version: 66.06
glider: 503
mission: 5
dive: 166
start: 4 21 110 0 56 38
data:
$ID,503
$MISSION,5
$DIVE,166
$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,-11448.983
$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,45
$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
$GPS1,004336,3648.966,-12213.851,41,1.2,41,14.8
$_CALLS,2
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.1
$GPS2,005632,3649.001,-12213.924,12,1.2,12,14.8
$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,304.4,2442,-26.9,-7.865
$D_GRID,885
$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,-0.78,-44.0,0.0,0.0,0,58,0.00,0.00,-44.00,0.000,2,0.000,0.000,159,1793,2815,0,0,0,0,0,0
$GC,60,-0.79,-49.7,3.5,-7.2,8,77,8.65,2.15,-4.05,0.000,4,0.211,0.044,2437,398,2995,0,0,0,0,0,0
$GC,87,-0.15,-49.7,11.1,-23.0,13,94,0.68,2.15,0.00,0.000,6,0.130,0.024,2643,1799,2995,0,0,0,0,0,0
$GC,414,-0.62,-75.0,29.1,-4.8,74,420,0.40,2.15,-1.27,0.000,4,0.056,0.044,2478,3198,3101,0,0,0,0,0,0
$GC,446,-0.85,-75.0,31.9,-8.6,80,452,0.10,2.17,0.00,0.000,6,0.041,0.036,2403,1798,3101,0,0,0,0,0,0
$GC,772,-0.81,-75.0,93.0,-19.6,141,779,0.12,2.17,0.00,0.000,4,0.168,0.036,2436,407,3102,0,0,0,0,0,0
$GC,886,-0.81,-75.0,114.9,-18.9,162,892,0.00,2.10,0.00,0.000,6,0.000,0.033,2428,1800,3102,0,0,0,0,0,0
$GC,1212,-0.81,-75.0,170.9,-15.3,223,1218,0.00,2.15,0.00,0.000,4,0.000,0.036,2428,409,3102,0,0,0,0,0,0
$GC,1329,-0.81,-75.0,190.5,-16.9,245,1336,0.00,2.08,0.00,0.000,6,0.000,0.023,2418,1799,3102,0,0,0,0,0,0
$GC,1647,-0.81,-75.0,242.7,-15.7,281,1651,0.00,2.17,0.00,0.000,4,0.000,0.037,2417,400,3102,0,0,0,0,0,0
$GC,1678,-0.81,-75.0,248.0,-16.9,284,1683,0.08,2.08,0.00,0.000,6,0.140,0.023,2435,1788,3102,0,0,0,0,0,0
$GC,2000,-0.86,-75.0,292.5,-13.6,315,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1788,3102,0,0,0,0,0,0
$GC,2311,-0.93,-75.0,333.9,-13.1,345,2314,0.00,2.12,0.00,0.000,4,0.000,0.037,2435,399,3102,0,0,0,0,0,0
$GC,2341,-0.93,-75.0,338.3,-14.3,347,2348,0.00,2.10,0.00,0.000,6,0.000,0.023,2426,1807,3102,0,0,0,0,0,0
$GC,2657,-0.99,-75.0,377.5,-11.3,378,2661,0.12,2.17,0.00,0.000,4,0.081,0.036,2337,407,3101,0,0,0,0,0,0
$GC,2780,-0.86,-75.0,401.7,-21.1,389,2786,0.28,2.08,0.00,0.000,6,0.142,0.024,2415,1796,3101,0,0,0,0,0,0
$GC,3095,-0.90,-75.0,447.7,-13.8,420,3099,0.00,2.15,0.00,0.000,4,0.000,0.036,2416,400,3101,0,0,0,0,0,0
$GC,3164,-0.90,-75.0,457.7,-15.0,426,3171,0.00,2.08,0.00,0.000,6,0.000,0.023,2407,1793,3100,0,0,0,0,0,0
$GC,3481,-0.90,-75.0,500.1,-13.1,457,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1793,3100,0,0,0,0,0,0
$GC,3785,-0.90,-75.0,541.4,-12.9,472,3790,0.00,2.15,0.00,0.000,4,0.000,0.037,2407,403,3099,0,0,0,0,0,0
$GC,3850,-0.90,-75.0,550.3,-14.7,475,3853,0.00,2.08,0.00,0.000,6,0.000,0.025,2397,1798,3099,0,0,0,0,0,0
$GC,4176,-0.90,-75.0,596.3,-14.0,491,4179,0.00,2.12,0.00,0.000,4,0.000,0.037,2397,401,3099,0,0,0,0,0,0
$GC,4261,-0.90,-75.0,609.8,-16.6,495,4265,0.00,2.08,0.00,0.000,6,0.000,0.025,2387,1795,3099,0,0,0,0,0,0
$GC,4587,-0.90,-75.0,657.8,-14.4,511,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1796,3097,0,0,0,0,0,0
$GC,4893,-0.90,-75.0,701.0,-14.7,526,4896,0.00,2.15,0.00,0.000,4,0.000,0.038,2387,403,3097,0,0,0,0,0,0
$GC,4950,-0.90,-75.0,709.8,-14.5,528,4957,0.08,2.08,0.00,0.000,6,0.137,0.023,2404,1800,3096,0,0,0,0,0,0
$GC,5262,-0.95,-75.0,750.3,-12.4,544,5265,0.00,2.17,0.00,0.000,4,0.000,0.038,2404,395,3096,0,0,0,0,0,0
$GC,5320,-0.95,-75.0,758.4,-14.0,547,5323,0.00,2.10,0.00,0.000,6,0.000,0.025,2395,1803,3096,0,0,0,0,0,0
$GC,5646,-0.95,-75.0,797.7,-12.2,563,5650,0.00,2.17,0.00,0.000,4,0.000,0.038,2395,400,3095,0,0,0,0,0,0
$GC,5682,-0.95,-75.0,802.4,-13.6,564,5689,0.00,2.08,0.00,0.000,6,0.000,0.023,2385,1794,3095,0,0,0,0,0,0
$GC,5992,-0.95,-75.0,841.0,-12.8,580,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1795,3094,0,0,0,0,0,0
$GC,6299,-0.95,-75.0,878.9,-12.8,595,6302,0.00,2.12,0.00,0.000,4,0.000,0.038,2385,403,3094,0,0,0,0,0,0
$STATE,6344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6344,begin apogee
$GC,6349,-0.14,0.0,885.5,14.1,597,6412,0.82,0.00,60.53,1.128,6,0.123,0.000,2648,1749,2792,0,0,0,0,0,0
$STATE,6412,end apogee,CONTROL_FINISHED_OK
$STATE,6412,begin climb
$GC,6414,0.82,75.0,887.3,0.0,600,6482,0.82,0.00,65.57,1.094,6,0.059,0.000,2962,1749,2486,0,0,0,0,0,0
$GC,6785,0.82,76.3,863.7,7.7,619,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1749,2477,0,0,0,0,0,0
$GC,7088,0.82,76.3,839.4,8.2,634,7093,0.00,2.20,0.00,0.000,4,0.000,0.032,2962,3145,2475,0,0,0,0,0,0
$GC,7333,0.82,76.3,819.0,8.2,645,7338,0.00,2.20,0.00,0.000,6,0.000,0.030,2973,1755,2473,0,0,0,0,0,0
$GC,7650,0.83,81.7,795.1,7.2,661,7656,0.00,0.00,4.75,0.792,6,0.000,0.000,2973,1755,2458,0,0,0,0,0,0
$GC,7955,0.83,86.2,772.1,7.3,676,7964,0.00,2.20,5.32,0.830,4,0.000,0.032,2972,3151,2440,0,0,0,0,0,0
$GC,8008,0.79,88.4,768.0,7.6,678,8019,0.00,2.17,3.88,0.682,6,0.000,0.029,2983,1757,2431,0,0,0,0,0,0
$GC,8324,0.75,89.8,742.4,7.7,694,8327,0.15,2.22,0.00,0.000,4,0.173,0.043,2953,343,2430,0,0,0,0,0,0
$GC,8359,0.75,91.7,739.4,7.6,695,8369,0.00,2.12,4.30,0.736,6,0.000,0.025,2952,1746,2418,0,0,0,0,0,0
$GC,8691,0.77,102.5,715.9,6.6,712,8704,0.00,0.00,11.10,0.965,6,0.000,0.000,2952,1746,2373,0,0,0,0,0,0
$GC,8996,0.77,102.5,692.3,8.3,727,9000,0.00,2.17,0.00,0.000,4,0.000,0.032,2952,3148,2371,0,0,0,0,0,0
$GC,9039,0.77,102.5,688.6,8.7,729,9043,0.00,2.20,0.00,0.000,6,0.000,0.030,2963,1750,2371,0,0,0,0,0,0
$GC,9366,0.77,102.5,660.4,8.5,745,9369,0.00,2.20,0.00,0.000,4,0.000,0.032,2963,3161,2371,0,0,0,0,0,0
$GC,9449,0.77,102.5,652.7,8.7,749,9454,0.00,2.22,0.00,0.000,6,0.000,0.029,2974,1739,2370,0,0,0,0,0,0
$GC,9772,0.77,102.5,626.5,8.9,765,9775,0.00,2.17,0.00,0.000,4,0.000,0.031,2974,3156,2370,0,0,0,0,0,0
$GC,10016,0.77,102.5,601.0,10.7,776,10021,0.10,2.22,0.00,0.000,6,0.146,0.029,2952,1741,2369,0,0,0,0,0,0
$GC,10332,0.77,102.5,572.6,8.8,792,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1740,2369,0,0,0,0,0,0
$GC,10638,0.77,104.8,548.2,7.6,807,10641,0.00,2.17,0.00,0.000,4,0.000,0.031,2952,3146,2369,0,0,0,0,0,0
$GC,10754,0.78,111.0,539.4,7.1,812,10767,0.00,2.17,7.90,0.837,6,0.000,0.029,2962,1746,2339,0,0,0,0,0,0
$GC,11070,0.78,113.7,515.7,7.5,828,11079,0.00,2.22,3.97,0.634,4,0.000,0.031,2962,3156,2328,0,0,0,0,0,0
$GC,11116,0.79,118.3,512.2,7.3,830,11126,0.00,2.20,5.95,0.757,6,0.000,0.029,2972,1747,2309,0,0,0,0,0,0
$GC,11440,0.79,118.3,484.0,9.0,854,11445,0.00,2.20,0.00,0.000,4,0.000,0.031,2973,3156,2308,0,0,0,0,0,0
$GC,11537,0.79,118.3,475.2,9.0,863,11541,0.08,2.20,0.00,0.000,6,0.150,0.029,2958,1751,2306,0,0,0,0,0,0
$GC,11857,0.79,118.3,447.1,8.5,894,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1750,2307,0,0,0,0,0,0
$GC,12168,0.79,122.2,422.2,7.4,924,12180,0.00,2.20,4.80,0.670,4,0.000,0.031,2958,3158,2293,0,0,0,0,0,0
$GC,12231,0.79,122.2,417.0,8.6,930,12236,0.00,2.20,0.00,0.000,6,0.000,0.028,2967,1748,2293,0,0,0,0,0,0
$GC,12553,0.79,125.2,392.8,7.5,961,12564,0.00,2.20,4.32,0.623,4,0.000,0.031,2967,3155,2281,0,0,0,0,0,0
$GC,12749,0.79,125.2,374.6,10.4,979,12756,0.00,2.22,0.00,0.000,6,0.000,0.029,2978,1740,2280,0,0,0,0,0,0
$GC,13065,0.79,125.2,341.5,11.1,1010,13069,0.00,2.17,0.00,0.000,4,0.000,0.041,2989,347,2280,0,0,0,0,0,0
$GC,13162,0.79,125.2,330.0,10.8,1019,13165,0.10,2.10,0.00,0.000,6,0.141,0.025,2956,1752,2280,0,0,0,0,0,0
$GC,13482,0.85,127.5,302.6,7.6,1050,13486,0.00,2.12,0.00,0.000,4,0.000,0.030,2956,3144,2280,0,0,0,0,0,0
$GC,13546,0.85,128.0,297.6,7.8,1056,13558,0.00,2.15,4.05,0.566,6,0.000,0.028,2966,1749,2270,0,0,0,0,0,0
$GC,13867,0.86,136.0,273.7,6.9,1087,13880,0.00,2.20,8.27,0.702,4,0.000,0.030,2965,3149,2237,0,0,0,0,0,0
$GC,13930,0.86,136.0,268.4,8.5,1093,13933,0.00,2.15,0.00,0.000,6,0.000,0.028,2977,1747,2237,0,0,0,0,0,0
$GC,14250,0.86,136.0,239.4,9.1,1124,14250,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1746,2237,0,0,0,0,0,0
$GC,14561,0.86,136.0,211.2,9.0,1154,14565,0.00,2.17,0.00,0.000,4,0.000,0.041,2988,351,2237,0,0,0,0,0,0
$GC,14586,0.86,136.0,209.0,9.4,1156,14594,0.00,2.12,0.00,0.000,6,0.000,0.024,2988,1758,2237,0,0,0,0,0,0
$GC,14910,0.86,138.2,182.3,7.6,1207,14917,0.00,2.17,3.67,0.489,4,0.000,0.029,2988,3154,2227,0,0,0,0,0,0
$GC,15018,0.86,138.2,173.3,8.3,1227,15025,0.00,2.17,0.00,0.000,6,0.000,0.028,2998,1749,2227,0,0,0,0,0,0
$GC,15345,0.86,138.2,147.1,7.9,1288,15351,0.00,2.15,0.00,0.000,4,0.000,0.029,2999,3146,2227,0,0,0,0,0,0
$GC,15490,0.87,148.5,136.6,6.6,1315,15506,0.00,2.17,10.18,0.638,6,0.000,0.029,3009,1747,2186,0,0,0,0,0,0
$GC,15826,0.87,148.5,107.5,8.9,1378,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1747,2186,0,0,0,0,0,0
$GC,16151,0.87,149.9,80.2,7.7,1439,16158,0.00,2.17,0.00,0.000,4,0.000,0.040,3020,347,2186,0,0,0,0,0,0
$GC,16205,0.87,149.9,75.6,8.6,1449,16212,0.10,2.08,0.00,0.000,6,0.138,0.024,2986,1741,2186,0,0,0,0,0,0
$GC,16533,0.96,175.4,54.2,4.8,1510,16560,0.00,2.22,23.17,0.602,4,0.000,0.041,2997,348,2076,0,0,0,0,0,0
$GC,16655,0.96,175.4,44.9,8.4,1533,16662,0.00,2.10,0.00,0.000,6,0.000,0.031,2997,1736,2076,0,0,0,0,0,0
$GC,16982,1.05,193.2,18.8,5.7,1594,17005,0.12,2.20,15.35,0.568,4,0.084,0.029,3085,3151,2003,0,0,0,0,0,0
$GC,17111,0.97,193.2,3.4,15.2,1618,17117,0.22,2.17,0.00,0.000,6,0.149,0.037,3013,1753,2003,0,0,0,0,0,0
$STATE,17120,end climb,SURFACE_DEPTH_REACHED
$STATE,17120,begin surface coast
$FINISH,0.1,1.013060
$STATE,17141,end surface coast,CONTROL_FINISHED_OK
$STATE,17141,begin surface
$SM_CCo,17153,31.55,0.557,0,0,1771,250.20
$SM_GC,2.64,0.00,0.00,31.55,0.000,0.000,0.557,190,1751,1771,-7.85,-1.39,250.20
$IRIDIUM_FIX,3634.97,-12212.59,160799,000030
$TT8_MAMPS,0.052156
$HUMID,54.48
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.40
$XPDR_PINGS,65
$24V_AH,23.9,24.336
$10V_AH,9.8,36.882
$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,20.275,146.550,247.100,31.550,0.000,62.116,71.925,457.792,18.250,0.000,13.838,0.000,12246.302,441.537,4350.723,892.078,0.000,1828.346,0.000,3771.521,0.000,15.385,0.000
$DEVICE_MAMPS,210.925,44.486,1128.257,556.842,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.567,3421.829,2461.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286600
$DATA_FILE_SIZE,113946,1624
$CAP_FILE_SIZE,192827,0
$CFSIZE,260165632,238174208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,054421,3650.241,-12214.972,37,5.0,56,14.8