version: 66.06
glider: 503
mission: 5
dive: 40
start: 3 24 110 12 43 2
data:
$ID,503
$MISSION,5
$DIVE,40
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-3
$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,-9037.6865
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,123307,3645.380,-12212.062,55,1.1,55,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.2
$GPS2,124256,3645.359,-12212.024,11,1.1,11,14.8
$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,318.0,9660,-15.8,-7.857
$D_GRID,683
$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,-0.57,-116.8,0.0,0.0,0,48,0.00,0.00,-34.12,0.000,2,0.000,0.000,182,1752,2574,0,0,0,0,0,0
$GC,49,-0.57,-116.8,3.0,-7.0,6,82,8.88,2.28,-16.70,0.000,4,0.220,0.048,2503,3186,3271,0,0,0,0,0,0
$GC,161,-0.51,-116.8,20.6,-15.2,27,167,0.08,2.17,0.00,0.000,6,0.126,0.027,2530,1796,3272,0,0,0,0,0,0
$GC,487,-0.51,-116.8,66.3,-11.4,88,494,0.00,2.15,0.00,0.000,4,0.000,0.039,2529,409,3272,0,0,0,0,0,0
$GC,578,-0.51,-116.8,77.9,-12.2,105,585,0.00,2.10,0.00,0.000,6,0.000,0.023,2521,1807,3272,0,0,0,0,0,0
$GC,905,-0.51,-116.8,115.8,-9.6,166,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1808,3273,0,0,0,0,0,0
$GC,1229,-0.51,-116.8,147.2,-9.4,227,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1808,3273,0,0,0,0,0,0
$GC,1550,-0.51,-116.8,177.3,-9.1,287,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1808,3273,0,0,0,0,0,0
$GC,1869,-0.51,-116.8,205.7,-9.2,341,1873,0.00,2.17,0.00,0.000,4,0.000,0.040,2522,397,3273,0,0,0,0,0,0
$GC,1916,-0.51,-116.8,210.5,-9.7,345,1923,0.00,2.10,0.00,0.000,6,0.000,0.023,2512,1804,3273,0,0,0,0,0,0
$GC,2231,-0.51,-116.8,243.2,-10.7,376,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1804,3273,0,0,0,0,0,0
$GC,2542,-0.51,-116.8,274.9,-10.0,406,2546,0.00,2.15,0.00,0.000,4,0.000,0.039,2512,403,3273,0,0,0,0,0,0
$GC,2574,-0.51,-116.8,278.4,-11.1,409,2578,0.00,2.05,0.00,0.000,6,0.000,0.025,2508,1788,3273,0,0,0,0,0,0
$GC,2894,-0.51,-116.8,309.5,-9.3,440,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1789,3272,0,0,0,0,0,0
$GC,3205,-0.51,-116.8,338.1,-9.1,470,3210,0.00,2.15,0.00,0.000,4,0.000,0.032,2507,3197,3272,0,0,0,0,0,0
$GC,3252,-0.56,-116.8,342.3,-8.9,474,3260,0.00,2.15,0.00,0.000,6,0.000,0.026,2507,1792,3271,0,0,0,0,0,0
$GC,3569,-0.56,-116.8,370.5,-8.9,505,3573,0.00,2.12,0.00,0.000,4,0.000,0.040,2507,404,3271,0,0,0,0,0,0
$GC,3627,-0.56,-116.8,376.3,-10.0,510,3634,0.00,2.08,0.00,0.000,6,0.000,0.024,2498,1806,3271,0,0,0,0,0,0
$GC,3943,-0.56,-116.8,405.1,-8.9,541,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1806,3271,0,0,0,0,0,0
$GC,4254,-0.56,-116.8,432.5,-8.4,571,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1806,3270,0,0,0,0,0,0
$GC,4564,-0.56,-116.8,458.2,-8.2,601,4568,0.00,2.12,0.00,0.000,4,0.000,0.040,2498,402,3269,0,0,0,0,0,0
$GC,4600,-0.51,-116.8,461.6,-9.6,604,4608,0.15,2.10,0.00,0.000,6,0.140,0.024,2547,1805,3269,0,0,0,0,0,0
$GC,4917,-0.60,-116.8,479.8,-6.0,635,4918,0.12,0.00,0.00,0.000,6,0.094,0.000,2482,1807,3270,0,0,0,0,0,0
$GC,5234,-0.60,-116.8,512.8,-10.2,660,5239,0.00,2.15,0.00,0.000,4,0.000,0.040,2485,403,3269,0,0,0,0,0,0
$GC,5271,-0.55,-116.8,517.1,-11.1,661,5278,0.15,2.10,0.00,0.000,6,0.142,0.025,2526,1809,3269,0,0,0,0,0,0
$GC,5583,-0.60,-116.8,539.9,-7.2,677,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1809,3269,0,0,0,0,0,0
$GC,5887,-0.65,-116.8,561.6,-7.2,692,5892,0.10,2.17,0.00,0.000,4,0.105,0.041,2469,406,3268,0,0,0,0,0,0
$GC,5935,-0.57,-116.8,566.9,-12.2,694,5939,0.15,2.05,0.00,0.000,6,0.115,0.024,2514,1786,3267,0,0,0,0,0,0
$GC,6255,-0.57,-116.8,595.0,-8.7,710,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1787,3268,0,0,0,0,0,0
$STATE,6336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6336,begin apogee
$GC,6339,-0.14,0.0,602.0,8.5,714,6431,0.40,0.00,90.70,0.948,6,0.107,0.000,2653,1788,2792,0,0,0,0,0,0
$STATE,6432,end apogee,CONTROL_FINISHED_OK
$STATE,6432,begin climb
$GC,6433,0.57,116.8,605.0,0.0,718,6537,0.62,2.22,97.35,0.913,4,0.065,0.030,2886,3143,2315,0,0,0,0,0,0
$GC,6580,0.54,189.7,604.8,4.5,725,6646,0.00,2.25,61.15,0.901,6,0.000,0.028,2897,1753,2018,0,0,0,0,0,0
$GC,6956,0.48,189.7,571.7,10.0,744,6961,0.15,2.25,0.00,0.000,4,0.144,0.042,2863,348,2012,0,0,0,0,0,0
$GC,6987,0.48,189.7,568.8,8.7,745,6992,0.00,2.17,0.00,0.000,6,0.000,0.024,2863,1758,2011,0,0,0,0,0,0
$GC,7304,0.48,189.7,540.1,9.5,761,7308,0.00,2.22,0.00,0.000,4,0.000,0.042,2874,352,2009,0,0,0,0,0,0
$GC,7340,0.48,189.7,536.3,9.9,762,7347,0.00,2.15,0.00,0.000,6,0.000,0.024,2874,1761,2009,0,0,0,0,0,0
$GC,7651,0.48,189.7,505.8,10.3,778,7655,0.00,2.12,0.00,0.000,4,0.000,0.031,2874,3140,2008,0,0,0,0,0,0
$GC,7676,0.48,189.7,503.0,10.6,779,7681,0.00,2.17,0.00,0.000,6,0.000,0.028,2885,1749,2007,0,0,0,0,0,0
$GC,7992,0.48,189.7,470.0,10.5,808,7997,0.00,2.17,0.00,0.000,4,0.000,0.030,2885,3154,2007,0,0,0,0,0,0
$GC,8019,0.43,189.7,467.1,11.7,810,8026,0.15,2.20,0.00,0.000,6,0.150,0.028,2845,1744,2006,0,0,0,0,0,0
$GC,8335,0.48,189.7,438.9,8.5,841,8339,0.00,2.17,0.00,0.000,4,0.000,0.042,2854,348,2005,0,0,0,0,0,0
$GC,8420,0.48,189.7,431.2,9.2,849,8424,0.00,2.10,0.00,0.000,6,0.000,0.025,2855,1752,2005,0,0,0,0,0,0
$GC,8740,0.48,189.7,404.5,8.0,880,8745,0.00,2.15,0.00,0.000,4,0.000,0.031,2855,3149,2004,0,0,0,0,0,0
$GC,8782,0.48,189.7,400.8,9.5,884,8788,0.00,2.17,0.00,0.000,6,0.000,0.028,2863,1747,2004,0,0,0,0,0,0
$GC,9105,0.49,199.2,375.7,7.4,915,9115,0.00,0.00,6.53,0.722,6,0.000,0.000,2862,1747,1978,0,0,0,0,0,0
$GC,9424,0.51,216.5,352.8,7.1,946,9440,0.00,0.00,15.12,0.785,6,0.000,0.000,2863,1747,1909,0,0,0,0,0,0
$GC,9745,0.51,216.5,327.7,7.9,977,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1747,1909,0,0,0,0,0,0
$GC,10056,0.51,216.5,302.1,8.3,1007,10059,0.00,2.17,0.00,0.000,4,0.000,0.043,2874,351,1909,0,0,0,0,0,0
$GC,10077,0.51,216.5,300.3,8.9,1009,10081,0.00,2.10,0.00,0.000,6,0.000,0.025,2874,1749,1909,0,0,0,0,0,0
$GC,10397,0.51,216.5,271.2,8.9,1040,10402,0.00,2.15,0.00,0.000,4,0.000,0.031,2874,3153,1909,0,0,0,0,0,0
$GC,10429,0.51,216.5,268.1,9.7,1043,10433,0.00,2.17,0.00,0.000,6,0.000,0.029,2884,1744,1908,0,0,0,0,0,0
$GC,10749,0.51,216.5,238.5,9.3,1074,10754,0.00,2.15,0.00,0.000,4,0.000,0.041,2895,352,1907,0,0,0,0,0,0
$GC,10803,0.51,216.5,233.2,10.2,1079,10807,0.00,2.08,0.00,0.000,6,0.000,0.025,2895,1747,1908,0,0,0,0,0,0
$GC,11123,0.51,216.5,203.0,8.9,1110,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1747,1908,0,0,0,0,0,0
$GC,11443,0.51,216.5,173.9,9.7,1166,11450,0.00,2.12,0.00,0.000,4,0.000,0.031,2895,3147,1908,0,0,0,0,0,0
$GC,11459,0.51,216.5,172.3,9.6,1169,11467,0.10,2.15,0.00,0.000,6,0.119,0.029,2868,1745,1907,0,0,0,0,0,0
$GC,11787,0.55,216.5,145.6,8.1,1230,11793,0.00,2.15,0.00,0.000,4,0.000,0.031,2868,3150,1907,0,0,0,0,0,0
$GC,11818,0.55,216.5,142.9,8.8,1236,11825,0.00,2.15,0.00,0.000,6,0.000,0.029,2875,1748,1907,0,0,0,0,0,0
$GC,12144,0.55,216.5,117.1,7.9,1297,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1748,1907,0,0,0,0,0,0
$GC,12465,0.61,259.1,94.4,5.9,1357,12503,0.00,0.00,33.17,0.634,6,0.000,0.000,2875,1748,1736,0,0,0,0,0,0
$GC,12823,0.73,295.7,73.6,6.2,1424,12855,0.17,0.00,29.77,0.610,6,0.076,0.000,2958,1748,1585,0,0,0,0,0,0
$GC,13175,0.73,295.7,34.6,9.7,1490,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1748,1588,0,0,0,0,0,0
$STATE,13493,end climb,SURFACE_DEPTH_REACHED
$STATE,13494,begin surface coast
$FINISH,0.2,1.005209
$STATE,13521,end surface coast,CONTROL_FINISHED_OK
$STATE,13521,begin surface
$SM_CCo,13592,0.00,0.000,0,0,1588,295.34
$SM_GC,1.14,7.07,0.00,0.00,0.038,0.000,0.000,197,1748,1588,-7.76,-1.47,295.34
$IRIDIUM_FIX,3629.60,-12005.71,180699,121257
$TT8_MAMPS,0.051389
$HUMID,54.48
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.3,10.1
$24V_AH,24.1,9.942
$10V_AH,10.1,10.874
$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,18.300,90.325,333.800,0.000,0.000,61.924,111.235,251.826,1.000,0.000,13.591,0.000,9177.828,420.668,3943.946,601.045,0.000,1642.044,0.000,3418.016,0.000,9.023,0.000
$DEVICE_MAMPS,220.129,47.554,948.012,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.412,3302.948,2452.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246428
$DATA_FILE_SIZE,107722,1555
$CAP_FILE_SIZE,153515,0
$CFSIZE,260165632,251899904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240310,163031,3647.300,-12213.631,40,1.2,40,14.8