version: 66.06
glider: 503
mission: 5
dive: 164
start: 4 20 110 17 38 52
data:
$ID,503
$MISSION,5
$DIVE,164
$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,-11418.562
$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,52
$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
$GPS1,173036,3646.522,-12212.174,37,1.0,37,14.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.7
$GPS2,173820,3646.477,-12212.175,10,1.1,10,14.8
$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,312.5,7753,-15.7,-7.865
$D_GRID,584
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,51,0.00,0.00,-37.67,0.000,2,0.000,0.000,172,1750,2700,0,0,0,0,0,0
$GC,53,-0.57,-116.8,3.5,-6.9,7,80,8.73,2.12,-12.68,0.000,4,0.209,0.051,2510,396,3269,0,0,0,0,0,0
$GC,106,-0.39,-116.8,13.6,-15.9,17,112,0.20,2.15,0.00,0.000,6,0.110,0.025,2570,1798,3271,0,0,0,0,0,0
$GC,432,-0.46,-116.8,41.6,-7.8,78,439,0.00,2.20,0.00,0.000,4,0.000,0.043,2561,3203,3271,0,0,0,0,0,0
$GC,470,-0.55,-116.8,44.8,-8.1,85,477,0.08,2.17,0.00,0.000,6,0.059,0.028,2511,1804,3271,0,0,0,0,0,0
$GC,797,-0.50,-116.8,84.8,-11.3,146,803,0.00,2.20,0.00,0.000,4,0.000,0.039,2511,397,3271,0,0,0,0,0,0
$GC,867,-0.43,-116.8,93.6,-12.6,159,873,0.15,2.10,0.00,0.000,6,0.104,0.025,2557,1795,3271,0,0,0,0,0,0
$GC,1193,-0.50,-116.8,119.8,-8.0,220,1199,0.00,2.17,0.00,0.000,4,0.000,0.031,2548,3203,3272,0,0,0,0,0,0
$GC,1262,-0.60,-116.8,125.3,-7.7,233,1268,0.08,2.15,0.00,0.000,6,0.063,0.025,2493,1802,3271,0,0,0,0,0,0
$GC,1589,-0.54,-116.8,164.3,-11.8,294,1595,0.10,2.20,0.00,0.000,4,0.154,0.040,2528,402,3272,0,0,0,0,0,0
$GC,1696,-0.54,-116.8,174.7,-9.1,314,1702,0.00,2.10,0.00,0.000,6,0.000,0.025,2522,1798,3271,0,0,0,0,0,0
$GC,2026,-0.54,-116.8,202.0,-8.9,374,2030,0.00,2.17,0.00,0.000,4,0.000,0.038,2522,402,3271,0,0,0,0,0,0
$GC,2074,-0.54,-116.8,206.4,-9.3,378,2081,0.00,2.10,0.00,0.000,6,0.000,0.023,2512,1805,3271,0,0,0,0,0,0
$GC,2390,-0.54,-116.8,237.1,-10.0,409,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1805,3271,0,0,0,0,0,0
$GC,2701,-0.54,-116.8,266.1,-8.8,439,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1806,3271,0,0,0,0,0,0
$GC,3011,-0.54,-116.8,293.8,-8.8,469,3015,0.00,2.15,0.00,0.000,4,0.000,0.039,2512,401,3271,0,0,0,0,0,0
$GC,3059,-0.54,-116.8,298.6,-10.0,473,3062,0.00,2.08,0.00,0.000,6,0.000,0.025,2507,1797,3270,0,0,0,0,0,0
$GC,3378,-0.54,-116.8,329.5,-9.7,504,3383,0.00,2.15,0.00,0.000,4,0.000,0.038,2507,407,3270,0,0,0,0,0,0
$GC,3433,-0.54,-116.8,335.3,-11.0,509,3436,0.00,2.08,0.00,0.000,6,0.000,0.024,2498,1801,3270,0,0,0,0,0,0
$GC,3752,-0.54,-116.8,368.1,-9.6,540,3757,0.00,2.17,0.00,0.000,4,0.000,0.038,2498,404,3269,0,0,0,0,0,0
$GC,3785,-0.50,-116.8,371.5,-10.8,543,3789,0.10,2.08,0.00,0.000,6,0.106,0.025,2532,1794,3269,0,0,0,0,0,0
$GC,4105,-0.55,-116.8,393.7,-6.8,574,4109,0.00,2.15,0.00,0.000,4,0.000,0.031,2532,3195,3269,0,0,0,0,0,0
$GC,4170,-0.66,-116.8,397.7,-6.3,580,4173,0.08,2.12,0.00,0.000,6,0.057,0.025,2462,1804,3269,0,0,0,0,0,0
$GC,4491,-0.59,-116.8,433.6,-11.5,611,4494,0.15,2.17,0.00,0.000,4,0.130,0.039,2511,395,3269,0,0,0,0,0,0
$GC,4533,-0.59,-116.8,438.0,-10.3,615,4536,0.00,2.10,0.00,0.000,6,0.000,0.025,2506,1800,3269,0,0,0,0,0,0
$GC,4853,-0.59,-116.8,466.1,-8.9,646,4857,0.00,2.20,0.00,0.000,4,0.000,0.039,2506,401,3268,0,0,0,0,0,0
$GC,4896,-0.59,-116.8,470.4,-11.1,650,4900,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1795,3268,0,0,0,0,0,0
$GC,5216,-0.59,-116.8,501.9,-9.5,680,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1796,3268,0,0,0,0,0,0
$STATE,5439,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5439,begin apogee
$GC,5443,-0.14,0.0,523.5,9.0,691,5535,0.47,0.00,90.82,0.889,6,0.096,0.000,2662,1796,2792,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5536,begin climb
$GC,5537,0.57,116.8,525.8,0.0,695,5639,0.60,2.25,96.03,0.860,4,0.058,0.029,2893,3152,2315,0,0,0,0,0,0
$GC,5686,0.51,156.4,524.9,6.1,702,5726,0.10,2.25,33.53,0.837,6,0.123,0.027,2869,1761,2154,0,0,0,0,0,0
$GC,6038,0.51,156.4,497.3,8.2,721,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1761,2149,0,0,0,0,0,0
$GC,6350,0.55,188.6,474.8,6.4,751,6379,0.00,0.00,25.75,0.834,6,0.000,0.000,2869,1761,2024,0,0,0,0,0,0
$GC,6688,0.57,204.9,450.5,7.1,784,6711,0.00,2.30,14.82,0.802,4,0.000,0.042,2879,346,1956,0,0,0,0,0,0
$GC,6751,0.57,204.9,445.4,8.3,790,6756,0.00,2.15,0.00,0.000,6,0.000,0.023,2879,1746,1956,0,0,0,0,0,0
$GC,7073,0.57,204.9,419.7,8.4,821,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1747,1956,0,0,0,0,0,0
$GC,7385,0.57,204.9,394.9,8.3,851,7388,0.00,2.15,0.00,0.000,4,0.000,0.030,2879,3152,1955,0,0,0,0,0,0
$GC,7447,0.57,204.9,389.1,9.2,856,7454,0.00,2.17,0.00,0.000,6,0.000,0.028,2890,1756,1955,0,0,0,0,0,0
$GC,7763,0.57,204.9,361.1,8.3,887,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1755,1955,0,0,0,0,0,0
$GC,8075,0.57,204.9,335.2,7.9,917,8078,0.00,2.12,0.00,0.000,4,0.000,0.030,2890,3152,1954,0,0,0,0,0,0
$GC,8186,0.57,204.9,325.7,8.2,927,8189,0.00,2.17,0.00,0.000,6,0.000,0.028,2901,1751,1954,0,0,0,0,0,0
$GC,8506,0.57,204.9,298.8,8.5,958,8510,0.00,2.20,0.00,0.000,4,0.000,0.042,2912,344,1954,0,0,0,0,0,0
$GC,8548,0.53,204.9,295.1,9.2,962,8553,0.10,2.10,0.00,0.000,6,0.104,0.024,2873,1744,1953,0,0,0,0,0,0
$GC,8870,0.55,220.4,271.5,7.2,993,8891,0.00,2.20,12.85,0.719,4,0.000,0.030,2873,3152,1893,0,0,0,0,0,0
$GC,8911,0.55,220.4,268.3,8.1,997,8915,0.00,2.20,0.00,0.000,6,0.000,0.028,2883,1741,1893,0,0,0,0,0,0
$GC,9231,0.56,228.8,243.0,7.5,1028,9243,0.00,0.00,8.48,0.670,6,0.000,0.000,2883,1741,1859,0,0,0,0,0,0
$GC,9552,0.58,249.6,219.7,6.9,1059,9574,0.00,0.00,17.55,0.692,6,0.000,0.000,2883,1741,1775,0,0,0,0,0,0
$GC,9885,0.58,249.6,194.0,8.1,1098,9891,0.00,2.20,0.00,0.000,4,0.000,0.029,2883,3153,1775,0,0,0,0,0,0
$GC,9912,0.58,249.6,191.7,8.5,1103,9918,0.00,2.20,0.00,0.000,6,0.000,0.028,2893,1747,1775,0,0,0,0,0,0
$GC,10238,0.58,249.6,163.8,8.5,1164,10245,0.00,2.20,0.00,0.000,4,0.000,0.041,2904,344,1776,0,0,0,0,0,0
$GC,10260,0.58,249.6,161.8,9.0,1168,10267,0.00,2.12,0.00,0.000,6,0.000,0.024,2905,1755,1776,0,0,0,0,0,0
$GC,10587,0.58,249.6,132.9,9.7,1229,10593,0.00,2.20,0.00,0.000,4,0.000,0.041,2915,352,1776,0,0,0,0,0,0
$GC,10624,0.58,249.6,129.2,10.2,1236,10630,0.00,2.10,0.00,0.000,6,0.000,0.032,2915,1747,1776,0,0,0,0,0,0
$GC,10950,0.58,249.6,98.0,9.1,1297,10957,0.00,2.15,0.00,0.000,4,0.000,0.030,2915,3151,1777,0,0,0,0,0,0
$GC,11025,0.58,249.6,91.1,9.2,1311,11032,0.10,2.17,0.00,0.000,6,0.110,0.028,2887,1743,1777,0,0,0,0,0,0
$GC,11353,0.68,271.7,69.2,6.9,1372,11375,0.00,0.00,19.90,0.605,6,0.000,0.000,2887,1743,1683,0,0,0,0,0,0
$GC,11696,0.80,304.1,45.0,6.4,1436,11728,0.20,0.00,26.42,0.583,6,0.066,0.000,2992,1743,1554,0,0,0,0,0,0
$STATE,12021,end climb,SURFACE_DEPTH_REACHED
$STATE,12021,begin surface coast
$FINISH,0.2,1.024976
$STATE,12042,end surface coast,CONTROL_FINISHED_OK
$STATE,12042,begin surface
$SM_CCo,12114,0.00,0.000,0,0,1557,302.94
$SM_GC,1.05,7.15,0.00,0.00,0.033,0.000,0.000,192,1742,1557,-7.76,-1.61,302.94
$IRIDIUM_FIX,3632.29,-12213.43,150799,131351
$TT8_MAMPS,0.052156
$HUMID,55.00
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,16.30
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,500.0,31.9
$24V_AH,24.1,24.121
$10V_AH,9.8,36.501
$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,18.375,95.000,346.150,0.000,0.000,24.310,36.414,290.621,19.500,0.000,12.731,0.000,7738.322,424.038,3809.588,598.349,0.000,1606.049,0.000,3307.374,0.000,5.485,0.000
$DEVICE_MAMPS,209.391,51.389,888.953,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.611,3209.371,2412.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287140
$DATA_FILE_SIZE,104422,1501
$CAP_FILE_SIZE,148481,0
$CFSIZE,260165632,238411776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200410,210137,3647.512,-12212.997,32,1.8,32,14.8