version: 66.06
glider: 503
mission: 5
dive: 150
start: 4 17 110 16 10 12
data:
$ID,503
$MISSION,5
$DIVE,150
$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,-11194.592
$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,40
$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
$GPS1,160125,3646.022,-12219.104,76,1.5,76,14.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-76.1
$GPS2,161006,3646.147,-12219.118,12,1.8,28,14.8
$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,160.5,2132,-26.9,-7.865
$D_GRID,1171
$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,-0.78,-44.0,0.0,0.0,0,52,0.00,0.00,-38.20,0.000,2,0.000,0.000,178,1806,2786,0,0,0,0,0,0
$GC,53,-0.79,-55.2,3.5,-6.5,7,75,8.50,2.25,-5.43,0.000,4,0.208,0.048,2440,395,3019,0,0,0,0,0,0
$GC,304,-0.79,-55.2,56.2,-18.9,54,310,0.00,2.15,0.00,0.000,6,0.000,0.035,2431,1807,3020,0,0,0,0,0,0
$GC,630,-0.79,-55.2,105.4,-15.1,115,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1808,3021,0,0,0,0,0,0
$GC,955,-0.79,-55.2,155.8,-16.4,176,962,0.00,2.17,0.00,0.000,4,0.000,0.035,2431,404,3022,0,0,0,0,0,0
$GC,1009,-0.79,-55.2,165.3,-17.3,186,1015,0.00,2.10,0.00,0.000,6,0.000,0.023,2421,1803,3022,0,0,0,0,0,0
$GC,1332,-0.79,-55.2,212.2,-14.2,239,1336,0.00,2.15,0.00,0.000,4,0.000,0.030,2410,3202,3022,0,0,0,0,0,0
$GC,1375,-0.79,-55.2,218.5,-15.2,243,1379,0.08,2.15,0.00,0.000,6,0.133,0.025,2437,1799,3022,0,0,0,0,0,0
$GC,1695,-0.84,-55.2,263.0,-13.6,274,1699,0.00,2.15,0.00,0.000,4,0.000,0.036,2437,404,3022,0,0,0,0,0,0
$GC,1721,-0.84,-55.2,266.6,-15.1,276,1729,0.00,2.10,0.00,0.000,6,0.000,0.023,2429,1805,3022,0,0,0,0,0,0
$GC,2038,-0.88,-55.2,309.5,-13.3,307,2041,0.00,2.17,0.00,0.000,4,0.000,0.036,2429,400,3022,0,0,0,0,0,0
$GC,2144,-0.88,-55.2,325.0,-15.1,317,2148,0.00,2.08,0.00,0.000,6,0.000,0.023,2418,1796,3022,0,0,0,0,0,0
$GC,2464,-0.88,-55.2,368.7,-13.3,348,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1797,3022,0,0,0,0,0,0
$GC,2776,-0.88,-55.2,408.5,-12.8,378,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1798,3022,0,0,0,0,0,0
$GC,3085,-0.88,-55.2,448.1,-13.4,408,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1798,3022,0,0,0,0,0,0
$GC,3396,-0.88,-55.2,489.4,-13.4,438,3400,0.00,2.15,0.00,0.000,4,0.000,0.037,2417,404,3021,0,0,0,0,0,0
$GC,3464,-0.88,-55.2,499.3,-13.8,444,3472,0.00,2.10,0.00,0.000,6,0.000,0.023,2410,1806,3020,0,0,0,0,0,0
$GC,3786,-0.88,-55.2,541.5,-12.4,461,3790,0.00,2.17,0.00,0.000,4,0.000,0.037,2410,400,3020,0,0,0,0,0,0
$GC,3829,-0.88,-55.2,547.3,-13.9,463,3833,0.00,2.08,0.00,0.000,6,0.000,0.024,2399,1795,3020,0,0,0,0,0,0
$GC,4155,-0.88,-55.2,589.2,-12.3,479,4158,0.00,2.15,0.00,0.000,4,0.000,0.038,2399,404,3019,0,0,0,0,0,0
$GC,4207,-0.88,-55.2,596.5,-13.8,481,4212,0.00,2.08,0.00,0.000,6,0.000,0.023,2390,1799,3019,0,0,0,0,0,0
$GC,4523,-0.88,-55.2,637.9,-13.0,497,4527,0.00,2.17,0.00,0.000,4,0.000,0.038,2389,409,3018,0,0,0,0,0,0
$GC,4554,-0.83,-55.2,642.6,-15.5,498,4559,0.12,2.10,0.00,0.000,6,0.129,0.023,2424,1815,3019,0,0,0,0,0,0
$GC,4871,-0.89,-55.2,680.2,-11.7,514,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1815,3018,0,0,0,0,0,0
$GC,5176,-0.96,-55.2,715.6,-11.4,529,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1815,3017,0,0,0,0,0,0
$GC,5481,-1.02,-55.2,748.7,-10.4,544,5486,0.15,2.22,0.00,0.000,4,0.074,0.038,2334,398,3017,0,0,0,0,0,0
$GC,5528,-0.89,-55.2,755.9,-16.2,546,5533,0.25,2.08,0.00,0.000,6,0.137,0.023,2405,1795,3017,0,0,0,0,0,0
$GC,5849,-0.89,-55.2,792.4,-11.0,562,5854,0.00,2.15,0.00,0.000,4,0.000,0.038,2405,405,3016,0,0,0,0,0,0
$GC,5871,-0.89,-55.2,794.9,-11.9,563,5875,0.00,2.08,0.00,0.000,6,0.000,0.024,2397,1793,3016,0,0,0,0,0,0
$GC,6197,-0.89,-55.2,831.5,-11.2,579,6201,0.00,2.15,0.00,0.000,4,0.000,0.038,2397,405,3016,0,0,0,0,0,0
$GC,6261,-0.89,-55.2,839.6,-12.9,582,6265,0.00,2.08,0.00,0.000,6,0.000,0.023,2387,1795,3015,0,0,0,0,0,0
$GC,6587,-0.89,-55.2,879.3,-11.9,598,6591,0.00,2.15,0.00,0.000,4,0.000,0.038,2387,407,3015,0,0,0,0,0,0
$GC,6623,-0.89,-55.2,884.2,-13.1,599,6631,0.12,2.10,0.00,0.000,6,0.161,0.024,2411,1801,3015,0,0,0,0,0,0
$GC,6936,-0.95,-55.2,915.7,-9.7,615,6939,0.00,2.12,0.00,0.000,4,0.000,0.031,2402,3205,3014,0,0,0,0,0,0
$GC,6993,-1.03,-55.2,921.4,-9.9,618,6997,0.08,2.15,0.00,0.000,6,0.046,0.027,2338,1804,3014,0,0,0,0,0,0
$GC,7320,-0.97,-55.2,965.7,-13.7,634,7322,0.17,0.00,0.00,0.000,6,0.159,0.000,2387,1803,3014,0,0,0,0,0,0
$STATE,7542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7542,begin apogee
$GC,7545,-0.14,0.0,992.3,11.8,645,7593,0.80,0.00,45.22,1.201,6,0.121,0.000,2651,1803,2792,0,0,0,0,0,0
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7593,begin climb
$GC,7594,0.79,55.2,993.8,0.0,647,7648,0.80,2.22,48.17,1.164,4,0.062,0.033,2954,3135,2567,0,0,0,0,0,0
$GC,7733,0.79,85.9,989.9,4.2,653,7765,0.00,2.22,27.65,1.146,6,0.000,0.030,2966,1762,2441,0,0,0,0,0,0
$GC,8080,0.79,85.9,962.8,8.6,671,8084,0.00,2.20,0.00,0.000,4,0.000,0.032,2966,3142,2437,0,0,0,0,0,0
$GC,8132,0.79,85.9,958.0,8.7,673,8137,0.00,2.25,0.00,0.000,6,0.000,0.031,2977,1733,2435,0,0,0,0,0,0
$GC,8449,0.79,85.9,929.3,9.3,689,8453,0.00,2.20,0.00,0.000,4,0.000,0.032,2976,3148,2435,0,0,0,0,0,0
$GC,8566,0.74,85.9,917.8,10.1,694,8570,0.15,2.20,0.00,0.000,6,0.160,0.030,2942,1751,2433,0,0,0,0,0,0
$GC,8881,0.74,85.9,892.0,8.0,710,8886,0.00,2.17,0.00,0.000,4,0.000,0.032,2941,3135,2433,0,0,0,0,0,0
$GC,8961,0.74,86.4,885.4,7.8,713,8968,0.00,2.17,0.00,0.000,6,0.000,0.029,2951,1750,2432,0,0,0,0,0,0
$GC,9272,0.74,86.4,860.4,8.2,729,9276,0.00,2.17,0.00,0.000,4,0.000,0.032,2950,3138,2431,0,0,0,0,0,0
$GC,9330,0.74,86.4,855.7,7.9,731,9336,0.00,2.17,0.00,0.000,6,0.000,0.030,2961,1751,2431,0,0,0,0,0,0
$GC,9641,0.75,89.1,832.1,7.5,747,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1751,2431,0,0,0,0,0,0
$GC,9945,0.76,100.6,811.3,6.5,762,9961,0.00,2.15,12.02,1.035,4,0.000,0.031,2962,3145,2380,0,0,0,0,0,0
$GC,10041,0.76,100.6,804.2,8.1,765,10047,0.00,2.17,0.00,0.000,6,0.000,0.030,2972,1759,2380,0,0,0,0,0,0
$GC,10352,0.76,100.6,779.3,8.0,781,10355,0.00,2.15,0.00,0.000,4,0.000,0.033,2972,3150,2380,0,0,0,0,0,0
$GC,10425,0.76,100.6,773.2,8.2,784,10430,0.10,2.17,0.00,0.000,6,0.154,0.030,2951,1756,2379,0,0,0,0,0,0
$GC,10741,0.77,105.5,750.8,7.3,800,10751,0.00,2.22,5.57,0.855,4,0.000,0.044,2960,356,2361,0,0,0,0,0,0
$GC,10891,0.77,105.5,737.8,9.9,807,10895,0.00,2.10,0.00,0.000,6,0.000,0.025,2960,1739,2361,0,0,0,0,0,0
$GC,11217,0.77,105.5,707.8,9.3,823,11221,0.00,2.20,0.00,0.000,4,0.000,0.031,2960,3156,2361,0,0,0,0,0,0
$GC,11291,0.77,105.5,700.6,9.3,826,11295,0.00,2.17,0.00,0.000,6,0.000,0.028,2971,1754,2360,0,0,0,0,0,0
$GC,11606,0.77,105.5,670.1,9.1,842,11611,0.00,2.20,0.00,0.000,4,0.000,0.041,2982,349,2359,0,0,0,0,0,0
$GC,11665,0.70,105.5,664.4,9.6,844,11672,0.15,2.12,0.00,0.000,6,0.148,0.025,2933,1758,2360,0,0,0,0,0,0
$GC,11976,0.75,105.5,636.7,9.1,860,11980,0.00,2.15,0.00,0.000,4,0.000,0.031,2933,3150,2360,0,0,0,0,0,0
$GC,12097,0.75,105.5,625.9,8.7,865,12104,0.00,2.20,0.00,0.000,6,0.000,0.028,2943,1740,2359,0,0,0,0,0,0
$GC,12410,0.75,105.5,599.6,8.3,881,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1740,2359,0,0,0,0,0,0
$GC,12713,0.75,105.5,574.5,8.0,896,12718,0.00,2.17,0.00,0.000,4,0.000,0.030,2943,3147,2359,0,0,0,0,0,0
$GC,12853,0.75,105.5,563.9,7.9,902,12856,0.00,2.15,0.00,0.000,6,0.000,0.028,2954,1750,2358,0,0,0,0,0,0
$GC,13168,0.75,109.8,540.1,7.4,918,13177,0.00,2.20,4.82,0.727,4,0.000,0.041,2965,344,2344,0,0,0,0,0,0
$GC,13241,0.75,109.8,533.9,8.2,921,13246,0.00,2.12,0.00,0.000,6,0.000,0.024,2965,1750,2344,0,0,0,0,0,0
$GC,13559,0.76,117.7,511.8,6.9,937,13572,0.00,2.20,8.00,0.822,4,0.000,0.031,2965,3153,2312,0,0,0,0,0,0
$GC,13690,0.76,117.7,500.9,9.4,943,13695,0.00,2.20,0.00,0.000,6,0.000,0.028,2976,1747,2312,0,0,0,0,0,0
$GC,14006,0.76,117.7,472.3,9.0,973,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1747,2312,0,0,0,0,0,0
$GC,14318,0.76,117.7,444.0,9.1,1003,14322,0.00,2.15,0.00,0.000,4,0.000,0.031,2976,3150,2312,0,0,0,0,0,0
$GC,14525,0.76,117.7,425.0,9.6,1022,14530,0.10,2.17,0.00,0.000,6,0.143,0.028,2952,1746,2311,0,0,0,0,0,0
$GC,14847,0.81,117.7,400.0,8.1,1053,14850,0.00,2.15,0.00,0.000,4,0.000,0.041,2962,343,2311,0,0,0,0,0,0
$GC,14991,0.81,117.8,387.9,7.9,1066,14997,0.00,2.10,0.00,0.000,6,0.000,0.024,2961,1748,2311,0,0,0,0,0,0
$GC,15306,0.81,119.9,363.8,7.6,1097,15310,0.00,2.15,0.00,0.000,4,0.000,0.031,2962,3151,2311,0,0,0,0,0,0
$GC,15423,0.81,119.9,353.9,8.4,1108,15427,0.00,2.17,0.00,0.000,6,0.000,0.028,2973,1744,2311,0,0,0,0,0,0
$GC,15744,0.82,125.6,330.3,7.2,1139,15758,0.00,2.20,8.38,0.737,4,0.000,0.030,2973,3151,2280,0,0,0,0,0,0
$GC,15780,0.82,127.2,327.6,7.7,1142,15787,0.00,2.17,0.00,0.000,6,0.000,0.028,2984,1748,2280,0,0,0,0,0,0
$GC,16096,0.82,128.2,302.9,7.7,1173,16107,0.00,2.17,4.10,0.569,4,0.000,0.030,2984,3144,2269,0,0,0,0,0,0
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$STATE,19694,end climb,SURFACE_DEPTH_REACHED
$STATE,19694,begin surface coast
$FINISH,0.3,1.025301
$STATE,19737,end surface coast,CONTROL_FINISHED_OK
$STATE,19738,begin surface
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$IRIDIUM_FIX,3634.97,-12155.48,120799,101039
$TT8_MAMPS,0.052156
$HUMID,53.18
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.50
$XPDR_PINGS,48
$24V_AH,23.9,22.534
$10V_AH,9.8,33.643
$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,19.225,172.525,204.275,53.775,0.000,30.495,54.303,287.293,14.500,0.000,30.712,0.000,14326.585,441.955,4826.255,690.343,0.000,1994.351,0.000,4156.884,0.000,18.975,0.000
$DEVICE_MAMPS,207.857,47.554,1201.122,563.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1214.437,3650.092,2572.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286692
$DATA_FILE_SIZE,123315,1748
$CAP_FILE_SIZE,210049,0
$CFSIZE,260165632,239824896
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170410,214206,3646.031,-12219.186,85,1.3,90,14.8