version: 66.06
glider: 503
mission: 5
dive: 174
start: 4 22 110 19 31 2
data:
$ID,503
$MISSION,5
$DIVE,174
$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,-11637.116
$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,43
$R_STBD_OVSHOOT,60
$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
$GPS1,192256,3645.104,-12211.134,85,1.1,85,14.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-73.2
$GPS2,193056,3645.050,-12211.038,11,2.0,11,14.8
$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,306.1,2265,-26.9,-7.865
$D_GRID,686
$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,-0.78,-44.0,0.0,0.0,0,52,0.00,0.00,-38.10,0.000,2,0.000,0.000,158,1748,2764,0,0,0,0,0,0
$GC,53,-0.81,-64.7,3.1,-5.4,7,75,8.68,0.00,-6.97,0.000,6,0.215,0.000,2435,1748,3058,0,0,0,0,0,0
$GC,395,-0.81,-64.7,65.8,-16.6,71,401,0.00,2.12,0.00,0.000,4,0.000,0.037,2435,395,3059,0,0,0,0,0,0
$GC,459,-0.81,-64.7,76.9,-17.7,83,465,0.00,2.10,0.00,0.000,6,0.000,0.023,2427,1786,3059,0,0,0,0,0,0
$GC,785,-0.81,-64.7,132.5,-15.5,144,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1786,3060,0,0,0,0,0,0
$GC,1111,-0.81,-64.7,184.5,-15.7,205,1117,0.00,2.17,0.00,0.000,4,0.000,0.037,2427,396,3060,0,0,0,0,0,0
$GC,1132,-0.81,-64.7,188.1,-16.6,209,1139,0.00,2.10,0.00,0.000,6,0.000,0.024,2418,1794,3060,0,0,0,0,0,0
$GC,1455,-0.81,-64.7,239.4,-15.8,247,1459,0.00,2.17,0.00,0.000,4,0.000,0.037,2418,400,3060,0,0,0,0,0,0
$GC,1487,-0.81,-64.7,244.7,-17.4,250,1491,0.08,2.08,0.00,0.000,6,0.140,0.023,2434,1787,3060,0,0,0,0,0,0
$GC,1808,-0.86,-64.7,288.8,-13.0,281,1812,0.00,2.15,0.00,0.000,4,0.000,0.037,2434,403,3060,0,0,0,0,0,0
$GC,1872,-0.86,-64.7,298.1,-14.8,287,1876,0.00,2.08,0.00,0.000,6,0.000,0.024,2426,1807,3060,0,0,0,0,0,0
$GC,2192,-0.90,-64.7,345.8,-15.2,318,2196,0.00,2.17,0.00,0.000,4,0.000,0.037,2426,406,3060,0,0,0,0,0,0
$GC,2293,-0.90,-64.7,362.0,-15.8,327,2299,0.00,2.08,0.00,0.000,6,0.000,0.023,2416,1798,3059,0,0,0,0,0,0
$GC,2608,-0.90,-64.7,407.3,-13.7,358,2613,0.00,2.17,0.00,0.000,4,0.000,0.037,2416,400,3059,0,0,0,0,0,0
$GC,2656,-0.90,-64.7,414.3,-14.9,362,2663,0.00,2.10,0.00,0.000,6,0.000,0.023,2405,1808,3059,0,0,0,0,0,0
$GC,2973,-0.90,-64.7,458.4,-13.8,393,2976,0.00,2.10,0.00,0.000,4,0.000,0.030,2395,3183,3059,0,0,0,0,0,0
$GC,3004,-0.95,-64.7,463.1,-14.7,396,3008,0.00,2.12,0.00,0.000,6,0.000,0.025,2394,1795,3060,0,0,0,0,0,0
$GC,3323,-0.95,-64.7,509.5,-14.6,424,3328,0.00,2.15,0.00,0.000,4,0.000,0.037,2395,403,3059,0,0,0,0,0,0
$GC,3382,-0.95,-64.7,518.4,-15.2,426,3389,0.00,2.08,0.00,0.000,6,0.000,0.024,2385,1795,3059,0,0,0,0,0,0
$GC,3692,-0.95,-64.7,564.2,-15.9,442,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1795,3059,0,0,0,0,0,0
$GC,3998,-0.95,-64.7,607.6,-14.6,457,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1795,3058,0,0,0,0,0,0
$GC,4304,-0.95,-64.7,651.2,-13.9,472,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1795,3057,0,0,0,0,0,0
$STATE,4566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4566,begin apogee
$GC,4569,-0.14,0.0,686.1,12.9,485,4624,0.82,0.00,52.00,0.996,6,0.120,0.000,2654,1795,2792,0,0,0,0,0,0
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4625,0.81,64.7,687.6,0.0,487,4686,0.80,2.17,54.35,0.964,4,0.057,0.029,2962,3151,2529,0,0,0,0,0,0
$GC,4861,0.83,83.2,677.4,5.6,498,4881,0.00,2.22,16.00,0.924,6,0.000,0.027,2973,1751,2453,0,0,0,0,0,0
$GC,5205,0.83,83.2,651.6,8.3,515,5208,0.00,2.20,0.00,0.000,4,0.000,0.040,2984,349,2450,0,0,0,0,0,0
$GC,5299,0.76,83.2,642.6,9.7,519,5306,0.10,2.12,0.00,0.000,6,0.151,0.023,2952,1752,2448,0,0,0,0,0,0
$GC,5611,0.77,90.6,619.4,7.0,535,5621,0.00,2.20,6.90,0.821,4,0.000,0.029,2952,3149,2422,0,0,0,0,0,0
$GC,5710,0.77,90.6,611.8,8.5,540,5715,0.00,2.17,0.00,0.000,6,0.000,0.027,2962,1753,2421,0,0,0,0,0,0
$GC,6037,0.78,98.7,587.9,6.9,556,6051,0.00,2.20,8.25,0.847,4,0.000,0.029,2962,3145,2389,0,0,0,0,0,0
$GC,6153,0.78,98.7,578.8,8.7,561,6157,0.00,2.17,0.00,0.000,6,0.000,0.027,2974,1751,2389,0,0,0,0,0,0
$GC,6470,0.78,98.7,553.0,8.4,577,6473,0.00,2.15,0.00,0.000,4,0.000,0.030,2973,3150,2388,0,0,0,0,0,0
$GC,6640,0.78,102.2,538.4,7.4,585,6649,0.08,2.17,4.38,0.672,6,0.152,0.027,2950,1751,2374,0,0,0,0,0,0
$GC,6967,0.79,108.9,515.3,7.1,601,6980,0.00,2.20,7.20,0.798,4,0.000,0.030,2950,3144,2348,0,0,0,0,0,0
$GC,7216,0.79,108.9,496.4,8.2,614,7223,0.00,2.17,0.00,0.000,6,0.000,0.027,2959,1746,2348,0,0,0,0,0,0
$GC,7532,0.80,114.6,474.0,7.2,645,7543,0.00,2.15,6.50,0.762,4,0.000,0.028,2959,3144,2323,0,0,0,0,0,0
$GC,7568,0.80,114.6,471.1,7.9,648,7575,0.00,2.17,0.00,0.000,6,0.000,0.027,2970,1747,2323,0,0,0,0,0,0
$GC,7884,0.80,114.6,447.0,7.9,679,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1747,2324,0,0,0,0,0,0
$GC,8196,0.80,114.6,424.3,8.0,709,8199,0.00,2.15,0.00,0.000,4,0.000,0.029,2970,3151,2323,0,0,0,0,0,0
$GC,8329,0.80,114.6,413.3,8.7,721,8332,0.00,2.15,0.00,0.000,6,0.000,0.028,2981,1746,2322,0,0,0,0,0,0
$GC,8648,0.80,114.6,387.0,8.5,752,8653,0.00,2.15,0.00,0.000,4,0.000,0.028,2981,3140,2322,0,0,0,0,0,0
$GC,8895,0.80,114.6,365.3,8.2,775,8899,0.12,2.12,0.00,0.000,6,0.174,0.028,2959,1748,2322,0,0,0,0,0,0
$GC,9210,0.84,116.8,342.2,7.6,805,9214,0.00,2.15,0.00,0.000,4,0.000,0.028,2958,3142,2322,0,0,0,0,0,0
$GC,9412,0.86,128.7,326.9,6.4,824,9428,0.00,2.15,12.77,0.764,6,0.000,0.027,2968,1745,2266,0,0,0,0,0,0
$GC,9740,0.90,128.7,300.0,9.2,855,9743,0.00,2.15,0.00,0.000,4,0.000,0.029,2968,3150,2266,0,0,0,0,0,0
$GC,9775,0.90,128.7,296.5,9.4,858,9780,0.00,2.17,0.00,0.000,6,0.000,0.027,2978,1747,2265,0,0,0,0,0,0
$GC,10098,0.90,128.7,267.6,9.1,889,10101,0.00,2.12,0.00,0.000,4,0.000,0.029,2978,3143,2265,0,0,0,0,0,0
$GC,10192,0.90,128.7,258.6,9.1,897,10198,0.00,2.17,0.00,0.000,6,0.000,0.027,2989,1747,2265,0,0,0,0,0,0
$GC,10508,0.90,128.7,229.6,8.8,928,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1747,2265,0,0,0,0,0,0
$GC,10818,0.90,128.7,199.9,9.7,958,10825,0.00,2.15,0.00,0.000,4,0.000,0.030,2989,3141,2265,0,0,0,0,0,0
$GC,10964,0.90,128.7,185.4,10.2,985,10969,0.00,2.15,0.00,0.000,6,0.000,0.028,3000,1750,2265,0,0,0,0,0,0
$GC,11290,0.90,128.7,155.8,8.9,1046,11296,0.00,2.17,0.00,0.000,4,0.000,0.031,3000,3147,2265,0,0,0,0,0,0
$GC,11530,0.90,128.7,134.1,7.9,1091,11536,0.00,2.15,0.00,0.000,6,0.000,0.029,3011,1753,2265,0,0,0,0,0,0
$GC,11857,0.90,132.7,110.3,7.4,1152,11868,0.00,2.15,4.60,0.525,4,0.000,0.030,3011,3140,2251,0,0,0,0,0,0
$GC,11905,0.91,136.2,106.6,7.4,1161,11917,0.00,2.15,4.95,0.532,6,0.000,0.028,3021,1748,2235,0,0,0,0,0,0
$GC,12238,0.91,137.1,80.4,7.8,1223,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,1748,2235,0,0,0,0,0,0
$GC,12564,0.91,137.1,55.3,8.7,1284,12570,0.00,2.15,0.00,0.000,4,0.000,0.029,3021,3145,2235,0,0,0,0,0,0
$GC,12811,0.95,171.7,42.8,3.7,1330,12849,0.00,2.15,29.67,0.594,6,0.000,0.028,3032,1747,2092,0,0,0,0,0,0
$GC,13169,0.95,171.7,14.4,8.5,1397,13175,0.00,2.17,0.00,0.000,4,0.000,0.038,3043,353,2091,0,0,0,0,0,0
$GC,13217,0.95,171.7,9.3,10.7,1406,13223,0.10,2.10,0.00,0.000,6,0.140,0.023,3010,1750,2091,0,0,0,0,0,0
$STATE,13285,end climb,SURFACE_DEPTH_REACHED
$STATE,13285,begin surface coast
$FINISH,0.0,1.001926
$STATE,13318,end surface coast,CONTROL_FINISHED_OK
$STATE,13318,begin surface
$SM_CCo,13330,42.78,0.559,0,0,1772,250.20
$SM_GC,0.90,0.00,0.00,42.78,0.000,0.000,0.559,197,1752,1772,-7.82,-1.39,250.20
$IRIDIUM_FIX,3632.29,-12213.43,170799,151533
$TT8_MAMPS,0.051389
$HUMID,54.05
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.10
$XPDR_PINGS,68
$24V_AH,24.1,25.314
$10V_AH,9.8,38.522
$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,17.875,107.450,207.575,42.775,0.000,29.689,31.105,306.080,18.000,0.000,12.971,0.000,8988.395,366.239,3846.079,620.550,0.000,1585.546,0.000,3353.142,0.000,8.996,0.000
$DEVICE_MAMPS,214.760,39.884,996.333,559.143,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,988.438,3026.165,2226.559,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286664
$DATA_FILE_SIZE,101257,1425
$CAP_FILE_SIZE,153886,0
$CFSIZE,260165632,237359104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220410,231537,3645.402,-12211.364,82,1.1,82,14.8