version: 66.06
glider: 503
mission: 5
dive: 69
start: 3 30 110 18 43 34
data:
$ID,503
$MISSION,5
$DIVE,69
$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,-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,-9566.4785
$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,40
$R_STBD_OVSHOOT,50
$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
$GPS1,183637,3647.751,-12213.758,33,1.1,33,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.4
$GPS2,184302,3647.727,-12213.755,13,1.1,13,14.8
$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,321.5,4597,-15.7,-7.865
$D_GRID,620
$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,11,-0.57,-116.8,0.0,0.0,0,66,0.00,0.00,-53.28,0.000,2,0.000,0.000,176,1746,2839,0,0,0,0,0,0
$GC,68,-0.57,-116.8,3.7,-5.6,10,90,8.80,2.15,-9.12,0.000,4,0.216,0.050,2512,391,3271,0,0,0,0,0,0
$GC,110,-0.14,-116.8,15.0,-24.7,18,117,0.43,2.15,0.00,0.000,6,0.110,0.024,2648,1798,3273,0,0,0,0,0,0
$GC,438,-0.51,-116.8,37.3,-8.2,79,444,0.32,2.20,0.00,0.000,4,0.071,0.033,2524,3198,3273,0,0,0,0,0,0
$GC,480,-0.63,-116.8,41.0,-8.5,87,488,0.00,2.15,0.00,0.000,6,0.000,0.025,2524,1799,3273,0,0,0,0,0,0
$GC,808,-0.63,-116.8,73.0,-9.2,148,814,0.00,2.15,0.00,0.000,4,0.000,0.038,2524,404,3274,0,0,0,0,0,0
$GC,914,-0.63,-116.8,84.0,-10.4,168,921,0.00,2.08,0.00,0.000,6,0.000,0.024,2518,1795,3274,0,0,0,0,0,0
$GC,1240,-0.63,-116.8,115.4,-10.2,229,1247,0.00,2.15,0.00,0.000,4,0.000,0.037,2519,404,3274,0,0,0,0,0,0
$GC,1278,-0.63,-116.8,119.4,-10.7,236,1284,0.00,2.08,0.00,0.000,6,0.000,0.023,2509,1795,3275,0,0,0,0,0,0
$GC,1604,-0.63,-116.8,153.6,-10.4,297,1611,0.00,2.12,0.00,0.000,4,0.000,0.037,2509,409,3275,0,0,0,0,0,0
$GC,1679,-0.63,-116.8,162.2,-11.3,311,1686,0.00,2.05,0.00,0.000,6,0.000,0.024,2505,1791,3275,0,0,0,0,0,0
$GC,2006,-0.63,-116.8,199.6,-12.3,372,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1791,3275,0,0,0,0,0,0
$GC,2321,-0.63,-116.8,235.1,-10.0,403,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1791,3275,0,0,0,0,0,0
$GC,2632,-0.63,-116.8,261.6,-7.7,433,2635,0.00,2.10,0.00,0.000,4,0.000,0.031,2505,3199,3274,0,0,0,0,0,0
$GC,2694,-0.68,-116.8,266.2,-7.1,438,2701,0.00,2.12,0.00,0.000,6,0.000,0.025,2506,1800,3274,0,0,0,0,0,0
$GC,3010,-0.68,-116.8,291.1,-8.4,469,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1800,3274,0,0,0,0,0,0
$GC,3321,-0.68,-116.8,317.6,-8.7,499,3324,0.00,2.15,0.00,0.000,4,0.000,0.033,2505,3188,3274,0,0,0,0,0,0
$GC,3368,-0.73,-116.8,321.8,-8.7,503,3374,0.08,2.10,0.00,0.000,6,0.055,0.025,2445,1800,3274,0,0,0,0,0,0
$GC,3683,-0.62,-116.8,362.7,-13.2,534,3688,0.17,2.15,0.00,0.000,4,0.140,0.038,2499,403,3273,0,0,0,0,0,0
$GC,3774,-0.62,-116.8,372.6,-10.7,542,3782,0.00,2.08,0.00,0.000,6,0.000,0.024,2493,1802,3273,0,0,0,0,0,0
$GC,4090,-0.62,-116.8,401.0,-8.6,573,4094,0.00,2.12,0.00,0.000,4,0.000,0.031,2493,3195,3272,0,0,0,0,0,0
$GC,4126,-0.62,-116.8,404.0,-7.4,576,4134,0.00,2.12,0.00,0.000,6,0.000,0.025,2493,1793,3273,0,0,0,0,0,0
$GC,4443,-0.62,-116.8,430.6,-8.3,607,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1793,3272,0,0,0,0,0,0
$GC,4754,-0.62,-116.8,456.3,-8.7,637,4757,0.00,2.10,0.00,0.000,4,0.000,0.038,2493,400,3271,0,0,0,0,0,0
$GC,4816,-0.62,-116.8,462.7,-10.3,643,4821,0.00,2.08,0.00,0.000,6,0.000,0.024,2483,1796,3271,0,0,0,0,0,0
$GC,5137,-0.62,-116.8,495.0,-9.8,674,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1798,3271,0,0,0,0,0,0
$GC,5453,-0.62,-116.8,524.8,-9.4,692,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1798,3271,0,0,0,0,0,0
$GC,5759,-0.62,-116.8,554.0,-9.4,707,5763,0.00,2.15,0.00,0.000,4,0.000,0.033,2478,3201,3270,0,0,0,0,0,0
$GC,5806,-0.62,-116.8,558.1,-8.6,709,5811,0.00,2.12,0.00,0.000,6,0.000,0.025,2478,1804,3270,0,0,0,0,0,0
$GC,6128,-0.62,-116.8,586.7,-9.3,725,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1805,3270,0,0,0,0,0,0
$GC,6432,-0.62,-116.8,616.3,-10.6,740,6437,0.00,2.12,0.00,0.000,4,0.000,0.031,2467,3193,3269,0,0,0,0,0,0
$STATE,6468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6468,begin apogee
$GC,6473,-0.14,0.0,620.2,10.6,741,6566,0.52,0.00,91.32,0.958,6,0.104,0.000,2653,1754,2792,0,0,0,0,0,0
$STATE,6567,end apogee,CONTROL_FINISHED_OK
$STATE,6567,begin climb
$GC,6568,0.57,116.8,623.6,0.0,746,6673,0.62,2.30,97.80,0.926,4,0.062,0.030,2888,3139,2315,0,0,0,0,0,0
$GC,6763,0.49,143.8,621.7,6.6,755,6790,0.10,2.22,22.75,0.892,6,0.128,0.027,2865,1750,2205,0,0,0,0,0,0
$GC,7094,0.51,163.0,600.8,7.0,771,7115,0.00,2.20,16.38,0.884,4,0.000,0.028,2865,3150,2128,0,0,0,0,0,0
$GC,7221,0.51,163.0,589.4,9.0,777,7225,0.00,2.22,0.00,0.000,6,0.000,0.028,2874,1747,2128,0,0,0,0,0,0
$GC,7547,0.51,163.0,557.8,9.7,793,7551,0.00,2.17,0.00,0.000,4,0.000,0.030,2874,3142,2125,0,0,0,0,0,0
$GC,7594,0.46,163.0,553.0,10.0,795,7599,0.10,2.17,0.00,0.000,6,0.120,0.028,2849,1747,2125,0,0,0,0,0,0
$GC,7916,0.46,163.0,525.9,8.0,811,7919,0.00,2.17,0.00,0.000,4,0.000,0.030,2849,3151,2123,0,0,0,0,0,0
$GC,7973,0.48,177.8,521.5,7.2,813,7990,0.00,2.20,12.70,0.854,6,0.000,0.028,2858,1743,2067,0,0,0,0,0,0
$GC,8299,0.51,201.1,498.9,6.8,830,8324,0.00,2.22,20.30,0.866,4,0.000,0.031,2858,3145,1972,0,0,0,0,0,0
$GC,8373,0.53,219.8,493.7,7.0,837,8395,0.00,2.20,16.73,0.841,6,0.000,0.028,2869,1748,1895,0,0,0,0,0,0
$GC,8703,0.53,219.8,465.0,9.3,869,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1749,1895,0,0,0,0,0,0
$GC,9014,0.53,219.8,437.0,10.1,899,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1748,1894,0,0,0,0,0,0
$GC,9325,0.53,219.8,406.6,9.7,929,9328,0.00,2.15,0.00,0.000,4,0.000,0.031,2869,3151,1893,0,0,0,0,0,0
$GC,9360,0.53,219.8,402.9,10.3,932,9368,0.00,2.20,0.00,0.000,6,0.000,0.028,2879,1743,1892,0,0,0,0,0,0
$GC,9677,0.53,219.8,369.8,10.5,963,9681,0.00,2.17,0.00,0.000,4,0.000,0.041,2890,343,1892,0,0,0,0,0,0
$GC,9708,0.53,219.8,366.2,11.6,966,9712,0.00,2.12,0.00,0.000,6,0.000,0.024,2890,1754,1892,0,0,0,0,0,0
$GC,10029,0.53,219.8,330.9,10.1,997,10033,0.00,2.12,0.00,0.000,4,0.000,0.031,2890,3141,1892,0,0,0,0,0,0
$GC,10060,0.53,219.8,327.6,10.6,1000,10065,0.00,2.15,0.00,0.000,6,0.000,0.028,2901,1748,1891,0,0,0,0,0,0
$GC,10382,0.53,219.8,296.0,9.1,1031,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1748,1891,0,0,0,0,0,0
$GC,10693,0.53,219.8,268.4,7.9,1061,10694,0.10,0.00,0.00,0.000,6,0.160,0.000,2871,1748,1890,0,0,0,0,0,0
$GC,11003,0.54,231.5,246.9,7.3,1091,11014,0.00,0.00,9.68,0.702,6,0.000,0.000,2871,1748,1847,0,0,0,0,0,0
$GC,11322,0.55,235.7,221.5,7.7,1122,11335,0.00,2.20,5.10,0.588,4,0.000,0.041,2882,343,1830,0,0,0,0,0,0
$GC,11349,0.55,235.7,219.3,8.0,1124,11356,0.00,2.12,0.00,0.000,6,0.000,0.025,2882,1750,1831,0,0,0,0,0,0
$GC,11668,0.55,235.7,191.6,8.8,1164,11675,0.00,2.15,0.00,0.000,4,0.000,0.031,2881,3141,1831,0,0,0,0,0,0
$GC,11690,0.55,235.7,189.7,9.1,1168,11697,0.00,2.15,0.00,0.000,6,0.000,0.028,2892,1745,1831,0,0,0,0,0,0
$GC,12017,0.55,235.7,160.7,9.0,1229,12023,0.00,2.15,0.00,0.000,4,0.000,0.041,2903,354,1831,0,0,0,0,0,0
$GC,12032,0.55,235.7,159.1,9.3,1232,12039,0.00,2.08,0.00,0.000,6,0.000,0.024,2903,1748,1831,0,0,0,0,0,0
$GC,12359,0.55,235.7,125.2,10.1,1293,12365,0.00,2.17,0.00,0.000,4,0.000,0.041,2913,346,1831,0,0,0,0,0,0
$GC,12423,0.55,235.7,118.2,11.2,1305,12430,0.10,2.10,0.00,0.000,6,0.109,0.025,2875,1756,1831,0,0,0,0,0,0
$GC,12750,0.68,292.6,96.7,5.3,1366,12798,0.12,0.00,45.50,0.630,6,0.087,0.000,2938,1756,1598,0,0,0,0,0,0
$GC,13118,0.68,292.6,57.4,10.6,1435,13124,0.00,2.20,0.00,0.000,4,0.000,0.041,2950,354,1600,0,0,0,0,0,0
$GC,13177,0.68,292.6,50.9,10.3,1446,13184,0.08,2.10,0.00,0.000,6,0.116,0.024,2921,1751,1600,0,0,0,0,0,0
$GC,13504,0.76,304.0,23.5,7.4,1507,13520,0.00,2.15,10.70,0.563,4,0.000,0.029,2921,3142,1551,0,0,0,0,0,0
$GC,13557,0.81,304.0,19.3,8.3,1517,13564,0.00,2.15,0.00,0.000,6,0.000,0.028,2928,1756,1552,0,0,0,0,0,0
$STATE,13748,end climb,SURFACE_DEPTH_REACHED
$STATE,13748,begin surface coast
$FINISH,0.2,1.024825
$STATE,13781,end surface coast,CONTROL_FINISHED_OK
$STATE,13781,begin surface
$SM_CCo,13853,0.00,0.000,0,0,1551,304.17
$SM_GC,1.00,7.00,0.00,0.00,0.037,0.000,0.000,193,1755,1551,-7.77,-1.27,304.17
$IRIDIUM_FIX,3632.29,-12212.00,240699,151501
$TT8_MAMPS,0.051389
$HUMID,55.39
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.1,13.302
$10V_AH,10.1,16.837
$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,18.550,111.750,348.950,0.000,0.000,29.313,30.569,224.194,0.750,0.000,15.766,0.000,9278.398,461.547,4007.994,485.718,0.000,1723.807,0.000,3459.879,0.000,6.389,0.000
$DEVICE_MAMPS,216.294,49.855,957.983,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.084,3313.081,2467.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287164
$DATA_FILE_SIZE,110748,1559
$CAP_FILE_SIZE,158975,0
$CFSIZE,260165632,248758272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300310,223525,3649.417,-12215.170,40,1.7,40,14.8