version: 66.06
glider: 503
mission: 5
dive: 163
start: 4 20 110 13 37 14
data:
$ID,503
$MISSION,5
$DIVE,163
$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,-11405.202
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,132855,3645.462,-12211.714,53,1.0,53,14.8
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.5
$GPS2,133708,3645.453,-12211.624,12,1.2,12,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,THREE
$TGT_LATLONG,3650.000,-12215.000
$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,314.5,9796,-15.7,-7.865
$D_GRID,681
$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,-116.8,0.0,0.0,0,53,0.00,0.00,-38.90,0.000,2,0.000,0.000,159,1750,2700,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.1,-5.3,7,82,8.88,2.12,-13.05,0.000,4,0.209,0.050,2513,391,3269,0,0,0,0,0,0
$GC,204,-0.48,-116.8,26.6,-13.3,35,210,0.08,2.15,0.00,0.000,6,0.126,0.024,2533,1802,3270,0,0,0,0,0,0
$GC,529,-0.48,-116.8,59.6,-9.4,96,536,0.00,2.20,0.00,0.000,4,0.000,0.038,2533,400,3271,0,0,0,0,0,0
$GC,626,-0.48,-116.8,69.8,-10.7,114,632,0.00,2.12,0.00,0.000,6,0.000,0.025,2526,1801,3271,0,0,0,0,0,0
$GC,953,-0.48,-116.8,105.9,-11.2,175,959,0.00,2.20,0.00,0.000,4,0.000,0.038,2525,397,3271,0,0,0,0,0,0
$GC,996,-0.48,-116.8,111.3,-12.3,183,1002,0.00,2.12,0.00,0.000,6,0.000,0.025,2520,1804,3271,0,0,0,0,0,0
$GC,1322,-0.48,-116.8,149.5,-11.0,244,1329,0.00,2.15,0.00,0.000,4,0.000,0.032,2520,3199,3271,0,0,0,0,0,0
$GC,1392,-0.53,-116.8,156.7,-9.9,257,1398,0.00,2.15,0.00,0.000,6,0.000,0.025,2521,1796,3271,0,0,0,0,0,0
$GC,1718,-0.53,-116.8,190.7,-10.3,318,1725,0.00,2.17,0.00,0.000,4,0.000,0.038,2521,393,3271,0,0,0,0,0,0
$GC,1766,-0.53,-116.8,196.1,-11.7,327,1773,0.00,2.10,0.00,0.000,6,0.000,0.024,2511,1797,3271,0,0,0,0,0,0
$GC,2084,-0.53,-116.8,228.7,-9.9,361,2087,0.00,2.17,0.00,0.000,4,0.000,0.038,2510,399,3272,0,0,0,0,0,0
$GC,2136,-0.53,-116.8,234.5,-10.8,366,2141,0.00,2.10,0.00,0.000,6,0.000,0.023,2502,1802,3272,0,0,0,0,0,0
$GC,2457,-0.53,-116.8,269.0,-10.7,397,2461,0.00,2.12,0.00,0.000,4,0.000,0.031,2492,3194,3271,0,0,0,0,0,0
$GC,2493,-0.53,-116.8,272.8,-10.5,400,2501,0.12,2.15,0.00,0.000,6,0.134,0.025,2538,1798,3271,0,0,0,0,0,0
$GC,2810,-0.59,-116.8,296.9,-7.3,431,2814,0.00,2.15,0.00,0.000,4,0.000,0.038,2538,405,3271,0,0,0,0,0,0
$GC,2863,-0.64,-116.8,301.1,-8.1,436,2867,0.08,2.08,0.00,0.000,6,0.053,0.024,2470,1791,3271,0,0,0,0,0,0
$GC,3184,-0.57,-116.8,338.6,-12.0,467,3188,0.15,2.15,0.00,0.000,4,0.135,0.038,2517,401,3270,0,0,0,0,0,0
$GC,3242,-0.57,-116.8,344.7,-9.9,472,3249,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1803,3270,0,0,0,0,0,0
$GC,3558,-0.57,-116.8,375.1,-9.5,503,3559,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1803,3270,0,0,0,0,0,0
$GC,3869,-0.57,-116.8,406.9,-10.2,533,3872,0.00,2.15,0.00,0.000,4,0.000,0.038,2509,398,3269,0,0,0,0,0,0
$GC,3932,-0.57,-116.8,413.8,-10.9,538,3939,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1803,3270,0,0,0,0,0,0
$GC,4248,-0.57,-116.8,444.9,-10.0,569,4251,0.00,2.15,0.00,0.000,4,0.000,0.038,2505,409,3268,0,0,0,0,0,0
$GC,4290,-0.57,-116.8,449.5,-11.1,573,4294,0.00,2.08,0.00,0.000,6,0.000,0.025,2496,1801,3269,0,0,0,0,0,0
$GC,4610,-0.57,-116.8,481.8,-9.2,604,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3268,0,0,0,0,0,0
$GC,4920,-0.57,-116.8,510.0,-9.1,629,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3268,0,0,0,0,0,0
$GC,5224,-0.57,-116.8,538.4,-9.4,644,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3268,0,0,0,0,0,0
$GC,5530,-0.57,-116.8,566.5,-9.6,659,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1803,3268,0,0,0,0,0,0
$GC,5835,-0.57,-116.8,593.7,-8.5,674,5839,0.00,2.17,0.00,0.000,4,0.000,0.039,2496,401,3266,0,0,0,0,0,0
$GC,5908,-0.57,-116.8,600.8,-10.3,677,5913,0.00,2.10,0.00,0.000,6,0.000,0.024,2491,1802,3267,0,0,0,0,0,0
$STATE,6143,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6143,begin apogee
$GC,6146,-0.14,0.0,621.3,9.2,689,6244,0.47,0.00,91.90,0.951,6,0.097,0.000,2657,1804,2792,0,0,0,0,0,0
$STATE,6244,end apogee,CONTROL_FINISHED_OK
$STATE,6244,begin climb
$GC,6246,0.57,116.8,624.2,0.0,694,6350,0.62,2.42,97.78,0.923,4,0.056,0.041,2903,353,2314,0,0,0,0,0,0
$GC,6557,0.45,116.8,609.6,8.4,709,6562,0.17,2.15,0.00,0.000,6,0.114,0.023,2845,1748,2308,0,0,0,0,0,0
$GC,6884,0.49,156.3,589.7,6.1,725,6925,0.00,2.28,32.12,0.904,4,0.000,0.030,2844,3154,2154,0,0,0,0,0,0
$GC,7009,0.49,156.3,580.6,7.9,731,7013,0.00,2.22,0.00,0.000,6,0.000,0.027,2855,1752,2154,0,0,0,0,0,0
$GC,7336,0.51,172.7,556.9,7.1,747,7357,0.00,2.22,14.80,0.865,4,0.000,0.043,2866,350,2087,0,0,0,0,0,0
$GC,7413,0.51,172.7,550.5,8.5,750,7421,0.00,2.17,0.00,0.000,6,0.000,0.023,2866,1759,2087,0,0,0,0,0,0
$GC,7724,0.52,177.6,524.9,7.6,766,7734,0.00,2.17,5.57,0.719,4,0.000,0.031,2865,3146,2067,0,0,0,0,0,0
$GC,7766,0.52,177.6,521.5,8.3,768,7771,0.00,2.20,0.00,0.000,6,0.000,0.028,2876,1747,2067,0,0,0,0,0,0
$GC,8082,0.53,183.4,497.8,7.6,784,8095,0.00,2.20,6.22,0.742,4,0.000,0.031,2876,3139,2044,0,0,0,0,0,0
$GC,8120,0.53,183.4,494.9,8.2,787,8126,0.00,2.17,0.00,0.000,6,0.000,0.028,2887,1751,2044,0,0,0,0,0,0
$GC,8435,0.53,186.2,469.1,7.7,818,8447,0.00,2.20,4.22,0.621,4,0.000,0.030,2887,3147,2032,0,0,0,0,0,0
$GC,8499,0.49,186.2,463.8,8.3,824,8504,0.10,2.17,0.00,0.000,6,0.113,0.028,2860,1752,2032,0,0,0,0,0,0
$GC,8821,0.49,190.5,441.0,7.7,855,8830,0.00,0.00,5.15,0.680,6,0.000,0.000,2860,1752,2015,0,0,0,0,0,0
$GC,9140,0.50,196.5,415.9,7.6,886,9152,0.00,2.20,6.78,0.729,4,0.000,0.031,2859,3151,1989,0,0,0,0,0,0
$GC,9172,0.50,196.5,413.3,7.9,889,9176,0.00,2.17,0.00,0.000,6,0.000,0.028,2869,1757,1989,0,0,0,0,0,0
$GC,9492,0.54,225.7,390.1,6.5,920,9525,0.00,2.22,24.27,0.808,4,0.000,0.031,2869,3146,1871,0,0,0,0,0,0
$GC,9545,0.54,225.7,386.2,8.5,925,9549,0.00,2.20,0.00,0.000,6,0.000,0.028,2880,1753,1871,0,0,0,0,0,0
$GC,9865,0.57,256.4,363.5,6.5,956,9897,0.00,0.00,25.92,0.785,6,0.000,0.000,2880,1752,1746,0,0,0,0,0,0
$GC,10207,0.57,256.4,338.0,8.0,989,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1752,1746,0,0,0,0,0,0
$GC,10517,0.57,256.4,311.9,9.0,1019,10520,0.00,2.17,0.00,0.000,4,0.000,0.042,2891,345,1747,0,0,0,0,0,0
$GC,10559,0.57,256.4,307.8,9.9,1023,10563,0.00,2.12,0.00,0.000,6,0.000,0.024,2891,1747,1747,0,0,0,0,0,0
$GC,10879,0.57,256.4,275.3,10.3,1054,10883,0.00,2.15,0.00,0.000,4,0.000,0.030,2891,3144,1746,0,0,0,0,0,0
$GC,10926,0.57,256.4,270.3,10.8,1058,10934,0.00,2.17,0.00,0.000,6,0.000,0.028,2901,1750,1746,0,0,0,0,0,0
$GC,11243,0.57,256.4,235.9,10.9,1089,11247,0.00,2.17,0.00,0.000,4,0.000,0.030,2902,3145,1747,0,0,0,0,0,0
$GC,11279,0.57,256.4,231.7,11.9,1092,11287,0.08,2.17,0.00,0.000,6,0.117,0.028,2882,1750,1746,0,0,0,0,0,0
$GC,11596,0.62,256.4,203.3,8.7,1123,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1750,1746,0,0,0,0,0,0
$GC,11916,0.66,256.4,175.7,8.4,1179,11921,0.00,2.20,0.00,0.000,4,0.000,0.042,2892,353,1746,0,0,0,0,0,0
$GC,11947,0.71,256.4,172.9,8.7,1185,11954,0.08,2.10,0.00,0.000,6,0.055,0.024,2958,1755,1746,0,0,0,0,0,0
$GC,12275,0.61,256.4,134.0,11.3,1246,12281,0.20,2.15,0.00,0.000,4,0.137,0.031,2893,3143,1746,0,0,0,0,0,0
$GC,12328,0.61,256.4,129.0,8.9,1256,12334,0.00,2.15,0.00,0.000,6,0.000,0.028,2903,1751,1746,0,0,0,0,0,0
$GC,12655,0.61,256.4,102.7,8.2,1317,12660,0.00,2.15,0.00,0.000,4,0.000,0.030,2902,3149,1746,0,0,0,0,0,0
$GC,12697,0.61,256.4,99.0,8.8,1325,12704,0.00,2.15,0.00,0.000,6,0.000,0.028,2913,1754,1746,0,0,0,0,0,0
$GC,13024,0.61,256.4,69.9,9.3,1386,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1753,1746,0,0,0,0,0,0
$GC,13350,0.61,256.7,42.3,7.9,1447,13356,0.00,2.17,0.00,0.000,4,0.000,0.041,2924,352,1746,0,0,0,0,0,0
$GC,13387,0.61,256.7,39.0,8.8,1454,13394,0.00,2.08,0.00,0.000,6,0.000,0.024,2924,1742,1746,0,0,0,0,0,0
$GC,13714,0.62,259.5,12.4,7.7,1515,13726,0.00,2.17,4.45,0.463,4,0.000,0.031,2925,3149,1733,0,0,0,0,0,0
$GC,13817,0.62,264.2,4.4,7.7,1534,13828,0.08,2.15,4.97,0.476,6,0.110,0.028,2903,1751,1715,0,0,0,0,0,0
$STATE,13836,end climb,SURFACE_DEPTH_REACHED
$STATE,13836,begin surface coast
$FINISH,0.2,1.017164
$STATE,13875,end surface coast,CONTROL_FINISHED_OK
$STATE,13875,begin surface
$SM_CCo,13946,0.00,0.000,0,0,1715,264.18
$SM_GC,2.10,6.85,0.00,0.00,0.034,0.000,0.000,185,1751,1715,-7.77,-1.39,264.18
$IRIDIUM_FIX,3632.29,-12209.72,150799,080832
$TT8_MAMPS,0.052156
$HUMID,54.29
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,16.50
$XPDR_PINGS,64
$ALTIM_BOTTOM_PING,600.2,29.1
$24V_AH,24.0,24.020
$10V_AH,9.8,36.323
$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,17.950,121.125,324.175,0.000,0.000,28.026,37.645,305.514,17.000,0.000,14.263,0.000,9330.400,463.625,4007.337,600.756,0.000,1729.609,0.000,3457.753,0.000,9.077,0.000
$DEVICE_MAMPS,209.391,49.855,951.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.682,3273.588,2422.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246328
$DATA_FILE_SIZE,107612,1545
$CAP_FILE_SIZE,163485,0
$CFSIZE,260165632,238489600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,173036,3646.522,-12212.174,37,1.0,37,14.8