version: 66.06
glider: 503
mission: 5
dive: 109
start: 4 8 110 12 22 55
data:
$ID,503
$MISSION,5
$DIVE,109
$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,-10381.103
$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,46
$R_STBD_OVSHOOT,52
$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
$GPS1,121006,3646.705,-12213.234,76,1.4,88,14.8
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.3
$GPS2,122250,3646.647,-12213.327,8,2.0,8,14.8
$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,106.5,2305,-24.0,-7.865
$D_GRID,596
$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,-0.72,-54.6,0.0,0.0,0,52,0.00,0.00,-38.03,0.000,2,0.000,0.000,161,1794,2786,0,0,0,0,0,0
$GC,54,-0.73,-67.3,3.6,-6.6,7,75,8.82,2.22,-6.40,0.000,4,0.220,0.051,2460,397,3069,0,0,0,0,0,0
$GC,315,-0.68,-67.3,55.6,-15.9,56,321,0.00,2.12,0.00,0.000,6,0.000,0.024,2451,1806,3071,0,0,0,0,0,0
$GC,641,-0.68,-67.3,98.3,-12.3,117,648,0.00,2.20,0.00,0.000,4,0.000,0.037,2451,398,3072,0,0,0,0,0,0
$GC,775,-0.68,-67.3,117.4,-14.6,142,782,0.10,2.10,0.00,0.000,6,0.130,0.023,2476,1800,3072,0,0,0,0,0,0
$GC,1102,-0.74,-67.3,153.3,-11.0,203,1108,0.00,2.17,0.00,0.000,4,0.000,0.038,2479,410,3074,0,0,0,0,0,0
$GC,1145,-0.74,-67.3,158.4,-11.8,211,1152,0.00,2.08,0.00,0.000,6,0.000,0.024,2470,1797,3073,0,0,0,0,0,0
$GC,1472,-0.79,-67.3,195.7,-11.5,272,1478,0.00,2.15,0.00,0.000,4,0.000,0.038,2471,409,3073,0,0,0,0,0,0
$GC,1529,-0.79,-67.3,202.9,-12.2,281,1536,0.00,2.10,0.00,0.000,6,0.000,0.023,2462,1809,3073,0,0,0,0,0,0
$GC,1845,-0.79,-67.3,240.2,-11.6,312,1850,0.00,2.17,0.00,0.000,4,0.000,0.037,2463,400,3073,0,0,0,0,0,0
$GC,1892,-0.79,-67.3,246.3,-12.5,316,1900,0.00,2.10,0.00,0.000,6,0.000,0.023,2455,1800,3073,0,0,0,0,0,0
$GC,2209,-0.79,-67.3,284.5,-12.1,347,2213,0.00,2.17,0.00,0.000,4,0.000,0.039,2455,407,3073,0,0,0,0,0,0
$GC,2230,-0.79,-67.3,287.3,-13.4,349,2234,0.00,2.08,0.00,0.000,6,0.000,0.023,2445,1805,3073,0,0,0,0,0,0
$GC,2550,-0.79,-67.3,325.7,-11.9,380,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1806,3072,0,0,0,0,0,0
$GC,2861,-0.79,-67.3,362.1,-11.4,410,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1806,3072,0,0,0,0,0,0
$GC,3171,-0.79,-67.3,398.8,-12.0,440,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1806,3072,0,0,0,0,0,0
$GC,3482,-0.79,-67.3,437.0,-12.0,470,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1806,3071,0,0,0,0,0,0
$GC,3792,-0.79,-67.3,471.4,-10.7,500,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1806,3071,0,0,0,0,0,0
$GC,4112,-0.79,-67.3,508.0,-12.0,528,4116,0.00,2.15,0.00,0.000,4,0.000,0.038,2445,407,3070,0,0,0,0,0,0
$GC,4164,-0.79,-67.3,514.8,-13.2,530,4169,0.00,2.08,0.00,0.000,6,0.000,0.023,2436,1802,3070,0,0,0,0,0,0
$GC,4481,-0.79,-67.3,553.3,-12.2,546,4485,0.00,2.12,0.00,0.000,4,0.000,0.031,2425,3196,3070,0,0,0,0,0,0
$GC,4533,-0.84,-67.3,559.7,-11.7,548,4538,0.00,2.15,0.00,0.000,6,0.000,0.025,2425,1794,3070,0,0,0,0,0,0
$STATE,4706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4706,begin apogee
$GC,4709,-0.14,0.0,581.5,12.7,557,4768,0.70,0.00,53.28,0.934,6,0.118,0.000,2656,1794,2791,0,0,0,0,0,0
$STATE,4769,end apogee,CONTROL_FINISHED_OK
$STATE,4769,begin climb
$GC,4770,0.73,67.3,584.1,0.0,560,4831,0.75,0.00,55.55,0.903,6,0.061,0.000,2941,1794,2518,0,0,0,0,0,0
$GC,5135,0.75,119.0,576.8,2.9,578,5183,0.00,2.22,42.83,0.903,4,0.000,0.030,2941,3149,2306,0,0,0,0,0,0
$GC,5274,0.75,119.0,567.7,8.5,584,5282,0.00,2.22,0.00,0.000,6,0.000,0.027,2953,1756,2304,0,0,0,0,0,0
$GC,5585,0.75,119.0,540.7,8.9,600,5589,0.00,2.17,0.00,0.000,4,0.000,0.029,2952,3145,2302,0,0,0,0,0,0
$GC,5760,0.75,119.0,524.5,9.2,608,5765,0.00,2.20,0.00,0.000,6,0.000,0.028,2963,1747,2300,0,0,0,0,0,0
$GC,6073,0.71,119.0,497.0,8.6,625,6075,0.12,0.00,0.00,0.000,6,0.168,0.000,2930,1746,2299,0,0,0,0,0,0
$GC,6383,0.71,119.0,472.0,8.4,655,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1747,2298,0,0,0,0,0,0
$GC,6694,0.71,119.0,444.1,9.3,685,6698,0.00,2.12,0.00,0.000,4,0.000,0.030,2929,3144,2298,0,0,0,0,0,0
$GC,6822,0.71,119.0,431.7,9.3,697,6825,0.00,2.15,0.00,0.000,6,0.000,0.028,2938,1750,2296,0,0,0,0,0,0
$GC,7142,0.71,119.0,402.6,9.0,728,7147,0.00,2.15,0.00,0.000,4,0.000,0.030,2938,3142,2296,0,0,0,0,0,0
$GC,7297,0.71,119.0,387.9,9.5,742,7304,0.00,2.15,0.00,0.000,6,0.000,0.028,2949,1746,2296,0,0,0,0,0,0
$GC,7613,0.71,119.0,357.6,8.8,773,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1746,2295,0,0,0,0,0,0
$GC,7923,0.71,119.0,331.4,8.3,803,7927,0.00,2.15,0.00,0.000,4,0.000,0.030,2949,3141,2295,0,0,0,0,0,0
$GC,7981,0.71,119.0,326.3,8.6,808,7989,0.08,2.15,0.00,0.000,6,0.147,0.028,2934,1749,2295,0,0,0,0,0,0
$GC,8297,0.71,119.0,300.4,7.9,839,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1749,2295,0,0,0,0,0,0
$GC,8609,0.73,135.9,278.4,6.2,869,8623,0.00,0.00,12.93,0.737,6,0.000,0.000,2934,1749,2238,0,0,0,0,0,0
$GC,8927,0.75,150.7,256.9,6.4,900,8948,0.00,2.20,13.77,0.721,4,0.000,0.029,2935,3144,2176,0,0,0,0,0,0
$GC,9038,0.75,150.7,248.6,8.7,910,9045,0.00,2.15,0.00,0.000,6,0.000,0.027,2944,1754,2177,0,0,0,0,0,0
$GC,9353,0.75,150.7,222.3,8.7,941,9357,0.00,2.15,0.00,0.000,4,0.000,0.029,2944,3143,2176,0,0,0,0,0,0
$GC,9439,0.75,150.7,214.1,9.7,949,9442,0.00,2.15,0.00,0.000,6,0.000,0.028,2954,1752,2176,0,0,0,0,0,0
$GC,9761,0.75,150.7,182.1,10.2,996,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1752,2176,0,0,0,0,0,0
$GC,10086,0.75,150.7,150.2,9.5,1057,10093,0.00,2.15,0.00,0.000,4,0.000,0.030,2954,3147,2176,0,0,0,0,0,0
$GC,10172,0.75,150.7,141.8,9.8,1073,10178,0.00,2.15,0.00,0.000,6,0.000,0.028,2965,1750,2175,0,0,0,0,0,0
$GC,10498,0.75,150.7,111.4,8.5,1134,10505,0.00,2.15,0.00,0.000,4,0.000,0.030,2965,3147,2175,0,0,0,0,0,0
$GC,10530,0.75,150.7,108.3,9.3,1140,10537,0.10,2.15,0.00,0.000,6,0.137,0.028,2942,1752,2175,0,0,0,0,0,0
$GC,10858,0.80,150.7,80.2,8.1,1201,10864,0.00,2.12,0.00,0.000,4,0.000,0.030,2942,3137,2175,0,0,0,0,0,0
$GC,10927,0.80,150.7,74.4,8.2,1214,10933,0.00,2.12,0.00,0.000,6,0.000,0.028,2951,1749,2175,0,0,0,0,0,0
$GC,11254,0.88,182.4,53.0,4.8,1275,11286,0.00,2.15,25.58,0.606,4,0.000,0.038,2963,345,2048,0,0,0,0,0,0
$GC,11360,0.88,182.4,45.1,9.1,1295,11367,0.00,2.10,0.00,0.000,6,0.000,0.023,2962,1745,2048,0,0,0,0,0,0
$GC,11687,0.97,193.2,24.2,6.8,1356,11704,0.12,2.17,10.15,0.563,4,0.082,0.030,3034,3146,2004,0,0,0,0,0,0
$GC,11774,0.91,193.2,15.7,10.1,1372,11780,0.15,2.17,0.00,0.000,6,0.138,0.028,2996,1746,2004,0,0,0,0,0,0
$STATE,11917,end climb,SURFACE_DEPTH_REACHED
$STATE,11917,begin surface coast
$FINISH,0.3,1.025235
$STATE,11954,end surface coast,CONTROL_FINISHED_OK
$STATE,11954,begin surface
$SM_CCo,11966,35.90,0.565,0,0,1772,250.20
$SM_GC,3.59,0.00,0.00,35.90,0.000,0.000,0.565,195,1745,1772,-7.83,-1.55,250.20
$IRIDIUM_FIX,3632.29,-12215.70,030799,121215
$TT8_MAMPS,0.050622
$HUMID,54.37
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.20
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,550.9,40.5
$24V_AH,24.3,17.950
$10V_AH,9.9,25.038
$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,18.150,85.975,214.075,35.900,0.000,71.100,148.017,308.204,2.250,0.000,10.380,0.000,8014.969,370.997,3596.124,757.581,0.000,1478.062,0.000,3144.281,0.000,7.306,0.000
$DEVICE_MAMPS,220.129,51.389,934.206,564.512,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,975.389,3004.066,2240.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286676
$DATA_FILE_SIZE,98264,1406
$CAP_FILE_SIZE,140860,0
$CFSIZE,260165632,244445184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080410,154437,3646.691,-12213.207,80,1.3,80,14.8