version: 66.06
glider: 503
mission: 5
dive: 45
start: 3 25 110 15 4 32
data:
$ID,503
$MISSION,5
$DIVE,45
$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,-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,-9112.7168
$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,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,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
$GPS1,145706,3646.184,-12215.854,36,1.1,36,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-75.9
$GPS2,150426,3646.214,-12215.849,12,1.2,12,14.8
$SPEED_LIMITS,0.136,0.217
$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,79.2,5724,-15.8,-7.857
$D_GRID,745
$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,-116.8,0.0,0.0,0,54,0.00,0.00,-39.65,0.000,2,0.000,0.000,190,1755,2684,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.5,-7.0,7,82,8.93,2.12,-12.90,0.000,4,0.225,0.051,2508,388,3270,0,0,0,0,0,0
$GC,322,-0.48,-116.8,49.4,-13.9,57,329,0.12,2.15,0.00,0.000,6,0.115,0.025,2543,1804,3272,0,0,0,0,0,0
$GC,648,-0.48,-116.8,81.9,-9.4,118,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1804,3272,0,0,0,0,0,0
$GC,969,-0.48,-116.8,111.3,-8.2,178,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1804,3273,0,0,0,0,0,0
$GC,1290,-0.52,-116.8,137.9,-8.2,238,1297,0.00,2.15,0.00,0.000,4,0.000,0.031,2535,3207,3273,0,0,0,0,0,0
$GC,1327,-0.60,-116.8,141.2,-8.3,245,1334,0.00,2.15,0.00,0.000,6,0.000,0.026,2535,1796,3273,0,0,0,0,0,0
$GC,1654,-0.60,-116.8,169.6,-8.1,306,1661,0.00,2.12,0.00,0.000,4,0.000,0.038,2535,407,3273,0,0,0,0,0,0
$GC,1686,-0.60,-116.8,172.6,-9.3,312,1693,0.00,2.08,0.00,0.000,6,0.000,0.024,2532,1803,3273,0,0,0,0,0,0
$GC,2012,-0.60,-116.8,199.8,-8.1,373,2019,0.00,2.12,0.00,0.000,4,0.000,0.031,2525,3192,3273,0,0,0,0,0,0
$GC,2067,-0.66,-116.8,204.2,-8.2,379,2070,0.12,2.10,0.00,0.000,6,0.094,0.026,2453,1791,3273,0,0,0,0,0,0
$GC,2386,-0.55,-116.8,245.9,-13.4,410,2391,0.22,2.12,0.00,0.000,4,0.130,0.038,2524,409,3273,0,0,0,0,0,0
$GC,2466,-0.55,-116.8,253.7,-8.4,417,2472,0.00,2.08,0.00,0.000,6,0.000,0.023,2518,1800,3273,0,0,0,0,0,0
$GC,2781,-0.55,-116.8,280.2,-8.4,448,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1802,3273,0,0,0,0,0,0
$GC,3092,-0.55,-116.8,307.1,-8.4,478,3096,0.00,2.12,0.00,0.000,4,0.000,0.031,2508,3194,3272,0,0,0,0,0,0
$GC,3118,-0.55,-116.8,309.3,-8.6,480,3125,0.00,2.15,0.00,0.000,6,0.000,0.026,2508,1791,3272,0,0,0,0,0,0
$GC,3434,-0.55,-116.8,336.5,-8.7,511,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1791,3272,0,0,0,0,0,0
$GC,3745,-0.55,-116.8,363.5,-8.5,541,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1791,3271,0,0,0,0,0,0
$GC,4056,-0.55,-116.8,390.2,-8.7,571,4059,0.00,2.12,0.00,0.000,4,0.000,0.040,2508,404,3271,0,0,0,0,0,0
$GC,4098,-0.55,-116.8,394.4,-10.1,575,4102,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1801,3271,0,0,0,0,0,0
$GC,4418,-0.55,-116.8,422.4,-8.4,606,4423,0.00,2.15,0.00,0.000,4,0.000,0.032,2505,3199,3270,0,0,0,0,0,0
$GC,4482,-0.61,-116.8,427.6,-7.9,612,4486,0.00,2.12,0.00,0.000,6,0.000,0.026,2505,1797,3270,0,0,0,0,0,0
$GC,4803,-0.61,-116.8,455.1,-8.6,643,4807,0.00,2.12,0.00,0.000,4,0.000,0.038,2505,404,3270,0,0,0,0,0,0
$GC,4855,-0.61,-116.8,460.2,-10.0,648,4860,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1810,3270,0,0,0,0,0,0
$GC,5177,-0.61,-116.8,491.9,-10.2,679,5181,0.00,2.10,0.00,0.000,4,0.000,0.033,2495,3189,3270,0,0,0,0,0,0
$GC,5224,-0.66,-116.8,496.5,-9.8,683,5231,0.00,2.12,0.00,0.000,6,0.000,0.026,2495,1800,3270,0,0,0,0,0,0
$GC,5536,-0.66,-116.8,527.9,-10.1,701,5540,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,407,3269,0,0,0,0,0,0
$GC,5583,-0.66,-116.8,533.1,-10.6,703,5587,0.00,2.08,0.00,0.000,6,0.000,0.024,2486,1796,3269,0,0,0,0,0,0
$GC,5904,-0.66,-116.8,564.7,-9.8,719,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1796,3269,0,0,0,0,0,0
$GC,6209,-0.66,-116.8,591.9,-8.6,734,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1796,3268,0,0,0,0,0,0
$GC,6515,-0.66,-116.8,621.1,-9.9,749,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1796,3268,0,0,0,0,0,0
$GC,6819,-0.66,-116.8,648.4,-8.8,764,6824,0.00,2.12,0.00,0.000,4,0.000,0.033,2479,3194,3267,0,0,0,0,0,0
$GC,6842,-0.66,-116.8,650.3,-9.3,765,6845,0.00,2.08,0.00,0.000,6,0.000,0.028,2479,1797,3267,0,0,0,0,0,0
$GC,7162,-0.66,-116.8,682.0,-9.5,781,7166,0.00,2.12,0.00,0.000,4,0.000,0.040,2479,404,3267,0,0,0,0,0,0
$GC,7220,-0.61,-116.8,688.3,-10.9,783,7227,0.12,2.10,0.00,0.000,6,0.147,0.025,2507,1809,3267,0,0,0,0,0,0
$GC,7531,-0.61,-116.8,714.4,-8.2,799,7535,0.00,2.10,0.00,0.000,4,0.000,0.034,2505,3187,3267,0,0,0,0,0,0
$STATE,7582,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7582,begin apogee
$GC,7587,-0.14,0.0,718.7,8.0,801,7680,0.43,0.00,91.53,1.023,6,0.100,0.000,2658,1751,2793,0,0,0,0,0,0
$STATE,7681,end apogee,CONTROL_FINISHED_OK
$STATE,7681,begin climb
$GC,7682,0.57,116.8,722.2,0.0,806,7787,0.62,2.33,99.18,0.989,4,0.062,0.043,2899,352,2314,0,0,0,0,0,0
$GC,7801,0.52,176.5,722.1,5.1,812,7857,0.08,2.22,51.05,0.969,6,0.140,0.024,2875,1747,2073,0,0,0,0,0,0
$GC,8179,0.52,176.5,689.3,10.3,831,8183,0.00,2.20,0.00,0.000,4,0.000,0.031,2876,3150,2066,0,0,0,0,0,0
$GC,8242,0.45,176.5,683.1,9.3,834,8247,0.10,2.20,0.00,0.000,6,0.127,0.028,2851,1750,2064,0,0,0,0,0,0
$GC,8568,0.45,176.5,657.5,8.3,850,8573,0.00,2.20,0.00,0.000,4,0.000,0.041,2861,348,2062,0,0,0,0,0,0
$GC,8594,0.45,176.5,655.1,8.9,851,8599,0.00,2.15,0.00,0.000,6,0.000,0.025,2861,1756,2062,0,0,0,0,0,0
$GC,8917,0.45,176.5,626.7,9.0,867,8920,0.00,2.15,0.00,0.000,4,0.000,0.031,2860,3153,2061,0,0,0,0,0,0
$GC,8931,0.45,176.5,625.2,9.3,867,8938,0.00,2.20,0.00,0.000,6,0.000,0.029,2871,1748,2060,0,0,0,0,0,0
$GC,9243,0.45,176.5,595.2,9.5,883,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1748,2060,0,0,0,0,0,0
$GC,9547,0.45,176.5,569.0,8.3,898,9551,0.00,2.17,0.00,0.000,4,0.000,0.041,2882,347,2059,0,0,0,0,0,0
$GC,9569,0.45,176.5,567.2,8.7,899,9573,0.10,2.10,0.00,0.000,6,0.120,0.025,2846,1753,2058,0,0,0,0,0,0
$GC,9895,0.46,183.7,543.3,7.5,915,9904,0.00,2.15,4.88,0.719,4,0.000,0.031,2846,3145,2043,0,0,0,0,0,0
$GC,9953,0.46,183.7,538.3,9.3,917,9959,0.00,2.15,0.00,0.000,6,0.000,0.028,2856,1753,2043,0,0,0,0,0,0
$GC,10264,0.46,183.7,512.9,8.0,933,10267,0.00,2.17,0.00,0.000,4,0.000,0.041,2867,350,2043,0,0,0,0,0,0
$GC,10294,0.46,183.7,510.2,9.2,934,10299,0.00,2.10,0.00,0.000,6,0.000,0.025,2866,1749,2042,0,0,0,0,0,0
$GC,10614,0.46,183.7,484.0,7.9,959,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1749,2042,0,0,0,0,0,0
$GC,10925,0.48,201.6,461.1,7.0,989,10947,0.00,2.17,15.60,0.854,4,0.000,0.032,2866,3144,1971,0,0,0,0,0,0
$GC,10982,0.48,201.6,456.4,8.7,994,10990,0.00,2.15,0.00,0.000,6,0.000,0.028,2877,1756,1970,0,0,0,0,0,0
$GC,11298,0.48,201.6,431.6,7.9,1025,11302,0.00,2.20,0.00,0.000,4,0.000,0.042,2888,347,1970,0,0,0,0,0,0
$GC,11351,0.48,201.6,427.0,8.4,1030,11356,0.08,2.10,0.00,0.000,6,0.120,0.025,2859,1746,1971,0,0,0,0,0,0
$GC,11673,0.52,233.6,404.8,6.4,1061,11704,0.00,2.17,26.62,0.830,4,0.000,0.030,2859,3151,1840,0,0,0,0,0,0
$GC,11718,0.54,254.8,401.5,6.9,1065,11744,0.00,2.20,19.00,0.795,6,0.000,0.028,2867,1750,1753,0,0,0,0,0,0
$GC,12053,0.54,254.8,374.4,8.5,1098,12058,0.00,2.22,0.00,0.000,4,0.000,0.042,2878,353,1754,0,0,0,0,0,0
$GC,12095,0.54,254.8,370.7,8.6,1102,12100,0.00,2.15,0.00,0.000,6,0.000,0.025,2878,1757,1754,0,0,0,0,0,0
$GC,12417,0.54,254.8,340.7,9.3,1133,12418,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1758,1754,0,0,0,0,0,0
$GC,12728,0.54,254.8,311.8,9.2,1163,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1758,1754,0,0,0,0,0,0
$GC,13038,0.54,254.8,280.4,10.4,1193,13042,0.00,2.20,0.00,0.000,4,0.000,0.042,2889,351,1754,0,0,0,0,0,0
$GC,13090,0.54,254.8,274.5,12.1,1198,13095,0.00,2.12,0.00,0.000,6,0.000,0.025,2889,1756,1753,0,0,0,0,0,0
$GC,13412,0.54,254.8,240.9,10.0,1229,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1756,1753,0,0,0,0,0,0
$GC,13723,0.54,254.8,209.2,9.4,1259,13726,0.00,2.20,0.00,0.000,4,0.000,0.042,2900,343,1753,0,0,0,0,0,0
$GC,13807,0.54,254.8,200.3,10.4,1267,13811,0.00,2.10,0.00,0.000,6,0.000,0.025,2901,1752,1752,0,0,0,0,0,0
$GC,14133,0.54,254.8,168.5,9.9,1327,14140,0.00,2.12,0.00,0.000,4,0.000,0.031,2901,3145,1752,0,0,0,0,0,0
$GC,14171,0.54,254.8,164.5,10.4,1334,14179,0.10,2.15,0.00,0.000,6,0.117,0.029,2874,1747,1752,0,0,0,0,0,0
$GC,14499,0.61,261.3,138.8,7.6,1395,14510,0.00,2.12,6.88,0.613,4,0.000,0.029,2873,3151,1725,0,0,0,0,0,0
$GC,14520,0.68,265.7,137.1,7.7,1399,14532,0.08,2.15,5.22,0.547,6,0.058,0.029,2934,1749,1708,0,0,0,0,0,0
$GC,14852,0.63,265.7,101.0,10.7,1461,14858,0.00,2.20,0.00,0.000,4,0.000,0.043,2946,344,1707,0,0,0,0,0,0
$GC,14879,0.58,265.7,97.9,10.8,1466,14886,0.15,2.10,0.00,0.000,6,0.110,0.025,2890,1751,1707,0,0,0,0,0,0
$GC,15206,0.63,265.7,72.5,8.2,1527,15212,0.00,2.12,0.00,0.000,4,0.000,0.031,2890,3144,1708,0,0,0,0,0,0
$GC,15275,0.68,265.7,66.5,8.7,1540,15282,0.00,2.12,0.00,0.000,6,0.000,0.028,2898,1755,1708,0,0,0,0,0,0
$GC,15602,0.76,290.4,41.7,6.7,1601,15630,0.12,2.20,19.85,0.596,4,0.091,0.043,2980,357,1608,0,0,0,0,0,0
$GC,15699,0.69,290.4,30.3,11.8,1619,15705,0.15,2.10,0.00,0.000,6,0.115,0.025,2925,1756,1610,0,0,0,0,0,0
$GC,16025,0.77,309.9,6.3,7.0,1680,16047,0.00,2.12,17.08,0.565,4,0.000,0.029,2925,3151,1527,0,0,0,0,0,0
$GC,16057,0.85,317.7,3.8,7.5,1686,16070,0.08,2.17,7.32,0.502,6,0.057,0.028,2989,1750,1495,0,0,0,0,0,0
$STATE,16073,end climb,SURFACE_DEPTH_REACHED
$STATE,16073,begin surface coast
$FINISH,0.3,1.011969
$STATE,16111,end surface coast,CONTROL_FINISHED_OK
$STATE,16112,begin surface
$SM_CCo,16183,0.00,0.000,0,0,1496,317.90
$SM_GC,1.02,7.28,0.00,0.00,0.043,0.000,0.000,190,1749,1496,-7.77,-1.41,317.90
$IRIDIUM_FIX,3629.60,-12241.05,190699,080811
$TT8_MAMPS,0.051389
$HUMID,53.81
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.8,27.7
$24V_AH,24.0,10.531
$10V_AH,10.1,11.927
$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,18.875,141.550,364.200,0.000,0.000,30.527,37.312,260.532,1.500,0.000,14.626,0.000,11187.455,486.558,4375.436,531.331,0.000,1878.954,0.000,3777.803,0.000,12.669,0.000
$DEVICE_MAMPS,224.731,50.622,1023.178,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.792,3587.940,2629.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286664
$DATA_FILE_SIZE,120226,1696
$CAP_FILE_SIZE,182040,0
$CFSIZE,260165632,251314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,193506,3646.135,-12213.837,33,1.3,33,14.8