC,10665,0.65,156.5,557.6,12.4,775,10669,0.10,2.10,0.00,0.000,6,0.143,0.026,2911,1752,2150,0,0,0,0,0,0
$GC,10992,0.66,163.9,525.6,9.4,791,11002,0.00,2.10,7.05,0.817,4,0.000,0.031,2912,3151,2123,0,0,0,0,0,0
$GC,11071,0.67,170.1,518.2,9.5,795,11081,0.00,2.17,6.88,0.798,6,0.000,0.030,2921,1748,2098,0,0,0,0,0,0
$GC,11394,0.72,176.5,487.3,9.5,817,11405,0.00,2.15,6.72,0.783,4,0.000,0.031,2921,3150,2073,0,0,0,0,0,0
$GC,11450,0.72,176.5,481.2,10.4,822,11458,0.00,2.20,0.00,0.000,6,0.000,0.029,2932,1744,2072,0,0,0,0,0,0
$GC,11767,0.72,176.5,446.6,10.3,853,11771,0.00,2.17,0.00,0.000,4,0.000,0.042,2943,343,2073,0,0,0,0,0,0
$GC,11788,0.72,177.3,444.3,9.9,855,11792,0.00,2.12,0.00,0.000,6,0.000,0.025,2943,1755,2072,0,0,0,0,0,0
$GC,12108,0.72,177.3,408.9,10.8,886,12113,0.00,2.15,0.00,0.000,4,0.000,0.031,2943,3151,2072,0,0,0,0,0,0
$GC,12134,0.72,177.3,406.0,10.3,888,12142,0.00,2.17,0.00,0.000,6,0.000,0.030,2954,1750,2072,0,0,0,0,0,0
$GC,12451,0.72,178.6,374.3,9.9,919,12461,0.00,2.20,3.60,0.553,4,0.000,0.032,2954,3154,2063,0,0,0,0,0,0
$GC,12493,0.72,178.6,370.0,10.2,923,12496,0.08,2.17,0.00,0.000,6,0.149,0.030,2939,1748,2063,0,0,0,0,0,0
$GC,12812,0.72,178.6,339.5,10.1,954,12813,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1748,2063,0,0,0,0,0,0
$GC,13123,0.72,178.6,308.7,10.2,984,13127,0.00,2.15,0.00,0.000,4,0.000,0.031,2939,3149,2063,0,0,0,0,0,0
$GC,13176,0.72,178.6,303.1,10.0,989,13180,0.00,2.15,0.00,0.000,6,0.000,0.030,2948,1750,2063,0,0,0,0,0,0
$GC,13497,0.72,178.6,265.5,11.7,1020,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,1749,2063,0,0,0,0,0,0
$GC,13807,0.72,178.6,229.8,10.9,1050,13812,0.00,2.12,0.00,0.000,4,0.000,0.031,2949,3141,2063,0,0,0,0,0,0
$GC,13871,0.72,178.6,222.4,12.0,1056,13876,0.00,2.12,0.00,0.000,6,0.000,0.028,2960,1751,2063,0,0,0,0,0,0
$GC,14191,0.72,178.6,185.1,12.0,1098,14198,0.00,2.12,0.00,0.000,4,0.000,0.031,2959,3143,2063,0,0,0,0,0,0
$GC,14218,0.72,178.6,182.1,11.9,1103,14225,0.10,2.12,0.00,0.000,6,0.140,0.030,2936,1755,2063,0,0,0,0,0,0
$GC,14545,0.79,200.3,151.6,8.3,1164,14567,0.00,0.00,18.30,0.673,6,0.000,0.000,2936,1754,1977,0,0,0,0,0,0
$GC,14888,0.86,209.7,119.7,9.3,1228,14904,0.12,2.20,9.20,0.623,4,0.087,0.041,3021,353,1937,0,0,0,0,0,0
$GC,14957,0.77,209.7,110.2,14.2,1241,14963,0.20,2.10,0.00,0.000,6,0.150,0.025,2957,1748,1937,0,0,0,0,0,0
$GC,15283,0.78,214.8,75.1,9.6,1302,15295,0.00,2.20,5.65,0.548,4,0.000,0.041,2966,347,1916,0,0,0,0,0,0
$GC,15315,0.78,218.5,71.9,9.7,1308,15327,0.00,2.12,4.93,0.509,6,0.000,0.025,2966,1759,1901,0,0,0,0,0,0
$GC,15648,0.85,228.1,38.0,9.3,1370,15664,0.00,2.22,8.95,0.574,4,0.000,0.041,2978,350,1862,0,0,0,0,0,0
$GC,15765,0.86,242.9,26.8,8.8,1392,15782,0.00,2.10,13.27,0.576,6,0.000,0.025,2978,1747,1801,0,0,0,0,0,0
$STATE,16015,end climb,SURFACE_DEPTH_REACHED
$STATE,16015,begin surface coast
$FINISH,0.2,1.024927
$STATE,16042,end surface coast,CONTROL_FINISHED_OK
$STATE,16042,begin surface
$SM_CCo,16054,2.85,0.319,0,0,1772,250.20
$SM_GC,2.18,0.00,0.00,2.85,0.000,0.000,0.319,193,1748,1772,-7.84,-1.50,250.20
$IRIDIUM_FIX,3626.92,-12217.97,140699,212150
$TT8_MAMPS,0.052156
$HUMID,55.59
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,23.8,7.945
$10V_AH,10.1,7.728
$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,18.900,137.825,328.000,2.850,0.000,28.515,34.863,234.577,0.250,0.000,14.932,0.000,11632.822,477.108,3835.460,476.471,0.000,1741.011,0.000,3295.329,0.000,0.534,0.000
$DEVICE_MAMPS,220.129,52.923,1194.219,319.072,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.758,3014.648,2139.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246364
$DATA_FILE_SIZE,104505,1444
$CAP_FILE_SIZE,168747,0
$CFSIZE,260165632,253542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210310,071437,3644.058,-12204.852,112,0.9,112,14.8