version: 66.06
glider: 503
mission: 5
dive: 153
start: 4 18 110 9 47 56
data:
$ID,503
$MISSION,5
$DIVE,153
$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,-11234.557
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,093631,3647.458,-12215.748,38,1.0,38,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.7
$GPS2,094750,3647.514,-12215.925,11,1.0,11,14.8
$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,100.9,6463,-15.7,-7.865
$D_GRID,776
$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,-116.8,0.0,0.0,0,63,0.00,0.00,-48.85,0.000,2,0.000,0.000,161,1797,2797,0,0,0,0,0,0
$GC,64,-0.57,-116.8,3.5,-7.0,9,91,8.93,2.25,-10.65,0.000,4,0.211,0.061,2511,391,3270,0,0,0,0,0,0
$GC,235,-0.49,-116.8,29.5,-11.1,41,242,0.10,2.12,0.00,0.000,6,0.114,0.024,2539,1785,3273,0,0,0,0,0,0
$GC,562,-0.49,-116.8,60.0,-9.0,102,568,0.00,2.17,0.00,0.000,4,0.000,0.039,2540,406,3272,0,0,0,0,0,0
$GC,610,-0.49,-116.8,64.9,-10.0,111,616,0.00,2.12,0.00,0.000,6,0.000,0.034,2533,1808,3272,0,0,0,0,0,0
$GC,936,-0.49,-116.8,95.6,-9.4,172,943,0.00,2.15,0.00,0.000,4,0.000,0.031,2532,3193,3273,0,0,0,0,0,0
$GC,973,-0.49,-116.8,99.0,-9.0,179,980,0.00,2.15,0.00,0.000,6,0.000,0.025,2532,1798,3273,0,0,0,0,0,0
$GC,1300,-0.49,-116.8,130.7,-9.2,240,1307,0.00,2.17,0.00,0.000,4,0.000,0.040,2532,405,3273,0,0,0,0,0,0
$GC,1354,-0.49,-116.8,136.1,-10.2,250,1360,0.00,2.10,0.00,0.000,6,0.000,0.025,2523,1793,3273,0,0,0,0,0,0
$GC,1681,-0.49,-116.8,169.7,-10.8,311,1687,0.00,2.17,0.00,0.000,4,0.000,0.032,2513,3204,3273,0,0,0,0,0,0
$GC,1734,-0.49,-116.8,175.3,-10.6,321,1740,0.00,2.15,0.00,0.000,6,0.000,0.025,2513,1803,3273,0,0,0,0,0,0
$GC,2061,-0.49,-116.8,209.7,-10.5,374,2066,0.00,2.17,0.00,0.000,4,0.000,0.031,2506,3201,3273,0,0,0,0,0,0
$GC,2104,-0.49,-116.8,214.2,-10.3,378,2109,0.10,2.15,0.00,0.000,6,0.104,0.025,2545,1796,3273,0,0,0,0,0,0
$GC,2426,-0.54,-116.8,241.1,-8.4,409,2429,0.00,2.12,0.00,0.000,4,0.000,0.038,2545,400,3273,0,0,0,0,0,0
$GC,2468,-0.60,-116.8,245.0,-9.2,413,2472,0.08,2.10,0.00,0.000,6,0.055,0.024,2480,1803,3273,0,0,0,0,0,0
$GC,2788,-0.53,-116.8,282.9,-11.7,444,2789,0.15,0.00,0.00,0.000,6,0.135,0.000,2527,1805,3273,0,0,0,0,0,0
$GC,3098,-0.53,-116.8,307.5,-7.0,474,3103,0.00,2.17,0.00,0.000,4,0.000,0.038,2527,400,3272,0,0,0,0,0,0
$GC,3141,-0.53,-116.8,311.1,-8.5,478,3145,0.00,2.10,0.00,0.000,6,0.000,0.024,2521,1799,3272,0,0,0,0,0,0
$GC,3462,-0.53,-116.8,337.0,-8.3,509,3466,0.00,2.15,0.00,0.000,4,0.000,0.032,2518,3200,3272,0,0,0,0,0,0
$GC,3493,-0.59,-116.8,339.7,-8.2,512,3498,0.00,2.12,0.00,0.000,6,0.000,0.025,2518,1806,3272,0,0,0,0,0,0
$GC,3815,-0.59,-116.8,367.0,-8.4,543,3818,0.00,2.15,0.00,0.000,4,0.000,0.039,2518,409,3272,0,0,0,0,0,0
$GC,3857,-0.59,-116.8,370.9,-9.6,547,3861,0.00,2.08,0.00,0.000,6,0.000,0.024,2509,1795,3272,0,0,0,0,0,0
$GC,4177,-0.59,-116.8,400.9,-9.6,578,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1795,3271,0,0,0,0,0,0
$GC,4488,-0.59,-116.8,430.1,-10.3,608,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1795,3271,0,0,0,0,0,0
$GC,4799,-0.59,-116.8,461.9,-10.0,638,4803,0.00,2.12,0.00,0.000,4,0.000,0.032,2502,3199,3270,0,0,0,0,0,0
$GC,4835,-0.64,-116.8,465.8,-10.4,641,4842,0.00,2.15,0.00,0.000,6,0.000,0.025,2501,1795,3270,0,0,0,0,0,0
$GC,5151,-0.64,-116.8,497.1,-9.6,672,5155,0.00,2.15,0.00,0.000,4,0.000,0.039,2502,403,3269,0,0,0,0,0,0
$GC,5209,-0.64,-116.8,503.1,-10.2,676,5217,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1805,3269,0,0,0,0,0,0
$GC,5520,-0.64,-116.8,530.7,-8.5,692,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3270,0,0,0,0,0,0
$GC,5825,-0.64,-116.8,557.5,-9.1,707,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3269,0,0,0,0,0,0
$GC,6130,-0.64,-116.8,586.7,-9.6,722,6135,0.00,2.12,0.00,0.000,4,0.000,0.032,2495,3186,3269,0,0,0,0,0,0
$GC,6156,-0.64,-116.8,589.3,-10.2,723,6161,0.00,2.12,0.00,0.000,6,0.000,0.026,2495,1801,3269,0,0,0,0,0,0
$GC,6478,-0.64,-116.8,621.0,-9.7,739,6482,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,384,3268,0,0,0,0,0,0
$GC,6525,-0.64,-116.8,625.8,-10.1,741,6530,0.00,2.12,0.00,0.000,6,0.000,0.025,2491,1798,3268,0,0,0,0,0,0
$GC,6847,-0.64,-116.8,652.8,-8.7,757,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1799,3267,0,0,0,0,0,0
$GC,7151,-0.64,-116.8,680.2,-9.0,772,7156,0.00,2.15,0.00,0.000,4,0.000,0.031,2481,3200,3267,0,0,0,0,0,0
$GC,7237,-0.64,-116.8,687.6,-7.9,776,7241,0.00,2.15,0.00,0.000,6,0.000,0.026,2481,1797,3267,0,0,0,0,0,0
$STATE,7277,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7277,begin apogee
$GC,7280,-0.14,0.0,690.7,7.5,778,7374,0.50,0.00,92.50,1.002,6,0.097,0.000,2654,1797,2792,0,0,0,0,0,0
$STATE,7375,end apogee,CONTROL_FINISHED_OK
$STATE,7375,begin climb
$GC,7376,0.57,116.8,692.1,0.0,782,7482,0.62,2.40,99.00,0.971,4,0.059,0.041,2902,355,2315,0,0,0,0,0,0
$GC,7550,0.46,116.8,683.8,10.6,791,7555,0.15,2.17,0.00,0.000,6,0.117,0.023,2852,1742,2312,0,0,0,0,0,0
$GC,7872,0.56,192.9,667.0,4.4,807,7941,0.00,2.33,62.90,0.961,4,0.000,0.031,2852,3148,2005,0,0,0,0,0,0
$GC,8032,0.56,192.9,655.3,8.7,814,8040,0.00,2.25,0.00,0.000,6,0.000,0.027,2862,1754,2005,0,0,0,0,0,0
$GC,8343,0.56,192.9,627.7,8.6,830,8347,0.00,2.20,0.00,0.000,4,0.000,0.030,2862,3150,2003,0,0,0,0,0,0
$GC,8374,0.56,192.9,624.9,9.4,831,8379,0.00,2.22,0.00,0.000,6,0.000,0.028,2873,1736,2003,0,0,0,0,0,0
$GC,8691,0.56,192.9,597.0,9.0,847,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1736,2001,0,0,0,0,0,0
$GC,8996,0.56,198.9,572.0,7.6,862,9003,0.00,0.00,6.03,0.774,6,0.000,0.000,2873,1736,1980,0,0,0,0,0,0
$GC,9301,0.59,217.4,549.1,7.0,877,9322,0.00,2.20,16.05,0.889,4,0.000,0.029,2873,3149,1905,0,0,0,0,0,0
$GC,9379,0.59,217.4,542.8,8.4,880,9387,0.00,2.22,0.00,0.000,6,0.000,0.028,2884,1746,1905,0,0,0,0,0,0
$GC,9690,0.60,227.9,519.3,7.4,896,9701,0.00,0.00,9.65,0.833,6,0.000,0.000,2884,1747,1863,0,0,0,0,0,0
$GC,9996,0.60,227.9,493.0,9.5,914,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1747,1862,0,0,0,0,0,0
$GC,10307,0.60,227.9,463.1,9.8,944,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1747,1862,0,0,0,0,0,0
$GC,10617,0.60,227.9,432.1,9.9,974,10621,0.00,2.17,0.00,0.000,4,0.000,0.031,2884,3146,1862,0,0,0,0,0,0
$GC,10660,0.60,227.9,427.5,11.3,978,10664,0.00,2.17,0.00,0.000,6,0.000,0.028,2894,1748,1861,0,0,0,0,0,0
$GC,10981,0.60,227.9,393.8,10.5,1009,10985,0.00,2.15,0.00,0.000,4,0.000,0.030,2894,3162,1862,0,0,0,0,0,0
$GC,11002,0.60,227.9,391.6,10.7,1011,11006,0.00,2.20,0.00,0.000,6,0.000,0.028,2905,1749,1861,0,0,0,0,0,0
$GC,11322,0.60,227.9,356.0,11.1,1042,11326,0.00,2.17,0.00,0.000,4,0.000,0.031,2905,3152,1861,0,0,0,0,0,0
$GC,11369,0.60,227.9,350.3,11.9,1046,11377,0.00,2.20,0.00,0.000,6,0.000,0.028,2917,1744,1862,0,0,0,0,0,0
$GC,11686,0.55,227.9,312.5,12.1,1077,11690,0.12,2.20,0.00,0.000,4,0.146,0.031,2878,3148,1861,0,0,0,0,0,0
$GC,11744,0.55,227.9,306.4,9.9,1082,11751,0.00,2.17,0.00,0.000,6,0.000,0.028,2887,1749,1861,0,0,0,0,0,0
$GC,12060,0.55,227.9,277.5,8.3,1113,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1748,1861,0,0,0,0,0,0
$GC,12371,0.57,243.9,253.6,7.1,1143,12391,0.00,0.00,13.82,0.720,6,0.000,0.000,2887,1748,1796,0,0,0,0,0,0
$GC,12700,0.61,275.4,232.6,6.4,1175,12732,0.00,2.17,26.23,0.711,4,0.000,0.028,2887,3149,1668,0,0,0,0,0,0
$GC,12800,0.66,275.4,224.5,8.4,1184,12807,0.00,2.20,0.00,0.000,6,0.000,0.028,2898,1751,1670,0,0,0,0,0,0
$GC,13118,0.66,275.4,195.8,9.7,1219,13123,0.00,2.20,0.00,0.000,4,0.000,0.042,2909,353,1670,0,0,0,0,0,0
$GC,13165,0.66,275.4,190.9,10.5,1228,13172,0.00,2.10,0.00,0.000,6,0.000,0.024,2909,1741,1671,0,0,0,0,0,0
$GC,13492,0.66,275.4,157.7,10.0,1289,13498,0.00,2.17,0.00,0.000,4,0.000,0.039,2909,3143,1671,0,0,0,0,0,0
$GC,13518,0.66,275.4,154.8,10.6,1294,13525,0.00,2.15,0.00,0.000,6,0.000,0.028,2920,1760,1671,0,0,0,0,0,0
$GC,13845,0.66,275.4,120.1,10.6,1355,13852,0.00,2.15,0.00,0.000,4,0.000,0.030,2920,3145,1671,0,0,0,0,0,0
$GC,13882,0.66,275.4,115.9,11.3,1362,13889,0.00,2.17,0.00,0.000,6,0.000,0.028,2930,1747,1671,0,0,0,0,0,0
$GC,14210,0.66,275.4,82.7,11.0,1423,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1747,1671,0,0,0,0,0,0
$GC,14535,0.66,275.4,47.3,9.3,1484,14541,0.00,2.15,0.00,0.000,4,0.000,0.029,2930,3145,1671,0,0,0,0,0,0
$GC,14600,0.66,275.4,41.0,9.7,1496,14606,0.00,2.15,0.00,0.000,6,0.000,0.028,2941,1753,1671,0,0,0,0,0,0
$GC,14926,0.66,275.4,10.9,9.5,1557,14932,0.00,2.15,0.00,0.000,4,0.000,0.030,2941,3149,1671,0,0,0,0,0,0
$GC,14985,0.66,275.4,5.4,9.2,1568,14991,0.10,2.17,0.00,0.000,6,0.104,0.030,2912,1747,1671,0,0,0,0,0,0
$STATE,15021,end climb,SURFACE_DEPTH_REACHED
$STATE,15022,begin surface coast
$FINISH,0.1,1.023579
$STATE,15065,end surface coast,CONTROL_FINISHED_OK
$STATE,15065,begin surface
$SM_CCo,15137,0.00,0.000,0,0,1670,275.22
$SM_GC,1.24,6.90,0.00,0.00,0.035,0.000,0.000,185,1747,1670,-7.78,-1.50,275.22
$IRIDIUM_FIX,3637.66,-12214.86,130799,090929
$TT8_MAMPS,0.051389
$HUMID,54.13
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.10
$XPDR_PINGS,56
$ALTIM_BOTTOM_PING,651.0,48.9
$24V_AH,23.9,22.869
$10V_AH,9.8,34.264
$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,17.750,125.675,326.175,0.000,0.000,60.505,62.909,354.893,15.250,0.000,12.907,0.000,10472.888,476.500,4055.880,766.181,0.000,1760.440,0.000,3524.270,0.000,10.928,0.000
$DEVICE_MAMPS,210.925,60.593,1002.469,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.853,3361.114,2445.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286608
$DATA_FILE_SIZE,110898,1583
$CAP_FILE_SIZE,168909,0
$CFSIZE,260165632,239538176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,140107,3646.968,-12213.940,35,1.1,35,14.8