version: 66.06
glider: 503
mission: 5
dive: 17
start: 3 20 110 0 37 14
data:
$ID,503
$MISSION,5
$DIVE,17
$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,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,-8657.8643
$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,31
$R_STBD_OVSHOOT,47
$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,350
$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
$GPS1,003207,3645.607,-12203.273,30,1.0,31,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.1
$GPS2,003708,3645.626,-12203.229,11,2.0,11,14.8
$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,258.2,13030,-17.5,-10.000
$D_GRID,734
$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,12,-0.65,-146.0,0.0,0.0,0,57,0.00,0.00,-43.62,0.000,2,0.000,0.000,181,1750,2706,0,0,0,0,0,0
$GC,58,-0.65,-146.0,3.1,-7.5,8,90,8.65,2.17,-15.60,0.000,4,0.221,0.059,2487,390,3390,0,0,0,0,0,0
$GC,121,-0.55,-146.0,14.3,-15.9,20,128,0.10,2.15,0.00,0.000,6,0.119,0.031,2516,1783,3391,0,0,0,0,0,0
$GC,448,-0.55,-146.0,58.1,-11.4,81,454,0.00,2.20,0.00,0.000,4,0.000,0.035,2506,3201,3392,0,0,0,0,0,0
$GC,485,-0.62,-146.0,62.1,-10.5,88,491,0.00,2.17,0.00,0.000,6,0.000,0.030,2506,1793,3392,0,0,0,0,0,0
$GC,811,-0.62,-146.0,97.1,-10.1,149,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1793,3393,0,0,0,0,0,0
$GC,1132,-0.67,-146.0,129.9,-10.5,209,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1793,3393,0,0,0,0,0,0
$GC,1457,-0.72,-146.0,163.6,-10.3,270,1463,0.10,0.00,0.00,0.000,6,0.104,0.000,2449,1793,3393,0,0,0,0,0,0
$GC,1785,-0.67,-146.0,211.0,-14.5,325,1787,0.12,0.00,0.00,0.000,6,0.145,0.000,2487,1792,3393,0,0,0,0,0,0
$GC,2096,-0.67,-146.0,246.7,-11.2,355,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1793,3393,0,0,0,0,0,0
$GC,2406,-0.67,-146.0,279.5,-10.1,385,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1793,3393,0,0,0,0,0,0
$GC,2717,-0.67,-146.0,312.9,-11.4,415,2721,0.00,2.17,0.00,0.000,4,0.000,0.035,2479,3206,3392,0,0,0,0,0,0
$GC,2764,-0.74,-146.0,318.0,-10.8,419,2770,0.00,2.17,0.00,0.000,6,0.000,0.030,2479,1794,3392,0,0,0,0,0,0
$STATE,3040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3040,begin apogee
$GC,3042,-0.14,0.0,350.2,11.9,446,3155,0.52,0.00,110.25,0.768,6,0.104,0.000,2662,1793,2791,0,0,0,0,0,0
$STATE,3156,end apogee,CONTROL_FINISHED_OK
$STATE,3156,begin climb
$GC,3157,0.65,146.0,355.5,0.0,457,3281,0.65,2.40,117.50,0.739,4,0.052,0.046,2926,358,2196,0,0,0,0,0,0
$GC,3341,0.58,180.6,353.7,8.4,475,3375,0.10,2.20,28.35,0.716,6,0.128,0.027,2884,1762,2055,0,0,0,0,0,0
$GC,3692,0.61,207.9,325.0,8.7,509,3715,0.00,0.00,22.05,0.716,6,0.000,0.000,2884,1762,1944,0,0,0,0,0,0
$GC,4022,0.63,219.9,294.5,9.4,541,4036,0.00,2.20,10.38,0.677,4,0.000,0.033,2884,3169,1895,0,0,0,0,0,0
$GC,4057,0.64,233.8,291.0,9.4,544,4076,0.00,2.25,12.65,0.678,6,0.000,0.031,2893,1755,1838,0,0,0,0,0,0
$GC,4384,0.65,240.5,258.6,9.7,576,4397,0.00,0.00,6.82,0.623,6,0.000,0.000,2893,1756,1811,0,0,0,0,0,0
$GC,4705,0.65,240.5,225.6,10.4,607,4709,0.00,2.17,0.00,0.000,4,0.000,0.034,2893,3152,1811,0,0,0,0,0,0
$GC,4779,0.65,240.5,217.2,11.6,614,4784,0.00,2.17,0.00,0.000,6,0.000,0.031,2904,1759,1811,0,0,0,0,0,0
$GC,5101,0.65,240.5,181.5,10.9,660,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1757,1810,0,0,0,0,0,0
$GC,5426,0.65,240.5,145.2,10.1,721,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1757,1810,0,0,0,0,0,0
$GC,5746,0.68,265.5,114.1,8.8,781,5775,0.00,2.20,20.05,0.634,4,0.000,0.035,2904,3152,1709,0,0,0,0,0,0
$GC,5790,0.71,290.1,110.2,8.9,789,5816,0.00,2.20,20.50,0.614,6,0.000,0.032,2914,1750,1609,0,0,0,0,0,0
$GC,6136,0.76,290.1,70.7,10.9,854,6143,0.00,2.17,0.00,0.000,4,0.000,0.032,2914,3144,1610,0,0,0,0,0,0
$GC,6195,0.80,290.1,64.2,10.9,865,6202,0.05,2.17,0.00,0.000,6,0.071,0.032,2972,1755,1610,0,0,0,0,0,0
$GC,6522,0.80,290.1,23.4,11.8,926,6528,0.00,2.20,0.00,0.000,4,0.000,0.046,2983,348,1610,0,0,0,0,0,0
$GC,6623,0.80,290.1,11.2,12.1,945,6630,0.00,2.12,0.00,0.000,6,0.000,0.038,2983,1750,1610,0,0,0,0,0,0
$STATE,6687,end climb,SURFACE_DEPTH_REACHED
$STATE,6687,begin surface coast
$FINISH,0.1,1.025166
$STATE,6708,end surface coast,CONTROL_FINISHED_OK
$STATE,6708,begin surface
$SM_CCo,6779,0.00,0.000,0,0,1610,289.94
$SM_GC,1.09,7.15,0.00,0.00,0.042,0.000,0.000,198,1750,1610,-7.76,-1.41,289.94
$IRIDIUM_FIX,3632.29,-12203.74,130699,222207
$TT8_MAMPS,0.052156
$HUMID,56.10
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,350.2,6.8
$24V_AH,24.3,7.115
$10V_AH,10.2,6.578
$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,17.450,39.525,348.550,0.000,0.000,29.317,36.574,160.178,0.750,0.000,13.752,0.000,3916.013,364.124,2439.378,345.613,0.000,1136.987,0.000,2146.542,0.000,5.419,0.000
$DEVICE_MAMPS,220.896,59.059,767.767,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,661.448,2115.286,1698.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246372
$DATA_FILE_SIZE,66462,961
$CAP_FILE_SIZE,88851,0
$CFSIZE,260165632,254259200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,023106,3645.739,-12204.390,31,1.3,36,14.8