version: 66.06
glider: 503
mission: 5
dive: 54
start: 3 27 110 14 25 10
data:
$ID,503
$MISSION,5
$DIVE,54
$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,-9257.5439
$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
$GPS1,141706,3645.410,-12212.126,39,0.9,39,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.5
$GPS2,142438,3645.433,-12212.154,10,1.3,10,14.8
$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,318.7,9452,-15.8,-7.857
$D_GRID,677
$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,-116.8,0.0,0.0,0,52,0.00,0.00,-38.20,0.000,2,0.000,0.000,171,1805,2676,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.3,-6.9,7,80,8.95,2.17,-13.40,0.000,4,0.223,0.044,2498,3207,3269,0,0,0,0,0,0
$GC,277,-0.57,-116.8,40.6,-13.6,49,284,0.00,2.17,0.00,0.000,6,0.000,0.027,2498,1807,3270,0,0,0,0,0,0
$GC,604,-0.50,-116.8,85.0,-12.7,110,610,0.12,2.20,0.00,0.000,4,0.148,0.041,2536,407,3271,0,0,0,0,0,0
$GC,657,-0.50,-116.8,90.8,-10.0,120,664,0.00,2.10,0.00,0.000,6,0.000,0.025,2532,1805,3271,0,0,0,0,0,0
$GC,984,-0.50,-116.8,116.7,-7.8,181,990,0.00,2.17,0.00,0.000,4,0.000,0.040,2532,410,3271,0,0,0,0,0,0
$GC,1021,-0.50,-116.8,120.1,-8.9,188,1028,0.00,2.08,0.00,0.000,6,0.000,0.025,2523,1796,3271,0,0,0,0,0,0
$GC,1348,-0.50,-116.8,151.4,-9.6,249,1354,0.00,2.15,0.00,0.000,4,0.000,0.033,2521,3194,3272,0,0,0,0,0,0
$GC,1423,-0.56,-116.8,158.0,-8.2,263,1430,0.00,2.12,0.00,0.000,6,0.000,0.026,2521,1804,3272,0,0,0,0,0,0
$GC,1749,-0.56,-116.8,187.6,-9.3,324,1756,0.00,2.15,0.00,0.000,4,0.000,0.041,2520,408,3272,0,0,0,0,0,0
$GC,1781,-0.56,-116.8,191.0,-10.7,330,1788,0.00,2.08,0.00,0.000,6,0.000,0.024,2510,1801,3271,0,0,0,0,0,0
$GC,2100,-0.56,-116.8,222.2,-9.5,369,2104,0.00,2.15,0.00,0.000,4,0.000,0.040,2510,407,3271,0,0,0,0,0,0
$GC,2142,-0.56,-116.8,226.5,-10.5,373,2146,0.00,2.08,0.00,0.000,6,0.000,0.024,2506,1800,3271,0,0,0,0,0,0
$GC,2462,-0.56,-116.8,260.2,-10.9,404,2467,0.00,2.20,0.00,0.000,4,0.000,0.041,2506,399,3271,0,0,0,0,0,0
$GC,2505,-0.56,-116.8,265.1,-11.5,408,2510,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1801,3271,0,0,0,0,0,0
$GC,2826,-0.56,-116.8,300.5,-10.7,439,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1802,3270,0,0,0,0,0,0
$GC,3138,-0.56,-116.8,334.7,-10.8,469,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1802,3270,0,0,0,0,0,0
$GC,3448,-0.56,-116.8,366.5,-10.0,499,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1802,3270,0,0,0,0,0,0
$GC,3758,-0.56,-116.8,398.6,-9.9,529,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1802,3269,0,0,0,0,0,0
$GC,4069,-0.56,-116.8,428.6,-9.9,559,4072,0.00,2.15,0.00,0.000,4,0.000,0.041,2496,393,3269,0,0,0,0,0,0
$GC,4099,-0.56,-116.8,431.9,-10.2,562,4104,0.00,2.10,0.00,0.000,6,0.000,0.025,2492,1797,3269,0,0,0,0,0,0
$GC,4421,-0.56,-116.8,462.5,-8.6,593,4425,0.00,2.15,0.00,0.000,4,0.000,0.041,2491,401,3269,0,0,0,0,0,0
$GC,4479,-0.52,-116.8,468.1,-9.5,598,4486,0.12,2.08,0.00,0.000,6,0.112,0.024,2529,1800,3269,0,0,0,0,0,0
$GC,4795,-0.58,-116.8,488.4,-6.7,629,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1800,3268,0,0,0,0,0,0
$GC,5103,-0.64,-116.8,511.5,-7.8,652,5107,0.10,2.17,0.00,0.000,4,0.104,0.041,2469,402,3268,0,0,0,0,0,0
$GC,5150,-0.55,-116.8,516.8,-11.7,654,5155,0.15,2.08,0.00,0.000,6,0.114,0.024,2515,1799,3268,0,0,0,0,0,0
$GC,5471,-0.55,-116.8,544.1,-8.4,670,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1799,3267,0,0,0,0,0,0
$GC,5777,-0.55,-116.8,568.8,-8.0,685,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1799,3267,0,0,0,0,0,0
$GC,6081,-0.59,-116.8,593.2,-7.8,700,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1799,3266,0,0,0,0,0,0
$STATE,6324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6324,begin apogee
$GC,6327,-0.14,0.0,613.0,8.3,712,6420,0.40,0.00,90.62,0.956,6,0.101,0.000,2656,1800,2792,0,0,0,0,0,0
$STATE,6420,end apogee,CONTROL_FINISHED_OK
$STATE,6420,begin climb
$GC,6421,0.57,116.8,615.9,0.0,716,6525,0.60,2.25,97.43,0.923,4,0.062,0.031,2885,3154,2314,0,0,0,0,0,0
$GC,6598,0.49,133.6,612.8,7.1,724,6618,0.10,2.25,14.48,0.860,6,0.130,0.028,2862,1754,2246,0,0,0,0,0,0
$GC,6935,0.53,165.7,591.7,6.4,741,6963,0.00,0.00,27.23,0.903,6,0.000,0.000,2862,1754,2116,0,0,0,0,0,0
$GC,7260,0.56,190.0,569.4,6.8,757,7282,0.00,0.00,20.65,0.888,6,0.000,0.000,2862,1754,2017,0,0,0,0,0,0
$GC,7585,0.59,219.0,545.7,6.5,773,7614,0.00,2.22,24.45,0.886,4,0.000,0.031,2862,3140,1899,0,0,0,0,0,0
$GC,7647,0.63,250.9,541.9,6.4,776,7678,0.00,2.20,27.20,0.873,6,0.000,0.028,2872,1756,1769,0,0,0,0,0,0
$GC,7988,0.63,250.9,516.8,7.9,793,7992,0.00,2.22,0.00,0.000,4,0.000,0.044,2883,355,1770,0,0,0,0,0,0
$GC,8008,0.63,250.9,515.1,8.5,794,8013,0.00,2.15,0.00,0.000,6,0.000,0.024,2882,1752,1769,0,0,0,0,0,0
$GC,8329,0.63,250.9,484.7,10.0,817,8332,0.00,2.20,0.00,0.000,4,0.000,0.044,2894,347,1770,0,0,0,0,0,0
$GC,8349,0.63,250.9,482.4,10.6,819,8353,0.00,2.12,0.00,0.000,6,0.000,0.025,2894,1747,1770,0,0,0,0,0,0
$GC,8669,0.63,250.9,445.9,10.8,850,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1748,1770,0,0,0,0,0,0
$GC,8980,0.63,250.9,412.6,11.1,880,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1748,1769,0,0,0,0,0,0
$GC,9290,0.63,250.9,378.9,10.5,910,9294,0.00,2.15,0.00,0.000,4,0.000,0.030,2894,3153,1768,0,0,0,0,0,0
$GC,9311,0.63,250.9,376.6,11.1,912,9316,0.00,2.20,0.00,0.000,6,0.000,0.029,2904,1742,1768,0,0,0,0,0,0
$GC,9632,0.63,250.9,343.1,10.0,943,9636,0.00,2.17,0.00,0.000,4,0.000,0.031,2904,3154,1768,0,0,0,0,0,0
$GC,9647,0.63,250.9,341.3,10.8,944,9655,0.00,2.20,0.00,0.000,6,0.000,0.029,2915,1740,1768,0,0,0,0,0,0
$GC,9964,0.63,250.9,305.5,11.3,975,9968,0.00,2.17,0.00,0.000,4,0.000,0.031,2915,3153,1767,0,0,0,0,0,0
$GC,9995,0.63,250.9,302.0,11.2,978,10000,0.00,2.17,0.00,0.000,6,0.000,0.029,2925,1749,1767,0,0,0,0,0,0
$GC,10317,0.58,250.9,265.0,12.0,1009,10320,0.12,2.20,0.00,0.000,4,0.150,0.044,2897,347,1767,0,0,0,0,0,0
$GC,10338,0.58,250.9,262.7,10.8,1011,10341,0.00,2.10,0.00,0.000,6,0.000,0.025,2897,1753,1767,0,0,0,0,0,0
$GC,10657,0.58,250.9,230.2,10.4,1042,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1755,1767,0,0,0,0,0,0
$GC,10969,0.58,250.9,197.5,10.7,1074,10976,0.00,2.20,0.00,0.000,4,0.000,0.044,2908,343,1767,0,0,0,0,0,0
$GC,11007,0.58,250.9,193.0,12.0,1081,11013,0.00,2.10,0.00,0.000,6,0.000,0.025,2908,1749,1767,0,0,0,0,0,0
$GC,11333,0.58,250.9,154.7,11.3,1142,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1750,1767,0,0,0,0,0,0
$GC,11658,0.58,250.9,122.6,8.4,1203,11665,0.00,2.15,0.00,0.000,4,0.000,0.032,2908,3150,1767,0,0,0,0,0,0
$GC,11679,0.58,250.9,120.6,9.1,1207,11686,0.08,2.15,0.00,0.000,6,0.123,0.029,2889,1750,1767,0,0,0,0,0,0
$GC,12007,0.62,250.9,96.4,7.9,1268,12013,0.00,2.15,0.00,0.000,4,0.000,0.031,2889,3145,1767,0,0,0,0,0,0
$GC,12038,0.62,250.9,93.5,9.0,1274,12045,0.00,2.15,0.00,0.000,6,0.000,0.029,2898,1747,1766,0,0,0,0,0,0
$GC,12365,0.66,250.9,62.4,8.8,1335,12371,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1747,1766,0,0,0,0,0,0
$GC,12691,0.72,253.2,37.6,7.8,1396,12698,0.10,2.17,0.00,0.000,4,0.105,0.044,2966,355,1766,0,0,0,0,0,0
$GC,12772,0.67,253.2,28.9,10.2,1411,12778,0.12,2.08,0.00,0.000,6,0.110,0.025,2919,1756,1767,0,0,0,0,0,0
$GC,13098,0.73,272.2,5.2,7.0,1472,13121,0.00,2.20,16.70,0.570,4,0.000,0.042,2929,339,1683,0,0,0,0,0,0
$STATE,13129,end climb,SURFACE_DEPTH_REACHED
$STATE,13129,begin surface coast
$FINISH,0.4,1.024983
$STATE,13162,end surface coast,CONTROL_FINISHED_OK
$STATE,13162,begin surface
$SM_CCo,13235,0.00,0.000,0,0,1683,271.79
$SM_GC,1.85,6.97,0.00,0.00,0.039,0.000,0.000,197,1803,1683,-7.76,0.08,271.79
$IRIDIUM_FIX,3632.29,-12211.15,210699,090951
$TT8_MAMPS,0.051389
$HUMID,53.97
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.3,21.7
$24V_AH,24.1,11.593
$10V_AH,10.1,13.779
$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,17.950,99.175,318.750,0.000,0.000,30.843,33.151,284.394,1.250,0.000,12.062,0.000,8955.564,426.650,3755.813,536.814,0.000,1582.919,0.000,3241.021,0.000,9.056,0.000
$DEVICE_MAMPS,223.197,44.486,955.682,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.062,3156.426,2361.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287184
$DATA_FILE_SIZE,104381,1484
$CAP_FILE_SIZE,149912,0
$CFSIZE,260165632,250384384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270310,180637,3647.249,-12213.956,35,1.1,35,14.8