version: 66.06
glider: 503
mission: 5
dive: 152
start: 4 18 110 3 17 44
data:
$ID,503
$MISSION,5
$DIVE,152
$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,-11221.021
$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,44
$R_STBD_OVSHOOT,57
$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
$GPS1,030954,3646.021,-12219.059,62,1.1,62,14.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.5
$GPS2,031738,3646.020,-12219.045,11,1.6,11,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FIVE
$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,75.4,10452,-15.7,-7.865
$D_GRID,1121
$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,-0.57,-116.8,0.0,0.0,0,52,0.00,0.00,-38.17,0.000,2,0.000,0.000,175,1746,2776,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.4,-6.4,7,80,8.88,2.15,-11.18,0.000,4,0.212,0.053,2512,406,3271,0,0,0,0,0,0
$GC,320,-0.49,-116.8,44.2,-12.6,57,327,0.10,2.10,0.00,0.000,6,0.116,0.024,2540,1788,3273,0,0,0,0,0,0
$GC,646,-0.49,-116.8,76.8,-10.1,118,653,0.00,2.17,0.00,0.000,4,0.000,0.048,2541,403,3274,0,0,0,0,0,0
$GC,674,-0.49,-116.8,79.6,-10.8,123,680,0.00,2.12,0.00,0.000,6,0.000,0.024,2534,1806,3274,0,0,0,0,0,0
$GC,1000,-0.49,-116.8,113.0,-8.7,184,1007,0.00,2.17,0.00,0.000,4,0.000,0.037,2535,406,3274,0,0,0,0,0,0
$GC,1022,-0.49,-116.8,115.1,-9.4,188,1028,0.00,2.10,0.00,0.000,6,0.000,0.024,2524,1799,3273,0,0,0,0,0,0
$GC,1349,-0.49,-116.8,147.5,-9.5,249,1354,0.00,2.17,0.00,0.000,4,0.000,0.032,2515,3198,3274,0,0,0,0,0,0
$GC,1439,-0.49,-116.8,155.8,-9.0,266,1445,0.00,2.15,0.00,0.000,6,0.000,0.025,2515,1800,3274,0,0,0,0,0,0
$GC,1765,-0.49,-116.8,189.8,-10.4,327,1772,0.00,2.20,0.00,0.000,4,0.000,0.038,2515,399,3274,0,0,0,0,0,0
$GC,1813,-0.49,-116.8,195.1,-11.1,336,1820,0.08,2.10,0.00,0.000,6,0.114,0.024,2538,1802,3274,0,0,0,0,0,0
$GC,2136,-0.53,-116.8,222.8,-8.0,372,2140,0.00,2.12,0.00,0.000,4,0.000,0.031,2533,3189,3274,0,0,0,0,0,0
$GC,2194,-0.61,-116.8,227.7,-8.2,377,2200,0.00,2.12,0.00,0.000,6,0.000,0.025,2533,1803,3275,0,0,0,0,0,0
$GC,2509,-0.61,-116.8,254.0,-8.1,408,2514,0.00,2.17,0.00,0.000,4,0.000,0.038,2533,400,3274,0,0,0,0,0,0
$GC,2573,-0.61,-116.8,260.0,-9.0,414,2578,0.00,2.10,0.00,0.000,6,0.000,0.023,2524,1802,3274,0,0,0,0,0,0
$GC,2895,-0.61,-116.8,288.7,-8.9,445,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1802,3274,0,0,0,0,0,0
$GC,3206,-0.61,-116.8,313.4,-7.7,475,3209,0.00,2.15,0.00,0.000,4,0.000,0.038,2524,394,3274,0,0,0,0,0,0
$GC,3236,-0.61,-116.8,316.3,-9.1,478,3241,0.00,2.10,0.00,0.000,6,0.000,0.024,2519,1801,3274,0,0,0,0,0,0
$GC,3558,-0.61,-116.8,342.7,-8.5,509,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1801,3273,0,0,0,0,0,0
$GC,3869,-0.61,-116.8,370.9,-9.6,539,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1801,3273,0,0,0,0,0,0
$GC,4179,-0.61,-116.8,401.5,-9.6,569,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1801,3273,0,0,0,0,0,0
$GC,4490,-0.61,-116.8,428.0,-8.2,599,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1800,3272,0,0,0,0,0,0
$GC,4800,-0.61,-116.8,452.7,-7.9,629,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1800,3272,0,0,0,0,0,0
$GC,5111,-0.61,-116.8,477.4,-7.8,659,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1801,3272,0,0,0,0,0,0
$GC,5431,-0.61,-116.8,501.7,-7.5,689,5434,0.00,2.17,0.00,0.000,4,0.000,0.039,2519,399,3270,0,0,0,0,0,0
$GC,5461,-0.61,-116.8,504.5,-8.6,690,5466,0.00,2.10,0.00,0.000,6,0.000,0.023,2510,1802,3271,0,0,0,0,0,0
$GC,5777,-0.61,-116.8,527.8,-6.9,706,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1803,3270,0,0,0,0,0,0
$GC,6083,-0.61,-116.8,549.6,-7.4,721,6084,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1803,3270,0,0,0,0,0,0
$GC,6388,-0.61,-116.8,574.4,-8.4,736,6392,0.00,2.17,0.00,0.000,4,0.000,0.039,2510,403,3269,0,0,0,0,0,0
$GC,6424,-0.61,-116.8,577.9,-9.7,737,6431,0.00,2.10,0.00,0.000,6,0.000,0.024,2506,1804,3269,0,0,0,0,0,0
$GC,6736,-0.61,-116.8,604.7,-8.7,753,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1806,3269,0,0,0,0,0,0
$GC,7041,-0.61,-116.8,630.6,-8.3,768,7044,0.00,2.17,0.00,0.000,4,0.000,0.039,2506,404,3268,0,0,0,0,0,0
$GC,7077,-0.61,-116.8,633.8,-9.0,769,7083,0.00,2.10,0.00,0.000,6,0.000,0.024,2496,1800,3268,0,0,0,0,0,0
$GC,7388,-0.61,-116.8,660.0,-8.6,785,7392,0.00,2.15,0.00,0.000,4,0.000,0.033,2495,3200,3268,0,0,0,0,0,0
$GC,7435,-0.66,-116.8,663.9,-8.3,787,7439,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1809,3268,0,0,0,0,0,0
$GC,7757,-0.66,-116.8,688.6,-7.6,803,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1808,3268,0,0,0,0,0,0
$GC,8062,-0.66,-116.8,712.0,-7.5,818,8066,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,406,3267,0,0,0,0,0,0
$GC,8141,-0.66,-116.8,718.8,-8.9,821,8147,0.00,2.10,0.00,0.000,6,0.000,0.024,2491,1803,3267,0,0,0,0,0,0
$GC,8452,-0.66,-116.8,742.5,-7.8,837,8456,0.00,2.17,0.00,0.000,4,0.000,0.040,2491,394,3266,0,0,0,0,0,0
$GC,8488,-0.66,-116.8,745.9,-9.0,838,8495,0.00,2.12,0.00,0.000,6,0.000,0.024,2481,1805,3266,0,0,0,0,0,0
$GC,8799,-0.66,-116.8,772.1,-8.5,854,8803,0.00,2.12,0.00,0.000,4,0.000,0.032,2479,3186,3266,0,0,0,0,0,0
$GC,8842,-0.66,-116.8,775.4,-7.7,856,8846,0.00,2.12,0.00,0.000,6,0.000,0.027,2479,1802,3266,0,0,0,0,0,0
$GC,9167,-0.66,-116.8,801.8,-8.1,872,9172,0.00,2.17,0.00,0.000,4,0.000,0.041,2479,403,3266,0,0,0,0,0,0
$GC,9220,-0.61,-116.8,807.1,-10.0,874,9225,0.08,2.08,0.00,0.000,6,0.118,0.024,2499,1786,3266,0,0,0,0,0,0
$GC,9536,-0.61,-116.8,832.5,-8.1,890,9540,0.00,2.17,0.00,0.000,4,0.000,0.032,2495,3200,3265,0,0,0,0,0,0
$GC,9579,-0.67,-116.8,835.9,-8.2,892,9583,0.00,2.15,0.00,0.000,6,0.000,0.026,2495,1797,3265,0,0,0,0,0,0
$GC,9905,-0.67,-116.8,861.7,-7.4,908,9909,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,400,3264,0,0,0,0,0,0
$GC,9947,-0.67,-116.8,865.2,-7.9,910,9952,0.00,2.10,0.00,0.000,6,0.000,0.025,2486,1799,3264,0,0,0,0,0,0
$GC,10274,-0.67,-116.8,891.0,-7.8,926,10278,0.00,2.17,0.00,0.000,4,0.000,0.033,2477,3197,3264,0,0,0,0,0,0
$GC,10332,-0.67,-116.8,895.6,-8.8,928,10339,0.00,2.15,0.00,0.000,6,0.000,0.026,2477,1800,3264,0,0,0,0,0,0
$GC,10642,-0.67,-116.8,921.8,-8.7,944,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1800,3264,0,0,0,0,0,0
$GC,10949,-0.67,-116.8,945.6,-7.6,959,10952,0.00,2.17,0.00,0.000,4,0.000,0.041,2477,397,3264,0,0,0,0,0,0
$GC,10974,-0.67,-116.8,947.8,-9.4,960,10979,0.00,2.10,0.00,0.000,6,0.000,0.025,2468,1793,3264,0,0,0,0,0,0
$GC,11295,-0.67,-116.8,975.4,-8.9,976,11299,0.00,2.17,0.00,0.000,4,0.000,0.035,2463,3195,3263,0,0,0,0,0,0
$GC,11337,-0.67,-116.8,979.0,-8.9,978,11342,0.00,2.15,0.00,0.000,6,0.000,0.028,2463,1800,3263,0,0,0,0,0,0
$STATE,11480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11480,begin apogee
$GC,11484,-0.14,0.0,991.2,8.5,985,11582,0.57,0.00,95.55,1.203,6,0.104,0.000,2659,1800,2792,0,0,0,0,0,0
$STATE,11583,end apogee,CONTROL_FINISHED_OK
$STATE,11583,begin climb
$GC,11584,0.57,116.8,993.3,0.0,990,11695,0.60,2.30,103.25,1.170,4,0.062,0.035,2883,3139,2315,0,0,0,0,0,0
$GC,11737,0.46,116.8,988.0,8.9,997,11741,0.12,2.30,0.00,0.000,6,0.131,0.031,2854,1759,2314,0,0,0,0,0,0
$GC,12054,0.46,116.8,962.5,8.2,1013,12057,0.00,2.25,0.00,0.000,4,0.000,0.044,2864,340,2308,0,0,0,0,0,0
$GC,12079,0.42,116.8,960.2,8.7,1014,12084,0.00,2.17,0.00,0.000,6,0.000,0.025,2864,1743,2307,0,0,0,0,0,0
$GC,12400,0.37,116.8,932.7,8.4,1030,12405,0.15,2.22,0.00,0.000,4,0.159,0.034,2822,3155,2306,0,0,0,0,0,0
$GC,12560,0.41,150.5,920.9,6.3,1037,12593,0.00,2.22,27.60,1.124,6,0.000,0.030,2831,1747,2178,0,0,0,0,0,0
$GC,12895,0.41,155.8,895.2,7.6,1054,12905,0.00,2.22,6.38,0.926,4,0.000,0.033,2831,3152,2156,0,0,0,0,0,0
$GC,12942,0.41,155.8,891.1,9.1,1056,12947,0.00,2.25,0.00,0.000,6,0.000,0.030,2842,1750,2156,0,0,0,0,0,0
$GC,13258,0.44,177.6,867.2,6.9,1072,13280,0.00,0.00,19.92,1.087,6,0.000,0.000,2842,1750,2067,0,0,0,0,0,0
$GC,13584,0.44,177.6,842.2,8.2,1088,13588,0.00,2.25,0.00,0.000,4,0.000,0.033,2842,3152,2067,0,0,0,0,0,0
$GC,13605,0.44,177.6,840.4,8.5,1089,13609,0.00,2.22,0.00,0.000,6,0.000,0.031,2853,1750,2067,0,0,0,0,0,0
$GC,13931,0.44,177.6,813.8,8.5,1105,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1749,2067,0,0,0,0,0,0
$GC,14236,0.44,177.6,786.8,9.0,1120,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1750,2066,0,0,0,0,0,0
$GC,14542,0.44,177.6,759.4,8.8,1135,14546,0.00,2.22,0.00,0.000,4,0.000,0.044,2864,353,2066,0,0,0,0,0,0
$GC,14589,0.44,177.6,754.7,9.6,1137,14593,0.00,2.15,0.00,0.000,6,0.000,0.025,2864,1759,2066,0,0,0,0,0,0
$GC,14911,0.44,177.6,725.7,8.4,1153,14912,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1760,2065,0,0,0,0,0,0
$GC,15215,0.44,177.6,699.1,8.9,1168,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1760,2065,0,0,0,0,0,0
$GC,15521,0.44,177.6,671.8,8.8,1183,15525,0.00,2.20,0.00,0.000,4,0.000,0.042,2875,336,2064,0,0,0,0,0,0
$GC,15578,0.44,177.6,666.1,9.1,1185,15586,0.10,2.15,0.00,0.000,6,0.148,0.025,2842,1753,2064,0,0,0,0,0,0
$GC,15890,0.48,177.6,641.4,7.9,1201,15893,0.00,2.20,0.00,0.000,4,0.000,0.041,2852,337,2064,0,0,0,0,0,0
$GC,15916,0.49,179.4,639.3,7.8,1202,15920,0.00,2.12,0.00,0.000,6,0.000,0.025,2852,1749,2064,0,0,0,0,0,0
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$STATE,22563,end climb,SURFACE_DEPTH_REACHED
$STATE,22563,begin surface coast
$FINISH,0.1,1.021343
$STATE,22596,end surface coast,CONTROL_FINISHED_OK
$STATE,22596,begin surface
$SM_CCo,22670,0.00,0.000,0,0,1531,309.07
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$IRIDIUM_FIX,3632.29,-12219.41,120799,212103
$TT8_MAMPS,0.052156
$HUMID,53.50
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,16.20
$XPDR_PINGS,57
$24V_AH,23.5,22.755
$10V_AH,9.8,34.075
$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,18.425,198.975,366.200,0.000,0.000,31.333,30.829,277.207,16.750,0.000,12.915,0.000,16745.121,550.506,5141.811,655.255,0.000,2226.803,0.000,4408.899,0.000,18.981,0.000
$DEVICE_MAMPS,211.692,52.923,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1356.202,4056.254,2829.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286660
$DATA_FILE_SIZE,135907,1954
$CAP_FILE_SIZE,226730,0
$CFSIZE,260165632,239570944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180410,093631,3647.458,-12215.748,38,1.0,38,14.8