version: 66.06
glider: 503
mission: 5
dive: 148
start: 4 17 110 4 48 26
data:
$ID,503
$MISSION,5
$DIVE,148
$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,-11147.247
$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,49
$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
$GPS1,043037,3646.276,-12219.396,114,1.1,114,14.8
$_CALLS,4
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.2
$GPS2,044820,3646.204,-12219.617,15,1.4,15,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$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,142.9,2410,-26.9,-7.865
$D_GRID,1288
$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,12,-0.78,-44.0,0.0,0.0,0,47,0.00,0.00,-33.10,0.000,2,0.000,0.000,189,1748,2646,0,0,0,0,0,0
$GC,48,-0.80,-58.3,3.1,-6.2,6,71,8.45,2.12,-9.55,0.000,4,0.208,0.047,2435,387,3029,0,0,0,0,0,0
$GC,305,-0.72,-58.3,55.6,-20.2,54,312,0.10,2.15,0.00,0.000,6,0.137,0.023,2459,1804,3032,0,0,0,0,0,0
$GC,632,-0.78,-58.3,105.0,-13.7,115,638,0.00,2.15,0.00,0.000,4,0.000,0.031,2450,3195,3032,0,0,0,0,0,0
$GC,670,-0.85,-58.3,110.3,-13.8,122,675,0.00,2.17,0.00,0.000,6,0.000,0.025,2450,1789,3032,0,0,0,0,0,0
$GC,996,-0.91,-58.3,155.3,-13.4,183,1001,0.12,0.00,0.00,0.000,6,0.088,0.000,2366,1789,3032,0,0,0,0,0,0
$GC,1319,-0.83,-58.3,213.4,-17.4,237,1320,0.22,0.00,0.00,0.000,6,0.146,0.000,2432,1789,3033,0,0,0,0,0,0
$GC,1629,-0.83,-58.3,255.5,-12.9,267,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1788,3033,0,0,0,0,0,0
$GC,1941,-0.87,-58.3,294.6,-12.8,297,1944,0.00,2.12,0.00,0.000,4,0.000,0.037,2432,393,3032,0,0,0,0,0,0
$GC,1960,-0.87,-58.3,297.7,-14.3,298,1967,0.00,2.12,0.00,0.000,6,0.000,0.023,2424,1808,3032,0,0,0,0,0,0
$GC,2276,-0.87,-58.3,340.9,-13.3,329,2280,0.00,2.17,0.00,0.000,4,0.000,0.036,2424,401,3032,0,0,0,0,0,0
$GC,2297,-0.87,-58.3,343.9,-14.7,331,2301,0.00,2.08,0.00,0.000,6,0.000,0.024,2414,1799,3032,0,0,0,0,0,0
$GC,2617,-0.87,-58.3,387.8,-13.0,362,2622,0.00,2.12,0.00,0.000,4,0.000,0.030,2403,3192,3031,0,0,0,0,0,0
$GC,2687,-0.91,-58.3,396.7,-13.0,368,2694,0.00,2.12,0.00,0.000,6,0.000,0.025,2403,1802,3031,0,0,0,0,0,0
$GC,3003,-0.91,-58.3,437.7,-13.2,399,3006,0.00,2.15,0.00,0.000,4,0.000,0.037,2404,403,3030,0,0,0,0,0,0
$GC,3024,-0.91,-58.3,440.7,-14.5,401,3028,0.00,2.08,0.00,0.000,6,0.000,0.023,2395,1801,3030,0,0,0,0,0,0
$GC,3344,-0.91,-58.3,485.8,-14.2,432,3348,0.00,2.15,0.00,0.000,4,0.000,0.035,2395,405,3030,0,0,0,0,0,0
$GC,3359,-0.91,-58.3,488.1,-14.3,433,3366,0.00,2.10,0.00,0.000,6,0.000,0.023,2385,1809,3029,0,0,0,0,0,0
$GC,3672,-0.91,-58.3,532.7,-14.0,453,3676,0.00,2.15,0.00,0.000,4,0.000,0.036,2385,397,3029,0,0,0,0,0,0
$GC,3697,-0.85,-58.3,536.4,-14.2,454,3702,0.15,2.10,0.00,0.000,6,0.133,0.023,2425,1807,3029,0,0,0,0,0,0
$GC,4020,-0.90,-58.3,570.2,-9.9,470,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1807,3029,0,0,0,0,0,0
$GC,4325,-0.95,-58.3,601.1,-10.5,485,4329,0.00,2.08,0.00,0.000,4,0.000,0.031,2415,3195,3028,0,0,0,0,0,0
$GC,4355,-1.02,-58.3,604.5,-11.3,486,4364,0.10,2.12,0.00,0.000,6,0.041,0.025,2341,1800,3028,0,0,0,0,0,0
$GC,4666,-0.94,-58.3,653.1,-15.9,502,4670,0.20,2.15,0.00,0.000,4,0.155,0.031,2390,3183,3027,0,0,0,0,0,0
$GC,4687,-0.94,-58.3,655.9,-13.6,503,4691,0.00,2.10,0.00,0.000,6,0.000,0.026,2389,1804,3028,0,0,0,0,0,0
$GC,5014,-0.94,-58.3,698.4,-12.7,519,5017,0.00,2.15,0.00,0.000,4,0.000,0.038,2392,404,3026,0,0,0,0,0,0
$GC,5114,-0.94,-58.3,711.9,-13.2,523,5121,0.00,2.08,0.00,0.000,6,0.000,0.023,2384,1802,3027,0,0,0,0,0,0
$GC,5426,-0.94,-58.3,752.3,-13.0,539,5430,0.00,2.08,0.00,0.000,4,0.000,0.031,2373,3194,3026,0,0,0,0,0,0
$GC,5526,-0.94,-58.3,765.9,-13.6,544,5531,0.00,2.12,0.00,0.000,6,0.000,0.026,2373,1803,3025,0,0,0,0,0,0
$GC,5852,-0.94,-58.3,809.4,-13.2,560,5857,0.00,2.15,0.00,0.000,4,0.000,0.038,2374,403,3025,0,0,0,0,0,0
$GC,5879,-0.87,-58.3,813.3,-14.8,561,5884,0.15,2.08,0.00,0.000,6,0.133,0.024,2413,1795,3025,0,0,0,0,0,0
$GC,6201,-0.92,-58.3,849.4,-10.3,577,6205,0.00,2.10,0.00,0.000,4,0.000,0.031,2405,3199,3024,0,0,0,0,0,0
$GC,6221,-0.98,-58.3,851.6,-10.3,578,6226,0.00,2.12,0.00,0.000,6,0.000,0.026,2405,1808,3024,0,0,0,0,0,0
$GC,6542,-0.98,-58.3,887.5,-11.0,594,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1807,3024,0,0,0,0,0,0
$GC,6848,-0.98,-58.3,920.6,-10.9,609,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1807,3023,0,0,0,0,0,0
$GC,7153,-1.02,-58.3,954.2,-11.0,624,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,1807,3023,0,0,0,0,0,0
$GC,7459,-1.06,-58.3,988.5,-11.4,639,7462,0.12,2.17,0.00,0.000,4,0.091,0.040,2339,400,3022,0,0,0,0,0,0
$STATE,7477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7477,begin apogee
$GC,7482,-0.14,0.0,991.4,14.5,640,7532,1.02,0.00,47.00,1.197,6,0.139,0.000,2650,1753,2792,0,0,0,0,0,0
$STATE,7532,end apogee,CONTROL_FINISHED_OK
$STATE,7532,begin climb
$GC,7534,0.80,58.3,993.6,0.0,642,7588,0.82,0.00,51.55,1.163,6,0.063,0.000,2960,1753,2554,0,0,0,0,0,0
$GC,7879,0.83,87.7,981.2,4.3,659,7908,0.00,2.28,25.52,1.145,4,0.000,0.044,2972,355,2435,0,0,0,0,0,0
$GC,7989,0.78,87.7,973.6,9.1,664,7992,0.00,2.17,0.00,0.000,6,0.000,0.026,2972,1739,2433,0,0,0,0,0,0
$GC,8303,0.78,87.7,947.8,8.0,680,8308,0.00,2.22,0.00,0.000,4,0.000,0.034,2972,3152,2430,0,0,0,0,0,0
$GC,8437,0.73,87.7,936.0,9.0,686,8441,0.12,2.20,0.00,0.000,6,0.160,0.031,2944,1756,2428,0,0,0,0,0,0
$GC,8758,0.73,87.7,909.7,8.3,702,8762,0.00,2.20,0.00,0.000,4,0.000,0.031,2943,3158,2428,0,0,0,0,0,0
$GC,8822,0.73,87.7,903.9,9.2,705,8826,0.00,2.20,0.00,0.000,6,0.000,0.030,2953,1755,2427,0,0,0,0,0,0
$GC,9148,0.73,87.7,875.1,9.1,721,9152,0.00,2.20,0.00,0.000,4,0.000,0.032,2953,3158,2426,0,0,0,0,0,0
$GC,9244,0.73,87.7,866.0,9.2,725,9248,0.00,2.20,0.00,0.000,6,0.000,0.030,2964,1752,2425,0,0,0,0,0,0
$GC,9561,0.73,87.7,838.1,8.3,741,9564,0.00,2.17,0.00,0.000,4,0.000,0.032,2964,3158,2425,0,0,0,0,0,0
$GC,9671,0.73,87.7,828.4,8.6,746,9676,0.10,2.22,0.00,0.000,6,0.158,0.029,2942,1744,2424,0,0,0,0,0,0
$GC,9993,0.73,88.5,803.1,7.8,762,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1744,2424,0,0,0,0,0,0
$GC,10298,0.73,88.5,778.8,8.2,777,10302,0.00,2.20,0.00,0.000,4,0.000,0.032,2942,3160,2423,0,0,0,0,0,0
$GC,10372,0.73,88.5,772.4,9.2,780,10376,0.00,2.22,0.00,0.000,6,0.000,0.029,2952,1741,2422,0,0,0,0,0,0
$GC,10688,0.73,89.1,748.4,7.8,796,10692,0.00,2.17,0.00,0.000,4,0.000,0.041,2963,348,2422,0,0,0,0,0,0
$GC,10839,0.69,89.4,736.4,7.8,803,10843,0.15,2.10,0.00,0.000,6,0.166,0.025,2922,1762,2422,0,0,0,0,0,0
$GC,11160,0.77,111.6,717.8,5.2,819,11183,0.00,2.17,19.33,1.019,4,0.000,0.032,2922,3145,2337,0,0,0,0,0,0
$GC,11221,0.82,114.1,713.7,7.6,822,11231,0.00,2.20,4.22,0.709,6,0.000,0.028,2931,1746,2325,0,0,0,0,0,0
$GC,11547,0.88,114.4,689.2,7.8,838,11551,0.15,2.20,0.00,0.000,4,0.070,0.031,3019,3138,2325,0,0,0,0,0,0
$GC,11655,0.79,114.4,678.0,9.9,843,11659,0.25,2.15,0.00,0.000,6,0.172,0.029,2960,1749,2323,0,0,0,0,0,0
$GC,11975,0.79,114.4,650.6,8.3,859,11979,0.00,2.17,0.00,0.000,4,0.000,0.030,2960,3147,2323,0,0,0,0,0,0
$GC,12027,0.79,114.4,645.9,8.7,861,12032,0.00,2.17,0.00,0.000,6,0.000,0.028,2970,1747,2323,0,0,0,0,0,0
$GC,12344,0.79,114.4,618.1,8.8,877,12345,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1747,2322,0,0,0,0,0,0
$GC,12648,0.79,114.4,590.8,8.9,892,12653,0.00,2.15,0.00,0.000,4,0.000,0.030,2970,3139,2323,0,0,0,0,0,0
$GC,12766,0.79,114.4,579.8,9.3,897,12770,0.00,2.15,0.00,0.000,6,0.000,0.028,2980,1753,2322,0,0,0,0,0,0
$GC,13082,0.79,114.4,549.9,9.7,913,13086,0.00,2.15,0.00,0.000,4,0.000,0.031,2981,3144,2322,0,0,0,0,0,0
$GC,13177,0.79,114.4,539.9,10.5,917,13182,0.10,2.15,0.00,0.000,6,0.147,0.028,2958,1755,2322,0,0,0,0,0,0
$GC,13494,0.79,114.4,512.1,8.5,933,13497,0.00,2.17,0.00,0.000,4,0.000,0.041,2967,354,2322,0,0,0,0,0,0
$GC,13579,0.79,114.4,505.2,8.6,937,13582,0.00,2.10,0.00,0.000,6,0.000,0.025,2967,1751,2321,0,0,0,0,0,0
$GC,13898,0.80,117.0,480.4,7.6,964,13903,0.00,2.15,0.00,0.000,4,0.000,0.030,2967,3151,2321,0,0,0,0,0,0
$GC,14085,0.80,117.0,465.2,8.0,981,14091,0.00,2.15,0.00,0.000,6,0.000,0.028,2978,1752,2321,0,0,0,0,0,0
$GC,14400,0.80,118.2,440.2,7.7,1012,14413,0.00,2.20,4.45,0.658,4,0.000,0.031,2978,3155,2309,0,0,0,0,0,0
$GC,14481,0.80,118.2,433.0,9.4,1019,14487,0.00,2.15,0.00,0.000,6,0.000,0.028,2989,1759,2309,0,0,0,0,0,0
$GC,14796,0.80,118.2,405.0,8.6,1050,14797,0.12,0.00,0.00,0.000,6,0.175,0.000,2955,1759,2309,0,0,0,0,0,0
$GC,15107,0.85,118.2,380.0,8.3,1080,15112,0.00,2.15,0.00,0.000,4,0.000,0.031,2954,3150,2309,0,0,0,0,0,0
$GC,15170,0.85,118.2,374.7,8.0,1086,15175,0.00,2.15,0.00,0.000,6,0.000,0.028,2964,1754,2309,0,0,0,0,0,0
$GC,15492,0.85,121.8,349.6,7.4,1117,15503,0.00,2.17,4.62,0.630,4,0.000,0.031,2964,3149,2295,0,0,0,0,0,0
$GC,15544,0.85,121.8,345.2,7.9,1122,15548,0.00,2.15,0.00,0.000,6,0.000,0.028,2975,1753,2295,0,0,0,0,0,0
$GC,15866,0.85,121.8,319.3,8.0,1153,15869,0.00,2.15,0.00,0.000,4,0.000,0.031,2975,3145,2295,0,0,0,0,0,0
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$STATE,19821,end climb,SURFACE_DEPTH_REACHED
$STATE,19821,begin surface coast
$FINISH,0.2,1.002941
$STATE,19848,end surface coast,CONTROL_FINISHED_OK
$STATE,19849,begin surface
$SM_CCo,19862,43.12,0.561,0,0,1771,250.20
$SM_GC,1.63,0.00,0.00,43.12,0.000,0.000,0.561,191,1798,1771,-7.84,-0.03,250.20
$IRIDIUM_FIX,3634.97,-12220.85,120799,040421
$TT8_MAMPS,0.052156
$HUMID,53.74
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.50
$XPDR_PINGS,58
$24V_AH,23.9,22.356
$10V_AH,9.9,33.225
$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,19.900,172.100,214.250,43.125,0.000,107.983,134.384,479.220,17.000,0.000,17.791,0.000,14650.973,439.349,4808.304,1031.096,0.000,1972.665,0.000,4126.426,0.000,18.977,0.000
$DEVICE_MAMPS,207.857,46.787,1197.287,561.444,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1223.338,3658.735,2582.227,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286656
$DATA_FILE_SIZE,123743,1760
$CAP_FILE_SIZE,217414,0
$CFSIZE,260165632,240041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,102236,3646.238,-12219.460,118,0.9,124,14.8