version: 66.06
glider: 503
mission: 5
dive: 114
start: 4 9 110 9 48 49
data:
$ID,503
$MISSION,5
$DIVE,114
$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,-10476.372
$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,46
$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
$GPS1,093101,3642.942,-12212.889,39,1.1,39,14.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.9
$GPS2,094844,3643.017,-12213.067,11,1.3,11,14.8
$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,114.6,5892,-15.7,-7.865
$D_GRID,968
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.57,-116.8,0.0,0.0,0,60,0.00,0.00,-44.25,0.000,2,0.000,0.000,131,1804,2736,0,0,0,0,0,0
$GC,62,-0.57,-116.8,3.3,-6.6,8,88,9.15,2.20,-12.27,0.000,4,0.219,0.047,2510,393,3272,0,0,0,0,0,0
$GC,307,-0.48,-116.8,43.7,-14.9,54,313,0.12,2.12,0.00,0.000,6,0.112,0.024,2545,1794,3273,0,0,0,0,0,0
$GC,633,-0.52,-116.8,74.2,-8.4,115,639,0.00,2.17,0.00,0.000,4,0.000,0.031,2537,3199,3273,0,0,0,0,0,0
$GC,697,-0.61,-116.8,79.2,-7.4,127,703,0.08,2.17,0.00,0.000,6,0.059,0.025,2486,1789,3273,0,0,0,0,0,0
$GC,1023,-0.54,-116.8,114.8,-11.4,188,1030,0.12,2.15,0.00,0.000,4,0.147,0.037,2525,409,3273,0,0,0,0,0,0
$GC,1104,-0.54,-116.8,122.7,-9.1,203,1110,0.00,2.10,0.00,0.000,6,0.000,0.024,2518,1808,3273,0,0,0,0,0,0
$GC,1430,-0.54,-116.8,153.4,-9.8,264,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1808,3274,0,0,0,0,0,0
$GC,1755,-0.54,-116.8,186.6,-10.1,325,1762,0.00,2.17,0.00,0.000,4,0.000,0.037,2518,399,3273,0,0,0,0,0,0
$GC,1787,-0.54,-116.8,190.1,-11.1,331,1794,0.00,2.08,0.00,0.000,6,0.000,0.024,2509,1788,3273,0,0,0,0,0,0
$GC,2106,-0.54,-116.8,222.4,-10.0,371,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1789,3273,0,0,0,0,0,0
$GC,2418,-0.54,-116.8,250.8,-8.6,401,2421,0.00,2.10,0.00,0.000,4,0.000,0.036,2509,400,3272,0,0,0,0,0,0
$GC,2458,-0.54,-116.8,254.8,-9.7,404,2466,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1805,3273,0,0,0,0,0,0
$GC,2775,-0.54,-116.8,282.3,-8.9,435,2779,0.00,2.15,0.00,0.000,4,0.000,0.037,2505,402,3272,0,0,0,0,0,0
$GC,2800,-0.54,-116.8,284.9,-9.8,437,2807,0.00,2.10,0.00,0.000,6,0.000,0.023,2495,1803,3272,0,0,0,0,0,0
$GC,3116,-0.54,-116.8,315.1,-10.0,468,3121,0.00,2.15,0.00,0.000,4,0.000,0.037,2495,406,3272,0,0,0,0,0,0
$GC,3149,-0.50,-116.8,318.5,-11.3,471,3153,0.12,2.05,0.00,0.000,6,0.109,0.025,2542,1785,3272,0,0,0,0,0,0
$GC,3469,-0.58,-116.8,342.0,-7.3,502,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1786,3271,0,0,0,0,0,0
$GC,3780,-0.66,-116.8,365.1,-7.4,532,3784,0.15,2.17,0.00,0.000,4,0.081,0.031,2454,3197,3270,0,0,0,0,0,0
$GC,3805,-0.66,-116.8,367.9,-11.1,534,3813,0.08,2.12,0.00,0.000,6,0.115,0.025,2484,1801,3270,0,0,0,0,0,0
$GC,4121,-0.66,-116.8,401.0,-10.5,565,4125,0.00,2.15,0.00,0.000,4,0.000,0.038,2487,400,3269,0,0,0,0,0,0
$GC,4174,-0.61,-116.8,407.2,-11.4,570,4179,0.00,2.08,0.00,0.000,6,0.000,0.025,2482,1796,3270,0,0,0,0,0,0
$GC,4496,-0.61,-116.8,441.8,-10.8,601,4499,0.00,2.12,0.00,0.000,4,0.000,0.031,2472,3189,3269,0,0,0,0,0,0
$GC,4526,-0.61,-116.8,445.1,-10.5,604,4531,0.00,2.12,0.00,0.000,6,0.000,0.026,2471,1797,3269,0,0,0,0,0,0
$GC,4848,-0.56,-116.8,480.9,-11.3,635,4852,0.15,2.15,0.00,0.000,4,0.137,0.038,2519,403,3269,0,0,0,0,0,0
$GC,4884,-0.56,-116.8,484.7,-10.3,638,4892,0.00,2.10,0.00,0.000,6,0.000,0.023,2511,1803,3269,0,0,0,0,0,0
$GC,5210,-0.56,-116.8,512.0,-8.0,663,5213,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,391,3268,0,0,0,0,0,0
$GC,5234,-0.56,-116.8,514.3,-9.0,664,5239,0.00,2.12,0.00,0.000,6,0.000,0.024,2508,1808,3268,0,0,0,0,0,0
$GC,5550,-0.56,-116.8,540.2,-8.3,680,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1807,3268,0,0,0,0,0,0
$GC,5856,-0.56,-116.8,564.9,-8.0,695,5860,0.00,2.17,0.00,0.000,4,0.000,0.038,2508,397,3268,0,0,0,0,0,0
$GC,5881,-0.56,-116.8,567.2,-9.1,696,5886,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1798,3267,0,0,0,0,0,0
$GC,6203,-0.56,-116.8,592.0,-7.2,712,6207,0.00,2.15,0.00,0.000,4,0.000,0.038,2505,401,3267,0,0,0,0,0,0
$GC,6256,-0.56,-116.8,596.4,-8.4,714,6260,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1796,3267,0,0,0,0,0,0
$GC,6571,-0.56,-116.8,621.0,-7.9,730,6576,0.00,2.15,0.00,0.000,4,0.000,0.038,2495,406,3266,0,0,0,0,0,0
$GC,6594,-0.56,-116.8,622.8,-8.6,731,6597,0.10,2.05,0.00,0.000,6,0.160,0.025,2518,1803,3266,0,0,0,0,0,0
$GC,6920,-0.62,-116.8,643.3,-5.8,747,6923,0.00,2.15,0.00,0.000,4,0.000,0.038,2518,391,3266,0,0,0,0,0,0
$GC,6945,-0.62,-116.8,645.0,-6.6,748,6950,0.00,2.10,0.00,0.000,6,0.000,0.025,2510,1800,3265,0,0,0,0,0,0
$GC,7266,-0.62,-116.8,664.1,-6.1,764,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1800,3265,0,0,0,0,0,0
$GC,7572,-0.62,-116.8,682.1,-5.9,779,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1800,3265,0,0,0,0,0,0
$GC,7878,-0.62,-116.8,701.3,-6.4,794,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1800,3264,0,0,0,0,0,0
$GC,8183,-0.66,-116.8,721.6,-6.3,809,8186,0.00,2.15,0.00,0.000,4,0.000,0.034,2508,3202,3264,0,0,0,0,0,0
$GC,8213,-0.74,-116.8,723.7,-7.0,810,8219,0.10,2.12,0.00,0.000,6,0.051,0.026,2439,1802,3264,0,0,0,0,0,0
$GC,8530,-0.65,-116.8,756.2,-10.9,826,8534,0.17,2.15,0.00,0.000,4,0.133,0.040,2495,401,3264,0,0,0,0,0,0
$GC,8614,-0.65,-116.8,763.3,-7.8,830,8619,0.00,2.08,0.00,0.000,6,0.000,0.025,2487,1792,3264,0,0,0,0,0,0
$GC,8941,-0.65,-116.8,789.5,-8.6,846,8945,0.00,2.15,0.00,0.000,4,0.000,0.032,2477,3199,3263,0,0,0,0,0,0
$GC,8983,-0.65,-116.8,793.2,-8.6,848,8988,0.00,2.12,0.00,0.000,6,0.000,0.026,2477,1805,3263,0,0,0,0,0,0
$GC,9309,-0.65,-116.8,823.6,-9.4,864,9314,0.00,2.17,0.00,0.000,4,0.000,0.040,2477,400,3263,0,0,0,0,0,0
$GC,9357,-0.65,-116.8,828.4,-10.1,866,9362,0.00,2.12,0.00,0.000,6,0.000,0.024,2467,1811,3262,0,0,0,0,0,0
$GC,9678,-0.65,-116.8,858.8,-9.3,882,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1812,3262,0,0,0,0,0,0
$GC,9984,-0.65,-116.8,885.4,-7.7,897,9988,0.00,2.15,0.00,0.000,4,0.000,0.039,2466,401,3262,0,0,0,0,0,0
$GC,10015,-0.59,-116.8,888.2,-9.5,898,10020,0.12,2.10,0.00,0.000,6,0.110,0.025,2504,1799,3262,0,0,0,0,0,0
$GC,10332,-0.64,-116.8,908.3,-6.5,914,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1799,3262,0,0,0,0,0,0
$GC,10637,-0.69,-116.8,927.3,-6.7,929,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1799,3261,0,0,0,0,0,0
$GC,10941,-0.74,-116.8,948.7,-7.4,944,10946,0.12,2.17,0.00,0.000,4,0.097,0.041,2445,407,3261,0,0,0,0,0,0
$GC,10994,-0.65,-116.8,954.2,-11.0,946,10999,0.12,2.08,0.00,0.000,6,0.118,0.025,2485,1799,3261,0,0,0,0,0,0
$STATE,11167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11167,begin apogee
$GC,11170,-0.14,0.0,968.6,7.3,955,11269,0.50,0.00,94.95,1.190,6,0.103,0.000,2658,1800,2792,0,0,0,0,0,0
$STATE,11269,end apogee,CONTROL_FINISHED_OK
$STATE,11269,begin climb
$GC,11271,0.57,116.8,972.1,0.0,960,11377,0.60,0.00,103.93,1.157,6,0.058,0.000,2886,1800,2315,0,0,0,0,0,0
$GC,11675,0.47,116.8,944.6,8.9,980,11676,0.12,0.00,0.00,0.000,6,0.159,0.000,2853,1800,2306,0,0,0,0,0,0
$GC,11982,0.45,136.2,922.3,7.0,995,12002,0.00,2.33,15.65,1.085,4,0.000,0.042,2864,352,2236,0,0,0,0,0,0
$GC,12027,0.40,142.0,918.8,7.6,997,12038,0.10,2.15,6.95,0.934,6,0.123,0.025,2830,1736,2213,0,0,0,0,0,0
$GC,12343,0.42,160.0,897.1,7.1,1012,12365,0.00,2.22,17.15,1.085,4,0.000,0.031,2830,3149,2138,0,0,0,0,0,0
$GC,12395,0.43,167.9,893.2,7.5,1014,12408,0.00,2.25,8.38,0.972,6,0.000,0.030,2840,1748,2107,0,0,0,0,0,0
$GC,12711,0.43,168.7,868.5,7.8,1030,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1748,2105,0,0,0,0,0,0
$GC,13017,0.43,169.5,844.6,7.8,1045,13020,0.00,2.20,0.00,0.000,4,0.000,0.033,2840,3150,2104,0,0,0,0,0,0
$GC,13042,0.43,169.5,842.5,8.1,1046,13047,0.00,2.22,0.00,0.000,6,0.000,0.030,2851,1747,2103,0,0,0,0,0,0
$GC,13363,0.43,169.5,815.2,8.4,1062,13368,0.00,2.20,0.00,0.000,4,0.000,0.043,2861,350,2102,0,0,0,0,0,0
$GC,13400,0.43,169.5,811.7,9.2,1063,13407,0.00,2.12,0.00,0.000,6,0.000,0.025,2862,1752,2102,0,0,0,0,0,0
$GC,13712,0.43,169.5,783.6,8.9,1079,13715,0.00,2.15,0.00,0.000,4,0.000,0.032,2862,3156,2102,0,0,0,0,0,0
$GC,13758,0.38,169.5,779.2,9.1,1081,13763,0.12,2.20,0.00,0.000,6,0.127,0.029,2829,1744,2101,0,0,0,0,0,0
$GC,14080,0.42,200.0,758.4,6.5,1097,14108,0.00,0.00,27.23,1.052,6,0.000,0.000,2830,1743,1976,0,0,0,0,0,0
$GC,14406,0.49,216.5,735.5,7.1,1113,14426,0.00,2.22,15.10,1.001,4,0.000,0.044,2839,344,1909,0,0,0,0,0,0
$GC,14456,0.56,227.4,731.6,7.4,1115,14472,0.08,2.17,10.80,0.950,6,0.058,0.025,2901,1755,1863,0,0,0,0,0,0
$GC,14793,0.49,227.4,691.5,12.2,1132,14798,0.15,2.20,0.00,0.000,4,0.144,0.031,2857,3143,1864,0,0,0,0,0,0
$GC,14824,0.49,227.4,688.3,10.1,1133,14829,0.00,2.22,0.00,0.000,6,0.000,0.028,2866,1745,1864,0,0,0,0,0,0
$GC,15141,0.49,227.4,658.7,9.2,1149,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1744,1864,0,0,0,0,0,0
$GC,15445,0.49,227.4,630.6,9.0,1164,15450,0.00,2.20,0.00,0.000,4,0.000,0.031,2866,3152,1864,0,0,0,0,0,0
$GC,15467,0.49,227.4,628.7,9.4,1165,15471,0.00,2.20,0.00,0.000,6,0.000,0.029,2877,1744,1864,0,0,0,0,0,0
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$STATE,22370,end climb,SURFACE_DEPTH_REACHED
$STATE,22370,begin surface coast
$FINISH,0.1,1.010748
$STATE,22414,end surface coast,CONTROL_FINISHED_OK
$STATE,22414,begin surface
$SM_CCo,22425,0.57,0.101,0,0,1772,250.20
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$IRIDIUM_FIX,3626.92,-12212.00,040799,090909
$TT8_MAMPS,0.052156
$HUMID,54.76
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.10
$XPDR_PINGS,26
$24V_AH,23.6,18.554
$10V_AH,9.9,26.030
$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
$DEVICE_SECS,20.625,197.625,321.575,0.575,0.000,114.645,197.107,418.569,9.000,0.000,13.489,0.000,16708.707,558.922,5135.712,1046.208,0.000,2189.754,0.000,4382.255,0.000,18.979,0.000
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$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1378.184,4123.876,2911.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286596
$DATA_FILE_SIZE,139365,1981
$CAP_FILE_SIZE,240367,0
$CFSIZE,260165632,243814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090410,160427,3641.942,-12211.365,69,3.9,88,14.8