version: 66.06
glider: 503
mission: 5
dive: 83
start: 4 2 110 20 18 20
data:
$ID,503
$MISSION,5
$DIVE,83
$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,-9860.7021
$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,44
$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
$GPS1,200601,3649.860,-12215.182,36,1.6,36,14.8
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.0
$GPS2,201814,3649.935,-12215.052,12,1.6,12,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$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,197.9,10856,-15.7,-7.865
$D_GRID,1129
$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,-116.8,0.0,0.0,0,57,0.00,0.00,-43.92,0.000,2,0.000,0.000,175,1755,2673,0,0,0,0,0,0
$GC,59,-0.57,-116.8,3.4,-7.2,8,85,8.85,2.12,-13.38,0.000,4,0.216,0.051,2513,398,3270,0,0,0,0,0,0
$GC,106,-0.34,-116.8,12.4,-16.3,17,113,0.22,2.12,0.00,0.000,6,0.111,0.024,2582,1784,3271,0,0,0,0,0,0
$GC,433,-0.42,-116.8,40.8,-7.4,78,439,0.00,2.20,0.00,0.000,4,0.000,0.031,2577,3201,3271,0,0,0,0,0,0
$GC,508,-0.54,-116.8,46.0,-7.1,92,514,0.10,2.15,0.00,0.000,6,0.055,0.025,2519,1798,3271,0,0,0,0,0,0
$GC,833,-0.54,-116.8,85.8,-12.5,153,840,0.00,2.17,0.00,0.000,4,0.000,0.031,2516,3200,3272,0,0,0,0,0,0
$GC,845,-0.54,-116.8,87.1,-11.9,155,851,0.00,2.15,0.00,0.000,6,0.000,0.025,2516,1796,3272,0,0,0,0,0,0
$GC,1172,-0.54,-116.8,123.2,-10.4,216,1178,0.00,2.17,0.00,0.000,4,0.000,0.031,2507,3203,3272,0,0,0,0,0,0
$GC,1193,-0.54,-116.8,125.3,-9.9,220,1199,0.00,2.15,0.00,0.000,6,0.000,0.026,2506,1795,3272,0,0,0,0,0,0
$GC,1519,-0.54,-116.8,160.8,-11.4,281,1526,0.00,2.15,0.00,0.000,4,0.000,0.038,2506,397,3272,0,0,0,0,0,0
$GC,1599,-0.54,-116.8,170.6,-11.9,296,1606,0.00,2.10,0.00,0.000,6,0.000,0.024,2497,1805,3272,0,0,0,0,0,0
$GC,1923,-0.54,-116.8,206.4,-11.7,352,1928,0.00,2.12,0.00,0.000,4,0.000,0.031,2495,3193,3272,0,0,0,0,0,0
$GC,1956,-0.54,-116.8,209.8,-10.6,355,1960,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1800,3272,0,0,0,0,0,0
$GC,2276,-0.54,-116.8,245.2,-10.7,386,2277,0.10,0.00,0.00,0.000,6,0.155,0.000,2526,1798,3271,0,0,0,0,0,0
$GC,2587,-0.54,-116.8,270.5,-7.4,416,2591,0.00,2.15,0.00,0.000,4,0.000,0.038,2526,398,3271,0,0,0,0,0,0
$GC,2644,-0.54,-116.8,275.1,-8.4,421,2651,0.00,2.10,0.00,0.000,6,0.000,0.023,2521,1804,3271,0,0,0,0,0,0
$GC,2960,-0.54,-116.8,300.9,-8.7,452,2965,0.00,2.12,0.00,0.000,4,0.000,0.031,2521,3199,3270,0,0,0,0,0,0
$GC,2982,-0.59,-116.8,302.8,-8.7,454,2986,0.00,2.12,0.00,0.000,6,0.000,0.025,2521,1800,3270,0,0,0,0,0,0
$GC,3303,-0.59,-116.8,334.6,-9.7,485,3307,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,407,3270,0,0,0,0,0,0
$GC,3324,-0.59,-116.8,336.9,-11.0,487,3328,0.00,2.05,0.00,0.000,6,0.000,0.024,2511,1793,3269,0,0,0,0,0,0
$GC,3644,-0.59,-116.8,369.5,-10.0,518,3649,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,397,3269,0,0,0,0,0,0
$GC,3676,-0.59,-116.8,372.8,-10.3,521,3681,0.00,2.08,0.00,0.000,6,0.000,0.025,2507,1800,3269,0,0,0,0,0,0
$GC,3997,-0.59,-116.8,401.6,-8.7,552,4001,0.00,2.15,0.00,0.000,4,0.000,0.032,2507,3195,3269,0,0,0,0,0,0
$GC,4012,-0.59,-116.8,402.8,-8.5,553,4019,0.00,2.12,0.00,0.000,6,0.000,0.025,2507,1794,3269,0,0,0,0,0,0
$GC,4328,-0.59,-116.8,431.7,-9.4,584,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1794,3269,0,0,0,0,0,0
$GC,4639,-0.59,-116.8,460.9,-10.1,614,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1794,3268,0,0,0,0,0,0
$GC,4949,-0.59,-116.8,493.6,-10.4,644,4953,0.00,2.12,0.00,0.000,4,0.000,0.039,2507,404,3268,0,0,0,0,0,0
$GC,4981,-0.59,-116.8,497.1,-11.4,647,4985,0.00,2.05,0.00,0.000,6,0.000,0.025,2497,1789,3267,0,0,0,0,0,0
$GC,5297,-0.59,-116.8,527.2,-9.0,664,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1790,3267,0,0,0,0,0,0
$GC,5602,-0.59,-116.8,552.9,-8.0,679,5606,0.00,2.15,0.00,0.000,4,0.000,0.031,2495,3199,3266,0,0,0,0,0,0
$GC,5617,-0.59,-116.8,554.2,-8.3,679,5624,0.00,2.15,0.00,0.000,6,0.000,0.026,2495,1792,3267,0,0,0,0,0,0
$GC,5929,-0.59,-116.8,579.6,-8.1,695,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1792,3267,0,0,0,0,0,0
$GC,6233,-0.59,-116.8,604.2,-7.9,710,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1791,3265,0,0,0,0,0,0
$GC,6539,-0.59,-116.8,626.3,-6.8,725,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1792,3265,0,0,0,0,0,0
$GC,6844,-0.59,-116.8,647.6,-7.2,740,6848,0.00,2.15,0.00,0.000,4,0.000,0.031,2495,3192,3264,0,0,0,0,0,0
$GC,6859,-0.59,-116.8,648.7,-7.0,740,6866,0.00,2.12,0.00,0.000,6,0.000,0.026,2496,1798,3264,0,0,0,0,0,0
$GC,7169,-0.59,-116.8,675.5,-9.2,756,7174,0.00,2.12,0.00,0.000,4,0.000,0.039,2495,405,3264,0,0,0,0,0,0
$GC,7206,-0.59,-116.8,679.2,-10.8,757,7213,0.00,2.08,0.00,0.000,6,0.000,0.025,2491,1803,3264,0,0,0,0,0,0
$GC,7517,-0.59,-116.8,705.6,-8.6,773,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1804,3264,0,0,0,0,0,0
$GC,7822,-0.59,-116.8,729.9,-7.8,788,7826,0.00,2.12,0.00,0.000,4,0.000,0.031,2481,3195,3263,0,0,0,0,0,0
$GC,7837,-0.59,-116.8,731.2,-8.1,788,7845,0.00,2.12,0.00,0.000,6,0.000,0.026,2482,1798,3264,0,0,0,0,0,0
$GC,8148,-0.59,-116.8,755.1,-7.5,804,8153,0.00,2.15,0.00,0.000,4,0.000,0.031,2473,3199,3263,0,0,0,0,0,0
$GC,8169,-0.59,-116.8,756.6,-7.0,805,8173,0.08,2.12,0.00,0.000,6,0.112,0.026,2505,1798,3263,0,0,0,0,0,0
$GC,8496,-0.59,-116.8,775.9,-6.1,821,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1797,3262,0,0,0,0,0,0
$GC,8800,-0.59,-116.8,795.2,-6.6,836,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1797,3262,0,0,0,0,0,0
$GC,9106,-0.59,-116.8,818.3,-7.9,851,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1797,3262,0,0,0,0,0,0
$GC,9411,-0.59,-116.8,839.9,-6.8,866,9415,0.00,2.15,0.00,0.000,4,0.000,0.031,2496,3199,3262,0,0,0,0,0,0
$GC,9469,-0.65,-116.8,844.0,-6.6,868,9476,0.00,2.12,0.00,0.000,6,0.000,0.026,2496,1801,3261,0,0,0,0,0,0
$GC,9780,-0.65,-116.8,864.9,-6.8,884,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1801,3261,0,0,0,0,0,0
$GC,10085,-0.65,-116.8,887.9,-7.6,899,10086,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1801,3261,0,0,0,0,0,0
$GC,10390,-0.65,-116.8,912.5,-7.7,914,10395,0.00,2.15,0.00,0.000,4,0.000,0.041,2496,406,3260,0,0,0,0,0,0
$GC,10411,-0.65,-116.8,914.1,-8.0,915,10415,0.00,2.08,0.00,0.000,6,0.000,0.027,2493,1797,3260,0,0,0,0,0,0
$GC,10738,-0.65,-116.8,936.0,-7.2,931,10742,0.00,2.15,0.00,0.000,4,0.000,0.035,2493,3195,3260,0,0,0,0,0,0
$GC,10781,-0.72,-116.8,939.4,-8.2,933,10784,0.00,2.10,0.00,0.000,6,0.000,0.028,2493,1801,3260,0,0,0,0,0,0
$GC,11107,-0.72,-116.8,967.4,-8.5,949,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1801,3260,0,0,0,0,0,0
$STATE,11390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11390,begin apogee
$GC,11393,-0.14,0.0,991.4,8.5,963,11493,0.47,0.00,93.80,1.206,6,0.107,0.000,2654,1801,2793,0,0,0,0,0,0
$STATE,11493,end apogee,CONTROL_FINISHED_OK
$STATE,11493,begin climb
$GC,11494,0.57,116.8,995.1,0.0,968,11601,0.65,0.00,103.93,1.170,6,0.064,0.000,2889,1801,2315,0,0,0,0,0,0
$GC,11897,0.46,116.8,971.0,8.5,988,11898,0.15,0.00,0.00,0.000,6,0.150,0.000,2848,1801,2306,0,0,0,0,0,0
$GC,12202,0.50,146.2,949.9,6.5,1003,12231,0.00,2.17,24.10,1.128,4,0.000,0.034,2848,3138,2195,0,0,0,0,0,0
$GC,12264,0.51,150.9,945.5,7.7,1006,12274,0.00,2.22,6.05,0.903,6,0.000,0.031,2857,1756,2175,0,0,0,0,0,0
$GC,12590,0.51,150.9,919.0,8.7,1022,12594,0.00,2.20,0.00,0.000,4,0.000,0.033,2857,3145,2174,0,0,0,0,0,0
$GC,12638,0.46,150.9,914.5,8.9,1024,12642,0.00,2.20,0.00,0.000,6,0.000,0.031,2867,1753,2172,0,0,0,0,0,0
$GC,12959,0.41,150.9,887.6,8.4,1040,12963,0.12,2.20,0.00,0.000,4,0.164,0.033,2833,3142,2172,0,0,0,0,0,0
$GC,13109,0.51,234.0,874.9,4.1,1047,13183,0.00,2.17,70.22,1.122,6,0.000,0.031,2842,1753,1837,0,0,0,0,0,0
$GC,13489,0.52,238.5,844.7,7.7,1065,13496,0.00,0.00,5.53,0.860,6,0.000,0.000,2842,1753,1819,0,0,0,0,0,0
$GC,13794,0.56,238.5,814.6,9.1,1080,13798,0.12,2.25,0.00,0.000,4,0.089,0.044,2919,352,1819,0,0,0,0,0,0
$GC,13841,0.47,238.5,807.8,16.5,1082,13846,0.20,2.15,0.00,0.000,6,0.123,0.026,2852,1743,1819,0,0,0,0,0,0
$GC,14162,0.47,238.5,776.8,9.2,1098,14167,0.00,2.20,0.00,0.000,4,0.000,0.031,2852,3154,1817,0,0,0,0,0,0
$GC,14189,0.47,238.5,774.2,9.5,1099,14193,0.00,2.20,0.00,0.000,6,0.000,0.030,2861,1749,1817,0,0,0,0,0,0
$GC,14510,0.47,238.5,747.0,8.4,1115,14514,0.00,2.20,0.00,0.000,4,0.000,0.043,2872,347,1816,0,0,0,0,0,0
$GC,14558,0.47,238.5,742.6,9.0,1117,14562,0.00,2.12,0.00,0.000,6,0.000,0.025,2873,1751,1816,0,0,0,0,0,0
$GC,14880,0.47,238.5,711.9,10.4,1133,14883,0.00,2.17,0.00,0.000,4,0.000,0.043,2884,340,1816,0,0,0,0,0,0
$GC,14910,0.47,238.5,708.1,12.5,1134,14915,0.12,2.15,0.00,0.000,6,0.140,0.025,2846,1751,1815,0,0,0,0,0,0
$GC,15226,0.52,238.5,677.8,9.3,1150,15231,0.00,2.20,0.00,0.000,4,0.000,0.042,2856,350,1815,0,0,0,0,0,0
$GC,15257,0.56,238.5,674.6,11.4,1151,15263,0.00,2.12,0.00,0.000,6,0.000,0.025,2855,1756,1816,0,0,0,0,0,0
$GC,15575,0.56,238.5,644.3,9.7,1167,15576,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1756,1815,0,0,0,0,0,0
$GC,15879,0.57,242.6,619.3,7.7,1182,15884,0.00,0.00,4.05,0.690,6,0.000,0.000,2856,1756,1803,0,0,0,0,0,0
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$STATE,21697,end climb,SURFACE_DEPTH_REACHED
$STATE,21697,begin surface coast
$FINISH,0.2,1.024388
$STATE,21724,end surface coast,CONTROL_FINISHED_OK
$STATE,21724,begin surface
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$TT8_MAMPS,0.051389
$HUMID,54.84
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$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.7,15.061
$10V_AH,10.1,19.758
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.325,176.075,377.975,0.000,0.000,55.549,59.873,444.721,2.500,0.000,14.975,0.000,16283.523,575.119,4777.656,859.619,0.000,2115.206,0.000,4106.425,0.000,18.977,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286636
$DATA_FILE_SIZE,129829,1863
$CAP_FILE_SIZE,221141,0
$CFSIZE,260165632,247140352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030410,022231,3647.607,-12216.367,38,1.6,38,14.8