version: 66.06
glider: 503
mission: 5
dive: 34
start: 3 23 110 3 17 8
data:
$ID,503
$MISSION,5
$DIVE,34
$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,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,-8931.2588
$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,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
$GPS1,030254,3645.772,-12212.200,25,1.1,41,14.8
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.0
$GPS2,031702,3645.648,-12212.187,8,1.9,8,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,SIX
$TGT_LATLONG,3641.000,-12210.000
$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,144.5,9201,-15.8,-7.857
$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,11,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,52,0.00,0.00,-38.47,0.000,2,0.000,0.000,145,1753,2679,0,0,0,0,0,0
$GC,53,-0.57,-116.8,3.2,-5.4,7,80,9.05,2.25,-13.55,0.000,4,0.220,0.043,2502,3199,3269,0,0,0,0,0,0
$GC,320,-0.57,-116.8,43.8,-11.3,57,326,0.00,2.17,0.00,0.000,6,0.000,0.027,2502,1797,3270,0,0,0,0,0,0
$GC,646,-0.50,-116.8,87.6,-14.0,118,653,0.12,2.20,0.00,0.000,4,0.150,0.031,2532,3199,3271,0,0,0,0,0,0
$GC,706,-0.55,-116.8,93.9,-10.1,129,712,0.00,2.15,0.00,0.000,6,0.000,0.026,2532,1796,3271,0,0,0,0,0,0
$GC,1032,-0.55,-116.8,127.7,-10.4,190,1039,0.00,2.15,0.00,0.000,4,0.000,0.039,2532,401,3271,0,0,0,0,0,0
$GC,1069,-0.55,-116.8,131.7,-10.9,197,1076,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1801,3271,0,0,0,0,0,0
$GC,1396,-0.55,-116.8,164.4,-10.1,258,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1801,3271,0,0,0,0,0,0
$GC,1721,-0.55,-116.8,196.6,-9.7,319,1728,0.00,2.17,0.00,0.000,4,0.000,0.040,2522,396,3270,0,0,0,0,0,0
$GC,1764,-0.55,-116.8,201.4,-11.0,326,1769,0.00,2.12,0.00,0.000,6,0.000,0.024,2512,1808,3271,0,0,0,0,0,0
$GC,2086,-0.55,-116.8,235.2,-10.5,357,2089,0.00,2.17,0.00,0.000,4,0.000,0.039,2512,400,3270,0,0,0,0,0,0
$GC,2128,-0.55,-116.8,239.8,-11.5,361,2132,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1795,3270,0,0,0,0,0,0
$GC,2448,-0.55,-116.8,273.3,-10.4,392,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1795,3270,0,0,0,0,0,0
$GC,2759,-0.55,-116.8,304.6,-9.8,422,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1795,3270,0,0,0,0,0,0
$GC,3069,-0.55,-116.8,334.8,-9.4,452,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1795,3270,0,0,0,0,0,0
$GC,3379,-0.55,-116.8,364.9,-9.9,482,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1795,3269,0,0,0,0,0,0
$GC,3690,-0.55,-116.8,395.5,-9.6,512,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1795,3268,0,0,0,0,0,0
$GC,4000,-0.55,-116.8,425.3,-9.7,542,4005,0.00,2.15,0.00,0.000,4,0.000,0.039,2505,399,3268,0,0,0,0,0,0
$GC,4015,-0.55,-116.8,427.0,-10.1,543,4022,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1800,3268,0,0,0,0,0,0
$GC,4331,-0.55,-116.8,459.1,-10.4,574,4336,0.00,2.17,0.00,0.000,4,0.000,0.039,2495,396,3267,0,0,0,0,0,0
$GC,4364,-0.50,-116.8,462.7,-11.9,577,4368,0.10,2.08,0.00,0.000,6,0.115,0.026,2530,1790,3268,0,0,0,0,0,0
$GC,4684,-0.56,-116.8,487.6,-7.7,608,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1791,3267,0,0,0,0,0,0
$GC,4993,-0.61,-116.8,511.6,-8.1,631,4996,0.00,2.10,0.00,0.000,4,0.000,0.040,2530,400,3266,0,0,0,0,0,0
$GC,5013,-0.65,-116.8,513.4,-8.3,632,5017,0.00,2.08,0.00,0.000,6,0.000,0.025,2522,1799,3267,0,0,0,0,0,0
$GC,5339,-0.65,-116.8,540.2,-8.0,648,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1800,3266,0,0,0,0,0,0
$GC,5646,-0.69,-116.8,563.7,-7.6,663,5647,0.12,0.00,0.00,0.000,6,0.092,0.000,2455,1801,3266,0,0,0,0,0,0
$GC,5950,-0.61,-116.8,598.2,-11.3,678,5955,0.15,2.17,0.00,0.000,4,0.138,0.041,2502,398,3264,0,0,0,0,0,0
$GC,5997,-0.61,-116.8,603.1,-9.9,680,6002,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1804,3265,0,0,0,0,0,0
$GC,6318,-0.61,-116.8,632.0,-8.8,696,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1805,3264,0,0,0,0,0,0
$GC,6624,-0.61,-116.8,659.3,-8.9,711,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1805,3264,0,0,0,0,0,0
$GC,6929,-0.61,-116.8,686.3,-8.7,726,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1805,3264,0,0,0,0,0,0
$STATE,7111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7111,begin apogee
$GC,7114,-0.14,0.0,702.1,8.5,735,7207,0.47,0.00,90.97,1.013,6,0.106,0.000,2660,1747,2792,0,0,0,0,0,0
$STATE,7208,end apogee,CONTROL_FINISHED_OK
$STATE,7208,begin climb
$GC,7209,0.57,116.8,703.9,0.0,739,7314,0.60,2.30,98.80,0.978,4,0.066,0.031,2885,3147,2315,0,0,0,0,0,0
$GC,7382,0.46,116.8,698.0,8.9,747,7389,0.12,2.25,0.00,0.000,6,0.134,0.028,2855,1757,2311,0,0,0,0,0,0
$GC,7693,0.49,139.4,674.8,6.8,763,7715,0.00,2.25,18.02,0.937,4,0.000,0.044,2865,347,2223,0,0,0,0,0,0
$GC,7745,0.44,143.7,670.9,7.7,765,7757,0.00,2.15,5.53,0.746,6,0.000,0.025,2865,1740,2206,0,0,0,0,0,0
$GC,8062,0.42,157.1,647.4,7.3,781,8082,0.00,2.25,12.32,0.903,4,0.000,0.031,2865,3151,2150,0,0,0,0,0,0
$GC,8117,0.37,157.1,643.2,7.9,783,8124,0.15,2.22,0.00,0.000,6,0.123,0.028,2825,1750,2150,0,0,0,0,0,0
$GC,8429,0.47,197.9,626.7,6.0,799,8470,0.00,2.25,34.20,0.947,4,0.000,0.031,2825,3143,1985,0,0,0,0,0,0
$GC,8506,0.54,206.2,621.4,7.5,802,8521,0.08,2.22,8.95,0.833,6,0.059,0.028,2888,1751,1951,0,0,0,0,0,0
$GC,8837,0.54,206.2,586.5,10.5,819,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1751,1949,0,0,0,0,0,0
$GC,9141,0.54,206.2,557.9,8.9,834,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1751,1947,0,0,0,0,0,0
$GC,9447,0.54,206.2,530.6,9.1,849,9451,0.00,2.17,0.00,0.000,4,0.000,0.031,2888,3150,1946,0,0,0,0,0,0
$GC,9500,0.49,206.2,525.6,9.4,851,9505,0.10,2.17,0.00,0.000,6,0.123,0.029,2862,1750,1945,0,0,0,0,0,0
$GC,9816,0.49,206.2,501.4,7.9,867,9820,0.00,2.20,0.00,0.000,4,0.000,0.043,2872,351,1944,0,0,0,0,0,0
$GC,9858,0.49,206.2,497.4,9.6,870,9863,0.00,2.12,0.00,0.000,6,0.000,0.025,2872,1755,1944,0,0,0,0,0,0
$GC,10180,0.49,206.2,468.5,9.1,901,10183,0.00,2.12,0.00,0.000,4,0.000,0.031,2872,3138,1944,0,0,0,0,0,0
$GC,10232,0.49,206.2,463.6,9.4,906,10237,0.00,2.17,0.00,0.000,6,0.000,0.029,2883,1727,1943,0,0,0,0,0,0
$GC,10553,0.49,206.2,433.2,10.2,937,10557,0.00,2.15,0.00,0.000,4,0.000,0.041,2894,342,1942,0,0,0,0,0,0
$GC,10617,0.49,206.2,426.1,11.6,943,10621,0.08,2.10,0.00,0.000,6,0.122,0.025,2865,1744,1942,0,0,0,0,0,0
$GC,10937,0.49,206.2,395.8,9.8,974,10942,0.00,2.15,0.00,0.000,4,0.000,0.031,2865,3148,1942,0,0,0,0,0,0
$GC,10985,0.49,206.2,390.9,9.8,978,10992,0.00,2.17,0.00,0.000,6,0.000,0.029,2873,1747,1941,0,0,0,0,0,0
$GC,11301,0.49,206.2,361.8,8.7,1009,11305,0.00,2.17,0.00,0.000,4,0.000,0.042,2884,344,1941,0,0,0,0,0,0
$GC,11332,0.49,206.2,358.8,9.3,1012,11337,0.00,2.12,0.00,0.000,6,0.000,0.025,2884,1758,1941,0,0,0,0,0,0
$GC,11654,0.49,206.2,329.5,8.9,1043,11658,0.00,2.12,0.00,0.000,4,0.000,0.032,2884,3148,1941,0,0,0,0,0,0
$GC,11696,0.49,206.2,325.5,9.3,1047,11700,0.10,2.15,0.00,0.000,6,0.120,0.029,2858,1750,1941,0,0,0,0,0,0
$GC,12016,0.51,217.8,301.8,7.3,1078,12029,0.00,0.00,8.93,0.732,6,0.000,0.000,2858,1750,1902,0,0,0,0,0,0
$GC,12338,0.56,221.2,276.7,7.7,1109,12349,0.00,2.20,4.20,0.571,4,0.000,0.042,2868,342,1891,0,0,0,0,0,0
$GC,12380,0.56,221.2,273.2,8.0,1113,12383,0.00,2.10,0.00,0.000,6,0.000,0.025,2867,1747,1890,0,0,0,0,0,0
$GC,12699,0.56,221.2,246.5,8.0,1144,12704,0.00,2.17,0.00,0.000,4,0.000,0.031,2868,3165,1890,0,0,0,0,0,0
$GC,12748,0.56,221.2,242.6,8.1,1148,12755,0.00,2.17,0.00,0.000,6,0.000,0.029,2876,1750,1890,0,0,0,0,0,0
$GC,13064,0.56,221.2,216.9,8.4,1179,13067,0.00,2.17,0.00,0.000,4,0.000,0.031,2876,3151,1890,0,0,0,0,0,0
$GC,13085,0.56,221.2,214.9,9.5,1181,13089,0.00,2.15,0.00,0.000,6,0.000,0.030,2887,1751,1890,0,0,0,0,0,0
$GC,13405,0.56,221.2,188.2,8.6,1224,13411,0.00,2.15,0.00,0.000,4,0.000,0.031,2886,3153,1890,0,0,0,0,0,0
$GC,13437,0.56,221.2,185.3,9.2,1230,13444,0.00,2.15,0.00,0.000,6,0.000,0.029,2897,1752,1891,0,0,0,0,0,0
$GC,13763,0.56,221.2,156.4,8.9,1291,13770,0.00,2.15,0.00,0.000,4,0.000,0.042,2909,355,1890,0,0,0,0,0,0
$GC,13790,0.56,221.2,153.8,9.9,1296,13797,0.00,2.08,0.00,0.000,6,0.000,0.025,2909,1750,1890,0,0,0,0,0,0
$GC,14117,0.56,221.2,123.1,8.5,1357,14123,0.00,2.15,0.00,0.000,4,0.000,0.033,2908,3148,1890,0,0,0,0,0,0
$GC,14143,0.56,221.2,120.6,8.6,1362,14150,0.10,2.15,0.00,0.000,6,0.123,0.029,2882,1744,1890,0,0,0,0,0,0
$GC,14470,0.60,255.2,98.9,6.3,1423,14503,0.00,2.15,28.00,0.637,4,0.000,0.030,2882,3150,1751,0,0,0,0,0,0
$GC,14545,0.66,264.5,93.7,7.4,1437,14561,0.00,2.17,9.07,0.586,6,0.000,0.029,2889,1749,1715,0,0,0,0,0,0
$GC,14881,0.76,285.6,69.0,6.9,1500,14904,0.15,2.17,17.75,0.605,4,0.081,0.040,2976,344,1626,0,0,0,0,0,0
$GC,14973,0.68,285.6,58.2,12.5,1517,14979,0.15,2.12,0.00,0.000,6,0.116,0.025,2923,1746,1627,0,0,0,0,0,0
$GC,15299,0.74,294.5,32.1,7.5,1578,15311,0.00,2.22,8.62,0.558,4,0.000,0.031,2923,3162,1591,0,0,0,0,0,0
$GC,15374,0.80,294.5,25.6,8.9,1592,15381,0.00,2.20,0.00,0.000,6,0.000,0.029,2929,1750,1592,0,0,0,0,0,0
$STATE,15635,end climb,SURFACE_DEPTH_REACHED
$STATE,15636,begin surface coast
$FINISH,0.1,1.010188
$STATE,15685,end surface coast,CONTROL_FINISHED_OK
$STATE,15685,begin surface
$SM_CCo,15756,0.00,0.000,0,0,1591,294.36
$SM_GC,0.94,7.03,0.00,0.00,0.039,0.000,0.000,189,1748,1591,-7.78,-1.47,294.36
$IRIDIUM_FIX,3634.97,-12211.15,170699,030315
$TT8_MAMPS,0.052156
$HUMID,54.25
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,15.80
$XPDR_PINGS,3
$24V_AH,24.0,9.245
$10V_AH,10.1,9.611
$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,18.675,125.450,345.375,0.000,0.000,86.097,150.380,383.172,0.750,0.000,10.976,0.000,11085.885,465.040,4197.352,818.879,0.000,1792.548,0.000,3623.451,0.000,0.534,0.000
$DEVICE_MAMPS,220.129,141.895,1013.207,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.610,3483.160,2553.030,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286688
$DATA_FILE_SIZE,114198,1650
$CAP_FILE_SIZE,179044,0
$CFSIZE,260165632,252538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230310,074036,3643.817,-12211.514,35,1.3,35,14.8