version: 66.06
glider: 503
mission: 5
dive: 162
start: 4 20 110 8 56 49
data:
$ID,503
$MISSION,5
$DIVE,162
$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,-11390.311
$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,38
$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
$GPS1,084730,3643.919,-12210.150,39,1.0,39,14.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.8
$GPS2,085644,3644.038,-12210.174,12,1.0,12,14.8
$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,308.5,4533,-15.7,-7.865
$D_GRID,800
$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,-38.50,0.000,2,0.000,0.000,186,1758,2621,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.2,-6.6,7,87,8.75,2.20,-15.12,0.000,4,0.209,0.054,2509,399,3271,0,0,0,0,0,0
$GC,327,-0.48,-116.8,43.6,-13.8,58,333,0.10,2.12,0.00,0.000,6,0.112,0.024,2538,1799,3273,0,0,0,0,0,0
$GC,653,-0.48,-116.8,78.8,-9.8,119,659,0.00,2.20,0.00,0.000,4,0.000,0.038,2538,397,3273,0,0,0,0,0,0
$GC,733,-0.48,-116.8,86.8,-9.4,134,740,0.00,2.12,0.00,0.000,6,0.000,0.024,2534,1802,3273,0,0,0,0,0,0
$GC,1060,-0.48,-116.8,117.3,-9.9,195,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1801,3274,0,0,0,0,0,0
$GC,1386,-0.48,-116.8,147.3,-8.6,256,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1802,3274,0,0,0,0,0,0
$GC,1711,-0.48,-116.8,173.9,-7.7,317,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1803,3274,0,0,0,0,0,0
$GC,2036,-0.48,-116.8,202.1,-9.0,376,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1803,3274,0,0,0,0,0,0
$GC,2346,-0.48,-116.8,230.9,-9.4,406,2350,0.00,2.15,0.00,0.000,4,0.000,0.031,2534,3199,3273,0,0,0,0,0,0
$GC,2415,-0.57,-116.8,237.1,-8.6,412,2422,0.00,2.15,0.00,0.000,6,0.000,0.025,2534,1794,3273,0,0,0,0,0,0
$GC,2731,-0.57,-116.8,266.0,-8.7,443,2735,0.00,2.15,0.00,0.000,4,0.000,0.038,2534,406,3273,0,0,0,0,0,0
$GC,2773,-0.57,-116.8,269.9,-9.6,447,2777,0.00,2.08,0.00,0.000,6,0.000,0.024,2526,1796,3273,0,0,0,0,0,0
$GC,3093,-0.57,-116.8,295.7,-7.9,478,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1796,3273,0,0,0,0,0,0
$GC,3405,-0.57,-116.8,318.0,-7.2,508,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1796,3273,0,0,0,0,0,0
$GC,3715,-0.57,-116.8,340.6,-7.4,538,3719,0.00,2.15,0.00,0.000,4,0.000,0.038,2526,405,3272,0,0,0,0,0,0
$GC,3747,-0.57,-116.8,343.2,-8.1,541,3751,0.00,2.08,0.00,0.000,6,0.000,0.024,2521,1794,3272,0,0,0,0,0,0
$GC,4067,-0.57,-116.8,368.7,-8.2,572,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1794,3271,0,0,0,0,0,0
$GC,4378,-0.57,-116.8,392.1,-7.5,602,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1795,3271,0,0,0,0,0,0
$GC,4689,-0.57,-116.8,414.9,-7.3,632,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1794,3270,0,0,0,0,0,0
$GC,4999,-0.57,-116.8,438.3,-7.3,662,5003,0.00,2.12,0.00,0.000,4,0.000,0.038,2522,401,3270,0,0,0,0,0,0
$GC,5074,-0.57,-116.8,444.6,-9.1,669,5077,0.00,2.08,0.00,0.000,6,0.000,0.024,2512,1792,3270,0,0,0,0,0,0
$GC,5394,-0.57,-116.8,471.2,-8.3,700,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1792,3270,0,0,0,0,0,0
$GC,5704,-0.57,-116.8,496.3,-8.0,730,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1791,3270,0,0,0,0,0,0
$GC,6020,-0.57,-116.8,519.9,-7.3,748,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1792,3269,0,0,0,0,0,0
$GC,6327,-0.57,-116.8,541.0,-7.1,763,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1792,3269,0,0,0,0,0,0
$GC,6631,-0.57,-116.8,562.7,-7.3,778,6635,0.00,2.15,0.00,0.000,4,0.000,0.032,2506,3195,3268,0,0,0,0,0,0
$GC,6706,-0.64,-116.8,567.7,-6.0,781,6710,0.00,2.12,0.00,0.000,6,0.000,0.025,2506,1807,3268,0,0,0,0,0,0
$GC,7022,-0.64,-116.8,589.3,-7.3,797,7025,0.00,2.15,0.00,0.000,4,0.000,0.039,2505,400,3268,0,0,0,0,0,0
$GC,7128,-0.64,-116.8,599.1,-10.5,802,7132,0.00,2.08,0.00,0.000,6,0.000,0.023,2495,1794,3267,0,0,0,0,0,0
$GC,7454,-0.64,-116.8,632.1,-10.6,818,7458,0.00,2.15,0.00,0.000,4,0.000,0.031,2495,3193,3267,0,0,0,0,0,0
$GC,7528,-0.69,-116.8,640.5,-11.5,821,7533,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1805,3267,0,0,0,0,0,0
$GC,7845,-0.69,-116.8,675.7,-10.5,837,7848,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,401,3267,0,0,0,0,0,0
$GC,7961,-0.69,-116.8,689.1,-11.4,842,7966,0.00,2.10,0.00,0.000,6,0.000,0.024,2491,1804,3266,0,0,0,0,0,0
$GC,8277,-0.69,-116.8,722.3,-10.4,858,8281,0.00,2.17,0.00,0.000,4,0.000,0.039,2491,408,3266,0,0,0,0,0,0
$GC,8330,-0.69,-116.8,728.7,-11.4,860,8334,0.00,2.08,0.00,0.000,6,0.000,0.023,2481,1799,3266,0,0,0,0,0,0
$STATE,8380,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8380,begin apogee
$GC,8383,-0.14,0.0,734.0,10.5,863,8483,0.50,0.00,93.00,1.029,6,0.100,0.000,2655,1799,2791,0,0,0,0,0,0
$STATE,8483,end apogee,CONTROL_FINISHED_OK
$STATE,8483,begin climb
$GC,8485,0.57,116.8,737.2,0.0,868,8592,0.65,2.47,99.60,1.000,4,0.055,0.041,2909,355,2315,0,0,0,0,0,0
$GC,8629,0.43,123.8,734.4,7.5,875,8641,0.20,2.20,7.20,0.816,6,0.127,0.023,2845,1744,2287,0,0,0,0,0,0
$GC,8945,0.51,186.8,715.6,5.0,890,9000,0.00,0.00,53.55,0.987,6,0.000,0.000,2845,1744,2030,0,0,0,0,0,0
$GC,9291,0.54,216.9,691.9,6.5,907,9318,0.00,0.00,25.85,0.962,6,0.000,0.000,2845,1744,1907,0,0,0,0,0,0
$GC,9616,0.66,269.0,672.5,5.5,923,9665,0.17,2.33,44.12,0.967,4,0.067,0.044,2940,356,1695,0,0,0,0,0,0
$GC,9681,0.57,269.0,665.7,9.9,926,9686,0.15,2.20,0.00,0.000,6,0.114,0.024,2889,1751,1695,0,0,0,0,0,0
$GC,10003,0.57,269.0,633.3,10.2,942,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1751,1696,0,0,0,0,0,0
$GC,10308,0.57,269.0,601.7,10.2,957,10312,0.00,2.17,0.00,0.000,4,0.000,0.031,2889,3151,1696,0,0,0,0,0,0
$GC,10372,0.57,269.0,594.4,11.8,960,10376,0.00,2.17,0.00,0.000,6,0.000,0.028,2898,1761,1696,0,0,0,0,0,0
$GC,10698,0.57,269.0,556.3,11.4,976,10702,0.00,2.22,0.00,0.000,4,0.000,0.043,2910,350,1696,0,0,0,0,0,0
$GC,10740,0.57,269.0,551.3,11.8,978,10745,0.00,2.12,0.00,0.000,6,0.000,0.024,2909,1755,1696,0,0,0,0,0,0
$GC,11066,0.57,269.0,513.3,11.6,994,11071,0.00,2.15,0.00,0.000,4,0.000,0.030,2910,3151,1695,0,0,0,0,0,0
$GC,11119,0.57,269.0,506.9,12.1,996,11124,0.10,2.17,0.00,0.000,6,0.113,0.028,2882,1752,1696,0,0,0,0,0,0
$GC,11440,0.57,269.0,475.7,9.8,1023,11441,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1751,1695,0,0,0,0,0,0
$GC,11751,0.57,269.0,446.2,9.6,1053,11754,0.00,2.15,0.00,0.000,4,0.000,0.031,2882,3153,1696,0,0,0,0,0,0
$GC,11771,0.57,269.0,444.0,10.5,1055,11775,0.00,2.17,0.00,0.000,6,0.000,0.029,2892,1754,1696,0,0,0,0,0,0
$GC,12091,0.57,269.0,409.6,10.6,1086,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1753,1695,0,0,0,0,0,0
$GC,12403,0.57,269.0,375.4,11.2,1116,12406,0.00,2.15,0.00,0.000,4,0.000,0.031,2892,3145,1695,0,0,0,0,0,0
$GC,12423,0.57,269.0,372.9,11.5,1118,12427,0.00,2.15,0.00,0.000,6,0.000,0.028,2902,1753,1695,0,0,0,0,0,0
$GC,12744,0.57,269.0,335.7,11.2,1149,12745,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1753,1695,0,0,0,0,0,0
$GC,13055,0.57,269.0,300.8,10.8,1179,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1753,1696,0,0,0,0,0,0
$GC,13366,0.57,269.0,268.9,9.9,1209,13369,0.00,2.12,0.00,0.000,4,0.000,0.031,2902,3149,1695,0,0,0,0,0,0
$GC,13391,0.57,269.0,266.1,10.9,1211,13395,0.00,2.15,0.00,0.000,6,0.000,0.028,2913,1754,1695,0,0,0,0,0,0
$GC,13711,0.57,269.0,232.5,10.2,1242,13716,0.00,2.17,0.00,0.000,4,0.000,0.042,2924,354,1695,0,0,0,0,0,0
$GC,13727,0.57,269.0,230.8,11.2,1243,13734,0.15,2.10,0.00,0.000,6,0.125,0.024,2872,1750,1695,0,0,0,0,0,0
$GC,14043,0.64,269.0,205.8,8.0,1274,14047,0.10,2.15,0.00,0.000,4,0.099,0.031,2933,3140,1695,0,0,0,0,0,0
$GC,14064,0.64,269.0,203.8,10.0,1276,14068,0.10,2.15,0.00,0.000,6,0.117,0.028,2906,1748,1695,0,0,0,0,0,0
$GC,14390,0.64,269.0,170.8,10.6,1333,14396,0.00,2.15,0.00,0.000,4,0.000,0.029,2906,3146,1695,0,0,0,0,0,0
$GC,14411,0.64,269.0,168.4,10.5,1337,14417,0.00,2.15,0.00,0.000,6,0.000,0.028,2915,1752,1695,0,0,0,0,0,0
$GC,14737,0.64,269.0,134.4,9.5,1398,14744,0.00,2.15,0.00,0.000,4,0.000,0.029,2915,3149,1695,0,0,0,0,0,0
$GC,14769,0.64,269.0,131.1,10.1,1404,14776,0.00,2.17,0.00,0.000,6,0.000,0.032,2926,1749,1695,0,0,0,0,0,0
$GC,15096,0.64,269.0,98.3,10.7,1465,15102,0.00,2.15,0.00,0.000,4,0.000,0.030,2925,3148,1695,0,0,0,0,0,0
$GC,15117,0.64,269.0,95.7,11.7,1469,15123,0.00,2.15,0.00,0.000,6,0.000,0.028,2936,1752,1695,0,0,0,0,0,0
$GC,15444,0.64,269.0,58.6,11.4,1530,15450,0.00,2.17,0.00,0.000,4,0.000,0.041,2947,353,1695,0,0,0,0,0,0
$GC,15487,0.64,269.0,53.6,11.4,1538,15493,0.10,2.10,0.00,0.000,6,0.104,0.026,2908,1749,1695,0,0,0,0,0,0
$GC,15814,0.69,271.3,24.9,7.8,1599,15820,0.00,0.00,3.92,0.440,6,0.000,0.000,2908,1749,1684,0,0,0,0,0,0
$STATE,16134,end climb,SURFACE_DEPTH_REACHED
$STATE,16134,begin surface coast
$FINISH,0.2,1.024523
$STATE,16182,end surface coast,CONTROL_FINISHED_OK
$STATE,16182,begin surface
$SM_CCo,16254,0.00,0.000,0,0,1684,271.79
$SM_GC,1.56,6.88,0.00,0.00,0.035,0.000,0.000,187,1749,1684,-7.76,-1.41,271.79
$IRIDIUM_FIX,3626.92,-12243.31,150799,020235
$TT8_MAMPS,0.052156
$HUMID,54.88
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,15.50
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,701.2,42.7
$24V_AH,23.8,23.916
$10V_AH,9.8,36.139
$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,17.950,107.775,327.250,0.000,0.000,27.119,35.754,354.226,17.000,0.000,14.529,0.000,11355.439,454.566,4269.398,680.348,0.000,1765.953,0.000,3692.627,0.000,12.711,0.000
$DEVICE_MAMPS,208.624,54.457,1029.314,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1156.633,3521.477,2561.971,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246400
$DATA_FILE_SIZE,117184,1668
$CAP_FILE_SIZE,171701,0
$CFSIZE,260165632,238567424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,132855,3645.462,-12211.714,53,1.0,53,14.8