version: 66.06
glider: 503
mission: 5
dive: 173
start: 4 22 110 15 43 55
data:
$ID,503
$MISSION,5
$DIVE,173
$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,-11623.515
$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,42
$R_STBD_OVSHOOT,45
$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
$GPS1,153237,3645.504,-12210.729,67,2.0,67,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-72.7
$GPS2,154350,3645.437,-12210.650,14,1.0,14,14.8
$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,282.7,2258,-26.9,-7.865
$D_GRID,671
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.78,-44.0,0.0,0.0,0,54,0.00,0.00,-38.95,0.000,2,0.000,0.000,153,1811,2791,0,0,0,0,0,0
$GC,56,-0.80,-59.8,3.2,-6.0,7,77,8.68,2.22,-5.70,0.000,4,0.212,0.044,2425,3208,3038,0,0,0,0,0,0
$GC,82,-0.13,-59.8,10.0,-21.5,12,88,0.68,2.22,0.00,0.000,6,0.130,0.025,2651,1790,3038,0,0,0,0,0,0
$GC,408,-0.62,-73.6,28.9,-6.2,73,414,0.40,0.00,-0.65,0.000,6,0.058,0.000,2484,1790,3093,0,0,0,0,0,0
$GC,734,-0.73,-73.6,72.9,-13.4,134,741,0.00,2.15,0.00,0.000,4,0.000,0.038,2483,409,3094,0,0,0,0,0,0
$GC,832,-0.80,-73.6,87.0,-14.2,152,837,0.05,2.10,0.00,0.000,6,0.067,0.023,2422,1807,3094,0,0,0,0,0,0
$GC,1157,-0.80,-73.6,138.3,-16.6,213,1164,0.00,2.20,0.00,0.000,4,0.000,0.037,2422,399,3095,0,0,0,0,0,0
$GC,1334,-0.80,-73.6,170.4,-18.1,246,1340,0.00,2.10,0.00,0.000,6,0.000,0.023,2412,1798,3095,0,0,0,0,0,0
$GC,1655,-0.80,-73.6,220.9,-15.1,294,1659,0.00,2.17,0.00,0.000,4,0.000,0.037,2412,399,3095,0,0,0,0,0,0
$GC,1713,-0.80,-73.6,230.2,-15.5,299,1720,0.10,2.10,0.00,0.000,6,0.133,0.022,2436,1798,3095,0,0,0,0,0,0
$GC,2029,-0.87,-73.6,271.9,-12.9,330,2033,0.00,2.17,0.00,0.000,4,0.000,0.037,2436,400,3095,0,0,0,0,0,0
$GC,2077,-0.87,-73.6,278.4,-14.0,334,2084,0.00,2.10,0.00,0.000,6,0.000,0.023,2428,1808,3095,0,0,0,0,0,0
$GC,2393,-0.91,-73.6,322.1,-14.3,365,2396,0.00,2.15,0.00,0.000,4,0.000,0.037,2428,403,3094,0,0,0,0,0,0
$GC,2451,-0.91,-73.6,330.8,-15.0,370,2458,0.00,2.08,0.00,0.000,6,0.000,0.023,2418,1795,3094,0,0,0,0,0,0
$GC,2767,-0.96,-73.6,376.4,-13.8,401,2770,0.00,2.12,0.00,0.000,4,0.000,0.031,2407,3199,3095,0,0,0,0,0,0
$GC,2814,-1.04,-73.6,383.0,-13.4,405,2821,0.08,2.15,0.00,0.000,6,0.049,0.025,2335,1797,3095,0,0,0,0,0,0
$GC,3129,-0.96,-73.6,441.3,-18.3,436,3134,0.20,2.17,0.00,0.000,4,0.155,0.037,2393,403,3094,0,0,0,0,0,0
$GC,3253,-0.96,-73.6,463.3,-18.2,447,3258,0.00,2.08,0.00,0.000,6,0.000,0.023,2384,1795,3094,0,0,0,0,0,0
$GC,3576,-0.96,-73.6,517.6,-16.3,474,3580,0.00,2.15,0.00,0.000,4,0.000,0.037,2384,403,3094,0,0,0,0,0,0
$GC,3608,-0.91,-73.6,523.1,-17.6,475,3612,0.08,2.08,0.00,0.000,6,0.139,0.024,2400,1797,3094,0,0,0,0,0,0
$GC,3924,-0.91,-73.6,568.0,-13.5,491,3928,0.00,2.15,0.00,0.000,4,0.000,0.038,2400,405,3093,0,0,0,0,0,0
$GC,3960,-0.91,-73.6,573.8,-15.3,492,3968,0.00,2.10,0.00,0.000,6,0.000,0.024,2392,1807,3093,0,0,0,0,0,0
$GC,4271,-0.91,-73.6,619.2,-14.0,508,4275,0.00,2.17,0.00,0.000,4,0.000,0.038,2392,403,3093,0,0,0,0,0,0
$GC,4335,-0.91,-73.6,628.8,-15.1,511,4339,0.00,2.08,0.00,0.000,6,0.000,0.025,2381,1797,3092,0,0,0,0,0,0
$STATE,4639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4639,begin apogee
$GC,4643,-0.14,0.0,672.7,13.8,526,4704,0.82,0.00,58.53,0.986,6,0.122,0.000,2650,1797,2792,0,0,0,0,0,0
$STATE,4704,end apogee,CONTROL_FINISHED_OK
$STATE,4704,begin climb
$GC,4705,0.82,73.6,674.4,0.0,529,4770,0.88,0.00,62.55,0.954,6,0.061,0.000,2974,1797,2491,0,0,0,0,0,0
$GC,5068,0.83,87.5,655.0,6.2,547,5081,0.00,0.00,11.85,0.889,6,0.000,0.000,2974,1798,2434,0,0,0,0,0,0
$GC,5392,0.84,91.4,631.8,7.4,563,5402,0.00,2.12,4.25,0.661,4,0.000,0.029,2974,3149,2418,0,0,0,0,0,0
$GC,5546,0.84,91.6,619.2,7.8,570,5550,0.00,2.17,0.00,0.000,6,0.000,0.027,2984,1755,2418,0,0,0,0,0,0
$GC,5867,0.80,93.6,594.9,7.6,586,5871,0.00,2.22,0.00,0.000,4,0.000,0.039,2996,342,2418,0,0,0,0,0,0
$GC,5964,0.71,93.6,586.9,8.5,590,5968,0.20,2.12,0.00,0.000,6,0.150,0.023,2933,1753,2417,0,0,0,0,0,0
$GC,6279,0.78,115.8,568.3,5.2,606,6304,0.00,2.17,21.30,0.910,4,0.000,0.031,2933,3152,2319,0,0,0,0,0,0
$GC,6459,0.83,115.8,553.4,8.3,614,6467,0.00,2.20,0.00,0.000,6,0.000,0.028,2942,1751,2318,0,0,0,0,0,0
$GC,6770,0.88,115.8,526.5,9.0,630,6771,0.12,0.00,0.00,0.000,6,0.080,0.000,3023,1751,2317,0,0,0,0,0,0
$GC,7076,0.82,115.8,490.9,12.0,648,7080,0.20,2.17,0.00,0.000,4,0.157,0.030,2966,3140,2315,0,0,0,0,0,0
$GC,7172,0.82,115.8,480.8,10.6,657,7176,0.00,2.15,0.00,0.000,6,0.000,0.028,2976,1754,2315,0,0,0,0,0,0
$GC,7492,0.82,115.8,450.6,9.6,688,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1753,2314,0,0,0,0,0,0
$GC,7803,0.82,118.2,422.7,7.6,718,7807,0.00,2.15,0.00,0.000,4,0.000,0.030,2976,3142,2314,0,0,0,0,0,0
$GC,7829,0.82,118.2,420.5,8.1,720,7837,0.00,2.15,0.00,0.000,6,0.000,0.027,2986,1751,2313,0,0,0,0,0,0
$GC,8145,0.82,118.2,395.3,8.0,751,8149,0.00,2.20,0.00,0.000,4,0.000,0.041,2997,347,2313,0,0,0,0,0,0
$GC,8225,0.76,118.2,388.5,8.6,758,8232,0.15,2.10,0.00,0.000,6,0.144,0.024,2949,1749,2313,0,0,0,0,0,0
$GC,8541,0.82,123.3,367.8,7.3,789,8552,0.00,2.20,6.97,0.725,4,0.000,0.030,2949,3155,2288,0,0,0,0,0,0
$GC,8599,0.82,124.6,363.3,7.7,794,8606,0.00,2.17,0.00,0.000,6,0.000,0.027,2959,1751,2288,0,0,0,0,0,0
$GC,8915,0.87,124.6,335.9,9.2,825,8918,0.00,2.15,0.00,0.000,4,0.000,0.029,2958,3145,2289,0,0,0,0,0,0
$GC,9016,0.87,124.6,326.2,9.6,834,9022,0.00,2.15,0.00,0.000,6,0.000,0.028,2970,1754,2288,0,0,0,0,0,0
$GC,9331,0.87,124.6,296.8,9.5,865,9335,0.00,2.15,0.00,0.000,4,0.000,0.030,2970,3149,2288,0,0,0,0,0,0
$GC,9460,0.87,124.6,284.0,10.0,877,9463,0.00,2.17,0.00,0.000,6,0.000,0.028,2980,1745,2288,0,0,0,0,0,0
$GC,9779,0.87,124.6,252.9,9.1,908,9784,0.00,2.17,0.00,0.000,4,0.000,0.040,2992,348,2287,0,0,0,0,0,0
$GC,9877,0.87,124.6,243.6,9.7,917,9880,0.00,2.10,0.00,0.000,6,0.000,0.024,2992,1751,2287,0,0,0,0,0,0
$GC,10196,0.87,124.6,216.2,8.9,948,10201,0.00,2.12,0.00,0.000,4,0.000,0.029,2991,3142,2287,0,0,0,0,0,0
$GC,10432,0.87,124.6,194.6,8.6,975,10439,0.00,2.15,0.00,0.000,6,0.000,0.028,3003,1747,2286,0,0,0,0,0,0
$GC,10759,0.87,125.0,168.6,7.8,1036,10765,0.00,2.17,0.00,0.000,4,0.000,0.040,3014,349,2286,0,0,0,0,0,0
$GC,10834,0.81,125.0,162.5,8.3,1050,10840,0.15,2.10,0.00,0.000,6,0.143,0.024,2964,1757,2286,0,0,0,0,0,0
$GC,11161,0.87,136.4,144.0,6.5,1111,11177,0.00,0.00,11.73,0.648,6,0.000,0.000,2965,1757,2235,0,0,0,0,0,0
$GC,11498,0.94,136.4,119.3,8.4,1174,11504,0.10,0.00,0.00,0.000,6,0.097,0.000,3025,1757,2235,0,0,0,0,0,0
$GC,11824,0.94,136.4,88.6,8.0,1235,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1757,2235,0,0,0,0,0,0
$GC,12150,0.95,150.0,66.2,6.2,1296,12168,0.00,2.10,12.73,0.598,4,0.000,0.028,3025,3148,2180,0,0,0,0,0,0
$GC,12301,0.95,150.0,53.8,9.0,1324,12307,0.00,2.17,0.00,0.000,6,0.000,0.028,3035,1746,2179,0,0,0,0,0,0
$GC,12627,0.98,169.5,30.9,5.5,1385,12651,0.00,2.20,16.77,0.581,4,0.000,0.040,3046,355,2100,0,0,0,0,0,0
$GC,12891,0.93,169.5,7.3,10.4,1434,12897,0.15,2.08,0.00,0.000,6,0.138,0.022,2997,1746,2100,0,0,0,0,0,0
$STATE,12943,end climb,SURFACE_DEPTH_REACHED
$STATE,12943,begin surface coast
$FINISH,0.1,1.024292
$STATE,12976,end surface coast,CONTROL_FINISHED_OK
$STATE,12976,begin surface
$SM_CCo,12988,47.53,0.560,0,0,1771,250.20
$SM_GC,1.02,0.00,0.00,47.53,0.000,0.000,0.560,183,1747,1771,-7.86,-1.50,250.20
$IRIDIUM_FIX,3629.60,-12212.00,170799,151523
$TT8_MAMPS,0.052156
$HUMID,54.05
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.20
$XPDR_PINGS,52
$24V_AH,24.0,25.233
$10V_AH,9.8,38.348
$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,20.250,107.350,206.675,47.525,0.000,50.930,62.275,369.037,14.000,0.000,15.873,0.000,8698.949,392.707,3831.732,751.551,0.000,1582.755,0.000,3341.225,0.000,8.189,0.000
$DEVICE_MAMPS,211.692,44.486,986.362,559.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.937,3100.542,2333.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286668
$DATA_FILE_SIZE,101645,1450
$CAP_FILE_SIZE,158205,0
$CFSIZE,260165632,237449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,192256,3645.104,-12211.134,85,1.1,85,14.8