version: 66.06
glider: 503
mission: 5
dive: 80
start: 4 2 110 7 52 9
data:
$ID,503
$MISSION,5
$DIVE,80
$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,-9812.7422
$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,53
$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
$GPS1,073830,3645.074,-12209.282,37,1.4,42,14.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.1
$GPS2,075204,3644.963,-12209.448,10,2.1,29,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,TWO
$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,282.1,4245,-17.5,-7.865
$D_GRID,834
$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,13,-0.59,-97.8,0.0,0.0,0,58,0.00,0.00,-43.72,0.000,2,0.000,0.000,144,1753,2738,0,0,0,0,0,0
$GC,59,-0.62,-116.8,3.1,-5.2,8,86,9.00,2.28,-12.18,0.000,4,0.220,0.044,2486,3199,3269,0,0,0,0,0,0
$GC,192,-0.54,-116.8,28.3,-17.8,33,199,0.10,2.17,0.00,0.000,6,0.122,0.025,2521,1802,3271,0,0,0,0,0,0
$GC,518,-0.54,-116.8,72.8,-10.8,94,525,0.00,2.17,0.00,0.000,4,0.000,0.031,2512,3197,3271,0,0,0,0,0,0
$GC,647,-0.59,-116.8,85.9,-10.2,118,654,0.00,2.15,0.00,0.000,6,0.000,0.025,2512,1800,3272,0,0,0,0,0,0
$GC,974,-0.59,-116.8,121.4,-11.0,179,980,0.00,2.17,0.00,0.000,4,0.000,0.038,2516,404,3272,0,0,0,0,0,0
$GC,1092,-0.59,-116.8,134.3,-10.8,201,1098,0.00,2.08,0.00,0.000,6,0.000,0.024,2508,1790,3272,0,0,0,0,0,0
$GC,1418,-0.59,-116.8,166.3,-10.3,262,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1791,3272,0,0,0,0,0,0
$GC,1743,-0.59,-116.8,202.3,-10.8,321,1746,0.00,2.12,0.00,0.000,4,0.000,0.038,2508,400,3272,0,0,0,0,0,0
$GC,1800,-0.59,-116.8,209.2,-12.0,326,1807,0.00,2.08,0.00,0.000,6,0.000,0.023,2498,1794,3272,0,0,0,0,0,0
$GC,2116,-0.59,-116.8,244.7,-11.4,357,2120,0.00,2.12,0.00,0.000,4,0.000,0.031,2489,3189,3272,0,0,0,0,0,0
$GC,2190,-0.63,-116.8,253.2,-10.9,364,2195,0.00,2.12,0.00,0.000,6,0.000,0.025,2489,1797,3272,0,0,0,0,0,0
$GC,2511,-0.63,-116.8,290.2,-11.6,395,2515,0.00,2.15,0.00,0.000,4,0.000,0.038,2489,399,3271,0,0,0,0,0,0
$GC,2576,-0.63,-116.8,298.0,-11.9,401,2579,0.00,2.08,0.00,0.000,6,0.000,0.024,2479,1797,3271,0,0,0,0,0,0
$GC,2895,-0.63,-116.8,335.6,-12.3,432,2900,0.00,2.12,0.00,0.000,4,0.000,0.031,2470,3187,3270,0,0,0,0,0,0
$GC,2949,-0.63,-116.8,341.9,-11.9,437,2953,0.00,2.10,0.00,0.000,6,0.000,0.026,2469,1810,3270,0,0,0,0,0,0
$GC,3269,-0.63,-116.8,382.3,-12.1,468,3274,0.00,2.15,0.00,0.000,4,0.000,0.038,2470,404,3270,0,0,0,0,0,0
$GC,3349,-0.58,-116.8,392.8,-13.2,475,3356,0.12,2.08,0.00,0.000,6,0.113,0.024,2508,1800,3270,0,0,0,0,0,0
$GC,3665,-0.62,-116.8,423.2,-9.6,506,3669,0.00,2.15,0.00,0.000,4,0.000,0.031,2500,3193,3269,0,0,0,0,0,0
$GC,3745,-0.70,-116.8,430.4,-9.0,513,3751,0.00,2.12,0.00,0.000,6,0.000,0.025,2500,1795,3269,0,0,0,0,0,0
$GC,4060,-0.70,-116.8,457.3,-8.7,544,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1795,3269,0,0,0,0,0,0
$GC,4371,-0.70,-116.8,484.6,-9.7,574,4375,0.00,2.12,0.00,0.000,4,0.000,0.038,2500,407,3268,0,0,0,0,0,0
$GC,4403,-0.70,-116.8,487.7,-10.3,577,4407,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1805,3268,0,0,0,0,0,0
$GC,4721,-0.70,-116.8,516.9,-8.7,599,4724,0.00,2.12,0.00,0.000,4,0.000,0.032,2485,3194,3268,0,0,0,0,0,0
$GC,4763,-0.76,-116.8,520.6,-8.7,601,4767,0.00,2.12,0.00,0.000,6,0.000,0.026,2486,1797,3268,0,0,0,0,0,0
$GC,5090,-0.76,-116.8,549.9,-9.5,617,5094,0.00,2.12,0.00,0.000,4,0.000,0.039,2485,405,3267,0,0,0,0,0,0
$GC,5158,-0.76,-116.8,557.4,-10.8,620,5162,0.00,2.08,0.00,0.000,6,0.000,0.025,2479,1802,3266,0,0,0,0,0,0
$GC,5478,-0.76,-116.8,587.0,-8.8,636,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1803,3267,0,0,0,0,0,0
$GC,5785,-0.76,-116.8,614.8,-8.9,651,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1803,3266,0,0,0,0,0,0
$GC,6089,-0.76,-116.8,649.6,-10.9,666,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1803,3266,0,0,0,0,0,0
$GC,6395,-0.76,-116.8,681.3,-10.2,681,6398,0.00,2.15,0.00,0.000,4,0.000,0.039,2479,406,3265,0,0,0,0,0,0
$GC,6480,-0.76,-116.8,691.2,-11.4,685,6484,0.00,2.08,0.00,0.000,6,0.000,0.025,2470,1802,3265,0,0,0,0,0,0
$STATE,6724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6724,begin apogee
$GC,6727,-0.14,0.0,718.1,10.4,697,6821,0.55,0.00,91.95,1.020,6,0.106,0.000,2659,1803,2791,0,0,0,0,0,0
$STATE,6821,end apogee,CONTROL_FINISHED_OK
$STATE,6821,begin climb
$GC,6823,0.62,116.8,720.8,0.0,701,6925,0.65,0.00,99.25,0.987,6,0.059,0.000,2903,1803,2315,0,0,0,0,0,0
$GC,7228,0.55,134.7,699.4,6.9,721,7249,0.00,2.15,14.57,0.928,4,0.000,0.031,2903,3146,2242,0,0,0,0,0,0
$GC,7312,0.46,134.7,692.6,8.6,725,7316,0.17,2.20,0.00,0.000,6,0.127,0.028,2847,1762,2241,0,0,0,0,0,0
$GC,7638,0.51,174.1,674.6,5.7,741,7680,0.00,2.30,33.67,0.966,4,0.000,0.041,2857,356,2082,0,0,0,0,0,0
$GC,7705,0.51,174.1,669.5,10.0,744,7709,0.00,2.15,0.00,0.000,6,0.000,0.024,2857,1740,2082,0,0,0,0,0,0
$GC,8026,0.51,174.1,643.9,7.9,760,8030,0.00,2.20,0.00,0.000,4,0.000,0.029,2857,3154,2079,0,0,0,0,0,0
$GC,8052,0.51,174.1,641.7,8.1,761,8057,0.00,2.20,0.00,0.000,6,0.000,0.028,2867,1754,2077,0,0,0,0,0,0
$GC,8374,0.51,174.1,612.3,9.4,777,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1754,2076,0,0,0,0,0,0
$GC,8678,0.51,174.1,585.8,8.1,792,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1753,2075,0,0,0,0,0,0
$GC,8985,0.51,174.1,560.8,8.6,807,8988,0.00,2.17,0.00,0.000,4,0.000,0.041,2878,343,2075,0,0,0,0,0,0
$GC,9020,0.51,174.1,557.4,9.6,808,9028,0.00,2.15,0.00,0.000,6,0.000,0.024,2879,1763,2074,0,0,0,0,0,0
$GC,9331,0.52,176.9,531.6,7.7,824,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1763,2074,0,0,0,0,0,0
$GC,9637,0.52,176.9,506.8,8.0,839,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1763,2073,0,0,0,0,0,0
$GC,9945,0.52,176.9,480.9,8.4,864,9949,0.00,2.20,0.00,0.000,4,0.000,0.041,2890,351,2073,0,0,0,0,0,0
$GC,9998,0.52,176.9,476.1,9.7,869,10002,0.00,2.10,0.00,0.000,6,0.000,0.025,2890,1753,2073,0,0,0,0,0,0
$GC,10318,0.52,176.9,448.9,8.0,900,10323,0.00,2.12,0.00,0.000,4,0.000,0.030,2890,3143,2072,0,0,0,0,0,0
$GC,10377,0.52,176.9,444.2,8.0,905,10384,0.12,2.17,0.00,0.000,6,0.153,0.028,2864,1743,2072,0,0,0,0,0,0
$GC,10692,0.56,214.7,426.5,5.8,936,10729,0.00,2.17,32.12,0.844,4,0.000,0.040,2874,346,1915,0,0,0,0,0,0
$GC,10755,0.60,214.7,422.6,7.9,941,10762,0.00,2.12,0.00,0.000,6,0.000,0.024,2874,1742,1915,0,0,0,0,0,0
$GC,11070,0.63,234.3,400.1,6.8,972,11092,0.00,0.00,16.88,0.805,6,0.000,0.000,2874,1742,1836,0,0,0,0,0,0
$GC,11401,0.68,234.3,374.4,8.3,1004,11405,0.12,2.22,0.00,0.000,4,0.085,0.041,2953,346,1836,0,0,0,0,0,0
$GC,11427,0.62,234.3,371.4,12.4,1006,11434,0.15,2.15,0.00,0.000,6,0.119,0.024,2900,1757,1836,0,0,0,0,0,0
$GC,11743,0.62,234.3,337.0,11.6,1037,11747,0.00,2.20,0.00,0.000,4,0.000,0.041,2909,353,1836,0,0,0,0,0,0
$GC,11768,0.62,234.3,333.8,11.4,1039,11775,0.00,2.12,0.00,0.000,6,0.000,0.024,2909,1753,1836,0,0,0,0,0,0
$GC,12084,0.62,234.3,294.7,12.2,1070,12089,0.00,2.15,0.00,0.000,4,0.000,0.029,2909,3152,1836,0,0,0,0,0,0
$GC,12153,0.62,234.3,285.7,13.2,1076,12161,0.00,2.20,0.00,0.000,6,0.000,0.028,2920,1742,1836,0,0,0,0,0,0
$GC,12469,0.62,234.3,243.6,13.4,1107,12470,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1743,1836,0,0,0,0,0,0
$GC,12781,0.62,234.3,208.0,10.2,1137,12784,0.00,2.15,0.00,0.000,4,0.000,0.030,2920,3152,1836,0,0,0,0,0,0
$GC,12827,0.62,234.3,202.7,11.1,1141,12834,0.08,2.15,0.00,0.000,6,0.124,0.028,2903,1754,1835,0,0,0,0,0,0
$GC,13153,0.62,234.3,171.1,9.6,1199,13160,0.00,2.17,0.00,0.000,4,0.000,0.041,2912,347,1835,0,0,0,0,0,0
$GC,13212,0.62,234.3,164.9,10.6,1210,13218,0.00,2.10,0.00,0.000,6,0.000,0.024,2912,1750,1835,0,0,0,0,0,0
$GC,13539,0.62,234.3,134.3,9.5,1271,13545,0.00,2.12,0.00,0.000,4,0.000,0.030,2912,3145,1835,0,0,0,0,0,0
$GC,13576,0.62,234.3,130.5,10.2,1278,13582,0.00,2.15,0.00,0.000,6,0.000,0.028,2923,1749,1835,0,0,0,0,0,0
$GC,13902,0.62,234.3,96.8,9.3,1339,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1749,1835,0,0,0,0,0,0
$GC,14222,0.62,234.3,64.5,9.3,1399,14229,0.00,2.15,0.00,0.000,4,0.000,0.040,2934,351,1835,0,0,0,0,0,0
$GC,14309,0.62,234.3,55.8,9.6,1415,14314,0.08,2.08,0.00,0.000,6,0.111,0.025,2903,1751,1835,0,0,0,0,0,0
$GC,14635,0.72,259.4,32.0,6.5,1476,14657,0.00,0.00,20.05,0.586,6,0.000,0.000,2903,1753,1733,0,0,0,0,0,0
$GC,14978,0.88,304.3,13.2,5.4,1540,15020,0.22,2.20,36.03,0.565,4,0.064,0.048,3024,340,1551,0,0,0,0,0,0
$GC,15051,0.78,304.3,5.0,13.7,1554,15057,0.20,2.12,0.00,0.000,6,0.129,0.023,2957,1742,1553,0,0,0,0,0,0
$STATE,15065,end climb,SURFACE_DEPTH_REACHED
$STATE,15065,begin surface coast
$FINISH,0.3,1.024987
$STATE,15087,end surface coast,CONTROL_FINISHED_OK
$STATE,15087,begin surface
$SM_CCo,15159,0.00,0.000,0,0,1555,303.43
$SM_GC,1.09,7.07,0.00,0.00,0.032,0.000,0.000,193,1831,1555,-7.76,0.88,303.43
$IRIDIUM_FIX,3634.97,-12159.18,270699,070716
$TT8_MAMPS,0.051389
$HUMID,53.78
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,16.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,700.6,25.9
$24V_AH,24.0,14.707
$10V_AH,10.0,19.168
$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,18.650,120.225,344.525,0.000,0.000,75.497,155.579,307.391,2.250,0.000,32.526,0.000,10624.057,470.682,4035.375,798.596,0.000,1749.695,0.000,3489.772,0.000,12.690,0.000
$DEVICE_MAMPS,220.129,127.322,1020.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.142,3308.511,2415.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246444
$DATA_FILE_SIZE,110802,1561
$CAP_FILE_SIZE,170038,0
$CFSIZE,260165632,247500800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020410,120537,3645.896,-12212.339,31,1.0,31,14.8