version: 66.06
glider: 503
mission: 5
dive: 72
start: 3 31 110 10 22 58
data:
$ID,503
$MISSION,5
$DIVE,72
$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,-9657.1641
$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,55
$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
$GPS1,095650,3645.132,-12218.837,132,5.0,151,14.8
$_CALLS,5
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-75.4
$GPS2,102252,3645.035,-12218.743,40,6.5,59,14.8
$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,65.1,10163,-15.7,-7.865
$D_GRID,1100
$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,-116.8,0.0,0.0,0,47,0.00,0.00,-33.78,0.000,2,0.000,0.000,137,1741,2666,0,0,0,0,0,0
$GC,49,-0.57,-116.8,3.1,-5.7,6,76,9.02,2.08,-13.90,0.000,4,0.216,0.048,2510,395,3269,0,0,0,0,0,0
$GC,316,-0.46,-116.8,45.5,-13.8,56,322,0.12,2.12,0.00,0.000,6,0.115,0.024,2545,1796,3271,0,0,0,0,0,0
$GC,642,-0.46,-116.8,77.5,-10.5,117,649,0.00,2.17,0.00,0.000,4,0.000,0.031,2537,3202,3271,0,0,0,0,0,0
$GC,713,-0.53,-116.8,84.8,-10.4,130,718,0.00,2.15,0.00,0.000,6,0.000,0.025,2537,1801,3271,0,0,0,0,0,0
$GC,1038,-0.53,-116.8,117.5,-9.7,191,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1800,3271,0,0,0,0,0,0
$GC,1364,-0.53,-116.8,147.8,-9.8,252,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,1800,3271,0,0,0,0,0,0
$GC,1689,-0.53,-116.8,180.4,-9.7,313,1696,0.00,2.17,0.00,0.000,4,0.000,0.038,2537,398,3270,0,0,0,0,0,0
$GC,1732,-0.53,-116.8,185.1,-11.1,321,1739,0.00,2.10,0.00,0.000,6,0.000,0.024,2532,1808,3270,0,0,0,0,0,0
$GC,2058,-0.53,-116.8,214.8,-8.3,367,2062,0.00,2.12,0.00,0.000,4,0.000,0.031,2532,3196,3269,0,0,0,0,0,0
$GC,2116,-0.62,-116.8,219.6,-8.3,372,2123,0.00,2.15,0.00,0.000,6,0.000,0.025,2531,1790,3269,0,0,0,0,0,0
$GC,2432,-0.62,-116.8,246.0,-8.2,403,2436,0.00,2.12,0.00,0.000,4,0.000,0.037,2532,401,3268,0,0,0,0,0,0
$GC,2511,-0.62,-116.8,253.0,-8.9,410,2518,0.00,2.10,0.00,0.000,6,0.000,0.023,2522,1805,3268,0,0,0,0,0,0
$GC,2828,-0.62,-116.8,278.9,-7.9,441,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1806,3268,0,0,0,0,0,0
$GC,3138,-0.62,-116.8,301.8,-7.0,471,3142,0.00,2.10,0.00,0.000,4,0.000,0.031,2521,3198,3268,0,0,0,0,0,0
$GC,3169,-0.69,-116.8,303.9,-6.8,474,3174,0.10,2.10,0.00,0.000,6,0.051,0.025,2447,1809,3268,0,0,0,0,0,0
$GC,3491,-0.58,-116.8,342.6,-12.4,505,3494,0.20,2.15,0.00,0.000,4,0.133,0.038,2515,397,3267,0,0,0,0,0,0
$GC,3586,-0.58,-116.8,351.4,-8.3,514,3590,0.00,2.08,0.00,0.000,6,0.000,0.023,2509,1800,3267,0,0,0,0,0,0
$GC,3907,-0.58,-116.8,375.2,-7.2,545,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1800,3267,0,0,0,0,0,0
$GC,4218,-0.58,-116.8,398.3,-7.6,575,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1801,3266,0,0,0,0,0,0
$GC,4529,-0.58,-116.8,421.7,-7.4,605,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1800,3266,0,0,0,0,0,0
$GC,4839,-0.58,-116.8,444.9,-7.3,635,4843,0.00,2.12,0.00,0.000,4,0.000,0.032,2505,3197,3265,0,0,0,0,0,0
$GC,4875,-0.63,-116.8,447.6,-6.8,638,4879,0.00,2.12,0.00,0.000,6,0.000,0.026,2505,1798,3265,0,0,0,0,0,0
$GC,5197,-0.63,-116.8,471.1,-7.6,669,5200,0.00,2.12,0.00,0.000,4,0.000,0.038,2505,407,3265,0,0,0,0,0,0
$GC,5248,-0.63,-116.8,475.7,-8.8,674,5254,0.00,2.08,0.00,0.000,6,0.000,0.023,2495,1799,3265,0,0,0,0,0,0
$GC,5579,-0.63,-116.8,504.4,-9.0,704,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1799,3264,0,0,0,0,0,0
$GC,5885,-0.63,-116.8,531.2,-8.3,719,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1799,3263,0,0,0,0,0,0
$GC,6190,-0.63,-116.8,555.2,-7.5,734,6194,0.00,2.12,0.00,0.000,4,0.000,0.032,2495,3192,3263,0,0,0,0,0,0
$GC,6249,-0.67,-116.8,559.1,-6.6,736,6255,0.00,2.12,0.00,0.000,6,0.000,0.026,2495,1796,3262,0,0,0,0,0,0
$GC,6558,-0.67,-116.8,581.9,-7.4,752,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1795,3262,0,0,0,0,0,0
$GC,6865,-0.67,-116.8,607.3,-8.5,767,6868,0.00,2.12,0.00,0.000,4,0.000,0.039,2495,393,3262,0,0,0,0,0,0
$GC,6907,-0.67,-116.8,611.2,-9.6,769,6910,0.00,2.08,0.00,0.000,6,0.000,0.025,2485,1790,3262,0,0,0,0,0,0
$GC,7233,-0.67,-116.8,640.7,-9.4,785,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1790,3261,0,0,0,0,0,0
$GC,7538,-0.67,-116.8,668.2,-8.6,800,7542,0.00,2.12,0.00,0.000,4,0.000,0.038,2485,407,3260,0,0,0,0,0,0
$GC,7575,-0.63,-116.8,671.7,-9.8,801,7581,0.00,2.08,0.00,0.000,6,0.000,0.025,2480,1805,3260,0,0,0,0,0,0
$GC,7886,-0.63,-116.8,699.5,-9.2,817,7889,0.00,2.10,0.00,0.000,4,0.000,0.032,2469,3188,3260,0,0,0,0,0,0
$GC,7917,-0.63,-116.8,702.4,-9.7,818,7921,0.00,2.10,0.00,0.000,6,0.000,0.027,2469,1808,3260,0,0,0,0,0,0
$GC,8232,-0.63,-116.8,732.6,-9.5,834,8237,0.00,2.15,0.00,0.000,4,0.000,0.039,2472,404,3260,0,0,0,0,0,0
$GC,8290,-0.58,-116.8,738.5,-10.1,836,8299,0.12,2.10,0.00,0.000,6,0.148,0.025,2509,1810,3260,0,0,0,0,0,0
$GC,8601,-0.58,-116.8,756.9,-5.2,852,8606,0.00,2.10,0.00,0.000,4,0.000,0.031,2500,3189,3259,0,0,0,0,0,0
$GC,8659,-0.65,-116.8,760.3,-5.5,854,8666,0.00,2.10,0.00,0.000,6,0.000,0.026,2500,1807,3259,0,0,0,0,0,0
$GC,8970,-0.65,-116.8,780.9,-6.9,870,8974,0.00,2.15,0.00,0.000,4,0.000,0.039,2500,404,3259,0,0,0,0,0,0
$GC,9055,-0.65,-116.8,787.7,-8.3,874,9059,0.00,2.10,0.00,0.000,6,0.000,0.025,2496,1816,3259,0,0,0,0,0,0
$GC,9381,-0.65,-116.8,811.6,-7.7,890,9386,0.00,2.10,0.00,0.000,4,0.000,0.033,2491,3191,3258,0,0,0,0,0,0
$GC,9456,-0.69,-116.8,817.4,-7.7,893,9461,0.00,2.12,0.00,0.000,6,0.000,0.026,2491,1794,3258,0,0,0,0,0,0
$GC,9772,-0.69,-116.8,842.0,-7.6,909,9776,0.00,2.12,0.00,0.000,4,0.000,0.040,2491,406,3257,0,0,0,0,0,0
$GC,9830,-0.69,-116.8,847.0,-8.7,911,9836,0.00,2.05,0.00,0.000,6,0.000,0.025,2482,1788,3257,0,0,0,0,0,0
$GC,10140,-0.69,-116.8,872.0,-8.3,927,10144,0.00,2.15,0.00,0.000,4,0.000,0.033,2479,3195,3257,0,0,0,0,0,0
$GC,10177,-0.69,-116.8,874.9,-8.2,928,10184,0.00,2.12,0.00,0.000,6,0.000,0.026,2480,1798,3257,0,0,0,0,0,0
$GC,10487,-0.69,-116.8,902.3,-8.9,944,10492,0.00,2.15,0.00,0.000,4,0.000,0.033,2479,3195,3257,0,0,0,0,0,0
$GC,10524,-0.73,-116.8,905.6,-8.4,945,10531,0.00,2.15,0.00,0.000,6,0.000,0.027,2479,1796,3257,0,0,0,0,0,0
$GC,10836,-0.73,-116.8,933.4,-8.9,961,10839,0.00,2.15,0.00,0.000,4,0.000,0.041,2479,401,3257,0,0,0,0,0,0
$GC,10882,-0.73,-116.8,938.0,-9.3,963,10887,0.00,2.10,0.00,0.000,6,0.000,0.025,2469,1800,3256,0,0,0,0,0,0
$GC,11204,-0.73,-116.8,968.6,-10.7,979,11208,0.00,2.15,0.00,0.000,4,0.000,0.035,2459,3198,3256,0,0,0,0,0,0
$GC,11326,-0.73,-116.8,980.7,-10.0,984,11333,0.00,2.12,0.00,0.000,6,0.000,0.028,2459,1804,3256,0,0,0,0,0,0
$STATE,11432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11432,begin apogee
$GC,11435,-0.14,0.0,991.9,10.5,990,11535,0.57,0.00,93.60,1.203,6,0.107,0.000,2655,1748,2792,0,0,0,0,0,0
$STATE,11535,end apogee,CONTROL_FINISHED_OK
$STATE,11535,begin climb
$GC,11537,0.57,116.8,996.0,0.0,995,11643,0.65,0.00,103.93,1.170,6,0.066,0.000,2889,1748,2315,0,0,0,0,0,0
$GC,11939,0.46,116.8,970.9,9.0,1015,11943,0.15,2.20,0.00,0.000,4,0.150,0.031,2848,3149,2306,0,0,0,0,0,0
$GC,12024,0.42,124.5,964.3,7.5,1019,12034,0.00,2.22,5.93,0.911,6,0.000,0.031,2857,1753,2284,0,0,0,0,0,0
$GC,12345,0.37,124.5,938.7,8.2,1035,12348,0.12,2.20,0.00,0.000,4,0.166,0.033,2823,3153,2283,0,0,0,0,0,0
$GC,12418,0.37,124.5,932.9,7.9,1038,12423,0.00,2.22,0.00,0.000,6,0.000,0.030,2832,1740,2281,0,0,0,0,0,0
$GC,12734,0.37,124.5,907.8,8.0,1054,12738,0.00,2.20,0.00,0.000,4,0.000,0.044,2843,347,2281,0,0,0,0,0,0
$GC,12798,0.37,124.5,902.3,8.3,1057,12802,0.00,2.12,0.00,0.000,6,0.000,0.025,2843,1746,2280,0,0,0,0,0,0
$GC,13125,0.40,149.9,878.6,6.7,1073,13150,0.00,2.17,21.92,1.106,4,0.000,0.031,2843,3151,2182,0,0,0,0,0,0
$GC,13203,0.40,152.3,873.3,7.8,1077,13212,0.00,2.22,4.38,0.772,6,0.000,0.030,2854,1747,2171,0,0,0,0,0,0
$GC,13529,0.41,160.2,848.7,7.5,1093,13539,0.00,0.00,8.25,0.983,6,0.000,0.000,2854,1747,2139,0,0,0,0,0,0
$GC,13833,0.42,162.4,825.2,7.8,1108,13842,0.00,2.25,3.58,0.671,4,0.000,0.043,2865,343,2129,0,0,0,0,0,0
$GC,13858,0.45,193.2,823.2,6.5,1109,13890,0.00,2.12,27.48,1.075,6,0.000,0.025,2865,1740,2004,0,0,0,0,0,0
$GC,14194,0.45,193.2,794.1,8.4,1125,14198,0.00,2.22,0.00,0.000,4,0.000,0.032,2865,3154,2004,0,0,0,0,0,0
$GC,14237,0.45,193.2,790.2,9.5,1127,14241,0.00,2.22,0.00,0.000,6,0.000,0.030,2875,1747,2004,0,0,0,0,0,0
$GC,14564,0.45,193.2,761.9,8.9,1143,14567,0.00,2.20,0.00,0.000,4,0.000,0.032,2875,3153,2004,0,0,0,0,0,0
$GC,14589,0.45,193.2,759.4,9.1,1144,14594,0.15,2.22,0.00,0.000,6,0.152,0.029,2843,1744,2003,0,0,0,0,0,0
$GC,14910,0.49,224.7,737.9,6.4,1160,14941,0.00,2.22,26.50,1.034,4,0.000,0.044,2852,346,1875,0,0,0,0,0,0
$GC,14972,0.49,226.5,733.7,7.8,1163,14977,0.00,2.20,0.00,0.000,6,0.000,0.025,2852,1759,1876,0,0,0,0,0,0
$GC,15294,0.50,231.0,709.5,7.7,1179,15302,0.00,0.00,7.07,0.889,6,0.000,0.000,2853,1760,1850,0,0,0,0,0,0
$GC,15598,0.50,234.4,685.8,7.7,1194,15608,0.00,2.28,4.82,0.772,4,0.000,0.042,2864,343,1836,0,0,0,0,0,0
$GC,15646,0.50,234.4,681.7,9.1,1196,15651,0.00,2.15,0.00,0.000,6,0.000,0.025,2863,1751,1836,0,0,0,0,0,0
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$STATE,23287,end climb,SURFACE_DEPTH_REACHED
$STATE,23287,begin surface coast
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$STATE,23333,end surface coast,CONTROL_FINISHED_OK
$STATE,23333,begin surface
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$TCM_TEMP,16.30
$XPDR_PINGS,1
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$10V_AH,10.0,17.504
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,286556
$DATA_FILE_SIZE,145409,2059
$CAP_FILE_SIZE,253532,0
$CFSIZE,260165632,248295424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310310,165401,3644.802,-12215.259,41,1.1,41,14.8