version: 66.06
glider: 503
mission: 5
dive: 161
start: 4 20 110 2 14 13
data:
$ID,503
$MISSION,5
$DIVE,161
$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,-3
$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,-11375.153
$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,50
$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
$GPS1,020531,3642.780,-12207.555,38,1.0,38,14.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.3
$GPS2,021408,3642.724,-12207.557,11,1.1,11,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,TWO
$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,297.8,8959,-15.7,-7.865
$D_GRID,1225
$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,-38.47,0.000,2,0.000,0.000,173,1760,2555,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.1,-6.4,7,86,8.77,2.12,-17.02,0.000,4,0.208,0.049,2513,399,3270,0,0,0,0,0,0
$GC,161,-0.46,-116.8,19.9,-15.4,27,167,0.12,2.15,0.00,0.000,6,0.110,0.025,2550,1802,3271,0,0,0,0,0,0
$GC,486,-0.46,-116.8,57.5,-9.5,88,493,0.00,2.17,0.00,0.000,4,0.000,0.042,2547,3191,3272,0,0,0,0,0,0
$GC,545,-0.53,-116.8,62.6,-8.7,99,552,0.00,2.15,0.00,0.000,6,0.000,0.025,2548,1803,3272,0,0,0,0,0,0
$GC,872,-0.53,-116.8,90.5,-8.5,160,878,0.00,2.17,0.00,0.000,4,0.000,0.038,2547,406,3272,0,0,0,0,0,0
$GC,941,-0.53,-116.8,97.3,-10.0,173,948,0.00,2.10,0.00,0.000,6,0.000,0.024,2544,1800,3272,0,0,0,0,0,0
$GC,1268,-0.53,-116.8,128.2,-8.9,234,1274,0.00,2.20,0.00,0.000,4,0.000,0.039,2544,406,3273,0,0,0,0,0,0
$GC,1305,-0.53,-116.8,131.9,-10.0,241,1312,0.00,2.10,0.00,0.000,6,0.000,0.023,2535,1803,3273,0,0,0,0,0,0
$GC,1632,-0.53,-116.8,161.9,-9.0,302,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1804,3273,0,0,0,0,0,0
$GC,1957,-0.53,-116.8,191.8,-9.6,363,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1805,3273,0,0,0,0,0,0
$GC,2280,-0.53,-116.8,220.1,-9.0,403,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1805,3273,0,0,0,0,0,0
$GC,2591,-0.58,-116.8,245.9,-8.2,433,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1805,3272,0,0,0,0,0,0
$GC,2902,-0.62,-116.8,271.5,-8.2,463,2903,0.10,0.00,0.00,0.000,6,0.102,0.000,2467,1805,3272,0,0,0,0,0,0
$GC,3211,-0.53,-116.8,311.1,-12.6,493,3214,0.20,2.20,0.00,0.000,4,0.122,0.038,2532,403,3271,0,0,0,0,0,0
$GC,3254,-0.53,-116.8,315.3,-9.6,497,3257,0.00,2.05,0.00,0.000,6,0.000,0.024,2524,1805,3272,0,0,0,0,0,0
$GC,3573,-0.53,-116.8,341.1,-7.5,528,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1805,3271,0,0,0,0,0,0
$GC,3884,-0.53,-116.8,365.7,-8.6,558,3888,0.00,2.17,0.00,0.000,4,0.000,0.038,2523,400,3270,0,0,0,0,0,0
$GC,3931,-0.53,-116.8,370.0,-9.1,562,3938,0.00,2.10,0.00,0.000,6,0.000,0.023,2519,1800,3270,0,0,0,0,0,0
$GC,4247,-0.53,-116.8,395.8,-8.0,593,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1800,3270,0,0,0,0,0,0
$GC,4559,-0.53,-116.8,419.8,-7.4,623,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1800,3270,0,0,0,0,0,0
$GC,4869,-0.53,-116.8,441.6,-6.9,653,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1800,3269,0,0,0,0,0,0
$GC,5179,-0.53,-116.8,464.2,-7.4,683,5182,0.00,2.17,0.00,0.000,4,0.000,0.041,2519,399,3269,0,0,0,0,0,0
$GC,5205,-0.53,-116.8,466.2,-7.5,685,5211,0.00,2.08,0.00,0.000,6,0.000,0.023,2509,1790,3269,0,0,0,0,0,0
$GC,5520,-0.53,-116.8,490.8,-7.6,716,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1791,3269,0,0,0,0,0,0
$GC,5838,-0.53,-116.8,516.5,-8.1,737,5842,0.00,2.15,0.00,0.000,4,0.000,0.032,2508,3192,3268,0,0,0,0,0,0
$GC,5912,-0.60,-116.8,522.3,-7.4,740,5916,0.00,2.12,0.00,0.000,6,0.000,0.025,2508,1802,3268,0,0,0,0,0,0
$GC,6228,-0.60,-116.8,550.0,-8.8,756,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1803,3268,0,0,0,0,0,0
$GC,6534,-0.60,-116.8,577.0,-8.6,771,6537,0.00,2.15,0.00,0.000,4,0.000,0.032,2508,3192,3268,0,0,0,0,0,0
$GC,6570,-0.67,-116.8,579.9,-7.8,772,6577,0.00,2.12,0.00,0.000,6,0.000,0.025,2508,1802,3267,0,0,0,0,0,0
$GC,6880,-0.67,-116.8,604.9,-7.6,788,6884,0.00,2.17,0.00,0.000,4,0.000,0.040,2508,400,3267,0,0,0,0,0,0
$GC,6970,-0.67,-116.8,612.4,-8.8,792,6975,0.00,2.10,0.00,0.000,6,0.000,0.023,2498,1801,3267,0,0,0,0,0,0
$GC,7292,-0.67,-116.8,637.8,-7.7,808,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1802,3267,0,0,0,0,0,0
$GC,7597,-0.67,-116.8,659.9,-7.0,823,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1802,3266,0,0,0,0,0,0
$GC,7902,-0.67,-116.8,681.0,-7.0,838,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1803,3266,0,0,0,0,0,0
$GC,8208,-0.67,-116.8,703.9,-7.8,853,8211,0.00,2.15,0.00,0.000,4,0.000,0.039,2498,400,3265,0,0,0,0,0,0
$GC,8238,-0.67,-116.8,706.6,-9.8,854,8243,0.00,2.12,0.00,0.000,6,0.000,0.024,2493,1810,3264,0,0,0,0,0,0
$GC,8554,-0.67,-116.8,733.3,-8.9,870,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1810,3264,0,0,0,0,0,0
$GC,8861,-0.67,-116.8,759.2,-8.2,885,8861,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1811,3264,0,0,0,0,0,0
$GC,9165,-0.67,-116.8,784.5,-8.3,900,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1811,3263,0,0,0,0,0,0
$GC,9471,-0.67,-116.8,809.2,-8.3,915,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,1811,3263,0,0,0,0,0,0
$GC,9776,-0.67,-116.8,832.4,-7.3,930,9780,0.00,2.12,0.00,0.000,4,0.000,0.032,2493,3192,3263,0,0,0,0,0,0
$GC,9807,-0.73,-116.8,834.6,-6.6,931,9811,0.00,2.12,0.00,0.000,6,0.000,0.026,2493,1806,3263,0,0,0,0,0,0
$GC,10124,-0.73,-116.8,855.0,-6.5,947,10127,0.00,2.15,0.00,0.000,4,0.000,0.040,2493,402,3262,0,0,0,0,0,0
$GC,10202,-0.73,-116.8,861.0,-7.7,950,10210,0.00,2.10,0.00,0.000,6,0.000,0.024,2484,1799,3263,0,0,0,0,0,0
$GC,10513,-0.73,-116.8,881.5,-6.3,966,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1799,3262,0,0,0,0,0,0
$GC,10819,-0.73,-116.8,905.6,-8.8,981,10823,0.00,2.17,0.00,0.000,4,0.000,0.041,2483,393,3262,0,0,0,0,0,0
$GC,10856,-0.73,-116.8,909.2,-10.1,983,10859,0.00,2.10,0.00,0.000,6,0.000,0.026,2479,1789,3261,0,0,0,0,0,0
$GC,11182,-0.73,-116.8,940.3,-9.8,999,11186,0.00,2.15,0.00,0.000,4,0.000,0.041,2479,402,3261,0,0,0,0,0,0
$GC,11218,-0.73,-116.8,944.1,-10.5,1000,11225,0.00,2.12,0.00,0.000,6,0.000,0.025,2470,1800,3262,0,0,0,0,0,0
$GC,11529,-0.73,-116.8,974.7,-9.3,1016,11529,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1800,3261,0,0,0,0,0,0
$STATE,11711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11711,begin apogee
$GC,11715,-0.14,0.0,992.1,9.6,1025,11814,0.55,0.00,95.12,1.206,6,0.103,0.000,2657,1801,2792,0,0,0,0,0,0
$STATE,11814,end apogee,CONTROL_FINISHED_OK
$STATE,11814,begin climb
$GC,11816,0.57,116.8,995.1,0.0,1030,11926,0.60,2.28,103.65,1.172,4,0.058,0.035,2886,3152,2315,0,0,0,0,0,0
$GC,11978,0.46,116.8,990.0,8.4,1038,11983,0.12,2.33,0.00,0.000,6,0.128,0.031,2856,1755,2312,0,0,0,0,0,0
$GC,12304,0.46,116.8,961.0,8.9,1054,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1755,2306,0,0,0,0,0,0
$GC,12611,0.46,116.8,934.9,8.5,1069,12612,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1755,2303,0,0,0,0,0,0
$GC,12915,0.46,121.4,909.9,7.7,1084,12919,0.00,2.20,0.00,0.000,4,0.000,0.032,2857,3149,2302,0,0,0,0,0,0
$GC,12946,0.41,121.4,907.4,8.4,1085,12951,0.08,2.20,0.00,0.000,6,0.140,0.030,2839,1750,2300,0,0,0,0,0,0
$GC,13263,0.45,155.4,888.0,6.3,1101,13299,0.00,2.28,31.52,1.118,4,0.000,0.044,2849,344,2157,0,0,0,0,0,0
$GC,13346,0.45,155.4,881.9,8.3,1104,13350,0.00,2.17,0.00,0.000,6,0.000,0.025,2849,1738,2157,0,0,0,0,0,0
$GC,13666,0.45,155.4,856.5,8.0,1120,13671,0.00,2.22,0.00,0.000,4,0.000,0.034,2849,3151,2156,0,0,0,0,0,0
$GC,13688,0.45,155.4,854.7,8.6,1121,13692,0.00,2.22,0.00,0.000,6,0.000,0.030,2859,1747,2155,0,0,0,0,0,0
$GC,14015,0.47,171.4,829.7,7.1,1137,14035,0.00,2.25,14.60,1.050,4,0.000,0.045,2870,340,2093,0,0,0,0,0,0
$GC,14098,0.47,171.4,823.1,8.6,1141,14102,0.00,2.17,0.00,0.000,6,0.000,0.025,2870,1750,2093,0,0,0,0,0,0
$GC,14425,0.49,180.7,800.0,7.4,1157,14439,0.00,2.22,9.30,0.980,4,0.000,0.034,2870,3150,2055,0,0,0,0,0,0
$GC,14482,0.49,180.7,794.7,10.5,1159,14488,0.00,2.22,0.00,0.000,6,0.000,0.029,2881,1748,2055,0,0,0,0,0,0
$GC,14794,0.49,180.7,767.1,8.2,1175,14797,0.00,2.17,0.00,0.000,4,0.000,0.031,2881,3158,2055,0,0,0,0,0,0
$GC,14819,0.44,180.7,764.7,9.2,1176,14823,0.12,2.22,0.00,0.000,6,0.120,0.029,2847,1748,2055,0,0,0,0,0,0
$GC,15134,0.47,207.2,743.5,6.7,1192,15163,0.00,2.30,23.42,1.032,4,0.000,0.044,2857,342,1947,0,0,0,0,0,0
$GC,15217,0.48,210.3,736.9,7.7,1196,15227,0.00,2.17,4.75,0.759,6,0.000,0.025,2857,1750,1933,0,0,0,0,0,0
$GC,15543,0.48,210.3,710.2,8.1,1212,15544,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1750,1933,0,0,0,0,0,0
$GC,15849,0.48,210.3,683.6,9.0,1227,15853,0.00,2.22,0.00,0.000,4,0.000,0.043,2868,339,1932,0,0,1,0,0,0
$GC,15874,0.48,210.3,681.1,9.5,1228,15879,0.00,2.17,0.00,0.000,6,0.000,0.025,2868,1755,1932,0,0,0,0,0,0
$GC,16195,0.48,210.3,649.1,10.3,1244,16200,0.00,2.15,0.00,0.000,4,0.000,0.031,2868,3140,1932,0,0,0,0,0,0
$GC,16222,0.48,210.3,646.3,10.5,1245,16226,0.00,2.17,0.00,0.000,6,0.000,0.028,2878,1750,1931,0,0,0,0,0,0
$GC,16544,0.48,210.3,609.8,11.7,1261,16547,0.00,2.20,0.00,0.000,4,0.000,0.031,2878,3149,1931,0,0,0,0,0,0
$GC,16607,0.48,210.3,602.3,11.7,1264,16611,0.10,2.17,0.00,0.000,6,0.112,0.028,2851,1751,1931,0,0,0,0,0,0
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$STATE,23424,end climb,SURFACE_DEPTH_REACHED
$STATE,23424,begin surface coast
$FINISH,0.2,1.024967
$STATE,23468,end surface coast,CONTROL_FINISHED_OK
$STATE,23468,begin surface
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$XPDR_PINGS,55
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$10V_AH,9.8,35.942
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246388
$DATA_FILE_SIZE,145528,2080
$CAP_FILE_SIZE,229902,0
$CFSIZE,260165632,238600192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200410,084730,3643.919,-12210.150,39,1.0,39,14.8