version: 66.06
glider: 503
mission: 5
dive: 89
start: 4 4 110 3 19 37
data:
$ID,503
$MISSION,5
$DIVE,89
$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,-9963.0967
$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,36
$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
$GPS1,030937,3645.317,-12212.740,36,0.9,36,14.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.7
$GPS2,031932,3645.235,-12212.748,8,2.0,8,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,SIX
$TGT_LATLONG,3641.000,-12210.000
$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,137.7,8841,-15.7,-7.865
$D_GRID,736
$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,12,-0.57,-116.8,0.0,0.0,0,57,0.00,0.00,-43.33,0.000,2,0.000,0.000,173,1748,2752,0,0,0,0,0,0
$GC,59,-0.57,-116.8,3.5,-7.7,8,86,9.10,2.28,-11.38,0.000,4,0.225,0.045,2502,3189,3270,0,0,0,0,0,0
$GC,325,-0.57,-116.8,45.6,-13.7,58,332,0.00,2.17,0.00,0.000,6,0.000,0.026,2502,1790,3273,0,0,0,0,0,0
$GC,651,-0.50,-116.8,87.6,-10.9,119,658,0.12,2.20,0.00,0.000,4,0.147,0.031,2531,3189,3273,0,0,0,0,0,0
$GC,684,-0.50,-116.8,90.7,-9.3,125,690,0.00,2.15,0.00,0.000,6,0.000,0.026,2530,1796,3274,0,0,0,0,0,0
$GC,1010,-0.50,-116.8,114.8,-8.0,186,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,1795,3274,0,0,0,0,0,0
$GC,1331,-0.50,-116.8,141.0,-8.2,246,1338,0.00,2.17,0.00,0.000,4,0.000,0.031,2522,3198,3274,0,0,0,0,0,0
$GC,1359,-0.50,-116.8,143.3,-8.3,251,1365,0.00,2.15,0.00,0.000,6,0.000,0.025,2522,1794,3273,0,0,0,0,0,0
$GC,1684,-0.50,-116.8,174.3,-9.4,312,1691,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,397,3273,0,0,0,0,0,0
$GC,1733,-0.50,-116.8,179.2,-10.1,321,1740,0.00,2.08,0.00,0.000,6,0.000,0.024,2511,1795,3274,0,0,0,0,0,0
$GC,2056,-0.50,-116.8,209.6,-9.3,372,2061,0.00,2.15,0.00,0.000,4,0.000,0.031,2503,3195,3273,0,0,0,0,0,0
$GC,2071,-0.50,-116.8,211.1,-8.8,373,2078,0.08,2.12,0.00,0.000,6,0.107,0.025,2534,1797,3273,0,0,0,0,0,0
$GC,2387,-0.54,-116.8,235.7,-7.8,404,2391,0.00,2.15,0.00,0.000,4,0.000,0.031,2532,3191,3273,0,0,0,0,0,0
$GC,2398,-0.59,-116.8,236.4,-7.5,405,2402,0.00,2.12,0.00,0.000,6,0.000,0.026,2532,1796,3273,0,0,0,0,0,0
$GC,2718,-0.63,-116.8,260.7,-6.7,436,2723,0.10,2.15,0.00,0.000,4,0.106,0.038,2475,407,3273,0,0,0,0,0,0
$GC,2756,-0.54,-116.8,264.6,-11.3,439,2762,0.15,2.08,0.00,0.000,6,0.112,0.024,2520,1800,3273,0,0,0,0,0,0
$GC,3070,-0.54,-116.8,288.6,-8.1,470,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1802,3273,0,0,0,0,0,0
$GC,3382,-0.54,-116.8,313.4,-8.3,500,3385,0.00,2.15,0.00,0.000,4,0.000,0.038,2520,406,3272,0,0,0,0,0,0
$GC,3429,-0.54,-116.8,317.9,-9.8,504,3436,0.00,2.08,0.00,0.000,6,0.000,0.023,2512,1804,3272,0,0,0,0,0,0
$GC,3745,-0.54,-116.8,345.1,-7.8,535,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1805,3272,0,0,0,0,0,0
$GC,4056,-0.54,-116.8,369.0,-7.6,565,4059,0.00,2.12,0.00,0.000,4,0.000,0.031,2508,3196,3271,0,0,0,0,0,0
$GC,4070,-0.54,-116.8,370.1,-7.3,566,4078,0.00,2.12,0.00,0.000,6,0.000,0.025,2508,1802,3271,0,0,0,0,0,0
$GC,4387,-0.54,-116.8,393.2,-7.6,597,4390,0.00,2.15,0.00,0.000,4,0.000,0.039,2508,398,3271,0,0,0,0,0,0
$GC,4412,-0.54,-116.8,395.3,-8.7,599,4419,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1796,3271,0,0,0,0,0,0
$GC,4728,-0.54,-116.8,418.4,-7.7,630,4732,0.00,2.15,0.00,0.000,4,0.000,0.031,2505,3204,3270,0,0,0,0,0,0
$GC,4749,-0.54,-116.8,419.7,-6.3,632,4753,0.00,2.12,0.00,0.000,6,0.000,0.026,2505,1807,3270,0,0,0,0,0,0
$GC,5070,-0.54,-116.8,442.4,-7.4,663,5074,0.00,2.12,0.00,0.000,4,0.000,0.031,2495,3194,3270,0,0,0,0,0,0
$GC,5096,-0.54,-116.8,444.3,-7.7,665,5103,0.10,2.15,0.00,0.000,6,0.148,0.026,2531,1791,3270,0,0,0,0,0,0
$GC,5412,-0.60,-116.8,463.9,-6.2,696,5416,0.00,2.12,0.00,0.000,4,0.000,0.038,2532,403,3270,0,0,0,0,0,0
$GC,5437,-0.60,-116.8,466.0,-7.9,698,5445,0.00,2.10,0.00,0.000,6,0.000,0.023,2523,1806,3270,0,0,0,0,0,0
$GC,5754,-0.64,-116.8,489.5,-8.0,729,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1806,3269,0,0,0,0,0,0
$GC,6072,-0.69,-116.8,515.3,-7.8,751,6073,0.12,0.00,0.00,0.000,6,0.089,0.000,2455,1806,3269,0,0,0,0,0,0
$GC,6377,-0.61,-116.8,552.7,-12.8,766,6381,0.15,2.17,0.00,0.000,4,0.137,0.038,2502,405,3268,0,0,0,0,0,0
$GC,6398,-0.56,-116.8,555.0,-11.5,767,6402,0.00,2.08,0.00,0.000,6,0.000,0.025,2495,1800,3268,0,0,0,0,0,0
$GC,6724,-0.56,-116.8,585.6,-9.2,783,6728,0.00,2.12,0.00,0.000,4,0.000,0.033,2491,3192,3268,0,0,0,0,0,0
$GC,6739,-0.56,-116.8,586.9,-9.1,783,6746,0.00,2.10,0.00,0.000,6,0.000,0.026,2491,1811,3268,0,0,0,0,0,0
$GC,7050,-0.56,-116.8,613.7,-8.2,799,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1811,3267,0,0,0,0,0,0
$GC,7355,-0.56,-116.8,636.4,-7.3,814,7359,0.00,2.17,0.00,0.000,4,0.000,0.040,2491,399,3267,0,0,0,0,0,0
$GC,7377,-0.56,-116.8,638.1,-8.4,815,7380,0.10,2.08,0.00,0.000,6,0.111,0.025,2520,1792,3267,0,0,0,0,0,0
$GC,7703,-0.61,-116.8,657.2,-5.8,831,7706,0.00,2.12,0.00,0.000,4,0.000,0.039,2520,399,3266,0,0,0,0,0,0
$GC,7724,-0.61,-116.8,658.5,-6.5,832,7728,0.00,2.08,0.00,0.000,6,0.000,0.025,2518,1791,3266,0,0,0,0,0,0
$GC,8050,-0.66,-116.8,678.6,-6.3,848,8054,0.00,2.15,0.00,0.000,4,0.000,0.032,2519,3198,3266,0,0,0,0,0,0
$GC,8065,-0.73,-116.8,679.7,-6.1,848,8073,0.10,2.12,0.00,0.000,6,0.053,0.026,2452,1800,3266,0,0,0,0,0,0
$GC,8376,-0.66,-116.8,710.3,-10.0,864,8380,0.12,2.15,0.00,0.000,4,0.145,0.040,2490,398,3265,0,0,0,0,0,0
$GC,8440,-0.66,-116.8,716.3,-8.6,867,8444,0.00,2.08,0.00,0.000,6,0.000,0.025,2481,1799,3265,0,0,0,0,0,0
$STATE,8684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8684,begin apogee
$GC,8687,-0.14,0.0,736.4,8.0,879,8785,0.50,0.00,92.18,1.040,6,0.105,0.000,2653,1800,2792,0,0,0,0,0,0
$STATE,8785,end apogee,CONTROL_FINISHED_OK
$STATE,8785,begin climb
$GC,8787,0.57,116.8,738.3,0.0,884,8892,0.62,2.20,99.18,1.008,4,0.062,0.030,2886,3144,2315,0,0,0,0,0,0
$GC,8997,0.46,116.8,728.6,9.3,894,9002,0.12,2.22,0.00,0.000,6,0.130,0.028,2855,1761,2310,0,0,0,0,0,0
$GC,9314,0.45,144.4,706.4,6.6,910,9340,0.00,2.25,22.40,0.971,4,0.000,0.031,2855,3145,2203,0,0,0,0,0,0
$GC,9402,0.45,144.4,699.9,8.3,914,9407,0.00,2.25,0.00,0.000,6,0.000,0.028,2865,1747,2203,0,0,0,0,0,0
$GC,9718,0.41,147.6,675.2,7.7,930,9728,0.12,2.22,4.00,0.660,4,0.152,0.031,2829,3146,2190,0,0,0,0,0,0
$GC,9739,0.42,157.5,673.8,7.4,931,9753,0.00,2.20,10.05,0.897,6,0.000,0.029,2837,1749,2149,0,0,0,0,0,0
$GC,10065,0.42,159.6,649.0,7.8,947,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1750,2148,0,0,0,0,0,0
$GC,10369,0.43,164.6,625.0,7.6,962,10380,0.00,2.15,7.53,0.854,4,0.000,0.029,2838,3149,2119,0,0,0,0,0,0
$GC,10432,0.43,164.6,620.0,8.3,965,10437,0.00,2.22,0.00,0.000,6,0.000,0.028,2848,1739,2119,0,0,0,0,0,0
$GC,10754,0.45,178.5,597.0,7.2,981,10774,0.00,2.25,12.45,0.908,4,0.000,0.031,2848,3149,2064,0,0,0,0,0,0
$GC,10794,0.45,178.5,593.9,8.0,983,10798,0.00,2.20,0.00,0.000,6,0.000,0.028,2858,1751,2064,0,0,0,0,0,0
$GC,11121,0.46,188.4,570.3,7.4,999,11135,0.00,2.20,9.82,0.871,4,0.000,0.031,2858,3140,2023,0,0,0,0,0,0
$GC,11252,0.47,193.6,559.9,7.6,1005,11262,0.00,2.20,5.90,0.770,6,0.000,0.028,2869,1747,2003,0,0,0,0,0,0
$GC,11575,0.47,199.1,535.4,7.6,1021,11585,0.00,2.17,6.35,0.785,4,0.000,0.028,2869,3150,1979,0,0,0,0,0,0
$GC,11663,0.47,199.1,528.0,8.4,1025,11668,0.00,2.20,0.00,0.000,6,0.000,0.028,2877,1748,1979,0,0,0,0,0,0
$GC,11980,0.48,202.0,503.5,7.7,1041,11985,0.00,0.00,4.28,0.657,6,0.000,0.000,2877,1748,1968,0,0,0,0,0,0
$GC,12288,0.48,205.4,480.2,7.7,1068,12301,0.00,2.20,4.65,0.680,4,0.000,0.041,2888,352,1954,0,0,0,0,0,0
$GC,12321,0.48,205.4,477.4,8.6,1071,12325,0.08,2.10,0.00,0.000,6,0.117,0.025,2859,1745,1954,0,0,0,0,0,0
$GC,12641,0.48,205.4,450.8,8.9,1102,12645,0.00,2.17,0.00,0.000,4,0.000,0.030,2859,3152,1954,0,0,0,0,0,0
$GC,12656,0.48,205.4,449.2,9.4,1103,12663,0.00,2.17,0.00,0.000,6,0.000,0.028,2869,1752,1954,0,0,0,0,0,0
$GC,12972,0.48,205.4,419.7,8.8,1134,12977,0.00,2.20,0.00,0.000,4,0.000,0.042,2880,344,1954,0,0,0,0,0,0
$GC,13026,0.48,205.4,414.8,9.0,1139,13030,0.00,2.10,0.00,0.000,6,0.000,0.025,2880,1741,1953,0,0,0,0,0,0
$GC,13346,0.49,210.0,388.3,7.7,1170,13359,0.00,2.17,5.45,0.696,4,0.000,0.031,2880,3143,1935,0,0,0,0,0,0
$GC,13401,0.49,210.0,383.4,8.8,1175,13405,0.08,2.17,0.00,0.000,6,0.125,0.029,2861,1744,1934,0,0,0,0,0,0
$GC,13721,0.52,237.1,361.4,6.6,1206,13745,0.00,0.00,22.67,0.806,6,0.000,0.000,2861,1744,1825,0,0,0,0,0,0
$GC,14052,0.57,240.6,337.0,7.7,1238,14064,0.00,2.22,4.78,0.625,4,0.000,0.031,2861,3152,1811,0,0,0,0,0,0
$GC,14078,0.64,252.8,334.8,7.3,1240,14095,0.08,2.20,11.48,0.749,6,0.056,0.028,2923,1748,1761,0,0,0,0,0,0
$GC,14404,0.57,252.8,296.9,11.4,1272,14408,0.12,2.22,0.00,0.000,4,0.146,0.041,2895,347,1761,0,0,0,0,0,0
$GC,14436,0.57,252.8,293.5,9.8,1275,14440,0.00,2.12,0.00,0.000,6,0.000,0.025,2895,1747,1761,0,0,0,0,0,0
$GC,14756,0.57,252.8,263.3,9.8,1306,14761,0.00,2.20,0.00,0.000,4,0.000,0.041,2906,347,1761,0,0,0,0,0,0
$GC,14810,0.57,252.8,257.6,11.0,1311,14814,0.00,2.12,0.00,0.000,6,0.000,0.025,2906,1753,1761,0,0,0,0,0,0
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$STATE,17545,end climb,SURFACE_DEPTH_REACHED
$STATE,17545,begin surface coast
$FINISH,0.2,1.025081
$STATE,17583,end surface coast,CONTROL_FINISHED_OK
$STATE,17583,begin surface
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$IRIDIUM_FIX,3632.29,-12213.43,290699,030306
$TT8_MAMPS,0.051389
$HUMID,54.56
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,24.0,15.736
$10V_AH,10.1,20.979
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.050,163.850,357.100,0.000,0.000,51.938,62.076,311.598,1.500,0.000,10.063,0.000,12408.585,525.238,4600.319,680.993,0.000,1996.979,0.000,3960.680,0.000,9.988,0.000
$DEVICE_MAMPS,225.498,45.253,1040.052,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1236.287,3741.861,2697.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286680
$DATA_FILE_SIZE,123379,1781
$CAP_FILE_SIZE,204213,0
$CFSIZE,260165632,246509568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040410,081436,3643.956,-12212.412,26,1.0,26,14.8