version: 66.06
glider: 503
mission: 5
dive: 134
start: 4 14 110 1 8 44
data:
$ID,503
$MISSION,5
$DIVE,134
$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,-10916.147
$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,41
$R_STBD_OVSHOOT,47
$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
$GPS1,010033,3646.430,-12212.709,112,1.3,112,14.8
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.7
$GPS2,010838,3646.428,-12212.735,13,1.6,13,14.8
$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,143.2,10843,-15.7,-7.865
$D_GRID,630
$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,-33.30,0.000,2,0.000,0.000,171,1753,2631,0,0,0,0,0,0
$GC,49,-0.57,-116.8,3.0,-6.1,6,77,8.90,2.33,-15.12,0.000,4,0.214,0.046,2503,3200,3271,0,0,0,0,0,0
$GC,300,-0.57,-116.8,38.1,-11.7,53,307,0.00,2.17,0.00,0.000,6,0.000,0.025,2503,1802,3273,0,0,0,0,0,0
$GC,627,-0.51,-116.8,82.0,-13.8,114,633,0.12,2.22,0.00,0.000,4,0.143,0.040,2540,397,3274,0,0,0,0,0,0
$GC,643,-0.46,-116.8,84.2,-13.8,117,650,0.00,2.12,0.00,0.000,6,0.000,0.026,2535,1797,3274,0,0,0,0,0,0
$GC,970,-0.46,-116.8,118.3,-9.0,178,976,0.00,2.17,0.00,0.000,4,0.000,0.040,2535,406,3274,0,0,0,0,0,0
$GC,1012,-0.46,-116.8,122.4,-9.9,186,1020,0.00,2.10,0.00,0.000,6,0.000,0.025,2524,1794,3274,0,0,0,0,0,0
$GC,1340,-0.46,-116.8,151.3,-8.5,247,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1794,3274,0,0,0,0,0,0
$GC,1665,-0.46,-116.8,178.9,-9.1,308,1672,0.00,2.17,0.00,0.000,4,0.000,0.032,2521,3209,3274,0,0,0,0,0,0
$GC,1697,-0.51,-116.8,181.7,-8.7,314,1704,0.00,2.17,0.00,0.000,6,0.000,0.028,2522,1802,3274,0,0,0,0,0,0
$GC,2025,-0.51,-116.8,212.6,-9.5,363,2028,0.00,2.17,0.00,0.000,4,0.000,0.040,2521,403,3274,0,0,0,0,0,0
$GC,2088,-0.51,-116.8,219.2,-10.8,369,2092,0.00,2.10,0.00,0.000,6,0.000,0.025,2512,1801,3274,0,0,0,0,0,0
$GC,2408,-0.51,-116.8,251.3,-10.6,400,2413,0.00,2.17,0.00,0.000,4,0.000,0.040,2512,403,3273,0,0,0,0,0,0
$GC,2419,-0.51,-116.8,252.4,-10.1,401,2423,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1804,3273,0,0,0,0,0,0
$GC,2740,-0.51,-116.8,286.8,-10.5,432,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1804,3273,0,0,0,0,0,0
$GC,3050,-0.51,-116.8,316.6,-8.9,462,3054,0.00,2.17,0.00,0.000,4,0.000,0.039,2507,400,3273,0,0,0,0,0,0
$GC,3065,-0.51,-116.8,318.3,-9.6,463,3072,0.12,2.12,0.00,0.000,6,0.139,0.025,2537,1807,3273,0,0,0,0,0,0
$GC,3381,-0.58,-116.8,340.8,-7.0,494,3385,0.00,2.17,0.00,0.000,4,0.000,0.039,2538,402,3273,0,0,0,0,0,0
$GC,3407,-0.64,-116.8,342.8,-8.3,496,3416,0.08,2.10,0.00,0.000,6,0.053,0.025,2472,1803,3272,0,0,0,0,0,0
$GC,3724,-0.58,-116.8,374.7,-10.9,527,3728,0.12,2.12,0.00,0.000,4,0.142,0.031,2502,3204,3272,0,0,0,0,0,0
$GC,3782,-0.63,-116.8,380.1,-8.2,532,3789,0.00,2.15,0.00,0.000,6,0.000,0.025,2502,1798,3273,0,0,0,0,0,0
$GC,4098,-0.63,-116.8,408.0,-9.0,563,4101,0.00,2.15,0.00,0.000,4,0.000,0.040,2502,406,3271,0,0,0,0,0,0
$GC,4155,-0.63,-116.8,414.1,-11.0,568,4163,0.00,2.08,0.00,0.000,6,0.000,0.025,2496,1795,3271,0,0,0,0,0,0
$GC,4472,-0.63,-116.8,444.2,-9.1,599,4475,0.00,2.17,0.00,0.000,4,0.000,0.040,2496,398,3271,0,0,0,0,0,0
$GC,4514,-0.63,-116.8,448.4,-10.4,603,4518,0.00,2.08,0.00,0.000,6,0.000,0.025,2491,1794,3271,0,0,0,0,0,0
$GC,4834,-0.63,-116.8,478.7,-9.5,634,4839,0.00,2.15,0.00,0.000,4,0.000,0.031,2481,3200,3271,0,0,0,0,0,0
$GC,4871,-0.63,-116.8,482.2,-9.3,637,4878,0.00,2.15,0.00,0.000,6,0.000,0.025,2481,1797,3271,0,0,0,0,0,0
$GC,5195,-0.63,-116.8,514.1,-9.3,662,5199,0.00,2.15,0.00,0.000,4,0.000,0.040,2481,406,3270,0,0,0,0,0,0
$GC,5221,-0.58,-116.8,516.7,-10.6,663,5226,0.10,2.08,0.00,0.000,6,0.110,0.025,2510,1794,3270,0,0,0,0,0,0
$GC,5543,-0.58,-116.8,541.7,-7.2,679,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1794,3270,0,0,0,0,0,0
$GC,5848,-0.58,-116.8,563.9,-7.1,694,5852,0.00,2.15,0.00,0.000,4,0.000,0.040,2511,410,3269,0,0,0,0,0,0
$GC,5873,-0.58,-116.8,565.8,-8.2,695,5878,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1806,3269,0,0,0,0,0,0
$GC,6195,-0.58,-116.8,590.9,-8.8,711,6199,0.00,2.12,0.00,0.000,4,0.000,0.032,2508,3193,3269,0,0,0,0,0,0
$GC,6216,-0.63,-116.8,592.5,-7.9,712,6220,0.00,2.12,0.00,0.000,6,0.000,0.026,2508,1801,3269,0,0,0,0,0,0
$GC,6542,-0.67,-116.8,620.5,-8.1,728,6546,0.00,2.17,0.00,0.000,4,0.000,0.032,2508,3197,3268,0,0,0,0,0,0
$GC,6557,-0.72,-116.8,622.1,-8.5,728,6565,0.08,2.12,0.00,0.000,6,0.058,0.026,2445,1802,3268,0,0,0,0,0,0
$STATE,6603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6603,begin apogee
$GC,6606,-0.14,0.0,627.7,12.2,731,6705,0.62,0.00,92.03,0.962,6,0.105,0.000,2658,1802,2792,0,0,0,0,0,0
$STATE,6705,end apogee,CONTROL_FINISHED_OK
$STATE,6705,begin climb
$GC,6706,0.57,116.8,631.7,0.0,736,6811,0.60,2.42,97.70,0.931,4,0.059,0.041,2899,362,2315,0,0,0,0,0,0
$GC,6885,0.44,116.8,624.6,9.0,744,6892,0.15,2.17,0.00,0.000,6,0.120,0.023,2849,1752,2312,0,0,0,0,0,0
$GC,7196,0.44,116.8,597.7,10.5,760,7200,0.00,2.17,0.00,0.000,4,0.000,0.030,2849,3149,2307,0,0,0,0,0,0
$GC,7238,0.44,116.8,593.3,9.4,762,7242,0.00,2.17,0.00,0.000,6,0.000,0.027,2859,1760,2305,0,0,0,0,0,0
$GC,7564,0.53,189.1,577.3,4.6,778,7627,0.00,2.22,58.22,0.916,4,0.000,0.028,2859,3149,2023,0,0,0,0,0,0
$GC,7721,0.54,194.2,566.3,7.6,785,7733,0.00,2.25,6.25,0.737,6,0.000,0.027,2870,1741,2001,0,0,0,0,0,0
$GC,8037,0.54,194.2,539.8,8.8,801,8041,0.00,2.22,0.00,0.000,4,0.000,0.042,2881,345,2001,0,0,0,0,0,0
$GC,8069,0.54,194.2,536.9,9.7,802,8073,0.00,2.12,0.00,0.000,6,0.000,0.024,2881,1740,2000,0,0,0,0,0,0
$GC,8384,0.54,194.2,508.6,8.9,818,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1741,1999,0,0,0,0,0,0
$GC,8694,0.54,194.2,481.7,8.1,843,8697,0.00,2.15,0.00,0.000,4,0.000,0.031,2881,3154,1998,0,0,0,0,0,0
$GC,8719,0.54,194.2,479.5,9.0,845,8726,0.00,2.22,0.00,0.000,6,0.000,0.028,2892,1737,1998,0,0,0,0,0,0
$GC,9035,0.49,194.2,449.1,10.0,876,9039,0.12,2.20,0.00,0.000,4,0.147,0.031,2853,3146,1998,0,0,0,0,0,0
$GC,9067,0.49,194.2,446.1,8.9,879,9071,0.00,2.17,0.00,0.000,6,0.000,0.028,2862,1747,1997,0,0,0,0,0,0
$GC,9387,0.49,194.2,417.8,9.2,910,9392,0.00,2.20,0.00,0.000,4,0.000,0.042,2873,344,1997,0,0,0,0,0,0
$GC,9451,0.49,194.2,411.8,10.2,916,9456,0.00,2.12,0.00,0.000,6,0.000,0.025,2874,1753,1996,0,0,0,0,0,0
$GC,9772,0.49,194.2,382.5,9.3,947,9776,0.00,2.15,0.00,0.000,4,0.000,0.031,2874,3152,1996,0,0,0,0,0,0
$GC,9798,0.49,194.2,380.1,9.6,949,9805,0.00,2.17,0.00,0.000,6,0.000,0.028,2884,1746,1996,0,0,0,0,0,0
$GC,10114,0.49,194.2,349.2,9.3,980,10118,0.00,2.17,0.00,0.000,4,0.000,0.042,2895,356,1996,0,0,0,0,0,0
$GC,10140,0.45,194.2,346.6,9.9,982,10148,0.12,2.10,0.00,0.000,6,0.105,0.025,2848,1752,1996,0,0,0,0,0,0
$GC,10456,0.53,221.0,324.9,6.7,1013,10481,0.00,2.15,21.30,0.776,4,0.000,0.029,2848,3155,1890,0,0,0,0,0,0
$GC,10519,0.58,227.0,320.3,7.6,1018,10529,0.00,2.20,6.60,0.664,6,0.000,0.028,2857,1749,1866,0,0,0,0,0,0
$GC,10840,0.67,251.5,297.1,6.8,1049,10864,0.15,2.22,20.48,0.750,4,0.077,0.043,2943,344,1765,0,0,0,0,0,0
$GC,10913,0.57,251.5,288.7,12.9,1056,10917,0.17,2.15,0.00,0.000,6,0.107,0.025,2881,1743,1766,0,0,0,0,0,0
$GC,11234,0.57,251.5,260.6,9.0,1087,11238,0.00,2.17,0.00,0.000,4,0.000,0.031,2881,3145,1767,0,0,0,0,0,0
$GC,11270,0.57,251.5,257.3,10.1,1090,11278,0.00,2.20,0.00,0.000,6,0.000,0.028,2890,1749,1767,0,0,0,0,0,0
$GC,11586,0.57,251.5,228.7,9.0,1121,11590,0.00,2.20,0.00,0.000,4,0.000,0.042,2901,348,1767,0,0,0,0,0,0
$GC,11639,0.57,251.5,223.5,10.2,1126,11643,0.00,2.12,0.00,0.000,6,0.000,0.025,2901,1752,1767,0,0,0,0,0,0
$GC,11959,0.57,251.5,190.3,10.3,1165,11965,0.00,2.15,0.00,0.000,4,0.000,0.031,2901,3153,1767,0,0,0,0,0,0
$GC,12001,0.57,251.5,185.6,10.4,1173,12008,0.00,2.17,0.00,0.000,6,0.000,0.028,2912,1750,1767,0,0,0,0,0,0
$GC,12328,0.57,251.5,151.4,9.8,1234,12334,0.00,2.20,0.00,0.000,4,0.000,0.042,2923,343,1767,0,0,0,0,0,0
$GC,12354,0.57,251.5,148.5,10.7,1239,12361,0.10,2.12,0.00,0.000,6,0.107,0.025,2884,1754,1767,0,0,0,0,0,0
$GC,12682,0.57,251.5,121.3,8.1,1300,12687,0.00,2.15,0.00,0.000,4,0.000,0.031,2884,3155,1767,0,0,0,0,0,0
$GC,12746,0.57,251.5,114.9,10.2,1312,12751,0.00,2.17,0.00,0.000,6,0.000,0.028,2893,1749,1767,0,0,0,0,0,0
$GC,13072,0.58,264.0,89.4,7.3,1373,13089,0.00,2.17,11.48,0.614,4,0.000,0.041,2904,340,1715,0,0,0,0,0,0
$GC,13115,0.58,264.0,85.9,8.0,1381,13121,0.00,2.12,0.00,0.000,6,0.000,0.025,2904,1745,1715,0,0,0,0,0,0
$GC,13441,0.60,282.1,61.3,7.0,1442,13463,0.00,2.20,15.62,0.603,4,0.000,0.031,2904,3156,1641,0,0,0,0,0,0
$GC,13484,0.62,294.7,58.1,7.3,1450,13501,0.00,2.20,11.50,0.574,6,0.000,0.028,2914,1750,1591,0,0,0,0,0,0
$GC,13822,0.71,324.8,32.0,6.5,1513,13853,0.00,2.22,24.75,0.578,4,0.000,0.031,2914,3153,1467,0,0,0,0,0,0
$GC,13874,0.78,324.8,28.0,8.0,1523,13881,0.00,2.20,0.00,0.000,6,0.000,0.028,2923,1755,1468,0,0,0,0,0,0
$STATE,14188,end climb,SURFACE_DEPTH_REACHED
$STATE,14189,begin surface coast
$FINISH,0.4,1.025065
$STATE,14221,end surface coast,CONTROL_FINISHED_OK
$STATE,14221,begin surface
$SM_CCo,14292,0.00,0.000,0,0,1469,324.53
$SM_GC,1.00,6.95,0.00,0.00,0.031,0.000,0.000,185,1755,1469,-7.77,-1.27,324.53
$IRIDIUM_FIX,3634.97,-12211.15,080799,212119
$TT8_MAMPS,0.052156
$HUMID,54.29
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.40
$XPDR_PINGS,49
$ALTIM_BOTTOM_PING,601.3,34.0
$24V_AH,24.0,20.750
$10V_AH,9.9,30.240
$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,18.525,151.650,365.925,0.000,0.000,31.259,30.115,316.445,13.250,0.000,15.554,0.000,9508.147,490.614,4113.678,635.076,0.000,1822.068,0.000,3563.761,0.000,9.087,0.000
$DEVICE_MAMPS,213.993,46.020,961.818,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1099.553,3381.216,2503.615,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286672
$DATA_FILE_SIZE,110744,1588
$CAP_FILE_SIZE,174890,0
$CFSIZE,260165632,241664000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140410,050755,3645.536,-12212.694,40,1.6,40,14.8