version: 66.06
glider: 503
mission: 5
dive: 119
start: 4 10 110 16 41 57
data:
$ID,503
$MISSION,5
$DIVE,119
$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,-3
$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,-10606.833
$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,56
$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
$GPS1,162851,3645.755,-12210.224,35,3.3,54,14.8
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.6
$GPS2,164152,3645.823,-12210.135,13,2.7,32,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,TWO
$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,262.0,2786,-24.4,-7.865
$D_GRID,731
$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,-53.1,0.0,0.0,0,59,0.00,0.00,-44.33,0.000,2,0.000,0.000,152,1757,2796,0,0,0,0,0,0
$GC,60,-0.73,-61.4,3.5,-7.0,8,83,8.80,2.17,-5.62,0.000,4,0.215,0.051,2461,396,3045,0,0,0,0,0,0
$GC,173,-0.67,-61.4,27.3,-17.5,29,180,0.08,2.12,0.00,0.000,6,0.136,0.025,2478,1786,3045,0,0,0,0,0,0
$GC,499,-0.72,-61.4,70.3,-11.9,90,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1786,3047,0,0,0,0,0,0
$GC,825,-0.77,-61.4,108.7,-12.3,151,831,0.00,2.20,0.00,0.000,4,0.000,0.031,2468,3205,3047,0,0,0,0,0,0
$GC,937,-0.86,-61.4,122.0,-11.0,172,944,0.12,2.17,0.00,0.000,6,0.047,0.026,2388,1793,3048,0,0,0,0,0,0
$GC,1264,-0.78,-61.4,174.8,-16.1,233,1270,0.20,0.00,0.00,0.000,6,0.151,0.000,2447,1792,3047,0,0,0,0,0,0
$GC,1585,-0.78,-61.4,216.3,-12.4,282,1590,0.00,2.15,0.00,0.000,4,0.000,0.038,2447,404,3047,0,0,0,0,0,0
$GC,1681,-0.78,-61.4,230.1,-14.6,291,1685,0.00,2.08,0.00,0.000,6,0.000,0.024,2438,1797,3047,0,0,0,0,0,0
$GC,2002,-0.78,-61.4,274.6,-14.1,322,2006,0.00,2.17,0.00,0.000,4,0.000,0.038,2438,398,3047,0,0,0,0,0,0
$GC,2044,-0.78,-61.4,280.9,-15.0,326,2049,0.00,2.08,0.00,0.000,6,0.000,0.023,2429,1796,3047,0,0,0,0,0,0
$GC,2366,-0.78,-61.4,327.2,-14.4,357,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1797,3047,0,0,0,0,0,0
$GC,2677,-0.78,-61.4,368.0,-13.2,387,2680,0.00,2.15,0.00,0.000,4,0.000,0.038,2429,393,3047,0,0,0,0,0,0
$GC,2707,-0.74,-61.4,372.4,-14.3,390,2712,0.10,2.10,0.00,0.000,6,0.131,0.023,2455,1801,3046,0,0,0,0,0,0
$GC,3029,-0.79,-61.4,405.6,-10.1,421,3032,0.00,2.17,0.00,0.000,4,0.000,0.039,2457,402,3046,0,0,0,0,0,0
$GC,3092,-0.79,-61.4,412.3,-10.6,427,3097,0.00,2.08,0.00,0.000,6,0.000,0.024,2449,1797,3046,0,0,0,0,0,0
$GC,3413,-0.84,-61.4,445.9,-11.0,458,3417,0.00,2.17,0.00,0.000,4,0.000,0.038,2448,395,3045,0,0,0,0,0,0
$GC,3498,-0.84,-61.4,456.2,-12.2,466,3502,0.00,2.08,0.00,0.000,6,0.000,0.024,2439,1787,3045,0,0,0,0,0,0
$GC,3819,-0.84,-61.4,493.2,-11.7,497,3823,0.00,2.15,0.00,0.000,4,0.000,0.038,2439,400,3045,0,0,0,0,0,0
$GC,3877,-0.84,-61.4,500.8,-13.3,502,3884,0.00,2.10,0.00,0.000,6,0.000,0.023,2429,1807,3045,0,0,0,0,0,0
$GC,4187,-0.84,-61.4,540.1,-12.5,518,4192,0.00,2.17,0.00,0.000,4,0.000,0.038,2429,404,3045,0,0,0,0,0,0
$GC,4219,-0.84,-61.4,544.4,-13.6,519,4224,0.00,2.10,0.00,0.000,6,0.000,0.024,2419,1803,3045,0,0,0,0,0,0
$GC,4535,-0.84,-61.4,584.6,-12.4,535,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1804,3045,0,0,0,0,0,0
$STATE,4839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4839,begin apogee
$GC,4842,-0.14,0.0,619.2,12.2,550,4893,0.73,0.00,48.97,0.954,6,0.120,0.000,2658,1738,2792,0,0,0,0,0,0
$STATE,4894,end apogee,CONTROL_FINISHED_OK
$STATE,4894,begin climb
$GC,4895,0.73,61.4,620.7,0.0,552,4956,0.73,2.33,51.17,0.921,4,0.061,0.029,2935,3146,2540,0,0,0,0,0,0
$GC,5170,0.74,109.9,613.7,3.0,565,5214,0.00,2.17,40.53,0.921,6,0.000,0.028,2945,1753,2343,0,0,0,0,0,0
$GC,5529,0.74,109.9,586.0,8.4,583,5533,0.00,2.22,0.00,0.000,4,0.000,0.041,2958,354,2338,0,0,0,0,0,0
$GC,5582,0.67,109.9,581.2,9.5,585,5587,0.10,2.12,0.00,0.000,6,0.137,0.023,2924,1745,2337,0,0,0,0,0,0
$GC,5899,0.67,109.9,556.1,8.0,601,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1745,2335,0,0,0,0,0,0
$GC,6203,0.67,109.9,531.6,8.3,616,6207,0.00,2.20,0.00,0.000,4,0.000,0.041,2934,354,2334,0,0,0,0,0,0
$GC,6267,0.67,109.9,525.7,10.1,619,6271,0.00,2.10,0.00,0.000,6,0.000,0.025,2934,1745,2334,0,0,0,0,0,0
$GC,6584,0.67,109.9,499.0,8.4,635,6587,0.00,2.17,0.00,0.000,4,0.000,0.030,2934,3152,2333,0,0,0,0,0,0
$GC,6662,0.67,109.9,492.5,7.9,642,6670,0.00,2.20,0.00,0.000,6,0.000,0.027,2944,1743,2332,0,0,0,0,0,0
$GC,6979,0.68,110.6,467.4,7.8,673,6983,0.00,2.17,0.00,0.000,4,0.000,0.030,2945,3163,2332,0,0,0,0,0,0
$GC,7079,0.68,110.6,459.0,9.0,682,7087,0.10,2.20,0.00,0.000,6,0.181,0.028,2923,1749,2331,0,0,0,0,0,0
$GC,7396,0.68,110.6,435.9,8.0,713,7399,0.00,2.20,0.00,0.000,4,0.000,0.042,2933,345,2330,0,0,0,0,0,0
$GC,7550,0.68,110.6,423.4,8.4,727,7556,0.00,2.10,0.00,0.000,6,0.000,0.025,2933,1740,2330,0,0,0,0,0,0
$GC,7865,0.68,113.8,398.4,7.5,758,7870,0.00,2.15,0.00,0.000,4,0.000,0.031,2933,3145,2330,0,0,0,0,0,0
$GC,8016,0.68,113.8,385.8,8.9,772,8019,0.00,2.15,0.00,0.000,6,0.000,0.028,2944,1752,2328,0,0,0,0,0,0
$GC,8336,0.69,120.1,362.2,7.2,803,8347,0.00,0.00,6.95,0.724,6,0.000,0.000,2944,1751,2303,0,0,0,0,0,0
$GC,8656,0.69,123.0,338.6,7.6,834,8669,0.00,2.20,4.50,0.611,4,0.000,0.030,2944,3154,2290,0,0,0,0,0,0
$GC,8849,0.69,123.0,321.9,8.2,852,8854,0.08,2.17,0.00,0.000,6,0.143,0.028,2928,1751,2290,0,0,0,0,0,0
$GC,9170,0.71,135.0,299.4,6.7,883,9186,0.00,2.15,11.57,0.739,4,0.000,0.029,2929,3153,2240,0,0,0,0,0,0
$GC,9254,0.71,135.0,293.0,8.1,890,9261,0.00,2.17,0.00,0.000,6,0.000,0.028,2937,1754,2240,0,0,0,0,0,0
$GC,9570,0.71,135.0,268.2,8.1,921,9574,0.00,2.20,0.00,0.000,4,0.000,0.042,2948,346,2240,0,0,0,0,0,0
$GC,9644,0.71,135.0,261.3,9.3,928,9649,0.00,2.12,0.00,0.000,6,0.000,0.025,2949,1753,2239,0,0,0,0,0,0
$GC,9966,0.71,135.0,232.1,8.8,959,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1754,2240,0,0,0,0,0,0
$GC,10277,0.71,135.0,204.3,9.0,989,10280,0.00,2.12,0.00,0.000,4,0.000,0.031,2949,3159,2239,0,0,0,0,0,0
$GC,10388,0.71,135.0,194.1,9.0,1005,10395,0.00,2.17,0.00,0.000,6,0.000,0.028,2960,1748,2239,0,0,0,0,0,0
$GC,10714,0.71,136.5,168.7,7.7,1066,10720,0.12,0.00,0.00,0.000,6,0.164,0.000,2924,1748,2239,0,0,0,0,0,0
$GC,11041,0.78,143.7,145.3,7.2,1127,11053,0.00,2.20,8.45,0.631,4,0.000,0.031,2925,3154,2205,0,0,0,0,0,0
$GC,11170,0.83,143.7,134.6,8.4,1151,11177,0.00,2.17,0.00,0.000,6,0.000,0.028,2934,1748,2205,0,0,0,0,0,0
$GC,11497,0.89,143.7,108.6,8.4,1212,11503,0.15,2.17,0.00,0.000,4,0.071,0.031,3026,3146,2205,0,0,0,0,0,0
$GC,11545,0.78,143.7,103.5,11.1,1221,11552,0.25,2.15,0.00,0.000,6,0.150,0.028,2958,1752,2205,0,0,0,0,0,0
$GC,11872,0.78,143.7,77.1,7.9,1282,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1752,2205,0,0,0,0,0,0
$GC,12197,0.80,160.0,52.8,6.2,1343,12220,0.00,2.17,14.75,0.598,4,0.000,0.031,2958,3151,2139,0,0,0,0,0,0
$GC,12460,0.81,170.2,33.8,6.9,1392,12477,0.00,2.17,9.23,0.564,6,0.000,0.028,2967,1746,2099,0,0,0,0,0,0
$GC,12797,0.89,190.5,15.1,5.8,1455,12819,0.00,2.15,17.77,0.569,4,0.000,0.028,2967,3153,2015,0,0,0,0,0,0
$STATE,12967,end climb,SURFACE_DEPTH_REACHED
$STATE,12967,begin surface coast
$FINISH,0.2,1.025232
$STATE,13004,end surface coast,CONTROL_FINISHED_OK
$STATE,13004,begin surface
$SM_CCo,13018,34.35,0.557,0,0,1771,250.20
$SM_GC,2.17,0.00,0.00,34.35,0.000,0.000,0.557,197,1800,1771,-7.82,0.03,250.20
$IRIDIUM_FIX,3632.29,-12207.45,050799,161651
$TT8_MAMPS,0.052156
$HUMID,53.62
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.20
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,600.4,26.5
$24V_AH,24.2,19.116
$10V_AH,10.0,27.107
$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,18.625,103.625,213.900,34.350,0.000,55.952,66.086,441.727,7.500,0.000,35.221,0.000,8654.949,367.013,3950.711,814.676,0.000,1593.679,0.000,3434.953,0.000,9.070,0.000
$DEVICE_MAMPS,214.760,138.060,954.148,556.842,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.924,3196.599,2386.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246428
$DATA_FILE_SIZE,104616,1494
$CAP_FILE_SIZE,159816,0
$CFSIZE,260165632,243339264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100410,202036,3646.403,-12212.688,46,1.6,46,14.8