version: 66.06
glider: 503
mission: 5
dive: 82
start: 4 2 110 16 9 31
data:
$ID,503
$MISSION,5
$DIVE,82
$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,-9845.0977
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,160225,3647.572,-12214.011,39,1.1,39,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.6
$GPS2,160925,3647.634,-12214.043,8,1.1,14,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,THREE
$TGT_LATLONG,3650.000,-12215.000
$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,327.3,4606,-15.7,-7.865
$D_GRID,620
$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,11,-0.57,-116.8,0.0,0.0,0,62,0.00,0.00,-48.88,0.000,2,0.000,0.000,169,1812,2706,0,0,0,0,0,0
$GC,64,-0.57,-116.8,3.4,-6.8,9,90,8.88,2.15,-12.85,0.000,4,0.217,0.053,2500,3195,3270,0,0,0,0,0,0
$GC,330,-0.57,-116.8,43.4,-12.3,59,336,0.00,2.15,0.00,0.000,6,0.000,0.026,2500,1800,3271,0,0,0,0,0,0
$GC,656,-0.50,-116.8,87.4,-13.5,120,663,0.12,2.17,0.00,0.000,4,0.146,0.038,2537,401,3272,0,0,0,0,0,0
$GC,732,-0.50,-116.8,96.3,-11.5,134,738,0.00,2.10,0.00,0.000,6,0.000,0.024,2533,1804,3272,0,0,0,0,0,0
$GC,1058,-0.50,-116.8,130.5,-9.2,195,1064,0.00,2.12,0.00,0.000,4,0.000,0.031,2533,3189,3273,0,0,0,0,0,0
$GC,1149,-0.58,-116.8,138.6,-8.3,212,1155,0.00,2.12,0.00,0.000,6,0.000,0.026,2533,1797,3272,0,0,0,0,0,0
$GC,1475,-0.58,-116.8,168.2,-8.9,273,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1797,3273,0,0,0,0,0,0
$GC,1801,-0.58,-116.8,197.6,-8.5,334,1807,0.00,2.15,0.00,0.000,4,0.000,0.038,2533,397,3272,0,0,0,0,0,0
$GC,1858,-0.58,-116.8,203.0,-9.4,342,1866,0.00,2.10,0.00,0.000,6,0.000,0.023,2524,1802,3272,0,0,0,0,0,0
$GC,2175,-0.58,-116.8,231.9,-9.2,373,2179,0.00,2.12,0.00,0.000,4,0.000,0.031,2521,3194,3272,0,0,0,0,0,0
$GC,2227,-0.64,-116.8,236.7,-8.7,378,2232,0.00,2.12,0.00,0.000,6,0.000,0.025,2521,1797,3272,0,0,0,0,0,0
$GC,2549,-0.64,-116.8,266.7,-9.4,409,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1797,3272,0,0,0,0,0,0
$GC,2860,-0.64,-116.8,295.0,-8.4,439,2863,0.00,2.10,0.00,0.000,4,0.000,0.038,2521,401,3271,0,0,0,0,0,0
$GC,2902,-0.64,-116.8,299.1,-10.0,443,2906,0.00,2.08,0.00,0.000,6,0.000,0.023,2511,1796,3271,0,0,0,0,0,0
$GC,3222,-0.64,-116.8,327.9,-8.7,474,3226,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,400,3271,0,0,0,0,0,0
$GC,3254,-0.64,-116.8,330.9,-9.8,477,3258,0.00,2.08,0.00,0.000,6,0.000,0.024,2506,1801,3270,0,0,0,0,0,0
$GC,3574,-0.64,-116.8,359.8,-9.2,508,3579,0.00,2.12,0.00,0.000,4,0.000,0.031,2503,3196,3270,0,0,0,0,0,0
$GC,3607,-0.64,-116.8,362.5,-8.4,511,3611,0.00,2.10,0.00,0.000,6,0.000,0.025,2503,1804,3270,0,0,0,0,0,0
$GC,3927,-0.64,-116.8,391.8,-9.4,542,3932,0.00,2.15,0.00,0.000,4,0.000,0.038,2503,398,3270,0,0,0,0,0,0
$GC,3970,-0.64,-116.8,395.9,-9.8,546,3974,0.00,2.08,0.00,0.000,6,0.000,0.025,2495,1805,3270,0,0,0,0,0,0
$GC,4291,-0.64,-116.8,425.1,-9.2,577,4295,0.00,2.12,0.00,0.000,4,0.000,0.031,2495,3195,3269,0,0,0,0,0,0
$GC,4333,-0.64,-116.8,428.9,-9.2,581,4337,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1806,3270,0,0,0,0,0,0
$GC,4653,-0.64,-116.8,456.9,-7.9,612,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3269,0,0,0,0,0,0
$GC,4965,-0.64,-116.8,481.1,-7.6,642,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3269,0,0,0,0,0,0
$GC,5275,-0.64,-116.8,504.6,-6.8,669,5278,0.00,2.12,0.00,0.000,4,0.000,0.039,2496,400,3268,0,0,0,0,0,0
$GC,5342,-0.64,-116.8,510.7,-9.8,672,5347,0.00,2.10,0.00,0.000,6,0.000,0.024,2486,1805,3268,0,0,0,0,0,0
$GC,5658,-0.64,-116.8,536.9,-8.5,688,5663,0.00,2.10,0.00,0.000,4,0.000,0.031,2479,3186,3268,0,0,0,0,0,0
$GC,5690,-0.64,-116.8,539.7,-8.8,689,5694,0.00,2.10,0.00,0.000,6,0.000,0.026,2479,1803,3267,0,0,0,0,0,0
$GC,6006,-0.64,-116.8,570.9,-10.3,705,6010,0.00,2.15,0.00,0.000,4,0.000,0.040,2480,401,3267,0,0,0,0,0,0
$GC,6064,-0.59,-116.8,577.4,-11.6,707,6071,0.10,2.10,0.00,0.000,6,0.161,0.024,2505,1808,3267,0,0,0,0,0,0
$GC,6375,-0.59,-116.8,599.9,-6.6,723,6380,0.00,2.10,0.00,0.000,4,0.000,0.031,2496,3187,3267,0,0,0,0,0,0
$GC,6406,-0.64,-116.8,602.0,-6.8,724,6410,0.00,2.10,0.00,0.000,6,0.000,0.026,2496,1804,3267,0,0,0,0,0,0
$STATE,6620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6620,begin apogee
$GC,6623,-0.14,0.0,620.2,9.2,735,6716,0.47,0.00,90.90,0.957,6,0.100,0.000,2662,1804,2791,0,0,0,0,0,0
$STATE,6716,end apogee,CONTROL_FINISHED_OK
$STATE,6716,begin climb
$GC,6717,0.57,116.8,623.9,0.0,739,6822,0.60,2.20,97.35,0.925,4,0.061,0.030,2890,3133,2315,0,0,0,0,0,0
$GC,6896,0.54,185.2,623.6,4.8,747,6957,0.00,2.22,56.83,0.913,6,0.000,0.027,2901,1749,2037,0,0,0,0,0,0
$GC,7263,0.47,185.2,594.3,8.6,765,7267,0.17,2.22,0.00,0.000,4,0.134,0.041,2858,345,2033,0,0,0,0,0,0
$GC,7288,0.49,204.3,592.4,7.0,766,7309,0.00,2.15,16.15,0.874,6,0.000,0.023,2857,1746,1959,0,0,0,0,0,0
$GC,7632,0.50,211.3,567.6,7.5,783,7640,0.00,0.00,7.00,0.778,6,0.000,0.000,2858,1746,1930,0,0,0,0,0,0
$GC,7935,0.50,211.3,543.0,8.1,798,7940,0.00,2.15,0.00,0.000,4,0.000,0.029,2858,3141,1929,0,0,0,0,0,0
$GC,7978,0.50,211.3,539.2,9.3,800,7982,0.00,2.15,0.00,0.000,6,0.000,0.028,2867,1754,1928,0,0,0,0,0,0
$GC,8304,0.50,211.3,509.6,8.9,816,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1754,1927,0,0,0,0,0,0
$GC,8612,0.50,211.3,480.8,9.9,840,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1753,1926,0,0,0,0,0,0
$GC,8923,0.50,211.3,450.5,9.7,870,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1754,1925,0,0,0,0,0,0
$GC,9234,0.50,211.3,421.1,9.2,900,9238,0.00,2.15,0.00,0.000,4,0.000,0.030,2866,3150,1925,0,0,0,0,0,0
$GC,9249,0.50,211.3,419.6,8.9,901,9255,0.00,2.17,0.00,0.000,6,0.000,0.028,2876,1748,1925,0,0,0,0,0,0
$GC,9564,0.50,211.3,391.0,8.3,932,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1748,1924,0,0,0,0,0,0
$GC,9875,0.50,211.3,365.0,9.2,962,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1748,1924,0,0,0,0,0,0
$GC,10186,0.50,211.3,336.7,8.8,992,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1748,1923,0,0,0,0,0,0
$GC,10496,0.50,211.3,310.1,8.8,1022,10501,0.00,2.15,0.00,0.000,4,0.000,0.030,2876,3151,1923,0,0,0,0,0,0
$GC,10532,0.50,211.3,306.7,9.4,1025,10539,0.00,2.17,0.00,0.000,6,0.000,0.028,2887,1742,1923,0,0,0,0,0,0
$GC,10848,0.50,211.3,275.4,10.2,1056,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1742,1923,0,0,0,0,0,0
$GC,11159,0.50,211.3,244.7,9.6,1086,11163,0.00,2.15,0.00,0.000,4,0.000,0.030,2887,3146,1923,0,0,0,0,0,0
$GC,11201,0.50,211.3,240.5,9.9,1090,11206,0.10,2.12,0.00,0.000,6,0.111,0.027,2859,1754,1923,0,0,0,0,0,0
$GC,11523,0.57,218.2,217.6,7.6,1121,11534,0.00,2.15,5.80,0.623,4,0.000,0.041,2868,349,1902,0,0,0,0,0,0
$GC,11565,0.61,218.2,214.4,8.3,1125,11569,0.00,2.08,0.00,0.000,6,0.000,0.025,2868,1744,1902,0,0,0,0,0,0
$GC,11885,0.67,224.2,189.5,7.6,1168,11897,0.12,0.00,6.32,0.623,6,0.087,0.000,2936,1745,1877,0,0,0,0,0,0
$GC,12217,0.60,224.2,152.4,11.4,1230,12223,0.15,2.17,0.00,0.000,4,0.136,0.041,2899,357,1877,0,0,0,0,0,0
$GC,12228,0.54,224.2,151.0,11.6,1232,12234,0.00,2.08,0.00,0.000,6,0.000,0.025,2899,1745,1877,0,0,0,0,0,0
$GC,12554,0.54,224.2,118.4,10.6,1293,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1746,1877,0,0,0,0,0,0
$GC,12880,0.54,224.2,90.4,8.1,1354,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1745,1877,0,0,0,0,0,0
$GC,13205,0.54,224.2,64.4,8.4,1415,13212,0.00,2.15,0.00,0.000,4,0.000,0.031,2899,3161,1877,0,0,0,0,0,0
$GC,13371,0.54,224.2,50.0,8.5,1446,13378,0.10,2.15,0.00,0.000,6,0.107,0.028,2870,1751,1877,0,0,0,0,0,0
$GC,13698,0.74,307.1,32.1,4.1,1507,13771,0.20,2.22,65.07,0.580,4,0.070,0.041,2975,357,1539,0,0,0,0,0,0
$GC,13856,0.74,307.1,17.3,10.6,1537,13863,0.10,2.12,0.00,0.000,6,0.104,0.023,2936,1754,1541,0,0,0,0,0,0
$STATE,14026,end climb,SURFACE_DEPTH_REACHED
$STATE,14026,begin surface coast
$FINISH,0.2,1.024298
$STATE,14064,end surface coast,CONTROL_FINISHED_OK
$STATE,14064,begin surface
$SM_CCo,14136,0.00,0.000,0,0,1541,306.87
$SM_GC,1.21,7.07,0.00,0.00,0.038,0.000,0.000,195,1755,1541,-7.76,-1.27,306.87
$IRIDIUM_FIX,3632.29,-12209.72,270699,121220
$TT8_MAMPS,0.052156
$HUMID,54.33
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,24.1,14.914
$10V_AH,10.0,19.540
$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,18.200,102.425,345.425,0.000,0.000,28.135,31.198,253.046,1.000,0.000,16.146,0.000,9558.604,437.968,4011.174,514.654,0.000,1700.481,0.000,3476.185,0.000,6.416,0.000
$DEVICE_MAMPS,217.061,52.923,957.216,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.506,3342.414,2471.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286632
$DATA_FILE_SIZE,110779,1576
$CAP_FILE_SIZE,157723,0
$CFSIZE,260165632,247320576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020410,200601,3649.860,-12215.182,36,1.6,36,14.8