version: 66.06
glider: 503
mission: 5
dive: 48
start: 3 26 110 3 56 38
data:
$ID,503
$MISSION,5
$DIVE,48
$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,-9176.4902
$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,49
$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
$GPS1,034936,3644.857,-12212.366,37,0.9,37,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.8
$GPS2,035632,3644.827,-12212.348,13,0.9,13,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,SIX
$TGT_LATLONG,3641.000,-12210.000
$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,139.0,7899,-15.8,-7.857
$D_GRID,772
$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,-116.8,0.0,0.0,0,53,0.00,0.00,-39.15,0.000,2,0.000,0.000,173,1749,2655,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.5,-7.0,7,81,9.00,2.28,-13.60,0.000,4,0.225,0.045,2497,3201,3271,0,0,0,0,0,0
$GC,85,0.14,-116.8,10.4,-20.0,13,92,0.73,2.20,0.00,0.000,6,0.123,0.026,2736,1793,3272,0,0,0,0,0,0
$GC,412,-0.20,-116.8,38.5,-8.2,74,419,0.30,2.20,0.00,0.000,4,0.078,0.032,2621,3191,3272,0,0,0,0,0,0
$GC,658,-0.54,-116.8,56.8,-7.7,120,665,0.25,2.12,0.00,0.000,6,0.061,0.026,2518,1803,3273,0,0,0,0,0,0
$GC,985,-0.65,-116.8,81.2,-8.1,181,991,0.00,2.15,0.00,0.000,4,0.000,0.032,2516,3194,3274,0,0,0,0,0,0
$GC,1071,-0.65,-116.8,88.8,-8.8,197,1077,0.00,2.12,0.00,0.000,6,0.000,0.025,2516,1807,3274,0,0,0,0,0,0
$GC,1397,-0.65,-116.8,122.7,-9.6,258,1404,0.00,2.17,0.00,0.000,4,0.000,0.040,2515,398,3274,0,0,0,0,0,0
$GC,1445,-0.65,-116.8,127.9,-10.9,267,1452,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1807,3274,0,0,0,0,0,0
$GC,1772,-0.65,-116.8,161.8,-10.0,328,1778,0.00,2.17,0.00,0.000,4,0.000,0.039,2509,400,3275,0,0,0,0,0,0
$GC,1798,-0.65,-116.8,164.8,-11.0,333,1805,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1793,3274,0,0,0,0,0,0
$GC,2125,-0.65,-116.8,199.2,-10.5,394,2131,0.00,2.15,0.00,0.000,4,0.000,0.034,2505,3196,3275,0,0,0,0,0,0
$GC,2172,-0.69,-116.8,203.9,-9.0,399,2179,0.00,2.12,0.00,0.000,6,0.000,0.025,2505,1799,3274,0,0,0,0,0,0
$GC,2487,-0.69,-116.8,233.6,-9.1,430,2492,0.00,2.15,0.00,0.000,4,0.000,0.040,2505,402,3274,0,0,0,0,0,0
$GC,2508,-0.69,-116.8,235.7,-9.7,432,2513,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1806,3274,0,0,0,0,0,0
$GC,2830,-0.69,-116.8,268.7,-11.1,463,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3274,0,0,0,0,0,0
$GC,3141,-0.69,-116.8,301.8,-10.0,493,3144,0.00,2.12,0.00,0.000,4,0.000,0.032,2495,3201,3274,0,0,0,0,0,0
$GC,3183,-0.69,-116.8,305.7,-9.0,497,3187,0.00,2.12,0.00,0.000,6,0.000,0.026,2495,1804,3273,0,0,0,0,0,0
$GC,3503,-0.69,-116.8,335.8,-9.5,528,3508,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,404,3273,0,0,0,0,0,0
$GC,3626,-0.65,-116.8,349.1,-10.8,539,3632,0.00,2.08,0.00,0.000,6,0.000,0.024,2491,1806,3273,0,0,0,0,0,0
$GC,3941,-0.65,-116.8,381.6,-10.8,570,3946,0.00,2.15,0.00,0.000,4,0.000,0.040,2492,406,3272,0,0,0,0,0,0
$GC,3978,-0.60,-116.8,385.9,-11.6,573,3985,0.00,2.08,0.00,0.000,6,0.000,0.024,2482,1798,3272,0,0,0,0,0,0
$GC,4294,-0.56,-116.8,420.4,-10.7,604,4299,0.12,2.17,0.00,0.000,4,0.148,0.041,2521,402,3272,0,0,0,0,0,0
$GC,4363,-0.56,-116.8,426.8,-8.8,610,4370,0.00,2.10,0.00,0.000,6,0.000,0.024,2512,1810,3271,0,0,0,0,0,0
$GC,4679,-0.56,-116.8,452.5,-8.1,641,4683,0.00,2.17,0.00,0.000,4,0.000,0.040,2512,399,3271,0,0,0,0,0,0
$GC,4769,-0.56,-116.8,460.6,-8.8,649,4775,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1806,3270,0,0,0,0,0,0
$GC,5084,-0.56,-116.8,486.6,-8.0,680,5089,0.00,2.15,0.00,0.000,4,0.000,0.040,2509,406,3270,0,0,0,0,0,0
$GC,5148,-0.56,-116.8,492.7,-9.5,686,5153,0.00,2.05,0.00,0.000,6,0.000,0.024,2505,1792,3270,0,0,0,0,0,0
$GC,5465,-0.56,-116.8,518.9,-7.9,706,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1792,3270,0,0,0,0,0,0
$GC,5772,-0.56,-116.8,541.1,-6.8,721,5775,0.00,2.12,0.00,0.000,4,0.000,0.033,2505,3201,3270,0,0,0,0,0,0
$GC,5839,-0.63,-116.8,545.4,-6.5,724,5844,0.00,2.15,0.00,0.000,6,0.000,0.026,2505,1787,3269,0,0,0,0,0,0
$GC,6160,-0.63,-116.8,568.8,-8.1,740,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1787,3269,0,0,0,0,0,0
$GC,6467,-0.63,-116.8,594.2,-8.2,755,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1787,3269,0,0,0,0,0,0
$GC,6771,-0.63,-116.8,621.4,-9.2,770,6775,0.00,2.15,0.00,0.000,4,0.000,0.032,2505,3194,3268,0,0,0,0,0,0
$GC,6786,-0.67,-116.8,622.9,-9.0,770,6794,0.00,2.15,0.00,0.000,6,0.000,0.027,2505,1791,3268,0,0,0,0,0,0
$GC,7097,-0.67,-116.8,648.7,-8.0,786,7101,0.00,2.12,0.00,0.000,4,0.000,0.041,2505,405,3268,0,0,0,0,0,0
$GC,7171,-0.67,-116.8,655.8,-9.4,789,7176,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1802,3267,0,0,0,0,0,0
$GC,7488,-0.67,-116.8,683.1,-8.1,805,7492,0.00,2.10,0.00,0.000,4,0.000,0.033,2495,3197,3267,0,0,0,0,0,0
$GC,7502,-0.67,-116.8,684.3,-8.3,805,7509,0.00,2.15,0.00,0.000,6,0.000,0.027,2496,1794,3267,0,0,0,0,0,0
$GC,7813,-0.67,-116.8,709.6,-8.3,821,7817,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,406,3266,0,0,0,0,0,0
$GC,7856,-0.67,-116.8,713.4,-8.9,823,7860,0.00,2.05,0.00,0.000,6,0.000,0.025,2492,1789,3266,0,0,0,0,0,0
$GC,8183,-0.67,-116.8,740.3,-8.3,839,8186,0.00,2.15,0.00,0.000,4,0.000,0.041,2492,396,3266,0,0,0,0,0,0
$GC,8202,-0.67,-116.8,742.3,-9.9,840,8207,0.00,2.10,0.00,0.000,6,0.000,0.025,2483,1801,3266,0,0,0,0,0,0
$GC,8529,-0.67,-116.8,771.5,-9.5,856,8534,0.00,2.15,0.00,0.000,4,0.000,0.041,2483,406,3266,0,0,0,0,0,0
$STATE,8538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8538,begin apogee
$GC,8543,-0.14,0.0,772.6,9.5,856,8637,0.50,0.00,92.40,1.062,6,0.111,0.000,2651,1749,2792,0,0,0,0,0,0
$STATE,8637,end apogee,CONTROL_FINISHED_OK
$STATE,8638,begin climb
$GC,8639,0.57,116.8,776.3,0.0,861,8745,0.62,2.30,99.85,1.026,4,0.063,0.031,2886,3152,2314,0,0,0,0,0,0
$GC,8759,0.56,195.4,777.2,4.3,867,8830,0.00,2.30,67.57,1.009,6,0.000,0.029,2896,1756,1995,0,0,0,0,0,0
$GC,9135,0.49,195.4,738.8,11.4,885,9140,0.12,2.28,0.00,0.000,4,0.158,0.045,2871,351,1988,0,0,0,0,0,0
$GC,9274,0.49,195.4,724.8,9.6,891,9278,0.00,2.12,0.00,0.000,6,0.000,0.025,2871,1739,1986,0,0,0,0,0,0
$GC,9590,0.50,207.4,698.8,7.3,907,9604,0.00,2.25,9.27,0.905,4,0.000,0.044,2882,346,1946,0,0,0,0,0,0
$GC,9674,0.50,207.4,691.7,9.2,911,9679,0.00,2.15,0.00,0.000,6,0.000,0.025,2882,1751,1946,0,0,0,0,0,0
$GC,10001,0.50,207.4,662.6,9.4,927,10004,0.00,2.22,0.00,0.000,4,0.000,0.044,2893,319,1945,0,0,0,0,0,0
$GC,10037,0.45,207.4,658.9,10.4,928,10045,0.12,2.17,0.00,0.000,6,0.123,0.025,2849,1755,1945,0,0,0,0,0,0
$GC,10347,0.45,207.4,634.3,7.9,944,10352,0.00,2.22,0.00,0.000,4,0.000,0.042,2860,343,1944,0,0,0,0,0,0
$GC,10405,0.45,207.4,629.3,8.5,946,10413,0.00,2.12,0.00,0.000,6,0.000,0.024,2860,1754,1944,0,0,0,0,0,0
$GC,10716,0.45,207.4,601.7,8.9,962,10721,0.00,2.20,0.00,0.000,4,0.000,0.042,2871,349,1943,0,0,0,0,0,0
$GC,10742,0.45,207.4,599.2,9.8,963,10747,0.00,2.12,0.00,0.000,6,0.000,0.025,2871,1753,1943,0,0,0,0,0,0
$GC,11064,0.45,207.4,569.8,9.0,979,11068,0.00,2.12,0.00,0.000,4,0.000,0.031,2871,3146,1942,0,0,0,0,0,0
$GC,11084,0.45,207.4,567.8,9.5,980,11089,0.10,2.17,0.00,0.000,6,0.120,0.029,2845,1747,1942,0,0,0,0,0,0
$GC,11411,0.45,207.4,540.5,8.2,996,11415,0.00,2.17,0.00,0.000,4,0.000,0.043,2854,346,1942,0,0,0,0,0,0
$GC,11447,0.45,207.4,537.2,9.4,997,11454,0.00,2.12,0.00,0.000,6,0.000,0.025,2854,1755,1941,0,0,0,0,0,0
$GC,11759,0.45,207.4,511.1,8.1,1013,11763,0.00,2.20,0.00,0.000,4,0.000,0.043,2864,349,1941,0,0,0,0,0,0
$GC,11789,0.46,215.8,508.6,7.5,1014,11803,0.00,2.10,7.78,0.821,6,0.000,0.025,2864,1749,1911,0,0,0,0,0,0
$GC,12109,0.47,228.7,483.2,7.3,1040,12121,0.00,0.00,11.60,0.848,6,0.000,0.000,2864,1749,1859,0,0,0,0,0,0
$GC,12430,0.48,233.3,458.0,7.6,1071,12441,0.00,2.20,5.70,0.728,4,0.000,0.044,2875,345,1840,0,0,0,0,0,0
$GC,12472,0.48,233.3,454.5,9.1,1075,12476,0.00,2.12,0.00,0.000,6,0.000,0.026,2874,1748,1840,0,0,0,0,0,0
$GC,12792,0.48,233.3,427.1,8.4,1106,12796,0.00,2.15,0.00,0.000,4,0.000,0.031,2875,3145,1840,0,0,0,0,0,0
$GC,12846,0.48,233.3,422.1,9.4,1111,12850,0.08,2.15,0.00,0.000,6,0.120,0.030,2856,1756,1840,0,0,0,0,0,0
$GC,13166,0.53,233.3,396.3,8.1,1142,13170,0.00,2.20,0.00,0.000,4,0.000,0.043,2866,345,1840,0,0,0,0,0,0
$GC,13214,0.53,233.3,392.0,8.5,1146,13221,0.00,2.12,0.00,0.000,6,0.000,0.025,2865,1764,1840,0,0,0,0,0,0
$GC,13530,0.53,238.4,366.6,7.6,1177,13541,0.00,2.12,5.80,0.698,4,0.000,0.031,2866,3160,1820,0,0,0,0,0,0
$GC,13560,0.54,242.4,364.0,7.7,1180,13573,0.00,2.17,5.22,0.657,6,0.000,0.029,2875,1752,1804,0,0,0,0,0,0
$GC,13882,0.54,242.4,339.0,8.0,1211,13886,0.00,2.17,0.00,0.000,4,0.000,0.043,2886,356,1804,0,0,0,0,0,0
$GC,13913,0.54,242.4,336.2,8.8,1214,13918,0.00,2.12,0.00,0.000,6,0.000,0.025,2886,1761,1804,0,0,0,0,0,0
$GC,14234,0.54,242.4,304.5,10.6,1245,14238,0.00,2.12,0.00,0.000,4,0.000,0.031,2886,3152,1804,0,0,0,0,0,0
$GC,14277,0.54,242.4,299.7,11.9,1249,14281,0.00,2.17,0.00,0.000,6,0.000,0.029,2897,1745,1804,0,0,0,0,0,0
$GC,14597,0.54,242.4,264.1,10.1,1280,14602,0.00,2.15,0.00,0.000,4,0.000,0.030,2897,3145,1804,0,0,0,0,0,0
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$GC,17155,0.74,282.6,35.0,7.3,1689,17171,0.00,2.10,11.18,0.566,6,0.000,0.025,2906,1743,1638,0,0,0,0,0,0
$GC,17492,0.89,330.8,11.5,5.7,1752,17534,0.22,2.25,38.00,0.568,4,0.064,0.041,3025,350,1442,0,0,0,0,0,0
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$STATE,17564,end climb,SURFACE_DEPTH_REACHED
$STATE,17564,begin surface coast
$FINISH,0.3,1.005546
$STATE,17586,end surface coast,CONTROL_FINISHED_OK
$STATE,17586,begin surface
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$IRIDIUM_FIX,3634.97,-12211.15,190699,232353
$TT8_MAMPS,0.052156
$HUMID,54.01
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.9,10.850
$10V_AH,10.1,12.512
$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,19.950,184.750,382.500,0.000,0.000,28.333,31.290,250.412,1.500,0.000,15.607,0.000,12278.650,560.467,4659.934,539.131,0.000,2075.336,0.000,4012.950,0.000,11.786,0.000
$DEVICE_MAMPS,225.498,45.253,1061.528,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1226.620,3732.634,2718.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286672
$DATA_FILE_SIZE,123418,1770
$CAP_FILE_SIZE,203181,0
$CFSIZE,260165632,250990592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260310,085136,3643.425,-12211.773,23,1.6,23,14.8