version: 66.06
glider: 503
mission: 5
dive: 98
start: 4 6 110 3 49 0
data:
$ID,503
$MISSION,5
$DIVE,98
$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,-10144.25
$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,48
$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
$GPS1,034124,3648.496,-12215.104,36,1.2,36,14.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.4
$GPS2,034855,3648.460,-12215.064,8,1.2,13,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,THREE
$TGT_LATLONG,3650.000,-12215.000
$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,347.1,2854,-26.9,-7.865
$D_GRID,901
$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,-0.78,-44.0,0.0,0.0,0,63,0.00,0.00,-49.00,0.000,2,0.000,0.000,163,1749,2646,0,0,0,0,0,0
$GC,65,-0.79,-53.3,3.3,-6.8,9,86,8.48,2.12,-8.90,0.000,4,0.211,0.058,2437,387,3010,0,0,0,0,0,0
$GC,251,-0.79,-53.3,40.9,-18.6,44,257,0.00,2.15,0.00,0.000,6,0.000,0.023,2429,1806,3012,0,0,0,0,0,0
$GC,577,-0.79,-53.3,88.7,-15.2,105,583,0.00,2.20,0.00,0.000,4,0.000,0.037,2428,395,3012,0,0,0,0,0,0
$GC,710,-0.79,-53.3,112.6,-19.0,130,718,0.00,2.12,0.00,0.000,6,0.000,0.024,2419,1811,3013,0,0,0,0,0,0
$GC,1038,-0.79,-53.3,163.2,-14.2,191,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1811,3014,0,0,0,0,0,0
$GC,1360,-0.79,-53.3,210.9,-14.6,245,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1811,3014,0,0,0,0,0,0
$GC,1671,-0.79,-53.3,260.5,-14.5,275,1675,0.00,2.08,0.00,0.000,4,0.000,0.031,2408,3201,3014,0,0,0,0,0,0
$GC,1712,-0.86,-53.3,266.5,-13.3,278,1719,0.00,2.17,0.00,0.000,6,0.000,0.025,2408,1773,3014,0,0,0,0,0,0
$GC,2029,-0.86,-53.3,307.8,-11.8,309,2032,0.00,2.10,0.00,0.000,4,0.000,0.038,2408,406,3014,0,0,0,0,0,0
$GC,2172,-0.86,-53.3,326.6,-13.2,322,2179,0.00,2.08,0.00,0.000,6,0.000,0.023,2398,1802,3014,0,0,0,0,0,0
$GC,2488,-0.86,-53.3,367.0,-13.6,353,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1804,3014,0,0,0,0,0,0
$GC,2799,-0.86,-53.3,409.2,-14.6,383,2802,0.00,2.12,0.00,0.000,4,0.000,0.037,2398,403,3013,0,0,0,0,0,0
$GC,2926,-0.86,-53.3,429.4,-16.2,395,2930,0.10,2.08,0.00,0.000,6,0.139,0.024,2422,1802,3013,0,0,0,0,0,0
$GC,3246,-0.91,-53.3,474.7,-13.9,426,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1803,3013,0,0,0,0,0,0
$GC,3556,-0.97,-53.3,517.1,-13.4,450,3557,0.10,0.00,0.00,0.000,6,0.100,0.000,2357,1803,3012,0,0,0,0,0,0
$GC,3861,-0.93,-53.3,562.4,-13.8,465,3862,0.15,0.00,0.00,0.000,6,0.160,0.000,2398,1803,3012,0,0,0,0,0,0
$GC,4165,-0.93,-53.3,599.9,-12.0,480,4171,0.00,2.12,0.00,0.000,4,0.000,0.031,2390,3201,3011,0,0,0,0,0,0
$GC,4202,-0.98,-53.3,604.7,-12.3,481,4209,0.00,2.15,0.00,0.000,6,0.000,0.026,2389,1798,3011,0,0,0,0,0,0
$GC,4513,-0.98,-53.3,642.6,-11.9,497,4517,0.00,2.15,0.00,0.000,4,0.000,0.038,2391,398,3011,0,0,0,0,0,0
$GC,4630,-0.98,-53.3,657.8,-13.6,502,4634,0.00,2.08,0.00,0.000,6,0.000,0.024,2383,1799,3011,0,0,0,0,0,0
$GC,4945,-0.98,-53.3,698.4,-13.7,518,4950,0.00,2.15,0.00,0.000,4,0.000,0.038,2383,399,3010,0,0,0,0,0,0
$GC,5047,-0.93,-53.3,712.3,-13.9,522,5054,0.00,2.05,0.00,0.000,6,0.000,0.024,2373,1783,3009,0,0,0,0,0,0
$GC,5358,-0.93,-53.3,751.4,-12.3,538,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1783,3009,0,0,0,0,0,0
$GC,5663,-0.93,-53.3,790.3,-13.1,553,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,1783,3009,0,0,0,0,0,0
$GC,5967,-0.93,-53.3,831.7,-13.3,568,5972,0.00,2.15,0.00,0.000,4,0.000,0.031,2362,3199,3007,0,0,0,0,0,0
$GC,6032,-0.93,-53.3,840.5,-13.5,571,6036,0.10,2.12,0.00,0.000,6,0.133,0.026,2396,1801,3007,0,0,0,0,0,0
$GC,6359,-0.93,-53.3,876.8,-10.9,587,6362,0.00,2.12,0.00,0.000,4,0.000,0.040,2396,402,3007,0,0,0,0,0,0
$GC,6448,-0.93,-53.3,887.7,-12.1,591,6452,0.00,2.10,0.00,0.000,6,0.000,0.024,2388,1801,3007,0,0,0,0,0,0
$STATE,6585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6585,begin apogee
$GC,6588,-0.14,0.0,902.7,10.7,598,6633,0.82,0.00,43.17,1.140,6,0.125,0.000,2657,1801,2792,0,0,0,0,0,0
$STATE,6634,end apogee,CONTROL_FINISHED_OK
$STATE,6634,begin climb
$GC,6635,0.79,53.3,903.5,0.0,600,6689,0.82,2.22,46.17,1.104,4,0.059,0.033,2968,3149,2574,0,0,0,0,0,0
$GC,6703,0.76,88.4,900.8,3.7,603,6739,0.10,2.28,31.80,1.088,6,0.170,0.030,2950,1758,2431,0,0,0,0,0,0
$GC,7049,0.76,88.4,871.7,8.3,621,7053,0.00,2.25,0.00,0.000,4,0.000,0.043,2959,354,2423,0,0,0,0,0,0
$GC,7080,0.76,88.4,868.9,9.4,622,7085,0.00,2.15,0.00,0.000,6,0.000,0.025,2960,1746,2422,0,0,0,0,0,0
$GC,7397,0.77,90.6,845.0,7.6,638,7401,0.00,2.20,0.00,0.000,4,0.000,0.032,2960,3154,2420,0,0,0,0,0,0
$GC,7461,0.77,95.1,839.9,7.3,641,7470,0.00,2.20,5.35,0.847,6,0.000,0.029,2970,1749,2404,0,0,0,0,0,0
$GC,7787,0.77,95.1,812.9,8.5,657,7790,0.00,2.20,0.00,0.000,4,0.000,0.032,2971,3152,2403,0,0,0,0,0,0
$GC,7925,0.73,95.1,800.2,9.5,663,7929,0.12,2.20,0.00,0.000,6,0.162,0.030,2942,1745,2401,0,0,0,0,0,0
$GC,8241,0.73,95.1,775.7,7.9,679,8245,0.00,2.17,0.00,0.000,4,0.000,0.032,2942,3155,2401,0,0,0,0,0,0
$GC,8341,0.73,95.1,767.0,9.0,683,8348,0.00,2.20,0.00,0.000,6,0.000,0.029,2951,1749,2399,0,0,0,0,0,0
$GC,8652,0.73,95.1,742.3,7.9,699,8656,0.00,2.17,0.00,0.000,4,0.000,0.032,2951,3147,2399,0,0,0,0,0,0
$GC,8817,0.73,95.1,727.1,9.2,706,8825,0.00,2.20,0.00,0.000,6,0.000,0.029,2962,1742,2398,0,0,0,0,0,0
$GC,9127,0.73,95.1,696.9,9.9,722,9132,0.00,2.17,0.00,0.000,4,0.000,0.031,2962,3150,2398,0,0,0,0,0,0
$GC,9176,0.73,95.1,691.9,10.4,724,9180,0.10,2.15,0.00,0.000,6,0.155,0.029,2941,1755,2398,0,0,0,0,0,0
$GC,9496,0.73,100.3,665.0,7.2,740,9502,0.00,0.00,4.80,0.769,6,0.000,0.000,2940,1755,2383,0,0,0,0,0,0
$GC,9817,0.74,106.2,640.3,7.2,756,9828,0.00,2.15,6.70,0.856,4,0.000,0.031,2940,3159,2360,0,0,0,0,0,0
$GC,9945,0.74,108.6,630.4,7.6,762,9955,0.00,2.17,3.97,0.669,6,0.000,0.028,2950,1755,2349,0,0,0,0,0,0
$GC,10266,0.75,116.5,608.8,6.9,778,10275,0.00,0.00,8.38,0.881,6,0.000,0.000,2949,1754,2317,0,0,0,0,0,0
$GC,10571,0.76,119.8,587.6,7.5,793,10577,0.00,0.00,4.65,0.724,6,0.000,0.000,2950,1755,2303,0,0,0,0,0,0
$GC,10876,0.76,119.8,561.0,9.6,808,10880,0.00,2.17,0.00,0.000,4,0.000,0.031,2949,3154,2302,0,0,0,0,0,0
$GC,11035,0.76,119.8,543.2,11.3,815,11040,0.00,2.20,0.00,0.000,6,0.000,0.028,2961,1748,2301,0,0,0,0,0,0
$GC,11352,0.76,119.8,509.5,10.8,831,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1748,2301,0,0,0,0,0,0
$GC,11660,0.76,119.8,478.9,10.1,856,11665,0.00,2.17,0.00,0.000,4,0.000,0.031,2960,3152,2301,0,0,0,0,0,0
$GC,11907,0.76,119.8,453.7,10.8,879,11910,0.00,2.15,0.00,0.000,6,0.000,0.028,2972,1755,2300,0,0,0,0,0,0
$GC,12226,0.76,119.8,424.6,9.5,910,12231,0.00,2.15,0.00,0.000,4,0.000,0.031,2971,3149,2300,0,0,0,0,0,0
$GC,12296,0.76,119.8,417.9,9.5,916,12303,0.10,2.15,0.00,0.000,6,0.150,0.028,2950,1756,2300,0,0,0,0,0,0
$GC,12612,0.81,120.6,392.6,7.8,947,12616,0.00,2.15,0.00,0.000,4,0.000,0.031,2949,3154,2300,0,0,0,0,0,0
$GC,12648,0.81,120.6,389.5,8.4,950,12656,0.00,2.17,0.00,0.000,6,0.000,0.029,2959,1750,2300,0,0,0,0,0,0
$GC,12964,0.82,131.2,367.0,6.6,981,12979,0.00,2.17,10.62,0.783,4,0.000,0.032,2958,3161,2257,0,0,0,0,0,0
$GC,13011,0.82,131.2,363.4,8.1,985,13017,0.00,2.20,0.00,0.000,6,0.000,0.029,2970,1746,2257,0,0,0,0,0,0
$GC,13326,0.82,131.2,337.4,7.9,1016,13331,0.00,2.17,0.00,0.000,4,0.000,0.031,2970,3152,2257,0,0,0,0,0,0
$GC,13353,0.82,131.2,335.0,8.2,1018,13360,0.00,2.17,0.00,0.000,6,0.000,0.028,2981,1752,2255,0,0,0,0,0,0
$GC,13669,0.82,131.2,304.8,9.6,1049,13673,0.00,2.15,0.00,0.000,4,0.000,0.031,2981,3145,2255,0,0,0,0,0,0
$GC,13828,0.82,131.2,288.3,10.3,1064,13833,0.00,2.17,0.00,0.000,6,0.000,0.028,2992,1750,2255,0,0,0,0,0,0
$GC,14150,0.82,131.2,254.2,10.3,1095,14154,0.00,2.20,0.00,0.000,4,0.000,0.041,3003,347,2255,0,0,0,0,0,0
$GC,14272,0.76,131.2,240.8,10.4,1106,14280,0.17,2.10,0.00,0.000,6,0.153,0.024,2947,1761,2255,0,0,0,0,0,0
$GC,14588,0.84,135.9,215.8,7.3,1137,14599,0.00,2.20,5.38,0.609,4,0.000,0.041,2957,336,2238,0,0,0,0,0,0
$GC,14673,0.84,138.8,209.1,7.5,1145,14684,0.00,2.10,4.62,0.565,6,0.000,0.024,2957,1747,2223,0,0,0,0,0,0
$GC,15000,0.90,144.8,185.7,7.1,1195,15011,0.00,0.00,6.45,0.624,6,0.000,0.000,2957,1748,2202,0,0,0,0,0,0
$GC,15332,0.96,145.2,162.4,7.8,1257,15338,0.15,2.15,0.00,0.000,4,0.077,0.031,3036,3144,2202,0,0,0,0,0,0
$GC,15578,0.90,145.2,135.6,10.7,1303,15585,0.15,2.15,0.00,0.000,6,0.151,0.027,2998,1747,2200,0,0,0,0,0,0
$GC,15905,0.90,145.2,105.2,8.8,1364,15910,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1747,2201,0,0,0,0,0,0
$GC,16230,0.90,145.2,76.2,9.0,1425,16236,0.00,2.15,0.00,0.000,4,0.000,0.029,2998,3152,2201,0,0,0,0,0,0
$GC,16422,0.90,145.2,57.6,9.9,1461,16429,0.00,2.15,0.00,0.000,6,0.000,0.028,3007,1749,2200,0,0,0,0,0,0
$GC,16749,0.93,168.9,32.7,5.0,1522,16777,0.00,2.17,21.05,0.591,4,0.000,0.029,3008,3148,2102,0,0,0,0,0,0
$GC,17017,0.93,172.3,13.0,7.5,1572,17028,0.00,2.15,4.15,0.448,6,0.000,0.027,3018,1752,2088,0,0,0,0,0,0
$STATE,17176,end climb,SURFACE_DEPTH_REACHED
$STATE,17176,begin surface coast
$FINISH,0.3,1.002139
$STATE,17224,end surface coast,CONTROL_FINISHED_OK
$STATE,17224,begin surface
$SM_CCo,17236,50.62,0.563,0,0,1771,250.20
$SM_GC,2.34,0.00,0.00,50.62,0.000,0.000,0.563,182,1751,1771,-7.87,-1.39,250.20
$IRIDIUM_FIX,3632.29,-12212.00,010799,000004
$TT8_MAMPS,0.052923
$HUMID,53.74
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,24.1,16.754
$10V_AH,9.9,22.826
$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,18.775,129.425,207.275,50.625,0.000,29.032,45.552,271.940,2.500,0.000,15.243,0.000,12330.972,432.028,4359.855,584.232,0.000,1817.415,0.000,3773.967,0.000,17.204,0.000
$DEVICE_MAMPS,210.925,58.292,1139.762,562.978,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1118.691,3379.312,2426.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286648
$DATA_FILE_SIZE,113971,1611
$CAP_FILE_SIZE,181636,0
$CFSIZE,260165632,245551104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060410,083826,3650.635,-12216.173,41,1.2,60,14.8