version: 66.06
glider: 503
mission: 5
dive: 87
start: 4 3 110 19 38 55
data:
$ID,503
$MISSION,5
$DIVE,87
$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,-9918.4961
$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,38
$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
$GPS1,193130,3645.963,-12213.661,34,1.1,40,14.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-73.4
$GPS2,193850,3645.963,-12213.648,12,1.5,12,14.8
$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,73.6,2447,-24.5,-7.865
$D_GRID,646
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.73,-52.4,0.0,0.0,0,58,0.00,0.00,-43.33,0.000,2,0.000,0.000,167,1741,2662,0,0,0,0,0,0
$GC,60,-0.73,-56.3,3.4,-7.5,8,81,8.70,2.10,-8.48,0.000,4,0.216,0.048,2461,390,3022,0,0,0,0,0,0
$GC,321,-0.73,-56.3,58.8,-14.3,57,327,0.00,2.12,0.00,0.000,6,0.000,0.025,2452,1796,3023,0,0,0,0,0,0
$GC,647,-0.73,-56.3,99.4,-13.1,118,654,0.00,2.17,0.00,0.000,4,0.000,0.036,2452,398,3024,0,0,0,0,0,0
$GC,856,-0.73,-56.3,129.7,-14.4,157,862,0.00,2.10,0.00,0.000,6,0.000,0.023,2442,1803,3024,0,0,0,0,0,0
$GC,1183,-0.73,-56.3,175.7,-13.5,218,1189,0.00,2.12,0.00,0.000,4,0.000,0.031,2431,3193,3024,0,0,0,0,0,0
$GC,1247,-0.73,-56.3,184.7,-13.7,230,1253,0.08,2.15,0.00,0.000,6,0.129,0.025,2459,1787,3025,0,0,0,0,0,0
$GC,1566,-0.73,-56.3,225.4,-12.7,272,1571,0.00,2.12,0.00,0.000,4,0.000,0.038,2467,404,3025,0,0,0,0,0,0
$GC,1651,-0.73,-56.3,236.9,-13.4,280,1656,0.00,2.10,0.00,0.000,6,0.000,0.023,2458,1802,3024,0,0,0,0,0,0
$GC,1972,-0.73,-56.3,277.4,-13.0,311,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1802,3025,0,0,0,0,0,0
$GC,2284,-0.77,-56.3,317.8,-13.6,341,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1802,3024,0,0,0,0,0,0
$GC,2594,-0.82,-56.3,357.7,-12.6,371,2598,0.00,2.12,0.00,0.000,4,0.000,0.038,2464,402,3024,0,0,0,0,0,0
$GC,2727,-0.82,-56.3,375.2,-13.2,383,2730,0.00,2.08,0.00,0.000,6,0.000,0.023,2454,1803,3024,0,0,0,0,0,0
$GC,3047,-0.86,-56.3,413.0,-11.9,414,3052,0.00,2.12,0.00,0.000,4,0.000,0.031,2444,3201,3023,0,0,0,0,0,0
$GC,3143,-0.94,-56.3,424.3,-11.4,423,3147,0.10,2.12,0.00,0.000,6,0.053,0.025,2376,1800,3023,0,0,0,0,0,0
$GC,3463,-0.86,-56.3,473.3,-15.9,454,3469,0.15,2.15,0.00,0.000,4,0.163,0.038,2420,404,3023,0,0,0,0,0,0
$GC,3583,-0.82,-56.3,489.2,-13.0,465,3586,0.00,2.05,0.00,0.000,6,0.000,0.025,2412,1805,3023,0,0,0,0,0,0
$GC,3892,-0.82,-56.3,526.3,-11.3,484,3897,0.00,2.10,0.00,0.000,4,0.000,0.030,2402,3184,3022,0,0,0,0,0,0
$GC,3924,-0.82,-56.3,529.9,-11.5,485,3929,0.12,2.12,0.00,0.000,6,0.156,0.025,2436,1797,3022,0,0,0,0,0,0
$GC,4241,-0.82,-56.3,561.9,-10.1,501,4244,0.00,2.12,0.00,0.000,4,0.000,0.038,2436,406,3022,0,0,0,0,0,0
$GC,4287,-0.82,-56.3,567.4,-11.5,503,4292,0.00,2.08,0.00,0.000,6,0.000,0.023,2428,1797,3021,0,0,0,0,0,0
$GC,4610,-0.82,-56.3,604.1,-12.2,519,4613,0.00,2.10,0.00,0.000,4,0.000,0.031,2417,3198,3021,0,0,0,0,0,0
$GC,4678,-0.86,-56.3,612.7,-12.5,522,4683,0.00,2.15,0.00,0.000,6,0.000,0.026,2417,1795,3020,0,0,0,0,0,0
$STATE,4775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4775,begin apogee
$GC,4777,-0.14,0.0,624.6,12.5,527,4824,0.73,0.00,44.35,0.962,6,0.123,0.000,2655,1795,2792,0,0,0,0,0,0
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4824,begin climb
$GC,4826,0.73,56.3,626.4,0.0,529,4877,0.77,0.00,46.70,0.928,6,0.063,0.000,2944,1795,2563,0,0,0,0,0,0
$GC,5182,0.75,114.2,620.9,2.0,547,5235,0.00,2.20,48.25,0.937,4,0.000,0.029,2945,3148,2326,0,0,0,0,0,0
$GC,5326,0.75,114.2,611.5,8.7,554,5331,0.00,2.22,0.00,0.000,6,0.000,0.027,2956,1752,2323,0,0,0,0,0,0
$GC,5653,0.75,114.2,581.2,9.7,570,5657,0.00,2.17,0.00,0.000,4,0.000,0.029,2956,3145,2319,0,0,0,0,0,0
$GC,5898,0.75,114.2,556.1,10.4,581,5903,0.00,2.20,0.00,0.000,6,0.000,0.027,2966,1742,2317,0,0,0,0,0,0
$GC,6216,0.70,114.2,523.9,10.5,597,6219,0.15,2.15,0.00,0.000,4,0.166,0.029,2925,3148,2316,0,0,0,0,0,0
$GC,6256,0.70,114.2,519.4,10.5,599,6261,0.00,2.17,0.00,0.000,6,0.000,0.027,2934,1749,2315,0,0,0,0,0,0
$GC,6570,0.70,114.2,491.0,9.5,619,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1748,2315,0,0,0,0,0,0
$GC,6881,0.70,114.2,462.9,8.9,649,6884,0.00,2.12,0.00,0.000,4,0.000,0.029,2934,3149,2314,0,0,0,0,0,0
$GC,6950,0.70,114.2,456.9,8.4,655,6953,0.00,2.15,0.00,0.000,6,0.000,0.028,2945,1753,2313,0,0,0,0,0,0
$GC,7269,0.70,114.2,429.9,9.0,686,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1752,2314,0,0,0,0,0,0
$GC,7580,0.70,114.2,404.2,8.6,716,7584,0.00,2.17,0.00,0.000,4,0.000,0.040,2957,350,2313,0,0,0,0,0,0
$GC,7623,0.66,114.2,400.4,9.2,720,7627,0.12,2.08,0.00,0.000,6,0.133,0.024,2914,1744,2313,0,0,0,0,0,0
$GC,7944,0.73,124.5,377.0,6.8,751,7955,0.00,2.20,7.47,0.746,4,0.000,0.030,2914,3156,2284,0,0,0,0,0,0
$GC,8055,0.74,133.0,368.9,7.0,761,8072,0.00,2.17,8.62,0.752,6,0.000,0.027,2923,1745,2250,0,0,0,0,0,0
$GC,8382,0.79,133.0,342.4,8.0,793,8385,0.00,2.15,0.00,0.000,4,0.000,0.030,2924,3150,2248,0,0,0,0,0,0
$GC,8454,0.79,133.0,335.4,9.5,800,8459,0.00,2.15,0.00,0.000,6,0.000,0.027,2934,1755,2248,0,0,0,0,0,0
$GC,8776,0.79,133.0,305.7,9.7,831,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,1756,2248,0,0,0,0,0,0
$GC,9088,0.79,133.0,277.6,9.2,861,9091,0.00,2.10,0.00,0.000,4,0.000,0.030,2934,3152,2248,0,0,0,0,0,0
$GC,9199,0.79,133.0,266.2,10.7,871,9202,0.00,2.15,0.00,0.000,6,0.000,0.028,2946,1752,2247,0,0,0,0,0,0
$GC,9518,0.79,133.0,236.3,8.2,902,9523,0.00,2.17,0.00,0.000,4,0.000,0.039,2957,345,2247,0,0,0,0,0,0
$GC,9566,0.79,133.0,232.1,9.4,906,9574,0.00,2.10,0.00,0.000,6,0.000,0.024,2957,1749,2246,0,0,0,0,0,0
$GC,9882,0.79,133.0,205.2,8.1,937,9886,0.00,2.12,0.00,0.000,4,0.000,0.030,2956,3143,2247,0,0,0,0,0,0
$GC,10000,0.79,133.0,194.1,9.7,953,10007,0.00,2.12,0.00,0.000,6,0.000,0.028,2968,1753,2246,0,0,0,0,0,0
$GC,10327,0.79,133.0,165.8,8.1,1014,10333,0.00,2.12,0.00,0.000,4,0.000,0.030,2968,3145,2246,0,0,0,0,0,0
$GC,10455,0.79,133.0,154.9,8.3,1038,10461,0.00,2.15,0.00,0.000,6,0.000,0.028,2978,1742,2246,0,0,0,0,0,0
$GC,10781,0.80,137.2,129.9,7.4,1099,10794,0.00,2.12,4.70,0.543,4,0.000,0.028,2979,3149,2231,0,0,0,0,0,0
$GC,10964,0.80,137.2,113.5,9.2,1133,10971,0.08,2.15,0.00,0.000,6,0.154,0.028,2964,1748,2231,0,0,0,0,0,0
$GC,11292,0.81,142.3,86.5,7.3,1194,11303,0.00,2.12,5.80,0.559,4,0.000,0.028,2963,3153,2211,0,0,0,0,0,0
$GC,11323,0.81,143.7,84.0,7.7,1200,11330,0.00,2.15,0.00,0.000,6,0.000,0.028,2973,1750,2211,0,0,0,0,0,0
$GC,11650,0.83,160.3,59.8,6.2,1261,11673,0.00,2.17,16.15,0.606,4,0.000,0.038,2984,351,2139,0,0,0,0,0,0
$GC,11913,0.83,160.3,36.0,9.0,1310,11919,0.00,2.08,0.00,0.000,6,0.000,0.024,2984,1745,2138,0,0,0,0,0,0
$GC,12239,0.89,214.5,26.1,2.4,1371,12287,0.00,2.17,43.30,0.578,4,0.000,0.038,2995,350,1919,0,0,0,0,0,0
$GC,12307,0.97,238.7,23.1,5.4,1384,12335,0.00,2.12,21.12,0.554,6,0.000,0.024,2995,1743,1816,0,0,0,0,0,0
$STATE,12520,end climb,SURFACE_DEPTH_REACHED
$STATE,12520,begin surface coast
$FINISH,0.2,1.025027
$STATE,12552,end surface coast,CONTROL_FINISHED_OK
$STATE,12552,begin surface
$SM_CCo,12563,4.30,0.429,0,0,1772,250.20
$SM_GC,2.63,0.00,0.00,4.30,0.000,0.000,0.429,189,1744,1772,-7.85,-1.58,250.20
$IRIDIUM_FIX,3632.29,-12219.41,280699,141443
$TT8_MAMPS,0.052156
$HUMID,53.97
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.6,30.4
$24V_AH,24.4,15.520
$10V_AH,10.0,20.581
$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,18.300,106.800,246.475,4.300,0.000,27.124,30.993,270.638,1.250,0.000,14.545,0.000,8305.104,353.954,3758.847,552.757,0.000,1538.241,0.000,3287.412,0.000,9.080,0.000
$DEVICE_MAMPS,215.527,47.554,961.818,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,991.530,3059.283,2284.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286644
$DATA_FILE_SIZE,101234,1430
$CAP_FILE_SIZE,148057,0
$CFSIZE,260165632,246779904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030410,231025,3646.583,-12212.927,83,5.8,102,14.8