version: 66.06
glider: 503
mission: 5
dive: 100
start: 4 6 110 14 17 49
data:
$ID,503
$MISSION,5
$DIVE,100
$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,-10174.974
$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,48
$R_STBD_OVSHOOT,43
$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
$GPS1,141037,3650.231,-12215.183,76,0.9,76,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.5
$GPS2,141743,3650.252,-12215.252,9,1.1,14,14.8
$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,195.0,11204,-15.7,-7.865
$D_GRID,1157
$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,-116.8,0.0,0.0,0,47,0.00,0.00,-33.83,0.000,2,0.000,0.000,164,1792,2650,0,0,0,0,0,0
$GC,49,-0.57,-116.8,3.1,-6.5,6,77,8.85,2.20,-14.43,0.000,4,0.212,0.055,2500,3207,3269,0,0,0,0,0,0
$GC,316,-0.57,-116.8,42.5,-10.7,56,323,0.00,2.17,0.00,0.000,6,0.000,0.026,2500,1807,3271,0,0,0,0,0,0
$GC,642,-0.52,-116.8,79.6,-15.5,117,649,0.10,2.20,0.00,0.000,4,0.157,0.031,2521,3205,3272,0,0,0,0,0,0
$GC,691,-0.58,-116.8,86.1,-12.6,126,698,0.00,2.17,0.00,0.000,6,0.000,0.026,2521,1797,3272,0,0,0,0,0,0
$GC,1018,-0.58,-116.8,118.6,-9.7,187,1024,0.00,2.17,0.00,0.000,4,0.000,0.039,2521,400,3272,0,0,0,0,0,0
$GC,1055,-0.58,-116.8,122.6,-10.9,194,1061,0.00,2.10,0.00,0.000,6,0.000,0.024,2511,1803,3271,0,0,0,0,0,0
$GC,1381,-0.58,-116.8,159.6,-11.6,255,1388,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,403,3272,0,0,0,0,0,0
$GC,1403,-0.58,-116.8,162.3,-11.9,259,1410,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1802,3272,0,0,0,0,0,0
$GC,1730,-0.58,-116.8,198.1,-10.1,320,1736,0.00,2.17,0.00,0.000,4,0.000,0.038,2506,400,3272,0,0,0,0,0,0
$GC,1761,-0.58,-116.8,201.4,-10.5,325,1765,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1789,3272,0,0,0,0,0,0
$GC,2081,-0.58,-116.8,231.6,-9.4,356,2086,0.00,2.15,0.00,0.000,4,0.000,0.031,2486,3197,3272,0,0,0,0,0,0
$GC,2161,-0.58,-116.8,238.9,-8.8,363,2168,0.00,2.15,0.00,0.000,6,0.000,0.025,2486,1798,3273,0,0,0,0,0,0
$GC,2477,-0.58,-116.8,270.8,-9.8,394,2481,0.00,2.15,0.00,0.000,4,0.000,0.038,2485,401,3272,0,0,0,0,0,0
$GC,2552,-0.51,-116.8,278.7,-10.7,401,2556,0.15,2.08,0.00,0.000,6,0.104,0.025,2535,1799,3272,0,0,0,0,0,0
$GC,2872,-0.57,-116.8,300.1,-6.9,432,2877,0.00,2.15,0.00,0.000,4,0.000,0.038,2535,409,3272,0,0,0,0,0,0
$GC,2888,-0.61,-116.8,301.2,-6.9,433,2894,0.00,2.08,0.00,0.000,6,0.000,0.024,2534,1799,3272,0,0,0,0,0,0
$GC,3204,-0.67,-116.8,320.9,-6.2,464,3208,0.15,2.17,0.00,0.000,4,0.077,0.039,2452,404,3272,0,0,0,0,0,0
$GC,3219,-0.67,-116.8,322.3,-7.6,465,3226,0.12,2.10,0.00,0.000,6,0.150,0.024,2486,1803,3272,0,0,0,0,0,0
$GC,3534,-0.67,-116.8,354.0,-10.4,496,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1805,3271,0,0,0,0,0,0
$GC,3845,-0.67,-116.8,386.0,-11.1,526,3849,0.00,2.17,0.00,0.000,4,0.000,0.039,2486,397,3271,0,0,0,0,0,0
$GC,3871,-0.61,-116.8,389.2,-12.9,528,3879,0.00,2.12,0.00,0.000,6,0.000,0.025,2479,1810,3270,0,0,0,0,0,0
$GC,4187,-0.61,-116.8,423.0,-10.6,559,4191,0.00,2.17,0.00,0.000,4,0.000,0.039,2479,405,3270,0,0,0,0,0,0
$GC,4230,-0.55,-116.8,427.8,-11.1,563,4234,0.12,2.08,0.00,0.000,6,0.108,0.025,2517,1790,3270,0,0,0,0,0,0
$GC,4550,-0.55,-116.8,452.6,-7.2,594,4555,0.00,2.15,0.00,0.000,4,0.000,0.039,2517,403,3269,0,0,0,0,0,0
$GC,4565,-0.55,-116.8,453.8,-7.7,595,4572,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1805,3269,0,0,0,0,0,0
$GC,4881,-0.55,-116.8,480.9,-8.7,626,4886,0.00,2.17,0.00,0.000,4,0.000,0.040,2509,401,3269,0,0,0,0,0,0
$GC,4914,-0.55,-116.8,483.8,-9.7,629,4918,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1792,3269,0,0,0,0,0,0
$GC,5243,-0.55,-116.8,512.7,-8.6,654,5246,0.00,2.15,0.00,0.000,4,0.000,0.041,2505,404,3269,0,0,0,0,0,0
$GC,5263,-0.55,-116.8,514.5,-8.6,655,5268,0.00,2.08,0.00,0.000,6,0.000,0.025,2496,1798,3269,0,0,0,0,0,0
$GC,5590,-0.55,-116.8,543.0,-8.8,671,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1799,3268,0,0,0,0,0,0
$GC,5894,-0.55,-116.8,570.7,-9.6,686,5899,0.00,2.15,0.00,0.000,4,0.000,0.041,2496,407,3268,0,0,0,0,0,0
$GC,5909,-0.55,-116.8,572.3,-10.0,686,5917,0.00,2.10,0.00,0.000,6,0.000,0.025,2492,1811,3268,0,0,0,0,0,0
$GC,6220,-0.55,-116.8,604.3,-10.4,702,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1812,3268,0,0,0,0,0,0
$GC,6527,-0.55,-116.8,631.1,-8.2,717,6530,0.00,2.15,0.00,0.000,4,0.000,0.042,2492,398,3267,0,0,0,0,0,0
$GC,6551,-0.55,-116.8,633.4,-8.6,718,6557,0.12,2.10,0.00,0.000,6,0.143,0.025,2521,1795,3267,0,0,0,0,0,0
$GC,6874,-0.61,-116.8,652.0,-4.8,734,6878,0.00,2.15,0.00,0.000,4,0.000,0.041,2521,406,3267,0,0,0,0,0,0
$GC,6888,-0.66,-116.8,652.9,-4.8,734,6896,0.08,2.08,0.00,0.000,6,0.059,0.025,2459,1796,3267,0,0,0,0,0,0
$GC,7199,-0.61,-116.8,682.5,-10.3,750,7203,0.15,2.17,0.00,0.000,4,0.134,0.041,2507,407,3266,0,0,0,0,0,0
$GC,7241,-0.61,-116.8,686.5,-9.1,752,7246,0.00,2.08,0.00,0.000,6,0.000,0.025,2498,1796,3265,0,0,0,0,0,0
$GC,7567,-0.61,-116.8,715.7,-9.2,768,7572,0.00,2.15,0.00,0.000,4,0.000,0.041,2498,407,3266,0,0,0,0,0,0
$GC,7620,-0.61,-116.8,721.3,-11.2,770,7625,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1805,3266,0,0,0,0,0,0
$GC,7937,-0.61,-116.8,748.8,-7.9,786,7941,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,403,3265,0,0,0,0,0,0
$GC,7973,-0.61,-116.8,751.9,-9.1,787,7980,0.00,2.10,0.00,0.000,6,0.000,0.025,2491,1798,3265,0,0,0,0,0,0
$GC,8285,-0.61,-116.8,775.6,-7.4,803,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1798,3265,0,0,0,0,0,0
$GC,8589,-0.61,-116.8,798.9,-7.4,818,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1798,3264,0,0,0,0,0,0
$GC,8895,-0.61,-116.8,821.3,-7.7,833,8899,0.00,2.17,0.00,0.000,4,0.000,0.041,2491,398,3264,0,0,0,0,0,0
$GC,8931,-0.61,-116.8,824.6,-9.1,834,8939,0.00,2.08,0.00,0.000,6,0.000,0.025,2482,1789,3263,0,0,0,0,0,0
$GC,9242,-0.61,-116.8,850.4,-8.6,850,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1789,3263,0,0,0,0,0,0
$GC,9548,-0.61,-116.8,875.6,-7.8,865,9551,0.00,2.15,0.00,0.000,4,0.000,0.041,2481,388,3263,0,0,0,0,0,0
$GC,9573,-0.61,-116.8,877.8,-9.2,866,9578,0.00,2.10,0.00,0.000,6,0.000,0.025,2472,1792,3263,0,0,0,0,0,0
$GC,9894,-0.61,-116.8,903.4,-7.6,882,9898,0.00,2.15,0.00,0.000,4,0.000,0.041,2472,406,3263,0,0,0,0,0,0
$GC,9909,-0.61,-116.8,904.8,-7.9,882,9917,0.12,2.10,0.00,0.000,6,0.146,0.025,2501,1802,3263,0,0,0,0,0,0
$GC,10220,-0.65,-116.8,928.2,-7.5,898,10225,0.00,2.15,0.00,0.000,4,0.000,0.034,2495,3199,3263,0,0,0,0,0,0
$GC,10242,-0.71,-116.8,929.7,-8.0,899,10246,0.00,2.10,0.00,0.000,6,0.000,0.028,2496,1798,3262,0,0,0,0,0,0
$GC,10569,-0.71,-116.8,955.4,-8.5,915,10572,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,394,3262,0,0,0,0,0,0
$GC,10599,-0.71,-116.8,958.5,-10.9,916,10604,0.00,2.12,0.00,0.000,6,0.000,0.025,2486,1797,3262,0,0,0,0,0,0
$GC,10915,-0.71,-116.8,984.6,-7.6,932,10919,0.00,2.17,0.00,0.000,4,0.000,0.035,2475,3206,3262,0,0,0,0,0,0
$GC,10941,-0.71,-116.8,986.9,-8.3,933,10946,0.00,2.15,0.00,0.000,6,0.000,0.029,2475,1808,3261,0,0,0,0,0,0
$STATE,10997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10997,begin apogee
$GC,11000,-0.14,0.0,991.2,7.7,936,11100,0.52,0.00,95.00,1.206,6,0.104,0.000,2656,1749,2792,0,0,0,0,0,0
$STATE,11100,end apogee,CONTROL_FINISHED_OK
$STATE,11100,begin climb
$GC,11102,0.57,116.8,993.3,0.0,941,11208,0.62,0.00,103.70,1.172,6,0.064,0.000,2887,1749,2315,0,0,0,0,0,0
$GC,11507,0.48,120.4,967.2,7.7,961,11509,0.12,0.00,0.00,0.000,6,0.155,0.000,2854,1749,2307,0,0,0,0,0,0
$GC,11812,0.48,121.6,945.4,7.8,976,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1749,2304,0,0,0,0,0,0
$GC,12118,0.49,132.7,921.6,7.4,991,12131,0.00,0.00,12.32,1.075,6,0.000,0.000,2854,1749,2251,0,0,0,0,0,0
$GC,12422,0.54,172.3,900.8,6.1,1006,12464,0.00,2.30,35.70,1.127,4,0.000,0.033,2854,3150,2089,0,0,0,0,0,0
$GC,12489,0.54,172.3,896.0,8.2,1009,12494,0.00,2.28,0.00,0.000,6,0.000,0.030,2863,1754,2089,0,0,0,0,0,0
$GC,12811,0.54,172.3,868.8,8.8,1025,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1754,2088,0,0,0,0,0,0
$GC,13115,0.57,195.0,845.7,6.8,1040,13138,0.00,0.00,20.15,1.081,6,0.000,0.000,2863,1754,1995,0,0,0,0,0,0
$GC,13440,0.57,197.6,820.5,7.7,1056,13450,0.00,2.28,3.88,0.712,4,0.000,0.043,2874,346,1986,0,0,0,0,0,0
$GC,13476,0.57,197.6,817.2,9.7,1057,13483,0.00,2.15,0.00,0.000,6,0.000,0.025,2874,1742,1986,0,0,0,0,0,0
$GC,13788,0.57,197.6,785.5,10.3,1073,13791,0.00,2.20,0.00,0.000,4,0.000,0.032,2874,3151,1986,0,0,0,0,0,0
$GC,13834,0.57,197.6,780.2,10.3,1075,13840,0.00,2.22,0.00,0.000,6,0.000,0.030,2885,1746,1985,0,0,0,0,0,0
$GC,14157,0.57,197.6,744.8,11.1,1091,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1746,1985,0,0,0,0,0,0
$GC,14461,0.57,197.6,712.7,10.2,1106,14465,0.00,2.20,0.00,0.000,4,0.000,0.042,2896,343,1985,0,0,0,0,0,0
$GC,14503,0.52,197.6,708.1,10.4,1108,14508,0.00,2.12,0.00,0.000,6,0.000,0.025,2896,1750,1985,0,0,0,0,0,0
$GC,14830,0.47,197.6,676.4,9.5,1124,14831,0.15,0.00,0.00,0.000,6,0.143,0.000,2851,1751,1985,0,0,0,0,0,0
$GC,15135,0.47,197.6,654.2,7.9,1139,15139,0.00,2.20,0.00,0.000,4,0.000,0.042,2860,350,1984,0,0,0,0,0,0
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$GC,15873,0.47,197.6,579.2,10.7,1175,15877,0.00,2.15,0.00,0.000,6,0.000,0.029,2871,1754,1983,0,0,0,0,0,0
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$STATE,22353,end climb,SURFACE_DEPTH_REACHED
$STATE,22353,begin surface coast
$FINISH,0.4,1.025151
$STATE,22380,end surface coast,CONTROL_FINISHED_OK
$STATE,22380,begin surface
$SM_CCo,22452,0.00,0.000,0,0,1488,319.87
$SM_GC,1.13,7.22,0.00,0.00,0.041,0.000,0.000,193,1745,1488,-7.76,-1.55,319.87
$IRIDIUM_FIX,3637.66,-12218.57,010799,080859
$TT8_MAMPS,0.050622
$HUMID,53.89
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,16.20
$XPDR_PINGS,3
$24V_AH,23.7,16.967
$10V_AH,9.9,23.259
$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,19.000,202.075,375.650,0.000,0.000,24.290,32.699,252.965,3.250,0.000,16.400,0.000,16531.047,593.870,5134.000,579.917,0.000,2257.468,0.000,4388.668,0.000,18.979,0.000
$DEVICE_MAMPS,212.459,140.361,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1373.657,4113.851,2903.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286672
$DATA_FILE_SIZE,139219,1978
$CAP_FILE_SIZE,230763,0
$CFSIZE,260165632,245260288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060410,203255,3647.811,-12218.081,36,1.4,36,14.8