version: 66.06
glider: 503
mission: 5
dive: 68
start: 3 30 110 15 8 1
data:
$ID,503
$MISSION,5
$DIVE,68
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$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,-3
$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,-9550.0791
$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
$GPS1,145507,3645.829,-12211.980,67,1.0,67,14.8
$_CALLS,2
$_XMS_NAKs,27
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.2
$GPS2,150755,3645.783,-12211.918,15,1.0,32,14.8
$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,314.9,9048,-15.7,-7.865
$D_GRID,648
$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,-0.57,-116.8,0.0,0.0,0,52,0.00,0.00,-38.62,0.000,2,0.000,0.000,167,1750,2773,0,0,0,0,0,0
$GC,53,-0.57,-116.8,3.6,-5.9,7,80,9.00,2.15,-10.48,0.000,4,0.222,0.051,2509,393,3271,0,0,0,0,0,0
$GC,127,-0.42,-116.8,20.5,-18.8,21,134,0.17,2.15,0.00,0.000,6,0.117,0.025,2560,1801,3273,0,0,0,0,0,0
$GC,454,-0.42,-116.8,51.8,-8.8,82,460,0.00,2.17,0.00,0.000,4,0.000,0.038,2564,405,3273,0,0,0,0,0,0
$GC,486,-0.46,-116.8,54.6,-8.6,88,493,0.00,2.10,0.00,0.000,6,0.000,0.024,2561,1798,3274,0,0,0,0,0,0
$GC,813,-0.51,-116.8,79.5,-6.4,149,819,0.00,2.15,0.00,0.000,4,0.000,0.032,2561,3193,3274,0,0,0,0,0,0
$GC,893,-0.63,-116.8,84.5,-6.7,164,900,0.15,2.12,0.00,0.000,6,0.051,0.025,2482,1799,3274,0,0,0,0,0,0
$GC,1221,-0.54,-116.8,127.7,-15.0,225,1227,0.15,2.15,0.00,0.000,4,0.140,0.038,2528,407,3275,0,0,0,0,0,0
$GC,1279,-0.54,-116.8,135.8,-13.1,236,1286,0.00,2.08,0.00,0.000,6,0.000,0.024,2521,1800,3275,0,0,0,0,0,0
$GC,1606,-0.54,-116.8,169.3,-9.6,297,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1801,3275,0,0,0,0,0,0
$GC,1936,-0.54,-116.8,202.2,-9.6,357,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1801,3274,0,0,0,0,0,0
$GC,2247,-0.54,-116.8,229.1,-8.6,387,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1801,3274,0,0,0,0,0,0
$GC,2557,-0.54,-116.8,257.3,-8.9,417,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1801,3273,0,0,0,0,0,0
$GC,2867,-0.54,-116.8,283.5,-7.9,447,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1801,3273,0,0,0,0,0,0
$GC,3178,-0.54,-116.8,308.9,-8.9,477,3181,0.00,2.12,0.00,0.000,4,0.000,0.031,2511,3199,3273,0,0,0,0,0,0
$GC,3213,-0.60,-116.8,312.4,-9.4,480,3221,0.00,2.15,0.00,0.000,6,0.000,0.025,2512,1791,3273,0,0,0,0,0,0
$GC,3530,-0.60,-116.8,342.1,-8.3,511,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1791,3272,0,0,0,0,0,0
$GC,3840,-0.60,-116.8,368.8,-9.0,541,3844,0.00,2.12,0.00,0.000,4,0.000,0.038,2512,401,3271,0,0,0,0,0,0
$GC,3919,-0.60,-116.8,376.7,-9.3,548,3927,0.00,2.08,0.00,0.000,6,0.000,0.023,2507,1802,3271,0,0,0,0,0,0
$GC,4235,-0.60,-116.8,405.1,-8.3,579,4239,0.00,2.12,0.00,0.000,4,0.000,0.031,2503,3203,3271,0,0,0,0,0,0
$GC,4278,-0.64,-116.8,408.4,-7.9,583,4282,0.00,2.12,0.00,0.000,6,0.000,0.026,2503,1802,3271,0,0,0,0,0,0
$GC,4598,-0.64,-116.8,434.1,-7.9,614,4603,0.00,2.12,0.00,0.000,4,0.000,0.038,2503,408,3270,0,0,0,0,0,0
$GC,4635,-0.64,-116.8,437.4,-8.3,617,4642,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1804,3270,0,0,0,0,0,0
$GC,4950,-0.64,-116.8,463.7,-9.0,648,4956,0.00,2.12,0.00,0.000,4,0.000,0.031,2485,3198,3269,0,0,0,0,0,0
$GC,4998,-0.64,-116.8,468.1,-8.6,652,5006,0.00,2.15,0.00,0.000,6,0.000,0.026,2486,1792,3270,0,0,0,0,0,0
$GC,5315,-0.64,-116.8,497.7,-10.1,683,5318,0.00,2.12,0.00,0.000,4,0.000,0.038,2486,398,3269,0,0,0,0,0,0
$GC,5372,-0.59,-116.8,504.7,-12.5,686,5380,0.00,2.10,0.00,0.000,6,0.000,0.025,2480,1806,3269,0,0,0,0,0,0
$GC,5683,-0.59,-116.8,540.5,-10.8,702,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1806,3269,0,0,0,0,0,0
$STATE,5844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5844,begin apogee
$GC,5847,-0.14,0.0,556.7,9.7,710,5940,0.52,0.00,90.45,0.916,6,0.107,0.000,2660,1806,2792,0,0,0,0,0,0
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5940,begin climb
$GC,5941,0.57,116.8,558.8,0.0,714,6044,0.62,2.38,96.82,0.884,4,0.061,0.038,2903,352,2314,0,0,0,0,0,0
$GC,6080,0.44,133.5,556.5,7.1,720,6100,0.17,2.17,14.82,0.822,6,0.126,0.023,2847,1741,2247,0,0,0,0,0,0
$GC,6411,0.47,153.5,533.1,7.0,737,6432,0.00,0.00,16.85,0.844,6,0.000,0.000,2847,1741,2165,0,0,0,0,0,0
$GC,6737,0.50,181.1,510.2,6.6,753,6761,0.00,0.00,23.40,0.855,6,0.000,0.000,2846,1741,2052,0,0,0,0,0,0
$GC,7071,0.50,181.1,483.7,8.4,779,7075,0.00,2.17,0.00,0.000,4,0.000,0.040,2857,359,2051,0,0,0,0,0,0
$GC,7113,0.50,181.1,479.8,10.0,783,7117,0.00,2.10,0.00,0.000,6,0.000,0.024,2857,1749,2051,0,0,0,0,0,0
$GC,7433,0.50,181.1,450.7,8.1,814,7438,0.00,2.15,0.00,0.000,4,0.000,0.030,2857,3147,2050,0,0,0,0,0,0
$GC,7470,0.50,181.1,447.5,9.2,817,7477,0.00,2.17,0.00,0.000,6,0.000,0.028,2867,1754,2049,0,0,0,0,0,0
$GC,7786,0.52,194.2,422.2,7.3,848,7799,0.00,0.00,11.25,0.799,6,0.000,0.000,2867,1754,1999,0,0,0,0,0,0
$GC,8107,0.57,234.7,400.8,6.0,879,8148,0.00,2.25,32.90,0.820,4,0.000,0.031,2867,3151,1835,0,0,0,0,0,0
$GC,8190,0.57,238.4,394.8,7.7,887,8201,0.00,2.20,5.43,0.647,6,0.000,0.028,2876,1754,1820,0,0,0,0,0,0
$GC,8510,0.57,238.4,368.3,8.2,918,8515,0.00,2.17,0.00,0.000,4,0.000,0.030,2876,3147,1820,0,0,0,0,0,0
$GC,8543,0.57,238.4,365.5,9.1,921,8546,0.00,2.20,0.00,0.000,6,0.000,0.029,2886,1746,1820,0,0,0,0,0,0
$GC,8862,0.57,238.4,334.9,10.1,952,8867,0.00,2.20,0.00,0.000,4,0.000,0.040,2897,339,1820,0,0,0,0,0,0
$GC,8884,0.57,238.4,332.6,10.9,954,8888,0.00,2.12,0.00,0.000,6,0.000,0.024,2898,1749,1820,0,0,0,0,0,0
$GC,9205,0.57,238.4,298.4,10.6,985,9209,0.00,2.15,0.00,0.000,4,0.000,0.031,2898,3148,1820,0,0,0,0,0,0
$GC,9269,0.57,238.4,291.4,11.0,991,9273,0.00,2.17,0.00,0.000,6,0.000,0.028,2908,1744,1819,0,0,0,0,0,0
$GC,9589,0.57,238.4,257.2,10.3,1022,9593,0.00,2.17,0.00,0.000,4,0.000,0.029,2908,3157,1819,0,0,0,0,0,0
$GC,9626,0.57,238.4,253.2,10.7,1025,9633,0.12,2.20,0.00,0.000,6,0.150,0.028,2882,1742,1818,0,0,0,0,0,0
$GC,9941,0.57,238.4,227.0,8.2,1056,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1742,1818,0,0,0,0,0,0
$GC,10252,0.57,238.4,203.8,8.5,1086,10256,0.00,2.15,0.00,0.000,4,0.000,0.041,2892,350,1818,0,0,0,0,0,0
$GC,10278,0.57,238.4,201.5,8.8,1088,10286,0.00,2.12,0.00,0.000,6,0.000,0.024,2892,1763,1818,0,0,0,0,0,0
$GC,10605,0.57,238.4,166.9,11.0,1148,10611,0.00,2.10,0.00,0.000,4,0.000,0.029,2892,3146,1818,0,0,0,0,0,0
$GC,10626,0.57,238.4,164.4,11.2,1152,10633,0.00,2.15,0.00,0.000,6,0.000,0.028,2901,1745,1818,0,0,0,0,0,0
$GC,10952,0.57,238.4,129.2,9.7,1213,10959,0.00,2.15,0.00,0.000,4,0.000,0.040,2912,350,1817,0,0,0,0,0,0
$GC,11006,0.57,238.4,123.7,10.4,1223,11013,0.00,2.08,0.00,0.000,6,0.000,0.024,2912,1752,1817,0,0,0,0,0,0
$GC,11332,0.57,238.4,90.6,9.6,1284,11339,0.00,2.12,0.00,0.000,4,0.000,0.029,2912,3149,1817,0,0,0,0,0,0
$GC,11419,0.57,238.4,83.0,8.5,1300,11424,0.10,2.15,0.00,0.000,6,0.116,0.028,2884,1748,1817,0,0,0,0,0,0
$GC,11745,0.67,274.2,64.6,6.2,1361,11777,0.00,0.00,27.73,0.611,6,0.000,0.000,2884,1748,1675,0,0,0,0,0,0
$GC,12097,0.86,336.0,42.5,5.1,1427,12150,0.25,0.00,49.05,0.584,6,0.064,0.000,3001,1748,1422,0,0,0,0,0,0
$STATE,12372,end climb,SURFACE_DEPTH_REACHED
$STATE,12372,begin surface coast
$FINISH,0.2,1.013232
$STATE,12394,end surface coast,CONTROL_FINISHED_OK
$STATE,12394,begin surface
$SM_CCo,12465,0.00,0.000,0,0,1426,335.07
$SM_GC,1.28,7.28,0.00,0.00,0.039,0.000,0.000,190,1748,1426,-7.77,-1.47,335.07
$IRIDIUM_FIX,3632.29,-12209.72,240699,151546
$TT8_MAMPS,0.051389
$HUMID,54.52
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,550.8,14.0
$24V_AH,24.2,13.201
$10V_AH,10.1,16.654
$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,18.550,94.525,368.700,0.000,0.000,52.030,70.899,424.326,1.000,0.000,33.906,0.000,8206.573,455.687,3755.895,775.044,0.000,1636.104,0.000,3252.966,0.000,7.238,0.000
$DEVICE_MAMPS,221.663,51.389,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.189,3160.308,2346.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246364
$DATA_FILE_SIZE,104538,1483
$CAP_FILE_SIZE,151060,0
$CFSIZE,260165632,248864768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300310,183637,3647.751,-12213.758,33,1.1,33,14.8