version: 66.06
glider: 503
mission: 5
dive: 154
start: 4 18 110 14 11 1
data:
$ID,503
$MISSION,5
$DIVE,154
$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,-11249.776
$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,36
$R_STBD_OVSHOOT,54
$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
$GPS1,140107,3646.968,-12213.940,35,1.1,35,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-74.8
$GPS2,141056,3647.019,-12214.013,12,1.1,12,14.8
$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,107.5,3532,-15.7,-7.865
$D_GRID,602
$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,13,-0.57,-116.8,0.0,0.0,0,53,0.00,0.00,-38.30,0.000,2,0.000,0.000,167,1745,2638,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.1,-6.3,7,86,8.82,2.15,-15.15,0.000,4,0.212,0.052,2512,400,3271,0,0,0,0,0,0
$GC,246,-0.46,-116.8,32.0,-15.4,43,252,0.12,2.12,0.00,0.000,6,0.112,0.025,2549,1793,3272,0,0,0,0,0,0
$GC,572,-0.46,-116.8,67.8,-9.3,104,579,0.00,2.20,0.00,0.000,4,0.000,0.032,2547,3202,3272,0,0,0,0,0,0
$GC,658,-0.54,-116.8,75.0,-7.9,120,664,0.00,2.20,0.00,0.000,6,0.000,0.035,2547,1787,3273,0,0,0,0,0,0
$GC,985,-0.54,-116.8,103.5,-9.1,181,991,0.00,2.15,0.00,0.000,4,0.000,0.038,2547,404,3274,0,0,0,0,0,0
$GC,1001,-0.54,-116.8,105.1,-9.4,184,1007,0.00,2.10,0.00,0.000,6,0.000,0.025,2544,1800,3273,0,0,0,0,0,0
$GC,1327,-0.54,-116.8,135.0,-9.4,245,1333,0.00,2.20,0.00,0.000,4,0.000,0.049,2545,409,3274,0,0,0,0,0,0
$GC,1369,-0.54,-116.8,139.4,-10.5,253,1376,0.00,2.08,0.00,0.000,6,0.000,0.023,2535,1795,3273,0,0,0,0,0,0
$GC,1697,-0.54,-116.8,172.3,-9.6,314,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1796,3273,0,0,0,0,0,0
$GC,2022,-0.54,-116.8,201.9,-9.1,373,2025,0.00,2.12,0.00,0.000,4,0.000,0.038,2535,403,3273,0,0,0,0,0,0
$GC,2095,-0.54,-116.8,209.0,-9.3,380,2099,0.00,2.10,0.00,0.000,6,0.000,0.023,2525,1806,3273,0,0,0,0,0,0
$GC,2417,-0.54,-116.8,240.0,-10.3,411,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1806,3273,0,0,0,0,0,0
$GC,2728,-0.54,-116.8,270.7,-9.9,441,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1807,3273,0,0,0,0,0,0
$GC,3038,-0.54,-116.8,300.0,-9.6,471,3042,0.00,2.12,0.00,0.000,4,0.000,0.038,2525,402,3273,0,0,0,0,0,0
$GC,3100,-0.54,-116.8,306.4,-9.6,476,3108,0.00,2.10,0.00,0.000,6,0.000,0.024,2521,1803,3272,0,0,0,0,0,0
$GC,3417,-0.54,-116.8,333.1,-8.3,507,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1803,3273,0,0,0,0,0,0
$GC,3728,-0.54,-116.8,359.4,-8.3,537,3731,0.00,2.10,0.00,0.000,4,0.000,0.031,2519,3194,3272,0,0,0,0,0,0
$GC,3742,-0.54,-116.8,360.6,-7.7,538,3749,0.00,2.12,0.00,0.000,6,0.000,0.025,2519,1801,3272,0,0,0,0,0,0
$GC,4058,-0.54,-116.8,387.4,-8.6,569,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1801,3272,0,0,0,0,0,0
$GC,4370,-0.54,-116.8,412.6,-7.7,599,4373,0.00,2.15,0.00,0.000,4,0.000,0.039,2519,393,3272,0,0,0,0,0,0
$GC,4400,-0.54,-116.8,415.1,-8.5,601,4406,0.00,2.12,0.00,0.000,6,0.000,0.024,2509,1805,3271,0,0,0,0,0,0
$GC,4715,-0.54,-116.8,440.3,-7.7,632,4720,0.00,2.12,0.00,0.000,4,0.000,0.031,2504,3191,3270,0,0,0,0,0,0
$GC,4731,-0.54,-116.8,441.6,-7.7,633,4737,0.00,2.12,0.00,0.000,6,0.000,0.025,2504,1802,3270,0,0,0,0,0,0
$GC,5046,-0.54,-116.8,467.4,-8.3,664,5051,0.00,2.17,0.00,0.000,4,0.000,0.039,2504,397,3270,0,0,0,0,0,0
$GC,5122,-0.54,-116.8,474.5,-9.8,671,5126,0.00,2.08,0.00,0.000,6,0.000,0.025,2495,1793,3270,0,0,0,0,0,0
$GC,5451,-0.54,-116.8,506.7,-10.1,700,5456,0.00,2.15,0.00,0.000,4,0.000,0.031,2486,3197,3269,0,0,0,0,0,0
$GC,5478,-0.54,-116.8,509.3,-9.4,701,5482,0.10,2.12,0.00,0.000,6,0.106,0.025,2525,1804,3269,0,0,0,0,0,0
$GC,5801,-0.59,-116.8,534.7,-7.7,717,5804,0.00,2.12,0.00,0.000,4,0.000,0.040,2525,400,3270,0,0,0,0,0,0
$GC,5837,-0.59,-116.8,538.0,-8.9,719,5841,0.00,2.08,0.00,0.000,6,0.000,0.025,2522,1797,3269,0,0,0,0,0,0
$GC,6165,-0.64,-116.8,562.2,-6.8,735,6168,0.00,2.15,0.00,0.000,4,0.000,0.039,2522,396,3269,0,0,0,0,0,0
$STATE,6178,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6178,begin apogee
$GC,6183,-0.14,0.0,563.3,6.8,736,6281,0.40,0.00,91.53,0.913,6,0.098,0.000,2658,1759,2792,0,0,0,0,0,0
$STATE,6281,end apogee,CONTROL_FINISHED_OK
$STATE,6281,begin climb
$GC,6283,0.57,116.8,566.0,0.0,741,6385,0.60,0.00,96.65,0.885,6,0.061,0.000,2887,1759,2315,0,0,0,0,0,0
$GC,6688,0.51,127.2,543.3,7.4,761,6703,0.00,2.20,8.65,0.780,4,0.000,0.030,2886,3144,2273,0,0,0,0,0,0
$GC,6789,0.46,146.1,535.8,7.0,765,6815,0.10,2.20,17.05,0.841,6,0.120,0.027,2851,1750,2196,0,0,0,0,0,0
$GC,7118,0.47,157.0,514.1,7.4,782,7129,0.00,0.00,10.32,0.805,6,0.000,0.000,2851,1749,2152,0,0,0,0,0,0
$GC,7424,0.49,170.6,492.1,7.2,802,7438,0.00,0.00,12.73,0.821,6,0.000,0.000,2851,1750,2096,0,0,0,0,0,0
$GC,7746,0.53,204.4,469.2,6.3,833,7780,0.00,2.28,28.60,0.844,4,0.000,0.030,2851,3153,1958,0,0,0,0,0,0
$GC,7802,0.60,228.7,465.6,6.8,838,7830,0.00,2.22,21.23,0.817,6,0.000,0.027,2859,1756,1858,0,0,0,0,0,0
$GC,8139,0.67,247.5,442.0,7.0,871,8161,0.15,2.25,16.20,0.806,4,0.077,0.041,2945,343,1782,0,0,0,0,0,0
$GC,8225,0.58,247.5,431.9,13.4,879,8229,0.20,2.15,0.00,0.000,6,0.121,0.025,2882,1758,1782,0,0,0,0,0,0
$GC,8539,0.58,247.5,402.8,9.2,909,8543,0.00,2.15,0.00,0.000,4,0.000,0.030,2882,3138,1782,0,0,0,0,0,0
$GC,8586,0.58,247.5,398.0,9.8,913,8593,0.00,2.20,0.00,0.000,6,0.000,0.028,2892,1747,1782,0,0,0,0,0,0
$GC,8903,0.58,247.5,369.4,8.4,944,8906,0.00,2.20,0.00,0.000,4,0.000,0.042,2903,344,1783,0,0,0,0,0,0
$GC,8966,0.58,247.5,363.2,9.8,950,8971,0.00,2.12,0.00,0.000,6,0.000,0.024,2903,1752,1782,0,0,0,0,0,0
$GC,9287,0.58,247.5,331.6,10.0,981,9291,0.00,2.15,0.00,0.000,4,0.000,0.031,2903,3147,1782,0,0,0,0,0,0
$GC,9334,0.58,247.5,326.4,11.1,985,9342,0.00,2.20,0.00,0.000,6,0.000,0.028,2914,1741,1782,0,0,0,0,0,0
$GC,9650,0.58,247.5,292.8,10.5,1016,9655,0.00,2.17,0.00,0.000,4,0.000,0.030,2914,3148,1782,0,0,0,0,0,0
$GC,9676,0.58,247.5,289.8,11.9,1018,9684,0.10,2.20,0.00,0.000,6,0.156,0.028,2888,1739,1782,0,0,0,0,0,0
$GC,9993,0.58,247.5,259.7,9.9,1049,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1739,1782,0,0,0,0,0,0
$GC,10303,0.58,247.5,230.3,8.7,1079,10307,0.00,2.15,0.00,0.000,4,0.000,0.042,2897,343,1782,0,0,0,0,0,0
$GC,10339,0.58,247.5,226.6,10.2,1082,10347,0.00,2.12,0.00,0.000,6,0.000,0.024,2897,1753,1782,0,0,0,0,0,0
$GC,10657,0.58,247.5,194.2,9.3,1118,10664,0.00,2.15,0.00,0.000,4,0.000,0.031,2898,3152,1782,0,0,0,0,0,0
$GC,10738,0.58,247.5,186.3,9.9,1133,10744,0.00,2.15,0.00,0.000,6,0.000,0.028,2908,1753,1782,0,0,0,0,0,0
$GC,11064,0.58,247.5,153.0,10.4,1194,11071,0.00,2.17,0.00,0.000,4,0.000,0.041,2919,355,1781,0,0,0,0,0,0
$GC,11123,0.58,247.5,146.8,10.6,1205,11130,0.08,2.08,0.00,0.000,6,0.102,0.025,2888,1743,1782,0,0,0,0,0,0
$GC,11451,0.68,288.6,123.5,6.0,1266,11488,0.00,2.17,32.75,0.643,4,0.000,0.040,2897,348,1615,0,0,0,0,0,0
$GC,11563,0.75,297.4,116.2,7.5,1287,11580,0.10,2.15,9.27,0.589,6,0.048,0.025,2973,1760,1580,0,0,0,0,0,0
$GC,11900,0.66,297.4,68.7,13.2,1350,11906,0.20,2.17,0.00,0.000,4,0.132,0.030,2909,3153,1582,0,0,0,0,0,0
$GC,11954,0.70,297.4,63.5,8.2,1360,11960,0.00,2.17,0.00,0.000,6,0.000,0.028,2917,1755,1581,0,0,0,0,0,0
$GC,12280,0.74,297.4,33.5,9.4,1421,12286,0.00,2.15,0.00,0.000,4,0.000,0.031,2917,3142,1582,0,0,0,0,0,0
$GC,12301,0.78,297.4,31.4,9.7,1425,12307,0.00,2.15,0.00,0.000,6,0.000,0.028,2928,1753,1581,0,0,0,0,0,0
$GC,12627,0.85,311.0,4.2,7.3,1486,12645,0.12,2.15,11.95,0.550,4,0.089,0.028,3001,3157,1522,0,0,0,0,0,0
$STATE,12648,end climb,SURFACE_DEPTH_REACHED
$STATE,12648,begin surface coast
$FINISH,0.2,1.011091
$STATE,12681,end surface coast,CONTROL_FINISHED_OK
$STATE,12681,begin surface
$SM_CCo,12755,0.00,0.000,0,0,1523,311.04
$SM_GC,1.23,7.20,0.00,0.00,0.038,0.000,0.000,195,1799,1523,-7.76,-0.03,311.04
$IRIDIUM_FIX,3632.29,-12214.86,130799,141455
$TT8_MAMPS,0.051389
$HUMID,54.44
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.30
$XPDR_PINGS,73
$ALTIM_BOTTOM_PING,550.8,22.2
$24V_AH,24.0,22.977
$10V_AH,9.8,34.442
$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,18.300,116.100,356.925,0.000,0.000,61.870,111.628,237.865,19.000,0.000,14.590,0.000,8380.600,463.809,3816.422,647.364,0.000,1677.142,0.000,3308.687,0.000,7.258,0.000
$DEVICE_MAMPS,212.459,52.156,913.497,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.213,3189.194,2376.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286608
$DATA_FILE_SIZE,104601,1496
$CAP_FILE_SIZE,154653,0
$CFSIZE,260165632,239468544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180410,174402,3646.532,-12211.997,8,1.5,8,14.8