version: 66.06
glider: 503
mission: 5
dive: 55
start: 3 27 110 18 13 2
data:
$ID,503
$MISSION,5
$DIVE,55
$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,-9274.1719
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,180637,3647.249,-12213.956,35,1.1,35,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.0
$GPS2,181256,3647.303,-12213.954,14,1.2,14,14.8
$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,328.0,5229,-15.8,-7.857
$D_GRID,601
$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,-38.33,0.000,2,0.000,0.000,190,1803,2688,0,0,0,0,0,0
$GC,53,-0.57,-116.8,3.5,-6.7,7,80,8.75,2.20,-13.18,0.000,4,0.219,0.046,2501,3217,3272,0,0,0,0,0,0
$GC,250,-0.57,-116.8,35.7,-12.8,44,257,0.00,2.20,0.00,0.000,6,0.000,0.027,2501,1800,3274,0,0,0,0,0,0
$GC,577,-0.50,-116.8,78.4,-11.0,105,583,0.12,2.20,0.00,0.000,4,0.150,0.040,2539,401,3275,0,0,0,0,0,0
$GC,657,-0.50,-116.8,87.0,-10.1,120,664,0.00,2.10,0.00,0.000,6,0.000,0.024,2532,1803,3275,0,0,0,0,0,0
$GC,984,-0.50,-116.8,117.4,-10.8,181,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1803,3275,0,0,0,0,0,0
$GC,1309,-0.50,-116.8,149.3,-10.6,242,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1804,3275,0,0,0,0,0,0
$GC,1629,-0.50,-116.8,183.2,-9.6,302,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1803,3275,0,0,0,0,0,0
$GC,1950,-0.50,-116.8,208.7,-7.7,352,1955,0.00,2.15,0.00,0.000,4,0.000,0.039,2533,407,3275,0,0,0,0,0,0
$GC,1998,-0.50,-116.8,212.6,-8.3,356,2005,0.00,2.10,0.00,0.000,6,0.000,0.023,2523,1810,3275,0,0,0,0,0,0
$GC,2314,-0.50,-116.8,239.9,-8.6,387,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1810,3275,0,0,0,0,0,0
$GC,2625,-0.50,-116.8,265.3,-8.4,417,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1810,3275,0,0,0,0,0,0
$GC,2936,-0.50,-116.8,291.5,-8.6,447,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1810,3275,0,0,0,0,0,0
$GC,3246,-0.50,-116.8,318.2,-9.1,477,3249,0.00,2.10,0.00,0.000,4,0.000,0.032,2520,3203,3274,0,0,0,0,0,0
$GC,3288,-0.58,-116.8,321.9,-8.6,481,3292,0.00,2.12,0.00,0.000,6,0.000,0.026,2521,1803,3274,0,0,0,0,0,0
$GC,3608,-0.58,-116.8,346.9,-7.4,512,3612,0.00,2.15,0.00,0.000,4,0.000,0.040,2520,403,3274,0,0,0,0,0,0
$GC,3720,-0.58,-116.8,357.1,-9.5,522,3727,0.00,2.08,0.00,0.000,6,0.000,0.024,2510,1802,3274,0,0,0,0,0,0
$GC,4036,-0.58,-116.8,387.0,-9.2,553,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1802,3273,0,0,0,0,0,0
$GC,4347,-0.58,-116.8,414.9,-8.2,583,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1802,3273,0,0,0,0,0,0
$GC,4657,-0.58,-116.8,444.9,-9.6,613,4661,0.00,2.12,0.00,0.000,4,0.000,0.041,2510,400,3272,0,0,0,0,0,0
$GC,4736,-0.58,-116.8,452.9,-9.8,620,4744,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1808,3272,0,0,0,0,0,0
$GC,5052,-0.58,-116.8,480.1,-8.5,651,5056,0.00,2.10,0.00,0.000,4,0.000,0.032,2505,3191,3271,0,0,0,0,0,0
$GC,5099,-0.63,-116.8,483.7,-7.7,655,5106,0.00,2.12,0.00,0.000,6,0.000,0.026,2505,1796,3271,0,0,0,0,0,0
$GC,5415,-0.63,-116.8,509.3,-8.7,681,5418,0.00,2.12,0.00,0.000,4,0.000,0.041,2505,394,3271,0,0,0,0,0,0
$GC,5455,-0.63,-116.8,513.5,-9.6,683,5460,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1802,3271,0,0,0,0,0,0
$GC,5777,-0.63,-116.8,543.2,-9.1,699,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3271,0,0,0,0,0,0
$GC,6081,-0.63,-116.8,570.3,-8.1,714,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3271,0,0,0,0,0,0
$GC,6388,-0.63,-116.8,599.7,-9.6,729,6395,0.00,2.12,0.00,0.000,4,0.000,0.032,2494,3197,3270,0,0,0,0,0,0
$STATE,6402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6402,begin apogee
$GC,6407,-0.14,0.0,601.2,9.9,729,6500,0.45,0.00,91.22,0.946,6,0.104,0.000,2656,1746,2792,0,0,0,0,0,0
$STATE,6500,end apogee,CONTROL_FINISHED_OK
$STATE,6501,begin climb
$GC,6502,0.57,116.8,604.9,0.0,734,6606,0.60,2.33,97.32,0.913,4,0.061,0.041,2895,355,2315,0,0,0,0,0,0
$GC,6649,0.48,153.1,604.3,6.2,741,6687,0.10,2.17,30.90,0.887,6,0.130,0.022,2862,1745,2168,0,0,0,0,0,0
$GC,6989,0.50,168.3,582.3,7.2,758,7005,0.00,2.17,12.93,0.852,4,0.000,0.028,2862,3151,2105,0,0,0,0,0,0
$GC,7073,0.50,168.3,575.6,8.6,761,7078,0.00,2.25,0.00,0.000,6,0.000,0.028,2872,1740,2105,0,0,0,0,0,0
$GC,7395,0.52,180.6,551.6,7.3,777,7410,0.00,2.20,11.27,0.843,4,0.000,0.029,2872,3152,2054,0,0,0,0,0,0
$GC,7441,0.53,186.9,548.1,7.6,778,7454,0.00,2.22,6.60,0.750,6,0.000,0.028,2883,1747,2031,0,0,0,0,0,0
$GC,7757,0.53,192.3,523.6,7.6,794,7767,0.00,2.22,6.43,0.756,4,0.000,0.044,2894,340,2006,0,0,0,0,0,0
$GC,7804,0.47,192.3,519.8,8.7,796,7809,0.12,2.15,0.00,0.000,6,0.145,0.023,2853,1754,2007,0,0,0,0,0,0
$GC,8121,0.50,213.9,497.9,6.9,813,8142,0.00,0.00,18.62,0.861,6,0.000,0.000,2854,1755,1918,0,0,0,0,0,0
$GC,8451,0.53,236.5,475.1,6.8,845,8476,0.00,2.28,19.38,0.848,4,0.000,0.044,2864,350,1827,0,0,0,0,0,0
$GC,8486,0.55,252.0,472.5,7.2,848,8504,0.00,2.17,14.15,0.807,6,0.000,0.024,2864,1755,1764,0,0,0,0,0,0
$GC,8812,0.59,252.0,445.1,9.3,880,8817,0.00,2.22,0.00,0.000,4,0.000,0.043,2874,356,1764,0,0,0,0,0,0
$GC,8845,0.59,252.0,442.0,10.5,883,8849,0.00,2.12,0.00,0.000,6,0.000,0.025,2875,1752,1764,0,0,0,0,0,0
$GC,9165,0.59,252.0,410.2,9.6,914,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1752,1764,0,0,0,0,0,0
$GC,9476,0.59,252.0,383.6,8.5,944,9480,0.00,2.20,0.00,0.000,4,0.000,0.043,2886,350,1764,0,0,0,0,0,0
$GC,9496,0.59,252.0,381.7,8.8,946,9501,0.00,2.10,0.00,0.000,6,0.000,0.025,2886,1744,1764,0,0,0,0,0,0
$GC,9818,0.59,252.0,350.2,10.1,977,9822,0.00,2.17,0.00,0.000,4,0.000,0.044,2897,354,1764,0,0,0,0,0,0
$GC,9839,0.59,252.0,348.0,10.0,979,9843,0.00,2.10,0.00,0.000,6,0.000,0.025,2897,1755,1764,0,0,0,0,0,0
$GC,10159,0.59,252.0,313.2,10.4,1010,10164,0.00,2.15,0.00,0.000,4,0.000,0.031,2897,3158,1763,0,0,0,0,0,0
$GC,10185,0.59,252.0,310.3,10.9,1012,10193,0.00,2.20,0.00,0.000,6,0.000,0.029,2907,1744,1764,0,0,0,0,0,0
$GC,10502,0.59,252.0,280.8,9.4,1043,10506,0.00,2.15,0.00,0.000,4,0.000,0.031,2907,3148,1764,0,0,0,0,0,0
$GC,10523,0.59,252.0,278.7,9.6,1045,10527,0.00,2.15,0.00,0.000,6,0.000,0.029,2918,1750,1763,0,0,0,0,0,0
$GC,10843,0.59,252.0,244.6,11.1,1076,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1749,1763,0,0,0,0,0,0
$GC,11153,0.59,252.0,209.5,11.1,1106,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1749,1763,0,0,0,0,0,0
$GC,11472,0.59,252.0,175.4,11.2,1157,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1749,1763,0,0,0,0,0,0
$GC,11792,0.59,252.0,139.4,10.3,1217,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1749,1763,0,0,0,0,0,0
$GC,12112,0.59,252.0,107.2,10.7,1277,12120,0.00,2.17,0.00,0.000,4,0.000,0.043,2929,343,1763,0,0,0,0,0,0
$GC,12129,0.59,252.0,105.4,11.0,1280,12136,0.10,2.08,0.00,0.000,6,0.110,0.025,2890,1740,1763,0,0,0,0,0,0
$GC,12456,0.64,252.0,78.0,8.3,1341,12462,0.00,2.15,0.00,0.000,4,0.000,0.031,2890,3153,1763,0,0,0,0,0,0
$GC,12537,0.68,252.0,71.3,8.1,1356,12543,0.00,2.15,0.00,0.000,6,0.000,0.028,2899,1749,1763,0,0,0,0,0,0
$GC,12863,0.75,272.7,47.3,6.9,1417,12885,0.12,2.12,16.85,0.599,4,0.091,0.028,2969,3157,1680,0,0,0,0,0,0
$GC,12949,0.69,272.7,37.6,11.7,1433,12955,0.15,2.17,0.00,0.000,6,0.123,0.028,2927,1748,1683,0,0,0,0,0,0
$GC,13275,0.72,298.6,12.5,6.7,1494,13302,0.00,2.17,21.55,0.572,4,0.000,0.041,2937,346,1575,0,0,0,0,0,0
$GC,13376,0.76,298.6,5.0,8.5,1513,13383,0.00,2.10,0.00,0.000,6,0.000,0.025,2937,1745,1576,0,0,0,0,0,0
$STATE,13402,end climb,SURFACE_DEPTH_REACHED
$STATE,13402,begin surface coast
$FINISH,0.5,1.024783
$STATE,13439,end surface coast,CONTROL_FINISHED_OK
$STATE,13439,begin surface
$SM_CCo,13511,0.00,0.000,0,0,1577,298.03
$SM_GC,0.99,7.10,0.00,0.00,0.042,0.000,0.000,183,1746,1577,-7.78,-1.53,298.03
$IRIDIUM_FIX,3632.29,-12219.41,210699,141446
$TT8_MAMPS,0.052923
$HUMID,54.13
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.30
$XPDR_PINGS,2
$24V_AH,24.1,11.694
$10V_AH,10.1,13.956
$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,17.625,99.300,347.225,0.000,0.000,24.613,31.378,224.077,1.250,0.000,15.997,0.000,9082.538,435.477,3876.623,465.433,0.000,1646.470,0.000,3360.726,0.000,6.417,0.000
$DEVICE_MAMPS,218.595,46.020,946.478,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.934,3239.143,2395.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286680
$DATA_FILE_SIZE,107558,1525
$CAP_FILE_SIZE,152702,0
$CFSIZE,260165632,250286080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270310,215927,3649.253,-12215.169,37,3.1,56,14.8