version: 66.06
glider: 503
mission: 5
dive: 175
start: 4 22 110 23 22 35
data:
$ID,503
$MISSION,5
$DIVE,175
$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,-11652.073
$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,46
$R_STBD_OVSHOOT,53
$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
$GPS1,231537,3645.402,-12211.364,82,1.1,82,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.0
$GPS2,232229,3645.353,-12211.267,9,1.8,12,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,SIX
$TGT_LATLONG,3641.000,-12210.000
$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,152.1,8277,-15.7,-7.865
$D_GRID,695
$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,-38.72,0.000,2,0.000,0.000,174,1752,2790,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.2,-5.9,7,81,8.95,2.30,-10.98,0.000,4,0.217,0.044,2500,3192,3272,0,0,0,0,0,0
$GC,311,-0.51,-116.8,41.1,-14.3,55,316,0.10,2.17,0.00,0.000,6,0.116,0.025,2536,1799,3274,0,0,0,0,0,0
$GC,636,-0.51,-116.8,76.0,-9.7,116,643,0.00,2.17,0.00,0.000,4,0.000,0.038,2537,408,3274,0,0,0,0,0,0
$GC,764,-0.51,-116.8,88.4,-9.5,140,771,0.00,2.10,0.00,0.000,6,0.000,0.024,2533,1798,3274,0,0,0,0,0,0
$GC,1092,-0.51,-116.8,116.9,-8.7,201,1098,0.00,2.17,0.00,0.000,4,0.000,0.032,2533,3201,3274,0,0,0,0,0,0
$GC,1108,-0.51,-116.8,118.2,-8.3,204,1114,0.00,2.15,0.00,0.000,6,0.000,0.025,2533,1807,3275,0,0,0,0,0,0
$GC,1435,-0.51,-116.8,143.9,-8.1,265,1441,0.00,2.17,0.00,0.000,4,0.000,0.039,2533,409,3275,0,0,0,0,0,0
$GC,1461,-0.51,-116.8,146.3,-8.8,270,1467,0.00,2.10,0.00,0.000,6,0.000,0.024,2524,1805,3274,0,0,0,0,0,0
$GC,1788,-0.51,-116.8,177.9,-10.5,331,1793,0.00,2.20,0.00,0.000,4,0.000,0.038,2524,398,3274,0,0,0,0,0,0
$GC,1840,-0.51,-116.8,183.9,-11.3,341,1847,0.00,2.10,0.00,0.000,6,0.000,0.024,2519,1796,3275,0,0,0,0,0,0
$GC,2166,-0.51,-116.8,216.8,-9.8,387,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1797,3274,0,0,0,0,0,0
$GC,2478,-0.51,-116.8,246.5,-9.7,417,2481,0.00,2.15,0.00,0.000,4,0.000,0.038,2519,398,3274,0,0,0,0,0,0
$GC,2492,-0.51,-116.8,248.1,-9.5,418,2496,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1798,3275,0,0,0,0,0,0
$GC,2814,-0.51,-116.8,279.6,-9.7,449,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1800,3274,0,0,0,0,0,0
$GC,3125,-0.51,-116.8,308.7,-9.5,479,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1800,3274,0,0,0,0,0,0
$GC,3435,-0.51,-116.8,336.1,-9.0,509,3438,0.00,2.17,0.00,0.000,4,0.000,0.039,2510,399,3274,0,0,0,0,0,0
$GC,3455,-0.51,-116.8,338.1,-9.5,510,3462,0.08,2.10,0.00,0.000,6,0.111,0.025,2534,1798,3274,0,0,0,0,0,0
$GC,3771,-0.57,-116.8,361.5,-7.8,541,3775,0.00,2.15,0.00,0.000,4,0.000,0.032,2534,3197,3274,0,0,0,0,0,0
$GC,3803,-0.67,-116.8,363.9,-7.3,544,3807,0.10,2.15,0.00,0.000,6,0.051,0.025,2465,1795,3273,0,0,0,0,0,0
$GC,4124,-0.60,-116.8,404.8,-13.4,575,4127,0.15,2.17,0.00,0.000,4,0.132,0.039,2514,403,3273,0,0,0,0,0,0
$GC,4181,-0.60,-116.8,411.3,-10.2,580,4188,0.00,2.10,0.00,0.000,6,0.000,0.024,2508,1806,3273,0,0,0,0,0,0
$GC,4497,-0.60,-116.8,439.8,-8.7,611,4501,0.00,2.17,0.00,0.000,4,0.000,0.038,2508,406,3272,0,0,0,0,0,0
$GC,4533,-0.60,-116.8,443.2,-9.3,614,4541,0.00,2.10,0.00,0.000,6,0.000,0.024,2498,1800,3273,0,0,0,0,0,0
$GC,4850,-0.60,-116.8,469.8,-9.2,645,4854,0.00,2.20,0.00,0.000,4,0.000,0.039,2498,402,3272,0,0,0,0,0,0
$GC,4875,-0.60,-116.8,472.5,-10.2,647,4882,0.00,2.10,0.00,0.000,6,0.000,0.024,2493,1801,3271,0,0,0,0,0,0
$GC,5193,-0.60,-116.8,502.6,-9.7,677,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1801,3272,0,0,0,0,0,0
$GC,5496,-0.60,-116.8,530.9,-9.0,692,5500,0.00,2.12,0.00,0.000,4,0.000,0.031,2493,3186,3271,0,0,0,0,0,0
$GC,5518,-0.60,-116.8,532.7,-8.4,693,5521,0.00,2.12,0.00,0.000,6,0.000,0.026,2493,1802,3271,0,0,0,0,0,0
$GC,5845,-0.60,-116.8,562.8,-9.9,709,5848,0.00,2.15,0.00,0.000,4,0.000,0.040,2493,399,3270,0,0,0,0,0,0
$GC,5886,-0.60,-116.8,567.6,-11.7,711,5891,0.00,2.10,0.00,0.000,6,0.000,0.025,2482,1801,3270,0,0,0,0,0,0
$GC,6214,-0.60,-116.8,601.2,-9.9,727,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1801,3270,0,0,0,0,0,0
$GC,6517,-0.60,-116.8,628.4,-8.7,742,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1802,3270,0,0,0,0,0,0
$GC,6823,-0.60,-116.8,656.4,-9.5,757,6827,0.00,2.17,0.00,0.000,4,0.000,0.040,2483,403,3270,0,0,0,0,0,0
$GC,6855,-0.55,-116.8,659.8,-11.2,758,6859,0.10,2.10,0.00,0.000,6,0.108,0.025,2517,1804,3270,0,0,0,0,0,0
$GC,7171,-0.61,-116.8,682.5,-6.8,774,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1804,3269,0,0,0,0,0,0
$STATE,7352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7352,begin apogee
$GC,7356,-0.14,0.0,695.3,7.3,783,7455,0.40,0.00,93.45,1.008,6,0.093,0.000,2661,1804,2792,0,0,0,0,0,0
$STATE,7455,end apogee,CONTROL_FINISHED_OK
$STATE,7456,begin climb
$GC,7457,0.57,116.8,698.5,0.0,788,7564,0.62,2.25,99.35,0.979,4,0.054,0.030,2896,3146,2315,0,0,0,0,0,0
$GC,7601,0.48,152.7,696.6,6.2,795,7638,0.15,2.28,31.52,0.948,6,0.126,0.028,2859,1757,2169,0,0,0,0,0,0
$GC,7941,0.48,152.7,671.4,8.1,812,7945,0.00,2.20,0.00,0.000,4,0.000,0.030,2859,3146,2165,0,0,0,0,0,0
$GC,8006,0.48,152.7,666.3,7.9,815,8009,0.00,2.20,0.00,0.000,6,0.000,0.028,2868,1745,2163,0,0,0,0,0,0
$GC,8332,0.50,171.5,642.2,7.0,831,8353,0.00,2.22,15.73,0.923,4,0.000,0.044,2879,347,2092,0,0,0,0,0,0
$GC,8373,0.52,183.2,639.3,7.3,833,8388,0.00,2.15,11.32,0.876,6,0.000,0.024,2879,1741,2045,0,0,0,0,0,0
$GC,8694,0.52,183.2,612.6,8.4,848,8697,0.00,2.20,0.00,0.000,4,0.000,0.030,2879,3166,2044,0,0,0,0,0,0
$GC,8736,0.52,183.2,608.8,9.2,850,8739,0.00,2.22,0.00,0.000,6,0.000,0.028,2890,1752,2044,0,0,0,0,0,0
$GC,9062,0.47,183.2,578.9,9.6,866,9063,0.12,0.00,0.00,0.000,6,0.146,0.000,2852,1752,2044,0,0,0,0,0,0
$GC,9367,0.48,192.4,555.2,7.5,881,9377,0.00,0.00,8.85,0.845,6,0.000,0.000,2852,1752,2007,0,0,0,0,0,0
$GC,9672,0.48,192.4,530.7,8.6,896,9676,0.00,2.22,0.00,0.000,4,0.000,0.043,2862,349,2007,0,0,0,0,0,0
$GC,9694,0.48,192.4,528.7,9.2,897,9697,0.00,2.12,0.00,0.000,6,0.000,0.025,2862,1748,2006,0,0,0,0,0,0
$GC,10020,0.48,192.4,501.1,7.9,913,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1748,2006,0,0,0,0,0,0
$GC,10330,0.50,203.9,477.4,7.3,942,10342,0.00,0.00,10.68,0.833,6,0.000,0.000,2862,1748,1960,0,0,0,0,0,0
$GC,10651,0.51,213.2,453.2,7.4,973,10664,0.00,2.20,9.10,0.799,4,0.000,0.031,2862,3150,1922,0,0,0,0,0,0
$GC,10693,0.51,213.2,449.7,8.4,977,10696,0.00,2.15,0.00,0.000,6,0.000,0.028,2872,1749,1922,0,0,0,0,0,0
$GC,11007,0.51,213.2,424.0,8.0,1007,11011,0.00,2.22,0.00,0.000,4,0.000,0.043,2883,343,1922,0,0,0,0,0,0
$GC,11076,0.51,213.2,418.2,9.3,1013,11082,0.00,2.12,0.00,0.000,6,0.000,0.024,2884,1750,1922,0,0,0,0,0,0
$GC,11391,0.51,213.2,391.4,8.6,1044,11396,0.00,2.20,0.00,0.000,4,0.000,0.031,2883,3156,1922,0,0,0,0,0,0
$GC,11429,0.51,213.2,388.1,9.2,1047,11435,0.00,2.20,0.00,0.000,6,0.000,0.028,2894,1745,1922,0,0,0,0,0,0
$GC,11744,0.51,213.2,360.0,9.6,1078,11749,0.00,2.17,0.00,0.000,4,0.000,0.029,2894,3149,1922,0,0,0,0,0,0
$GC,11770,0.51,213.2,357.4,10.4,1080,11778,0.10,2.17,0.00,0.000,6,0.114,0.028,2867,1748,1922,0,0,0,0,0,0
$GC,12087,0.52,219.0,332.9,7.6,1111,12098,0.00,2.17,6.25,0.688,4,0.000,0.041,2877,348,1899,0,0,0,0,0,0
$GC,12122,0.52,219.0,329.9,7.9,1114,12130,0.00,2.15,0.00,0.000,6,0.000,0.025,2877,1757,1899,0,0,0,0,0,0
$GC,12439,0.57,259.8,306.3,6.0,1145,12481,0.00,2.22,33.25,0.768,4,0.000,0.030,2876,3149,1732,0,0,0,0,0,0
$GC,12533,0.57,264.3,299.7,7.7,1154,12545,0.00,2.20,6.43,0.647,6,0.000,0.028,2887,1745,1714,0,0,0,0,0,0
$GC,12854,0.58,266.8,274.5,7.8,1185,12864,0.00,2.25,3.88,0.520,4,0.000,0.043,2898,345,1704,0,0,0,0,0,0
$GC,12896,0.58,266.8,271.1,8.8,1189,12899,0.00,2.12,0.00,0.000,6,0.000,0.025,2898,1754,1704,0,0,0,0,0,0
$GC,13215,0.58,266.8,241.6,9.1,1220,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1756,1704,0,0,0,0,0,0
$GC,13527,0.58,266.8,211.8,9.5,1250,13530,0.00,2.15,0.00,0.000,4,0.000,0.030,2898,3150,1704,0,0,0,0,0,0
$GC,13559,0.58,266.8,208.7,10.0,1253,13562,0.00,2.17,0.00,0.000,6,0.000,0.028,2908,1751,1704,0,0,0,0,0,0
$GC,13882,0.58,266.8,171.4,11.8,1306,13889,0.00,2.17,0.00,0.000,4,0.000,0.030,2908,3150,1704,0,0,0,0,0,0
$GC,13920,0.58,266.8,166.9,12.2,1313,13927,0.08,2.17,0.00,0.000,6,0.114,0.028,2888,1753,1704,0,0,0,0,0,0
$GC,14248,0.62,266.8,137.5,8.9,1374,14253,0.00,2.20,0.00,0.000,4,0.000,0.042,2897,351,1704,0,0,0,0,0,0
$GC,14306,0.62,266.8,132.0,9.7,1385,14312,0.00,2.10,0.00,0.000,6,0.000,0.025,2897,1750,1704,0,0,0,0,0,0
$GC,14633,0.62,266.8,103.0,8.3,1446,14639,0.00,2.20,0.00,0.000,4,0.000,0.033,2897,3153,1704,0,0,0,0,0,0
$GC,14723,0.62,266.8,94.9,8.7,1463,14730,0.00,2.17,0.00,0.000,6,0.000,0.028,2907,1749,1704,0,0,0,0,0,0
$GC,15050,0.62,266.8,64.0,9.3,1524,15056,0.00,2.17,0.00,0.000,4,0.000,0.030,2907,3156,1704,0,0,0,0,0,0
$GC,15076,0.62,266.8,61.4,9.9,1529,15082,0.00,2.17,0.00,0.000,6,0.000,0.028,2918,1751,1704,0,0,0,0,0,0
$GC,15402,0.63,272.2,34.3,7.6,1590,15414,0.00,2.20,6.00,0.532,4,0.000,0.042,2929,352,1681,0,0,0,0,0,0
$GC,15457,0.63,275.6,30.2,7.7,1600,15468,0.00,2.10,4.50,0.472,6,0.000,0.025,2929,1755,1668,0,0,0,0,0,0
$STATE,15788,end climb,SURFACE_DEPTH_REACHED
$STATE,15789,begin surface coast
$FINISH,0.1,1.005018
$STATE,15819,end surface coast,CONTROL_FINISHED_OK
$STATE,15819,begin surface
$SM_CCo,15891,0.00,0.000,0,0,1668,275.71
$SM_GC,1.10,6.97,0.00,0.00,0.035,0.000,0.000,187,1756,1668,-7.78,-1.24,275.71
$IRIDIUM_FIX,3629.60,-12212.00,170799,191941
$TT8_MAMPS,0.052156
$HUMID,55.11
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.10
$XPDR_PINGS,76
$24V_AH,23.8,25.421
$10V_AH,9.8,38.718
$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,17.925,138.750,340.300,0.000,0.000,28.330,30.001,239.148,20.000,0.000,14.326,0.000,10972.080,482.026,4242.729,574.839,0.000,1817.549,0.000,3671.567,0.000,8.191,0.000
$DEVICE_MAMPS,217.061,44.486,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1156.532,3529.307,2576.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286648
$DATA_FILE_SIZE,117124,1668
$CAP_FILE_SIZE,175508,0
$CFSIZE,260165632,237228032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230410,034825,3642.948,-12209.485,40,1.9,40,14.8