version: 66.06
glider: 503
mission: 5
dive: 46
start: 3 25 110 19 46 12
data:
$ID,503
$MISSION,5
$DIVE,46
$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,-9145.4326
$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,51
$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
$GPS1,193506,3646.135,-12213.837,33,1.3,33,14.8
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.0
$GPS2,194606,3646.136,-12213.781,14,0.8,30,14.8
$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,80.6,2655,-21.9,-7.857
$D_GRID,632
$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,-0.67,-64.6,0.0,0.0,0,57,0.00,0.00,-43.45,0.000,2,0.000,0.000,182,1749,2619,0,0,0,0,0,0
$GC,58,-0.68,-72.7,3.4,-7.2,8,85,8.73,2.15,-11.00,0.000,4,0.219,0.054,2473,397,3090,0,0,0,0,0,0
$GC,325,-0.61,-72.7,53.6,-15.8,58,331,0.10,2.12,0.00,0.000,6,0.133,0.025,2499,1794,3092,0,0,0,0,0,0
$GC,651,-0.61,-72.7,96.1,-12.6,119,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1795,3093,0,0,0,0,0,0
$GC,971,-0.66,-72.7,133.6,-11.4,179,979,0.00,2.17,0.00,0.000,4,0.000,0.039,2499,393,3093,0,0,0,0,0,0
$GC,1053,-0.66,-72.7,143.4,-12.1,194,1059,0.00,2.12,0.00,0.000,6,0.000,0.025,2491,1811,3093,0,0,0,0,0,0
$GC,1379,-0.66,-72.7,178.7,-10.3,255,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1811,3094,0,0,0,0,0,0
$GC,1704,-0.71,-72.7,211.5,-9.5,306,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1811,3093,0,0,0,0,0,0
$GC,2015,-0.75,-72.7,242.9,-10.8,336,2019,0.10,2.20,0.00,0.000,4,0.106,0.038,2431,394,3093,0,0,0,0,0,0
$GC,2084,-0.66,-72.7,253.7,-16.3,342,2092,0.20,2.10,0.00,0.000,6,0.145,0.024,2487,1805,3093,0,0,0,0,0,0
$GC,2400,-0.71,-72.7,289.8,-11.1,373,2404,0.00,2.15,0.00,0.000,4,0.000,0.038,2487,400,3093,0,0,0,0,0,0
$GC,2436,-0.71,-72.7,294.3,-12.3,376,2444,0.00,2.10,0.00,0.000,6,0.000,0.024,2479,1806,3092,0,0,0,0,0,0
$GC,2752,-0.71,-72.7,330.1,-11.2,407,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1806,3092,0,0,0,0,0,0
$GC,3063,-0.71,-72.7,363.6,-10.4,437,3067,0.00,2.10,0.00,0.000,4,0.000,0.032,2475,3185,3092,0,0,0,0,0,0
$GC,3089,-0.77,-72.7,366.4,-10.7,439,3095,0.00,2.12,0.00,0.000,6,0.000,0.027,2475,1790,3092,0,0,0,0,0,0
$GC,3404,-0.77,-72.7,400.6,-10.2,470,3409,0.00,2.15,0.00,0.000,4,0.000,0.040,2475,398,3092,0,0,0,0,0,0
$GC,3458,-0.77,-72.7,407.0,-12.2,475,3462,0.00,2.08,0.00,0.000,6,0.000,0.025,2465,1800,3092,0,0,0,0,0,0
$GC,3778,-0.77,-72.7,444.0,-10.9,506,3783,0.00,2.15,0.00,0.000,4,0.000,0.031,2455,3195,3091,0,0,0,0,0,0
$GC,3821,-0.83,-72.7,448.7,-11.0,510,3825,0.00,2.12,0.00,0.000,6,0.000,0.026,2454,1798,3090,0,0,0,0,0,0
$GC,4142,-0.83,-72.7,484.8,-11.4,541,4146,0.00,2.12,0.00,0.000,4,0.000,0.039,2455,404,3089,0,0,0,0,0,0
$GC,4185,-0.83,-72.7,490.2,-13.1,545,4188,0.00,2.05,0.00,0.000,6,0.000,0.025,2445,1794,3090,0,0,0,0,0,0
$GC,4502,-0.83,-72.7,526.1,-11.3,565,4505,0.00,2.12,0.00,0.000,4,0.000,0.038,2445,403,3090,0,0,0,0,0,0
$GC,4544,-0.83,-72.7,531.9,-14.2,567,4548,0.00,2.08,0.00,0.000,6,0.000,0.025,2436,1803,3089,0,0,0,0,0,0
$GC,4871,-0.83,-72.7,569.7,-10.3,583,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1805,3089,0,0,0,0,0,0
$GC,5175,-0.83,-72.7,603.7,-11.0,598,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1805,3089,0,0,0,0,0,0
$STATE,5296,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5296,begin apogee
$GC,5298,-0.14,0.0,617.8,11.5,604,5359,0.65,0.00,56.47,0.957,6,0.123,0.000,2651,1805,2792,0,0,0,0,0,0
$STATE,5360,end apogee,CONTROL_FINISHED_OK
$STATE,5360,begin climb
$GC,5361,0.68,72.7,619.8,0.0,607,5429,0.73,2.42,60.92,0.924,4,0.070,0.041,2931,353,2494,0,0,0,0,0,0
$GC,5456,0.64,128.5,618.4,3.3,611,5507,0.00,2.20,47.10,0.913,6,0.000,0.023,2932,1752,2268,0,0,0,0,0,0
$GC,5822,0.64,128.5,584.6,10.7,630,5827,0.00,2.17,0.00,0.000,4,0.000,0.030,2932,3142,2260,0,0,0,0,0,0
$GC,5864,0.60,128.5,579.8,10.8,632,5870,0.15,2.17,0.00,0.000,6,0.143,0.028,2894,1756,2259,0,0,0,0,0,0
$GC,6191,0.60,128.5,550.0,8.5,648,6195,0.00,2.20,0.00,0.000,4,0.000,0.041,2904,355,2257,0,0,0,0,0,0
$GC,6298,0.60,128.5,539.7,9.6,653,6302,0.00,2.10,0.00,0.000,6,0.000,0.025,2904,1747,2256,0,0,0,0,0,0
$GC,6625,0.60,128.5,511.7,8.5,669,6628,0.00,2.15,0.00,0.000,4,0.000,0.031,2904,3148,2255,0,0,0,0,0,0
$GC,6703,0.60,128.5,504.2,9.6,672,6711,0.00,2.17,0.00,0.000,6,0.000,0.028,2914,1744,2254,0,0,0,0,0,0
$GC,7020,0.60,128.5,476.9,8.3,701,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1744,2254,0,0,0,0,0,0
$GC,7330,0.60,130.6,450.7,7.7,731,7333,0.00,2.12,0.00,0.000,4,0.000,0.031,2915,3154,2253,0,0,0,0,0,0
$GC,7372,0.60,130.6,446.9,8.7,735,7376,0.08,2.17,0.00,0.000,6,0.143,0.028,2899,1745,2252,0,0,0,0,0,0
$GC,7692,0.61,141.8,422.6,6.9,766,7705,0.00,2.20,9.48,0.794,4,0.000,0.031,2898,3153,2213,0,0,0,0,0,0
$GC,7725,0.61,141.8,419.9,8.0,769,7729,0.00,2.17,0.00,0.000,6,0.000,0.028,2908,1751,2213,0,0,0,0,0,0
$GC,8045,0.61,141.8,391.9,8.7,800,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1750,2213,0,0,0,0,0,0
$GC,8356,0.61,141.8,364.9,8.4,830,8361,0.00,2.17,0.00,0.000,4,0.000,0.031,2908,3150,2213,0,0,0,0,0,0
$GC,8393,0.61,141.8,361.6,10.0,833,8399,0.00,2.17,0.00,0.000,6,0.000,0.028,2919,1735,2212,0,0,0,0,0,0
$GC,8708,0.61,141.8,334.3,9.1,864,8713,0.00,2.17,0.00,0.000,4,0.000,0.031,2919,3151,2212,0,0,0,0,0,0
$GC,8777,0.61,141.8,327.5,10.3,870,8785,0.12,2.17,0.00,0.000,6,0.167,0.028,2891,1746,2210,0,0,0,0,0,0
$GC,9094,0.68,146.3,302.9,7.5,901,9105,0.00,2.17,5.10,0.638,4,0.000,0.042,2901,352,2195,0,0,0,0,0,0
$GC,9136,0.68,146.3,299.5,8.6,905,9139,0.00,2.10,0.00,0.000,6,0.000,0.025,2901,1758,2195,0,0,0,0,0,0
$GC,9456,0.73,154.0,274.6,7.2,936,9469,0.10,2.10,7.80,0.696,4,0.101,0.029,2974,3149,2165,0,0,0,0,0,0
$GC,9621,0.65,154.0,256.4,11.4,951,9629,0.22,2.17,0.00,0.000,6,0.158,0.028,2914,1748,2165,0,0,0,0,0,0
$GC,9937,0.65,154.0,229.0,8.9,982,9942,0.00,2.15,0.00,0.000,4,0.000,0.029,2914,3149,2165,0,0,0,0,0,0
$GC,9958,0.65,154.0,227.0,9.7,984,9963,0.00,2.15,0.00,0.000,6,0.000,0.028,2923,1750,2164,0,0,0,0,0,0
$GC,10275,0.65,154.0,197.9,9.0,1016,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1750,2165,0,0,0,0,0,0
$GC,10600,0.65,154.0,171.2,8.3,1077,10606,0.00,2.15,0.00,0.000,4,0.000,0.031,2923,3139,2164,0,0,0,0,0,0
$GC,10675,0.65,154.0,165.0,8.1,1091,10682,0.00,2.12,0.00,0.000,6,0.000,0.028,2934,1750,2164,0,0,0,0,0,0
$GC,11002,0.66,162.1,140.4,7.2,1152,11014,0.00,2.15,8.00,0.631,4,0.000,0.040,2945,343,2132,0,0,0,0,0,0
$GC,11039,0.66,162.1,137.2,7.9,1159,11046,0.08,2.08,0.00,0.000,6,0.133,0.025,2919,1745,2132,0,0,0,0,0,0
$GC,11366,0.71,162.1,112.4,7.9,1220,11371,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1745,2131,0,0,0,0,0,0
$GC,11691,0.77,165.7,88.7,7.6,1281,11698,0.00,0.00,4.97,0.535,6,0.000,0.000,2918,1745,2116,0,0,0,0,0,0
$GC,12018,0.85,186.4,66.8,6.2,1342,12040,0.15,2.12,17.48,0.614,4,0.075,0.029,3009,3150,2033,0,0,0,0,0,0
$GC,12098,0.77,186.4,58.0,12.2,1357,12105,0.22,2.17,0.00,0.000,6,0.145,0.028,2947,1747,2033,0,0,0,0,0,0
$GC,12425,0.83,195.1,31.5,7.1,1418,12436,0.00,0.00,8.95,0.566,6,0.000,0.000,2947,1747,1995,0,0,0,0,0,0
$GC,12757,0.95,229.7,12.3,5.0,1480,12789,0.15,2.22,27.92,0.572,4,0.073,0.030,3030,3153,1855,0,0,0,0,0,0
$GC,12842,0.89,229.7,4.3,10.8,1496,12848,0.15,2.17,0.00,0.000,6,0.142,0.029,2992,1758,1855,0,0,0,0,0,0
$STATE,12856,end climb,SURFACE_DEPTH_REACHED
$STATE,12857,begin surface coast
$FINISH,0.4,1.024828
$STATE,12883,end surface coast,CONTROL_FINISHED_OK
$STATE,12884,begin surface
$SM_CCo,12895,9.52,0.531,0,0,1772,250.20
$SM_GC,3.65,0.00,0.00,9.52,0.000,0.000,0.531,189,1758,1772,-7.85,-1.19,250.20
$IRIDIUM_FIX,3632.29,-12213.43,190699,191945
$TT8_MAMPS,0.050622
$HUMID,54.13
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.5,23.9
$24V_AH,24.2,10.618
$10V_AH,10.1,12.107
$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,19.150,103.250,254.200,9.525,0.000,55.379,132.516,290.667,1.000,0.000,32.085,0.000,8596.456,373.873,3898.546,661.271,0.000,1579.152,0.000,3364.207,0.000,9.064,0.000
$DEVICE_MAMPS,218.595,53.690,957.216,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.553,3208.817,2410.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286632
$DATA_FILE_SIZE,104598,1504
$CAP_FILE_SIZE,154549,0
$CFSIZE,260165632,251260928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,232355,3646.260,-12212.490,140,1.3,140,14.8