version: 66.06
glider: 503
mission: 5
dive: 60
start: 3 28 110 20 38 20
data:
$ID,503
$MISSION,5
$DIVE,60
$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,-9347.8838
$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,42
$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
$GPS1,203106,3645.984,-12213.794,21,2.0,21,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.1
$GPS2,203814,3645.970,-12213.697,11,2.0,11,14.8
$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,73.9,2519,-23.8,-7.857
$D_GRID,646
$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,-0.71,-55.4,0.0,0.0,0,58,0.00,0.00,-44.33,0.000,2,0.000,0.000,188,1743,2630,0,0,0,0,0,0
$GC,59,-0.73,-69.3,3.3,-6.5,8,86,8.57,2.12,-10.62,0.000,4,0.216,0.055,2460,406,3076,0,0,0,0,0,0
$GC,326,-0.67,-69.3,54.0,-16.9,58,332,0.08,2.10,0.00,0.000,6,0.141,0.025,2478,1791,3077,0,0,0,0,0,0
$GC,652,-0.67,-69.3,99.4,-13.2,119,659,0.00,2.17,0.00,0.000,4,0.000,0.040,2481,400,3079,0,0,0,0,0,0
$GC,727,-0.67,-69.3,109.6,-13.6,133,734,0.00,2.12,0.00,0.000,6,0.000,0.025,2472,1809,3079,0,0,0,0,0,0
$GC,1054,-0.67,-69.3,154.9,-13.7,194,1060,0.00,2.12,0.00,0.000,4,0.000,0.031,2461,3196,3080,0,0,0,0,0,0
$GC,1108,-0.74,-69.3,162.2,-13.3,204,1114,0.00,2.15,0.00,0.000,6,0.000,0.027,2461,1793,3080,0,0,0,0,0,0
$GC,1437,-0.74,-69.3,207.4,-13.0,261,1441,0.00,2.15,0.00,0.000,4,0.000,0.031,2451,3195,3080,0,0,0,0,0,0
$GC,1451,-0.74,-69.3,209.4,-12.7,262,1459,0.00,2.15,0.00,0.000,6,0.000,0.027,2451,1799,3080,0,0,0,0,0,0
$GC,1768,-0.74,-69.3,252.4,-13.1,293,1772,0.00,2.15,0.00,0.000,4,0.000,0.040,2451,403,3080,0,0,0,0,0,0
$GC,1836,-0.74,-69.3,262.0,-13.5,299,1843,0.00,2.10,0.00,0.000,6,0.000,0.025,2442,1801,3080,0,0,0,0,0,0
$GC,2152,-0.74,-69.3,304.4,-13.9,330,2157,0.00,2.15,0.00,0.000,4,0.000,0.031,2431,3204,3080,0,0,0,0,0,0
$GC,2206,-0.74,-69.3,311.6,-13.4,335,2210,0.08,2.15,0.00,0.000,6,0.127,0.027,2458,1797,3080,0,0,0,0,0,0
$GC,2526,-0.74,-69.3,351.6,-12.6,366,2531,0.00,2.15,0.00,0.000,4,0.000,0.040,2465,398,3079,0,0,0,0,0,0
$GC,2568,-0.74,-69.3,357.5,-14.1,370,2573,0.00,2.08,0.00,0.000,6,0.000,0.025,2456,1792,3079,0,0,0,0,0,0
$GC,2890,-0.74,-69.3,397.7,-12.0,401,2891,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1792,3079,0,0,0,0,0,0
$GC,3201,-0.74,-69.3,439.8,-13.5,431,3204,0.00,2.15,0.00,0.000,4,0.000,0.031,2446,3202,3078,0,0,0,0,0,0
$GC,3226,-0.80,-69.3,443.2,-12.8,433,3233,0.00,2.15,0.00,0.000,6,0.000,0.026,2446,1800,3078,0,0,0,0,0,0
$GC,3541,-0.80,-69.3,486.1,-13.4,464,3546,0.00,2.17,0.00,0.000,4,0.000,0.041,2446,401,3078,0,0,0,0,0,0
$GC,3605,-0.80,-69.3,495.7,-15.0,470,3610,0.00,2.10,0.00,0.000,6,0.000,0.025,2436,1808,3078,0,0,0,0,0,0
$GC,3922,-0.80,-69.3,539.2,-12.6,487,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1809,3078,0,0,0,0,0,0
$GC,4227,-0.80,-69.3,578.4,-14.1,502,4231,0.00,2.17,0.00,0.000,4,0.000,0.039,2436,397,3077,0,0,0,0,0,0
$GC,4301,-0.80,-69.3,590.3,-15.7,505,4305,0.00,2.10,0.00,0.000,6,0.000,0.023,2426,1805,3077,0,0,0,0,0,0
$STATE,4617,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4617,begin apogee
$GC,4620,-0.14,0.0,632.6,12.6,521,4679,0.70,0.00,54.50,0.963,6,0.123,0.000,2657,1744,2792,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4679,begin climb
$GC,4680,0.73,69.3,634.9,0.0,524,4744,0.75,2.28,58.03,0.930,4,0.065,0.029,2939,3139,2509,0,0,0,0,0,0
$GC,4776,0.71,118.8,633.6,3.2,528,4825,0.00,2.22,42.38,0.919,6,0.000,0.027,2950,1756,2307,0,0,0,0,0,0
$GC,5127,0.71,118.8,602.7,8.9,546,5132,0.00,2.17,0.00,0.000,4,0.000,0.030,2950,3143,2300,0,0,0,0,0,0
$GC,5175,0.67,118.8,597.8,10.8,548,5180,0.12,2.17,0.00,0.000,6,0.145,0.028,2921,1759,2298,0,0,0,0,0,0
$GC,5496,0.67,118.8,571.9,8.1,564,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1759,2297,0,0,0,0,0,0
$GC,5802,0.67,118.8,545.9,8.7,579,5806,0.00,2.20,0.00,0.000,4,0.000,0.041,2930,354,2295,0,0,0,0,0,0
$GC,5833,0.67,118.8,542.9,9.5,580,5838,0.00,2.12,0.00,0.000,6,0.000,0.024,2930,1755,2295,0,0,0,0,0,0
$GC,6148,0.67,118.8,515.8,8.4,596,6153,0.00,2.12,0.00,0.000,4,0.000,0.029,2930,3142,2294,0,0,0,0,0,0
$GC,6185,0.67,118.8,512.5,9.6,597,6192,0.00,2.17,0.00,0.000,6,0.000,0.028,2940,1744,2293,0,0,0,0,0,0
$GC,6500,0.67,118.8,483.5,9.0,621,6503,0.00,2.17,0.00,0.000,4,0.000,0.030,2941,3153,2293,0,0,0,0,0,0
$GC,6530,0.67,118.8,480.4,9.6,624,6535,0.10,2.17,0.00,0.000,6,0.143,0.028,2918,1747,2292,0,0,0,0,0,0
$GC,6852,0.67,118.8,452.6,8.6,655,6856,0.00,2.15,0.00,0.000,4,0.000,0.030,2918,3147,2292,0,0,0,0,0,0
$GC,7006,0.67,118.8,438.6,9.5,669,7013,0.00,2.15,0.00,0.000,6,0.000,0.028,2927,1745,2291,0,0,0,0,0,0
$GC,7321,0.67,122.8,413.0,7.5,700,7326,0.00,2.15,0.00,0.000,4,0.000,0.030,2927,3146,2291,0,0,0,0,0,0
$GC,7358,0.67,122.8,409.9,8.4,703,7365,0.00,2.15,0.00,0.000,6,0.000,0.028,2938,1748,2290,0,0,0,0,0,0
$GC,7674,0.67,122.8,383.1,9.4,734,7679,0.00,2.15,0.00,0.000,4,0.000,0.029,2938,3154,2290,0,0,0,0,0,0
$GC,7749,0.67,122.8,376.0,9.7,741,7753,0.10,2.15,0.00,0.000,6,0.144,0.028,2915,1753,2289,0,0,0,0,0,0
$GC,8069,0.68,129.3,351.6,7.2,772,8082,0.00,0.00,6.72,0.714,6,0.000,0.000,2916,1754,2265,0,0,0,0,0,0
$GC,8391,0.74,141.9,328.8,6.7,803,8406,0.00,2.15,12.27,0.759,4,0.000,0.028,2915,3155,2212,0,0,0,0,0,0
$GC,8512,0.74,141.9,319.4,8.1,814,8516,0.00,2.15,0.00,0.000,6,0.000,0.028,2925,1756,2211,0,0,0,0,0,0
$GC,8833,0.74,141.9,293.7,8.1,845,8837,0.00,2.15,0.00,0.000,4,0.000,0.031,2925,3152,2211,0,0,0,0,0,0
$GC,8955,0.74,141.9,283.0,9.8,856,8962,0.00,2.17,0.00,0.000,6,0.000,0.028,2935,1750,2210,0,0,0,0,0,0
$GC,9271,0.74,141.9,252.8,10.0,887,9275,0.00,2.20,0.00,0.000,4,0.000,0.041,2947,345,2210,0,0,0,0,0,0
$GC,9302,0.74,141.9,249.4,11.1,890,9307,0.00,2.10,0.00,0.000,6,0.000,0.023,2946,1752,2210,0,0,0,0,0,0
$GC,9624,0.74,141.9,217.3,9.9,921,9628,0.00,2.12,0.00,0.000,4,0.000,0.031,2946,3152,2210,0,0,0,0,0,0
$GC,9767,0.74,141.9,202.6,10.5,934,9774,0.00,2.15,0.00,0.000,6,0.000,0.027,2957,1746,2209,0,0,0,0,0,0
$GC,10093,0.74,141.9,171.6,8.7,992,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1746,2209,0,0,0,0,0,0
$GC,10419,0.74,141.9,142.1,9.0,1053,10425,0.00,2.12,0.00,0.000,4,0.000,0.030,2958,3142,2209,0,0,0,0,0,0
$GC,10568,0.74,141.9,128.2,8.8,1081,10575,0.08,2.12,0.00,0.000,6,0.144,0.028,2942,1751,2209,0,0,0,0,0,0
$GC,10895,0.74,142.7,102.3,7.8,1142,10901,0.00,2.15,0.00,0.000,4,0.000,0.041,2951,354,2209,0,0,0,0,0,0
$GC,10932,0.74,142.7,99.1,8.5,1149,10939,0.00,2.08,0.00,0.000,6,0.000,0.024,2951,1754,2209,0,0,0,0,0,0
$GC,11258,0.75,157.2,73.8,6.5,1210,11276,0.00,2.10,13.25,0.614,4,0.000,0.028,2951,3152,2151,0,0,0,0,0,0
$GC,11436,0.76,161.0,59.7,7.5,1243,11447,0.00,2.15,4.90,0.509,6,0.000,0.028,2962,1749,2134,0,0,0,0,0,0
$GC,11768,0.79,187.2,39.0,5.4,1305,11795,0.00,2.15,21.92,0.593,4,0.000,0.040,2974,347,2029,0,0,0,0,0,0
$GC,11842,0.80,196.8,34.4,6.9,1319,11859,0.00,2.10,9.50,0.554,6,0.000,0.025,2974,1742,1989,0,0,0,0,0,0
$GC,12179,0.89,212.1,12.1,6.4,1382,12196,0.00,2.17,13.05,0.561,4,0.000,0.039,2984,344,1927,0,0,0,0,0,0
$STATE,12312,end climb,SURFACE_DEPTH_REACHED
$STATE,12312,begin surface coast
$FINISH,1.0,1.024772
$STATE,12333,end surface coast,CONTROL_FINISHED_OK
$STATE,12333,begin surface
$SM_CCo,12347,21.90,0.558,0,0,1772,250.20
$SM_GC,4.66,0.00,0.00,21.90,0.000,0.000,0.558,194,1812,1772,-7.83,0.34,250.20
$IRIDIUM_FIX,3629.60,-12215.70,220699,161624
$TT8_MAMPS,0.052156
$HUMID,53.97
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.2,40.5
$24V_AH,24.3,12.266
$10V_AH,10.1,14.981
$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,18.075,116.075,236.525,21.900,0.000,29.790,39.383,254.391,1.000,0.000,13.210,0.000,8192.725,393.687,3672.039,504.069,0.000,1550.775,0.000,3184.161,0.000,9.104,0.000
$DEVICE_MAMPS,216.294,138.827,962.585,557.609,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,977.910,3006.521,2252.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286632
$DATA_FILE_SIZE,98439,1411
$CAP_FILE_SIZE,145958,0
$CFSIZE,260165632,249761792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290310,000636,3646.164,-12212.651,100,1.4,105,14.8