version: 66.06
glider: 503
mission: 5
dive: 102
start: 4 7 110 3 2 7
data:
$ID,503
$MISSION,5
$DIVE,102
$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,-10204.168
$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,40
$R_STBD_OVSHOOT,58
$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
$GPS1,024908,3645.686,-12219.721,69,1.0,69,14.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.7
$GPS2,030202,3645.582,-12219.912,11,1.1,11,14.8
$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,71.4,11764,-15.7,-7.865
$D_GRID,1367
$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,-116.8,0.0,0.0,0,53,0.00,0.00,-38.62,0.000,2,0.000,0.000,144,1755,2803,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.4,-6.4,7,82,9.05,2.17,-10.27,0.000,4,0.216,0.052,2512,394,3272,0,0,0,0,0,0
$GC,246,-0.49,-116.8,37.2,-13.2,43,253,0.10,2.12,0.00,0.000,6,0.117,0.024,2539,1787,3274,0,0,0,0,0,0
$GC,573,-0.49,-116.8,71.8,-10.2,104,579,0.00,2.20,0.00,0.000,4,0.000,0.031,2531,3204,3274,0,0,0,0,0,0
$GC,600,-0.49,-116.8,74.5,-9.9,109,606,0.00,2.17,0.00,0.000,6,0.000,0.026,2531,1800,3274,0,0,0,0,0,0
$GC,926,-0.49,-116.8,107.6,-10.4,170,933,0.00,2.17,0.00,0.000,4,0.000,0.039,2531,404,3274,0,0,0,0,0,0
$GC,985,-0.49,-116.8,114.3,-11.7,181,992,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1805,3275,0,0,0,0,0,0
$GC,1312,-0.49,-116.8,149.4,-9.9,242,1318,0.00,2.15,0.00,0.000,4,0.000,0.033,2518,3200,3275,0,0,0,0,0,0
$GC,1365,-0.55,-116.8,154.4,-9.3,252,1371,0.00,2.15,0.00,0.000,6,0.000,0.025,2519,1800,3275,0,0,0,0,0,0
$GC,1691,-0.55,-116.8,185.5,-9.2,313,1697,0.00,2.20,0.00,0.000,4,0.000,0.040,2518,399,3275,0,0,0,0,0,0
$GC,1712,-0.55,-116.8,187.6,-9.8,317,1719,0.00,2.10,0.00,0.000,6,0.000,0.025,2509,1803,3275,0,0,0,0,0,0
$GC,2037,-0.55,-116.8,220.1,-9.9,360,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1803,3275,0,0,0,0,0,0
$GC,2348,-0.55,-116.8,250.4,-9.3,390,2352,0.00,2.17,0.00,0.000,4,0.000,0.040,2509,403,3274,0,0,0,0,0,0
$GC,2373,-0.55,-116.8,253.2,-11.1,392,2381,0.00,2.10,0.00,0.000,6,0.000,0.024,2499,1807,3274,0,0,0,0,0,0
$GC,2690,-0.55,-116.8,283.3,-9.1,423,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1808,3274,0,0,0,0,0,0
$GC,3001,-0.55,-116.8,310.7,-9.5,453,3005,0.00,2.15,0.00,0.000,4,0.000,0.040,2498,400,3273,0,0,0,0,0,0
$GC,3037,-0.50,-116.8,314.5,-10.4,456,3042,0.10,2.08,0.00,0.000,6,0.114,0.025,2531,1789,3273,0,0,0,0,0,0
$GC,3359,-0.55,-116.8,338.2,-7.5,487,3362,0.00,2.12,0.00,0.000,4,0.000,0.031,2523,3201,3273,0,0,0,0,0,0
$GC,3416,-0.64,-116.8,342.7,-7.8,492,3423,0.00,2.15,0.00,0.000,6,0.000,0.025,2523,1792,3273,0,0,0,0,0,0
$GC,3732,-0.64,-116.8,368.8,-8.9,523,3736,0.00,2.15,0.00,0.000,4,0.000,0.041,2522,404,3273,0,0,0,0,0,0
$GC,3768,-0.64,-116.8,372.4,-9.9,526,3776,0.00,2.10,0.00,0.000,6,0.000,0.025,2519,1805,3272,0,0,0,0,0,0
$GC,4085,-0.64,-116.8,402.2,-9.5,557,4089,0.00,2.17,0.00,0.000,4,0.000,0.040,2519,406,3272,0,0,0,0,0,0
$GC,4132,-0.64,-116.8,407.0,-10.1,561,4139,0.00,2.10,0.00,0.000,6,0.000,0.025,2509,1803,3272,0,0,0,0,0,0
$GC,4447,-0.64,-116.8,439.0,-10.3,592,4452,0.00,2.17,0.00,0.000,4,0.000,0.040,2509,404,3272,0,0,0,0,0,0
$GC,4501,-0.64,-116.8,444.9,-11.4,597,4505,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1798,3272,0,0,0,0,0,0
$GC,4822,-0.64,-116.8,474.5,-8.9,628,4826,0.00,2.15,0.00,0.000,4,0.000,0.040,2505,406,3270,0,0,0,0,0,0
$GC,4848,-0.64,-116.8,477.2,-10.7,630,4856,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1805,3270,0,0,0,0,0,0
$GC,5162,-0.64,-116.8,505.9,-8.9,658,5167,0.00,2.17,0.00,0.000,4,0.000,0.040,2495,405,3270,0,0,0,0,0,0
$GC,5189,-0.64,-116.8,508.5,-10.2,659,5193,0.00,2.08,0.00,0.000,6,0.000,0.025,2491,1799,3270,0,0,0,0,0,0
$GC,5511,-0.64,-116.8,537.9,-9.5,675,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1800,3270,0,0,0,0,0,0
$GC,5815,-0.64,-116.8,566.0,-9.0,690,5819,0.00,2.12,0.00,0.000,4,0.000,0.031,2482,3187,3269,0,0,0,0,0,0
$GC,5847,-0.64,-116.8,568.9,-9.3,691,5851,0.00,2.12,0.00,0.000,6,0.000,0.027,2482,1799,3269,0,0,0,0,0,0
$GC,6163,-0.64,-116.8,597.6,-8.9,707,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1798,3269,0,0,0,0,0,0
$GC,6468,-0.64,-116.8,623.8,-8.3,722,6472,0.00,2.17,0.00,0.000,4,0.000,0.041,2482,399,3268,0,0,0,0,0,0
$GC,6495,-0.59,-116.8,626.4,-10.4,723,6499,0.08,2.08,0.00,0.000,6,0.118,0.025,2504,1787,3269,0,0,0,0,0,0
$GC,6816,-0.59,-116.8,649.7,-7.3,739,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1788,3268,0,0,0,0,0,0
$GC,7120,-0.59,-116.8,674.0,-8.1,754,7125,0.00,2.15,0.00,0.000,4,0.000,0.041,2504,403,3267,0,0,0,0,0,0
$GC,7146,-0.59,-116.8,676.6,-10.0,755,7151,0.00,2.10,0.00,0.000,6,0.000,0.025,2495,1804,3267,0,0,0,0,0,0
$GC,7468,-0.59,-116.8,706.9,-9.8,771,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1804,3267,0,0,0,0,0,0
$GC,7773,-0.59,-116.8,737.2,-9.6,786,7777,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,404,3267,0,0,0,0,0,0
$GC,7799,-0.59,-116.8,739.9,-11.0,787,7804,0.00,2.10,0.00,0.000,6,0.000,0.025,2490,1801,3267,0,0,0,0,0,0
$GC,8121,-0.59,-116.8,772.9,-10.5,803,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1801,3267,0,0,0,0,0,0
$GC,8426,-0.59,-116.8,802.7,-9.1,818,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1801,3266,0,0,0,0,0,0
$GC,8731,-0.59,-116.8,830.7,-9.5,833,8735,0.00,2.17,0.00,0.000,4,0.000,0.041,2491,404,3266,0,0,0,0,0,0
$GC,8762,-0.59,-116.8,834.0,-11.0,834,8767,0.00,2.10,0.00,0.000,6,0.000,0.024,2481,1800,3265,0,0,0,0,0,0
$GC,9078,-0.59,-116.8,862.8,-8.9,850,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1801,3265,0,0,0,0,0,0
$GC,9384,-0.59,-116.8,889.6,-8.5,865,9387,0.00,2.20,0.00,0.000,4,0.000,0.041,2481,404,3265,0,0,0,0,0,0
$GC,9409,-0.59,-116.8,892.0,-9.0,866,9414,0.12,2.10,0.00,0.000,6,0.143,0.025,2510,1796,3265,0,0,0,0,0,0
$GC,9731,-0.65,-116.8,912.9,-6.2,882,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1796,3265,0,0,0,0,0,0
$GC,10037,-0.70,-116.8,934.3,-7.5,897,10040,0.12,2.17,0.00,0.000,4,0.095,0.034,2440,3197,3264,0,0,0,0,0,0
$GC,10067,-0.70,-116.8,937.5,-11.6,898,10072,0.08,2.12,0.00,0.000,6,0.117,0.028,2469,1810,3264,0,0,0,0,0,0
$GC,10383,-0.70,-116.8,969.4,-10.2,914,10387,0.00,2.20,0.00,0.000,4,0.000,0.041,2474,397,3264,0,0,0,0,0,0
$GC,10414,-0.65,-116.8,972.8,-11.8,915,10419,0.00,2.12,0.00,0.000,6,0.000,0.026,2466,1797,3264,0,0,0,0,0,0
$STATE,10608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10608,begin apogee
$GC,10611,-0.14,0.0,992.4,10.0,925,10710,0.55,0.00,95.45,1.204,6,0.109,0.000,2651,1798,2792,0,0,0,0,0,0
$STATE,10711,end apogee,CONTROL_FINISHED_OK
$STATE,10711,begin climb
$GC,10712,0.57,116.8,996.3,0.0,930,10822,0.62,2.28,103.53,1.171,4,0.061,0.035,2884,3153,2315,0,0,0,0,0,0
$GC,10869,0.45,116.8,992.0,9.1,937,10876,0.15,2.30,0.00,0.000,6,0.137,0.031,2849,1765,2312,0,0,0,0,0,0
$GC,11181,0.46,129.8,970.0,7.3,953,11195,0.00,2.20,10.93,1.055,4,0.000,0.031,2847,3155,2262,0,0,0,0,0,0
$GC,11226,0.42,133.5,966.4,7.7,954,11239,0.00,2.28,4.70,0.808,6,0.000,0.031,2858,1748,2248,0,0,0,0,0,0
$GC,11542,0.38,133.5,941.3,8.3,970,11546,0.12,2.25,0.00,0.000,4,0.166,0.033,2824,3152,2247,0,0,0,0,0,0
$GC,11578,0.38,138.3,938.4,7.6,971,11588,0.00,2.22,5.75,0.907,6,0.000,0.030,2833,1751,2227,0,0,0,0,0,0
$GC,11911,0.43,173.5,916.3,6.3,988,11946,0.00,2.25,31.77,1.132,4,0.000,0.032,2833,3157,2083,0,0,0,0,0,0
$GC,11961,0.47,213.1,913.0,6.1,989,12001,0.00,2.28,35.40,1.113,6,0.000,0.031,2844,1756,1922,0,0,0,0,0,0
$GC,12312,0.48,220.3,885.9,7.5,1007,12320,0.00,0.00,7.32,0.956,6,0.000,0.000,2844,1755,1893,0,0,0,0,0,0
$GC,12617,0.48,220.3,860.3,8.4,1022,12618,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1755,1893,0,0,0,0,0,0
$GC,12923,0.48,220.3,834.8,8.3,1037,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1756,1892,0,0,0,0,0,0
$GC,13227,0.48,220.3,809.8,8.3,1052,13231,0.00,2.22,0.00,0.000,4,0.000,0.044,2855,350,1891,0,0,0,0,0,0
$GC,13258,0.48,220.3,806.9,9.4,1053,13263,0.00,2.15,0.00,0.000,6,0.000,0.025,2855,1753,1890,0,0,0,0,0,0
$GC,13575,0.48,220.3,779.3,8.4,1069,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1753,1890,0,0,0,0,0,0
$GC,13880,0.48,220.3,753.5,8.7,1084,13884,0.00,2.22,0.00,0.000,4,0.000,0.044,2866,346,1889,0,0,0,0,0,0
$GC,13901,0.48,220.3,751.6,9.7,1085,13905,0.00,2.12,0.00,0.000,6,0.000,0.026,2866,1747,1889,0,0,0,0,0,0
$GC,14228,0.48,220.3,721.0,9.7,1101,14231,0.00,2.22,0.00,0.000,4,0.000,0.044,2877,341,1888,0,0,0,0,0,0
$GC,14264,0.48,220.3,716.8,12.3,1102,14271,0.00,2.15,0.00,0.000,6,0.000,0.026,2877,1757,1888,0,0,0,0,0,0
$GC,14574,0.48,220.3,682.2,11.1,1118,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1758,1888,0,0,0,0,0,0
$GC,14880,0.48,220.3,646.4,11.8,1133,14881,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1758,1888,0,0,0,0,0,0
$GC,15185,0.48,220.3,610.7,11.4,1148,15186,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1758,1887,0,0,0,0,0,0
$GC,15491,0.48,220.3,577.6,10.5,1163,15494,0.00,2.22,0.00,0.000,4,0.000,0.044,2888,328,1887,0,0,0,0,0,0
$GC,15521,0.48,220.3,574.3,10.9,1164,15527,0.12,2.17,0.00,0.000,6,0.140,0.025,2850,1762,1887,0,0,0,0,0,0
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$STATE,21847,end climb,SURFACE_DEPTH_REACHED
$STATE,21847,begin surface coast
$FINISH,0.4,1.025234
$STATE,21878,end surface coast,CONTROL_FINISHED_OK
$STATE,21878,begin surface
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$TCM_TEMP,16.10
$XPDR_PINGS,3
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$10V_AH,9.9,23.708
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.000,177.225,330.200,0.000,0.000,58.624,66.481,457.705,3.250,0.000,13.671,0.000,16357.081,520.870,4909.174,892.172,0.000,2092.568,0.000,4216.222,0.000,18.978,0.000
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$MEM,286636
$DATA_FILE_SIZE,136006,1931
$CAP_FILE_SIZE,221553,0
$CFSIZE,260165632,245035008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070410,090907,3645.653,-12218.022,51,1.4,51,14.8