version: 66.06
glider: 503
mission: 5
dive: 137
start: 4 14 110 15 36 36
data:
$ID,503
$MISSION,5
$DIVE,137
$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,-10986.903
$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,41
$R_STBD_OVSHOOT,48
$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
$GPS1,152524,3643.169,-12211.686,27,1.1,45,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-76.2
$GPS2,153631,3643.198,-12211.677,11,1.1,28,14.8
$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,133.7,4772,-16.3,-7.865
$D_GRID,887
$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,12,-0.58,-110.7,0.0,0.0,0,53,0.00,0.00,-38.95,0.000,2,0.000,0.000,183,1789,2609,0,0,0,0,0,0
$GC,55,-0.58,-116.8,3.2,-6.3,7,86,8.80,2.25,-15.70,0.000,4,0.212,0.046,2496,3194,3271,0,0,0,0,0,0
$GC,310,-0.53,-116.8,41.2,-14.8,55,317,0.08,2.17,0.00,0.000,6,0.118,0.027,2524,1805,3272,0,0,0,0,0,0
$GC,637,-0.53,-116.8,73.9,-8.9,116,643,0.00,2.20,0.00,0.000,4,0.000,0.041,2528,403,3272,0,0,0,0,0,0
$GC,690,-0.53,-116.8,79.1,-9.9,126,697,0.00,2.10,0.00,0.000,6,0.000,0.025,2521,1790,3273,0,0,0,0,0,0
$GC,1017,-0.53,-116.8,111.9,-10.1,187,1023,0.00,2.17,0.00,0.000,4,0.000,0.040,2521,403,3273,0,0,0,0,0,0
$GC,1039,-0.53,-116.8,114.2,-10.8,191,1045,0.00,2.12,0.00,0.000,6,0.000,0.026,2511,1804,3273,0,0,0,0,0,0
$GC,1364,-0.53,-116.8,146.3,-9.5,252,1371,0.00,2.20,0.00,0.000,4,0.000,0.039,2511,394,3273,0,0,0,0,0,0
$GC,1413,-0.53,-116.8,151.2,-10.6,261,1419,0.00,2.12,0.00,0.000,6,0.000,0.026,2503,1800,3273,0,0,0,0,0,0
$GC,1740,-0.53,-116.8,186.7,-11.4,322,1746,0.00,2.17,0.00,0.000,4,0.000,0.040,2503,406,3273,0,0,0,0,0,0
$GC,1761,-0.53,-116.8,189.4,-11.8,326,1767,0.08,2.10,0.00,0.000,6,0.114,0.025,2525,1798,3273,0,0,0,0,0,0
$GC,2081,-0.57,-116.8,219.0,-8.6,367,2085,0.00,2.15,0.00,0.000,4,0.000,0.032,2518,3215,3273,0,0,0,0,0,0
$GC,2111,-0.65,-116.8,221.6,-8.4,369,2118,0.00,2.17,0.00,0.000,6,0.000,0.026,2518,1801,3272,0,0,0,0,0,0
$GC,2427,-0.65,-116.8,248.6,-8.4,400,2431,0.00,2.17,0.00,0.000,4,0.000,0.040,2518,402,3272,0,0,0,0,0,0
$GC,2464,-0.65,-116.8,252.0,-9.0,403,2471,0.00,2.12,0.00,0.000,6,0.000,0.025,2510,1809,3272,0,0,0,0,0,0
$GC,2780,-0.65,-116.8,279.8,-8.8,434,2784,0.00,2.20,0.00,0.000,4,0.000,0.039,2510,394,3272,0,0,0,0,0,0
$GC,2800,-0.65,-116.8,281.8,-9.6,436,2805,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1798,3272,0,0,0,0,0,0
$GC,3122,-0.65,-116.8,310.8,-9.2,467,3126,0.00,2.17,0.00,0.000,4,0.000,0.039,2505,394,3272,0,0,0,0,0,0
$GC,3143,-0.65,-116.8,313.0,-10.2,469,3147,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1795,3272,0,0,0,0,0,0
$GC,3463,-0.65,-116.8,345.3,-10.3,500,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1796,3271,0,0,0,0,0,0
$GC,3774,-0.65,-116.8,377.5,-10.1,530,3778,0.00,2.17,0.00,0.000,4,0.000,0.040,2495,402,3271,0,0,0,0,0,0
$GC,3795,-0.65,-116.8,379.8,-11.3,532,3799,0.00,2.10,0.00,0.000,6,0.000,0.025,2491,1807,3271,0,0,0,0,0,0
$GC,4117,-0.65,-116.8,411.6,-9.5,563,4120,0.00,2.20,0.00,0.000,4,0.000,0.039,2491,383,3271,0,0,0,0,0,0
$GC,4131,-0.65,-116.8,413.1,-10.0,564,4138,0.00,2.12,0.00,0.000,6,0.000,0.025,2482,1799,3270,0,0,0,0,0,0
$GC,4447,-0.65,-116.8,444.2,-10.2,595,4451,0.00,2.17,0.00,0.000,4,0.000,0.040,2481,397,3270,0,0,0,0,0,0
$GC,4537,-0.59,-116.8,453.9,-10.9,603,4544,0.10,2.08,0.00,0.000,6,0.114,0.024,2510,1788,3270,0,0,0,0,0,0
$GC,4853,-0.59,-116.8,479.1,-8.1,634,4857,0.00,2.15,0.00,0.000,4,0.000,0.039,2510,401,3270,0,0,0,0,0,0
$GC,4874,-0.59,-116.8,480.9,-9.0,636,4878,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1807,3269,0,0,0,0,0,0
$GC,5204,-0.59,-116.8,505.9,-7.1,664,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1807,3270,0,0,0,0,0,0
$GC,5510,-0.59,-116.8,525.3,-6.1,679,5514,0.00,2.15,0.00,0.000,4,0.000,0.040,2508,395,3269,0,0,0,0,0,0
$GC,5567,-0.59,-116.8,529.4,-7.0,682,5572,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1802,3269,0,0,0,0,0,0
$GC,5894,-0.59,-116.8,549.2,-6.1,698,5898,0.00,2.17,0.00,0.000,4,0.000,0.039,2505,403,3268,0,0,0,0,0,0
$GC,5936,-0.59,-116.8,552.2,-7.9,700,5940,0.00,2.08,0.00,0.000,6,0.000,0.023,2496,1795,3268,0,0,0,0,0,0
$GC,6262,-0.59,-116.8,576.1,-7.3,716,6267,0.00,2.17,0.00,0.000,4,0.000,0.039,2495,394,3267,0,0,0,0,0,0
$GC,6278,-0.59,-116.8,577.5,-8.0,716,6285,0.00,2.10,0.00,0.000,6,0.000,0.024,2491,1801,3267,0,0,0,0,0,0
$GC,6588,-0.59,-116.8,599.9,-6.7,732,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1800,3267,0,0,0,0,0,0
$GC,6895,-0.59,-116.8,620.9,-7.1,747,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1801,3267,0,0,0,0,0,0
$GC,7199,-0.59,-116.8,643.0,-7.0,762,7203,0.00,2.17,0.00,0.000,4,0.000,0.040,2491,400,3266,0,0,0,0,0,0
$GC,7235,-0.59,-116.8,645.9,-8.0,763,7242,0.00,2.10,0.00,0.000,6,0.000,0.024,2482,1801,3266,0,0,0,0,0,0
$GC,7547,-0.59,-116.8,669.7,-7.9,779,7550,0.00,2.17,0.00,0.000,4,0.000,0.039,2482,397,3265,0,0,0,0,0,0
$GC,7590,-0.59,-116.8,673.5,-10.2,781,7593,0.12,2.08,0.00,0.000,6,0.143,0.025,2511,1802,3265,0,0,0,0,0,0
$GC,7916,-0.65,-116.8,696.3,-7.3,797,7919,0.00,2.17,0.00,0.000,4,0.000,0.040,2512,387,3265,0,0,0,0,0,0
$GC,7946,-0.65,-116.8,699.0,-8.6,798,7954,0.00,2.10,0.00,0.000,6,0.000,0.024,2508,1793,3265,0,0,0,0,0,0
$GC,8257,-0.71,-116.8,722.4,-7.5,814,8261,0.10,2.20,0.00,0.000,4,0.101,0.040,2445,397,3265,0,0,0,0,0,0
$GC,8283,-0.63,-116.8,725.0,-11.5,815,8288,0.15,2.10,0.00,0.000,6,0.112,0.025,2491,1805,3264,0,0,0,0,0,0
$GC,8606,-0.63,-116.8,752.6,-7.8,831,8609,0.00,2.10,0.00,0.000,4,0.000,0.032,2482,3203,3264,0,0,0,0,0,0
$GC,8652,-0.69,-116.8,756.4,-8.3,833,8656,0.00,2.15,0.00,0.000,6,0.000,0.026,2481,1793,3264,0,0,0,0,0,0
$GC,8974,-0.69,-116.8,782.6,-8.1,849,8977,0.00,2.12,0.00,0.000,4,0.000,0.041,2482,402,3264,0,0,0,0,0,0
$GC,8994,-0.69,-116.8,784.5,-8.9,850,8998,0.00,2.08,0.00,0.000,6,0.000,0.025,2472,1792,3264,0,0,0,0,0,0
$GC,9320,-0.69,-116.8,811.6,-7.9,866,9325,0.00,2.15,0.00,0.000,4,0.000,0.039,2472,408,3263,0,0,0,0,0,0
$GC,9347,-0.69,-116.8,813.8,-8.7,867,9351,0.00,2.08,0.00,0.000,6,0.000,0.025,2465,1798,3263,0,0,0,0,0,0
$GC,9668,-0.69,-116.8,842.7,-8.7,883,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1798,3263,0,0,0,0,0,0
$GC,9973,-0.69,-116.8,871.1,-9.6,898,9977,0.00,2.15,0.00,0.000,4,0.000,0.039,2465,409,3262,0,0,0,0,0,0
$GC,10085,-0.65,-116.8,882.4,-10.7,903,10089,0.08,2.08,0.00,0.000,6,0.120,0.025,2486,1795,3262,0,0,0,0,0,0
$STATE,10140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10140,begin apogee
$GC,10143,-0.14,0.0,887.3,8.9,906,10244,0.50,0.00,94.62,1.135,6,0.097,0.000,2662,1796,2792,0,0,0,0,0,0
$STATE,10244,end apogee,CONTROL_FINISHED_OK
$STATE,10244,begin climb
$GC,10246,0.58,116.8,891.4,0.0,911,10356,0.60,2.28,102.18,1.104,4,0.051,0.033,2897,3147,2314,0,0,0,0,0,0
$GC,10506,0.45,116.8,882.2,10.3,923,10510,0.17,2.25,0.00,0.000,6,0.143,0.031,2853,1758,2309,0,0,0,0,0,0
$GC,10821,0.50,162.8,862.3,5.7,939,10866,0.00,2.35,38.75,1.081,4,0.000,0.044,2863,347,2128,0,0,0,0,0,0
$GC,10915,0.51,163.5,855.8,7.8,943,10919,0.00,2.20,0.00,0.000,6,0.000,0.025,2863,1744,2128,0,0,0,0,0,0
$GC,11231,0.52,179.0,832.3,7.1,959,11251,0.00,2.28,14.57,1.025,4,0.000,0.034,2863,3157,2062,0,0,0,0,0,0
$GC,11303,0.52,179.0,826.5,9.2,962,11308,0.00,2.25,0.00,0.000,6,0.000,0.030,2874,1749,2062,0,0,0,0,0,0
$GC,11619,0.52,179.0,799.6,8.7,978,11623,0.00,2.22,0.00,0.000,4,0.000,0.032,2874,3156,2062,0,0,1,0,0,0
$GC,11656,0.48,179.0,796.3,9.6,979,11662,0.00,2.22,0.00,0.000,6,0.000,0.030,2884,1749,2061,0,0,0,0,0,0
$GC,11967,0.42,179.0,767.6,9.4,995,11971,0.15,2.22,0.00,0.000,4,0.148,0.044,2850,346,2060,0,0,0,0,0,0
$GC,11992,0.45,197.9,765.5,7.0,996,12013,0.00,2.15,16.85,1.019,6,0.000,0.025,2850,1755,1984,0,0,0,0,0,0
$GC,12335,0.45,197.9,737.9,8.2,1013,12338,0.00,2.17,0.00,0.000,4,0.000,0.031,2850,3149,1985,0,0,0,0,0,0
$GC,12360,0.45,197.9,735.5,8.1,1014,12365,0.00,2.22,0.00,0.000,6,0.000,0.029,2860,1733,1984,0,0,0,0,0,0
$GC,12682,0.45,197.9,708.8,8.6,1030,12686,0.00,2.22,0.00,0.000,4,0.000,0.031,2861,3156,1984,0,0,0,0,0,0
$GC,12707,0.45,197.9,706.3,8.2,1031,12712,0.00,2.22,0.00,0.000,6,0.000,0.028,2871,1745,1984,0,0,0,0,0,0
$GC,13029,0.45,197.9,671.8,11.1,1047,13033,0.00,2.20,0.00,0.000,4,0.000,0.031,2871,3155,1984,0,0,0,0,0,0
$GC,13055,0.45,197.9,668.9,11.6,1048,13060,0.10,2.22,0.00,0.000,6,0.117,0.028,2846,1739,1984,0,0,0,0,0,0
$GC,13376,0.45,197.9,640.5,8.1,1064,13380,0.00,2.17,0.00,0.000,4,0.000,0.042,2855,352,1983,0,0,0,0,0,0
$GC,13418,0.45,197.9,636.8,9.4,1066,13423,0.00,2.10,0.00,0.000,6,0.000,0.024,2855,1750,1983,0,0,0,0,0,0
$GC,13745,0.45,197.9,608.1,9.4,1082,13749,0.00,2.17,0.00,0.000,4,0.000,0.031,2856,3147,1983,0,0,0,0,0,0
$GC,13797,0.45,197.9,602.9,10.0,1084,13802,0.00,2.20,0.00,0.000,6,0.000,0.028,2866,1741,1982,0,0,0,0,0,0
$GC,14113,0.45,197.9,572.0,9.8,1100,14118,0.00,2.17,0.00,0.000,4,0.000,0.031,2866,3147,1982,0,0,0,0,0,0
$GC,14161,0.45,197.9,567.2,10.4,1102,14166,0.08,2.17,0.00,0.000,6,0.119,0.028,2848,1746,1981,0,0,0,0,0,0
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$STATE,20712,end climb,SURFACE_DEPTH_REACHED
$STATE,20712,begin surface coast
$FINISH,0.1,1.011648
$STATE,20744,end surface coast,CONTROL_FINISHED_OK
$STATE,20744,begin surface
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$10V_AH,9.8,30.888
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$FG_AHR_10Vo,0.000
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$MEM,286604
$DATA_FILE_SIZE,132783,1906
$CAP_FILE_SIZE,228667,0
$CFSIZE,260165632,241262592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140410,212431,3641.904,-12210.956,40,1.1,40,14.8