version: 66.06
glider: 503
mission: 5
dive: 85
start: 4 3 110 8 7 32
data:
$ID,503
$MISSION,5
$DIVE,85
$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,-9889.8613
$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,37
$R_STBD_OVSHOOT,46
$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
$GPS1,075831,3645.366,-12218.702,39,1.1,39,14.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.3
$GPS2,080726,3645.302,-12218.840,11,1.0,11,14.8
$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,67.9,10230,-15.7,-7.865
$D_GRID,1130
$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,-0.57,-116.8,0.0,0.0,0,68,0.00,0.00,-53.88,0.000,2,0.000,0.000,166,1746,2670,0,0,0,0,0,0
$GC,70,-0.57,-116.8,3.2,-6.4,10,97,8.95,2.12,-13.68,0.000,4,0.218,0.050,2513,391,3270,0,0,0,0,0,0
$GC,272,-0.46,-116.8,35.0,-13.4,48,278,0.12,2.15,0.00,0.000,6,0.115,0.025,2549,1797,3271,0,0,0,0,0,0
$GC,598,-0.46,-116.8,66.0,-9.2,109,605,0.00,2.17,0.00,0.000,4,0.000,0.033,2547,3197,3272,0,0,0,0,0,0
$GC,636,-0.54,-116.8,69.3,-8.5,116,642,0.00,2.15,0.00,0.000,6,0.000,0.025,2548,1798,3272,0,0,0,0,0,0
$GC,962,-0.54,-116.8,99.7,-9.5,177,969,0.00,2.15,0.00,0.000,4,0.000,0.038,2548,406,3272,0,0,0,0,0,0
$GC,1053,-0.54,-116.8,108.6,-9.7,194,1060,0.00,2.10,0.00,0.000,6,0.000,0.024,2538,1805,3272,0,0,0,0,0,0
$GC,1380,-0.54,-116.8,137.2,-9.0,255,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1806,3273,0,0,0,0,0,0
$GC,1704,-0.54,-116.8,166.0,-8.5,316,1711,0.00,2.15,0.00,0.000,4,0.000,0.038,2538,407,3272,0,0,0,0,0,0
$GC,1790,-0.54,-116.8,174.0,-9.2,332,1797,0.00,2.08,0.00,0.000,6,0.000,0.024,2534,1801,3273,0,0,0,0,0,0
$GC,2121,-0.54,-116.8,203.2,-8.6,391,2125,0.00,2.12,0.00,0.000,4,0.000,0.031,2534,3190,3272,0,0,0,0,0,0
$GC,2174,-0.63,-116.8,207.4,-8.0,396,2178,0.08,2.12,0.00,0.000,6,0.062,0.025,2480,1794,3272,0,0,0,0,0,0
$GC,2495,-0.56,-116.8,245.3,-12.4,427,2499,0.12,2.15,0.00,0.000,4,0.146,0.038,2522,405,3271,0,0,0,0,0,0
$GC,2547,-0.56,-116.8,251.3,-10.6,432,2552,0.00,2.08,0.00,0.000,6,0.000,0.024,2513,1800,3272,0,0,0,0,0,0
$GC,2869,-0.56,-116.8,282.6,-10.2,463,2873,0.00,2.17,0.00,0.000,4,0.000,0.038,2513,404,3271,0,0,0,0,0,0
$GC,2933,-0.56,-116.8,289.4,-10.6,469,2936,0.00,2.08,0.00,0.000,6,0.000,0.025,2509,1803,3271,0,0,0,0,0,0
$GC,3253,-0.56,-116.8,320.1,-9.3,500,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1803,3271,0,0,0,0,0,0
$GC,3564,-0.56,-116.8,349.0,-9.7,530,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1803,3271,0,0,0,0,0,0
$GC,3874,-0.56,-116.8,378.3,-9.0,560,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1803,3270,0,0,0,0,0,0
$GC,4185,-0.56,-116.8,405.4,-8.9,590,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1803,3270,0,0,0,0,0,0
$GC,4495,-0.56,-116.8,431.1,-8.1,620,4499,0.00,2.12,0.00,0.000,4,0.000,0.031,2505,3195,3270,0,0,0,0,0,0
$GC,4532,-0.61,-116.8,434.0,-7.7,623,4538,0.00,2.12,0.00,0.000,6,0.000,0.025,2505,1797,3270,0,0,0,0,0,0
$GC,4847,-0.61,-116.8,460.3,-8.6,654,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1797,3269,0,0,0,0,0,0
$GC,5158,-0.61,-116.8,487.1,-8.4,684,5162,0.00,2.12,0.00,0.000,4,0.000,0.038,2505,405,3268,0,0,0,0,0,0
$GC,5200,-0.61,-116.8,491.4,-10.2,688,5204,0.00,2.10,0.00,0.000,6,0.000,0.024,2496,1806,3269,0,0,0,0,0,0
$GC,5528,-0.61,-116.8,520.6,-8.8,709,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1808,3268,0,0,0,0,0,0
$GC,5832,-0.61,-116.8,545.2,-7.8,724,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1808,3267,0,0,0,0,0,0
$GC,6138,-0.61,-116.8,570.5,-8.5,739,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1808,3267,0,0,0,0,0,0
$GC,6443,-0.61,-116.8,597.4,-8.9,754,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1807,3267,0,0,0,0,0,0
$GC,6748,-0.61,-116.8,622.2,-8.0,769,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1808,3266,0,0,0,0,0,0
$GC,7053,-0.61,-116.8,645.9,-8.0,784,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1808,3266,0,0,0,0,0,0
$GC,7359,-0.61,-116.8,672.5,-8.8,799,7363,0.00,2.15,0.00,0.000,4,0.000,0.039,2495,406,3265,0,0,0,0,0,0
$GC,7422,-0.61,-116.8,678.9,-10.3,802,7427,0.00,2.10,0.00,0.000,6,0.000,0.025,2487,1810,3265,0,0,0,0,0,0
$GC,7749,-0.61,-116.8,709.0,-9.4,818,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1811,3264,0,0,0,0,0,0
$GC,8054,-0.61,-116.8,736.9,-8.8,833,8058,0.00,2.17,0.00,0.000,4,0.000,0.039,2487,400,3264,0,0,0,0,0,0
$GC,8080,-0.61,-116.8,739.5,-11.1,834,8085,0.00,2.08,0.00,0.000,6,0.000,0.025,2480,1797,3264,0,0,0,0,0,0
$GC,8401,-0.61,-116.8,769.5,-9.4,850,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1798,3264,0,0,0,0,0,0
$GC,8707,-0.61,-116.8,795.7,-8.2,865,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1798,3263,0,0,0,0,0,0
$GC,9011,-0.61,-116.8,821.5,-8.5,880,9016,0.00,2.15,0.00,0.000,4,0.000,0.039,2480,404,3263,0,0,0,0,0,0
$GC,9048,-0.61,-116.8,825.0,-9.2,881,9056,0.08,2.08,0.00,0.000,6,0.119,0.024,2500,1794,3263,0,0,0,0,0,0
$GC,9359,-0.61,-116.8,848.2,-7.4,897,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1795,3262,0,0,0,0,0,0
$GC,9664,-0.61,-116.8,870.3,-7.2,912,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1795,3262,0,0,0,0,0,0
$GC,9971,-0.61,-116.8,892.9,-7.5,927,9974,0.00,2.12,0.00,0.000,4,0.000,0.041,2500,401,3262,0,0,0,0,0,0
$GC,10006,-0.61,-116.8,895.8,-8.4,928,10013,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1813,3261,0,0,0,0,0,0
$GC,10317,-0.61,-116.8,918.9,-7.2,944,10321,0.00,2.12,0.00,0.000,4,0.000,0.034,2493,3195,3262,0,0,0,0,0,0
$GC,10348,-0.67,-116.8,921.1,-6.4,945,10353,0.00,2.12,0.00,0.000,6,0.000,0.027,2493,1799,3261,0,0,0,0,0,0
$GC,10665,-0.67,-116.8,946.1,-8.1,961,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1799,3261,0,0,0,0,0,0
$GC,10969,-0.67,-116.8,970.0,-7.5,976,10973,0.00,2.15,0.00,0.000,4,0.000,0.041,2493,405,3261,0,0,0,0,0,0
$GC,11006,-0.67,-116.8,973.0,-8.7,977,11013,0.00,2.10,0.00,0.000,6,0.000,0.026,2484,1795,3261,0,0,0,0,0,0
$STATE,11254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11254,begin apogee
$GC,11257,-0.14,0.0,992.6,8.5,990,11358,0.50,0.00,94.55,1.208,6,0.106,0.000,2655,1796,2791,0,0,0,0,0,0
$STATE,11359,end apogee,CONTROL_FINISHED_OK
$STATE,11359,begin climb
$GC,11360,0.57,116.8,995.6,0.0,995,11466,0.62,0.00,103.65,1.173,6,0.065,0.000,2884,1796,2315,0,0,0,0,0,0
$GC,11765,0.47,116.8,971.9,8.0,1015,11769,0.12,2.15,0.00,0.000,4,0.158,0.034,2851,3150,2305,0,0,0,0,0,0
$GC,11817,0.43,124.2,968.0,7.5,1017,11829,0.00,2.22,5.18,0.864,6,0.000,0.031,2861,1755,2287,0,0,0,0,0,0
$GC,12134,0.37,127.7,944.6,7.7,1033,12143,0.15,2.22,5.03,0.861,4,0.156,0.044,2828,344,2271,0,0,0,0,0,0
$GC,12180,0.37,127.7,941.2,8.1,1035,12185,0.00,2.15,0.00,0.000,6,0.000,0.026,2828,1740,2271,0,0,0,0,0,0
$GC,12497,0.41,159.4,919.6,6.4,1051,12531,0.00,2.28,28.88,1.132,4,0.000,0.035,2828,3144,2141,0,0,0,0,0,0
$GC,12585,0.42,161.1,912.9,7.8,1055,12589,0.00,2.22,0.00,0.000,6,0.000,0.031,2837,1754,2141,0,0,0,0,0,0
$GC,12906,0.45,187.0,890.2,6.7,1071,12935,0.00,2.30,24.20,1.108,4,0.000,0.044,2849,350,2029,0,0,0,0,0,0
$GC,12957,0.47,208.9,886.5,6.9,1073,12982,0.00,2.20,19.98,1.077,6,0.000,0.025,2849,1753,1941,0,0,0,0,0,0
$GC,13293,0.47,208.9,860.6,8.3,1090,13297,0.00,2.20,0.00,0.000,4,0.000,0.033,2849,3148,1939,0,0,0,0,0,0
$GC,13314,0.47,208.9,858.6,9.8,1091,13318,0.00,2.20,0.00,0.000,6,0.000,0.030,2859,1756,1939,0,0,0,0,0,0
$GC,13640,0.47,208.9,830.1,8.5,1107,13644,0.00,2.22,0.00,0.000,4,0.000,0.043,2870,350,1937,0,0,0,0,0,0
$GC,13671,0.47,208.9,827.2,8.9,1108,13676,0.00,2.15,0.00,0.000,6,0.000,0.025,2870,1753,1937,0,0,0,0,0,0
$GC,13987,0.47,208.9,797.7,9.5,1124,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1754,1936,0,0,0,0,0,0
$GC,14293,0.47,208.9,769.0,9.4,1139,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1753,1935,0,0,0,0,0,0
$GC,14597,0.47,208.9,739.8,9.3,1154,14602,0.00,2.22,0.00,0.000,4,0.000,0.041,2881,340,1934,0,0,0,0,0,0
$GC,14629,0.47,208.9,736.7,9.1,1155,14634,0.00,2.12,0.00,0.000,6,0.000,0.025,2881,1746,1934,0,0,0,0,0,0
$GC,14946,0.47,208.9,704.7,10.3,1171,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1747,1933,0,0,0,0,0,0
$GC,15250,0.47,208.9,673.4,10.0,1186,15255,0.00,2.15,0.00,0.000,4,0.000,0.031,2881,3144,1932,0,0,0,0,0,0
$GC,15287,0.47,208.9,669.3,10.4,1187,15294,0.10,2.15,0.00,0.000,6,0.121,0.029,2855,1753,1932,0,0,0,0,0,0
$GC,15598,0.47,208.9,641.2,8.9,1203,15599,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1753,1932,0,0,0,0,0,0
$GC,15903,0.47,208.9,615.3,8.7,1218,15907,0.00,2.17,0.00,0.000,4,0.000,0.042,2864,352,1932,0,0,0,0,0,0
$GC,15929,0.47,208.9,612.7,9.6,1219,15934,0.00,2.12,0.00,0.000,6,0.000,0.025,2865,1758,1931,0,0,0,0,0,0
$GC,16251,0.47,208.9,583.4,8.8,1235,16255,0.00,2.12,0.00,0.000,4,0.000,0.031,2865,3142,1931,0,0,0,0,0,0
$GC,16281,0.47,208.9,580.5,9.4,1236,16286,0.00,2.17,0.00,0.000,6,0.000,0.029,2875,1745,1931,0,0,0,0,0,0
$GC,16598,0.47,208.9,550.5,9.6,1252,16602,0.00,2.15,0.00,0.000,4,0.000,0.031,2875,3141,1931,0,0,0,0,0,0
$GC,16629,0.47,208.9,547.2,12.4,1253,16634,0.12,2.17,0.00,0.000,6,0.150,0.028,2849,1743,1930,0,0,0,0,0,0
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$STATE,22810,end climb,SURFACE_DEPTH_REACHED
$STATE,22811,begin surface coast
$FINISH,0.2,1.025042
$STATE,22843,end surface coast,CONTROL_FINISHED_OK
$STATE,22843,begin surface
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$SM_GC,1.88,6.97,0.00,0.00,0.038,0.000,0.000,186,1747,1717,-7.77,-1.50,263.69
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$TT8_MAMPS,0.050622
$HUMID,54.41
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.7,15.321
$10V_AH,10.0,20.202
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.350,154.875,326.075,0.000,0.000,28.314,34.784,357.121,2.500,0.000,13.521,0.000,17050.654,520.928,5140.112,697.104,0.000,2137.909,0.000,4424.055,0.000,18.979,0.000
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$SENSOR_SECS,1409.127,4214.724,2969.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286668
$DATA_FILE_SIZE,142534,2025
$CAP_FILE_SIZE,218207,0
$CFSIZE,260165632,246894592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030410,143037,3645.282,-12215.871,52,0.9,52,14.8