version: 66.06
glider: 503
mission: 5
dive: 7
start: 3 19 110 6 30 12
data:
$ID,503
$MISSION,5
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,1070
$D_NO_BLEED,100
$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,150
$T_MISSION,200
$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,400
$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,-8482.0039
$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,2708
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,39
$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,200
$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
$GPS1,062507,3647.543,-12152.994,37,1.5,37,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-72.2
$GPS2,063006,3647.583,-12153.013,14,1.2,30,14.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,3646.000,-12212.000
$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,249.3,28321,-17.5,-10.000
$D_GRID,345
$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,-0.65,-146.0,0.0,0.0,0,103,0.00,0.00,-89.25,0.000,2,0.000,0.000,188,1773,2716,0,0,0,0,0,0
$GC,105,-0.65,-146.0,3.1,-8.5,17,137,8.80,2.17,-14.93,0.000,4,0.228,0.059,2498,403,3389,0,0,0,0,0,0
$GC,285,-0.65,-146.0,32.2,-15.7,51,292,0.00,2.12,0.00,0.000,6,0.000,0.030,2490,1796,3390,0,0,0,0,0,0
$GC,611,-0.65,-146.0,75.4,-12.6,112,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1796,3391,0,0,0,0,0,0
$GC,932,-0.65,-146.0,115.8,-12.0,172,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1796,3391,0,0,0,0,0,0
$GC,1253,-0.65,-146.0,153.9,-11.5,232,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1797,3391,0,0,0,0,0,0
$GC,1574,-0.65,-146.0,189.3,-10.1,292,1581,0.00,2.15,0.00,0.000,4,0.000,0.045,2489,409,3391,0,0,0,0,0,0
$GC,1595,-0.65,-146.0,191.6,-10.9,296,1602,0.00,2.10,0.00,0.000,6,0.000,0.031,2481,1801,3391,0,0,0,0,0,0
$GC,1913,-0.65,-146.0,224.8,-11.0,334,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1802,3391,0,0,0,0,0,0
$GC,2224,-0.65,-146.0,261.1,-10.5,364,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1802,3391,0,0,0,0,0,0
$GC,2534,-0.65,-146.0,290.3,-10.1,394,2539,0.00,2.15,0.00,0.000,4,0.000,0.044,2482,409,3390,0,0,0,0,0,0
$GC,2560,-0.65,-146.0,293.2,-11.4,396,2568,0.00,2.10,0.00,0.000,6,0.000,0.029,2472,1807,3390,0,0,0,0,0,0
$GC,2877,-0.65,-146.0,330.7,-12.4,427,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1808,3390,0,0,0,0,0,0
$STATE,2980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2980,begin apogee
$GC,2982,-0.14,0.0,345.6,14.8,437,3095,0.55,0.00,110.15,0.765,6,0.107,0.000,2661,1807,2792,0,0,0,0,0,0
$STATE,3095,end apogee,CONTROL_FINISHED_OK
$STATE,3095,begin climb
$GC,3096,0.65,146.0,349.1,0.0,448,3221,0.68,2.33,118.82,0.733,4,0.058,0.046,2931,404,2196,0,0,0,0,0,0
$GC,3242,0.57,185.2,346.7,8.2,462,3280,0.10,2.20,31.90,0.708,6,0.134,0.028,2898,1790,2039,0,0,0,0,0,0
$GC,3588,0.60,205.7,306.3,9.0,496,3610,0.00,2.22,16.65,0.693,4,0.000,0.035,2898,3204,1953,0,0,0,0,0,0
$GC,3684,0.61,214.1,297.1,9.6,505,3696,0.00,2.20,7.88,0.630,6,0.000,0.032,2907,1811,1919,0,0,0,0,0,0
$GC,4003,0.61,220.1,265.1,9.7,536,4016,0.00,2.20,5.95,0.592,4,0.000,0.035,2908,3198,1894,0,0,0,0,0,0
$GC,4036,0.61,220.1,261.8,10.0,539,4040,0.00,2.20,0.00,0.000,6,0.000,0.034,2918,1805,1894,0,0,0,0,0,0
$GC,4356,0.61,220.1,220.2,14.9,570,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1805,1892,0,0,0,0,0,0
$GC,4672,0.63,233.8,186.9,9.4,612,4689,0.00,2.20,12.23,0.653,4,0.000,0.047,2929,388,1838,0,0,0,0,0,0
$GC,4736,0.63,233.8,179.8,12.0,624,4743,0.00,2.15,0.00,0.000,6,0.000,0.029,2929,1798,1836,0,0,0,0,0,0
$GC,5063,0.63,233.8,140.6,12.2,685,5069,0.00,2.17,0.00,0.000,4,0.000,0.035,2929,3208,1835,0,0,0,0,0,0
$GC,5105,0.63,233.8,135.4,12.0,693,5112,0.00,2.20,0.00,0.000,6,0.000,0.032,2940,1792,1834,0,0,0,0,0,0
$GC,5433,0.63,233.8,93.5,13.7,754,5438,0.00,2.17,0.00,0.000,4,0.000,0.045,2951,391,1833,0,0,0,0,0,0
$GC,5480,0.58,233.8,86.8,14.2,763,5487,0.15,2.15,0.00,0.000,6,0.117,0.029,2897,1810,1832,0,0,0,0,0,0
$GC,5807,0.63,241.8,52.7,9.6,824,5819,0.00,2.17,6.90,0.556,4,0.000,0.045,2907,398,1807,0,0,0,0,0,0
$GC,5849,0.64,253.9,48.7,9.4,832,5867,0.00,2.12,11.65,0.577,6,0.000,0.030,2907,1803,1756,0,0,0,0,0,0
$GC,6187,0.76,295.0,20.3,8.1,895,6224,0.12,0.00,33.00,0.574,6,0.091,0.000,2973,1803,1589,0,0,0,0,0,0
$STATE,6344,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,-0.1,1.024905
$STATE,6372,end surface coast,CONTROL_FINISHED_OK
$STATE,6372,begin surface
$SM_CCo,6383,48.65,0.545,0,0,1161,400.08
$SM_GC,0.71,0.00,0.00,48.65,0.000,0.000,0.545,198,1803,1161,-7.85,0.08,400.08
$IRIDIUM_FIX,3634.97,-12157.76,130699,050559
$TT8_MAMPS,0.052923
$HUMID,58.86
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.6,83.4
$24V_AH,24.4,6.250
$10V_AH,10.2,5.446
$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,17.625,43.500,355.125,48.650,0.000,35.857,30.391,144.434,1.250,0.000,33.382,0.000,3575.692,439.007,2385.123,321.918,0.000,1204.307,0.000,2078.596,0.000,8.933,0.000
$DEVICE_MAMPS,227.799,59.059,765.466,544.570,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,637.210,2055.284,1672.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246464
$DATA_FILE_SIZE,66549,930
$CAP_FILE_SIZE,86938,0
$CFSIZE,260165632,254832640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190310,081806,3647.324,-12153.999,8,1.2,24,14.8