version: 66.06
glider: 503
mission: 5
dive: 186
start: 4 25 110 8 57 20
data:
$ID,503
$MISSION,5
$DIVE,186
$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,-11828.637
$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,54
$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
$GPS1,085006,3647.728,-12213.353,34,0.8,34,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.1
$GPS2,085714,3647.677,-12213.340,11,1.1,11,14.8
$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,315.4,4956,-15.7,-7.865
$D_GRID,582
$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,13,-0.57,-116.8,0.0,0.0,0,58,0.00,0.00,-43.58,0.000,2,0.000,0.000,163,1746,2653,0,0,0,0,0,0
$GC,60,-0.57,-116.8,3.2,-6.1,8,92,9.05,2.17,-14.52,0.000,4,0.219,0.051,2513,399,3271,0,0,0,0,0,0
$GC,118,-0.45,-116.8,13.3,-16.2,19,124,0.12,2.15,0.00,0.000,6,0.108,0.024,2550,1797,3272,0,0,0,0,0,0
$GC,444,-0.45,-116.8,49.5,-10.3,80,450,0.00,2.17,0.00,0.000,4,0.000,0.032,2547,3191,3272,0,0,0,0,0,0
$GC,498,-0.53,-116.8,53.8,-7.3,90,504,0.00,2.17,0.00,0.000,6,0.000,0.028,2547,1796,3272,0,0,0,0,0,0
$GC,824,-0.53,-116.8,81.4,-9.0,151,831,0.00,2.17,0.00,0.000,4,0.000,0.038,2547,404,3273,0,0,0,0,0,0
$GC,889,-0.53,-116.8,87.7,-9.8,163,895,0.00,2.10,0.00,0.000,6,0.000,0.024,2545,1800,3273,0,0,0,0,0,0
$GC,1215,-0.53,-116.8,116.2,-8.5,224,1222,0.00,2.15,0.00,0.000,4,0.000,0.039,2544,3187,3273,0,0,0,0,0,0
$GC,1254,-0.62,-116.8,119.3,-8.5,231,1259,0.10,2.12,0.00,0.000,6,0.054,0.025,2480,1808,3273,0,0,0,0,0,0
$GC,1581,-0.53,-116.8,163.6,-14.6,292,1587,0.15,2.20,0.00,0.000,4,0.134,0.039,2528,408,3274,0,0,0,0,0,0
$GC,1736,-0.53,-116.8,181.9,-11.2,321,1742,0.00,2.10,0.00,0.000,6,0.000,0.025,2522,1805,3274,0,0,0,0,0,0
$GC,2056,-0.53,-116.8,214.6,-9.8,368,2060,0.00,2.20,0.00,0.000,4,0.000,0.038,2521,400,3274,0,0,0,0,0,0
$GC,2099,-0.53,-116.8,218.9,-10.0,372,2103,0.00,2.10,0.00,0.000,6,0.000,0.023,2512,1804,3273,0,0,0,0,0,0
$GC,2420,-0.53,-116.8,248.5,-9.4,403,2424,0.00,2.15,0.00,0.000,4,0.000,0.038,2512,402,3273,0,0,0,0,0,0
$GC,2484,-0.53,-116.8,255.3,-10.9,409,2487,0.00,2.08,0.00,0.000,6,0.000,0.024,2507,1792,3273,0,0,0,0,0,0
$GC,2804,-0.53,-116.8,287.3,-9.9,440,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1792,3273,0,0,0,0,0,0
$GC,3115,-0.53,-116.8,317.8,-9.9,470,3119,0.00,2.15,0.00,0.000,4,0.000,0.038,2508,406,3273,0,0,0,0,0,0
$GC,3190,-0.53,-116.8,325.9,-11.1,477,3193,0.00,2.08,0.00,0.000,6,0.000,0.024,2498,1795,3272,0,0,0,0,0,0
$GC,3509,-0.53,-116.8,359.9,-9.8,508,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1795,3272,0,0,0,0,0,0
$GC,3821,-0.53,-116.8,391.5,-10.5,538,3825,0.10,2.17,0.00,0.000,4,0.153,0.039,2529,396,3272,0,0,0,0,0,0
$GC,3862,-0.53,-116.8,395.7,-9.7,541,3869,0.00,2.12,0.00,0.000,6,0.000,0.024,2522,1808,3272,0,0,0,0,0,0
$GC,4178,-0.53,-116.8,421.0,-7.5,572,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1809,3271,0,0,0,0,0,0
$GC,4489,-0.53,-116.8,443.5,-6.6,602,4493,0.00,2.17,0.00,0.000,4,0.000,0.038,2522,405,3270,0,0,0,0,0,0
$GC,4574,-0.53,-116.8,450.3,-8.1,610,4578,0.00,2.08,0.00,0.000,6,0.000,0.024,2519,1799,3270,0,0,0,0,0,0
$GC,4895,-0.53,-116.8,472.6,-7.1,641,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1799,3270,0,0,0,0,0,0
$GC,5207,-0.53,-116.8,495.5,-7.3,671,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1800,3270,0,0,0,0,0,0
$GC,5512,-0.53,-116.8,518.3,-7.6,689,5516,0.00,2.20,0.00,0.000,4,0.000,0.040,2519,403,3269,0,0,0,0,0,0
$GC,5543,-0.53,-116.8,521.1,-9.0,690,5547,0.00,2.08,0.00,0.000,6,0.000,0.024,2510,1790,3269,0,0,0,0,0,0
$GC,5859,-0.53,-116.8,546.7,-7.7,706,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1790,3269,0,0,0,0,0,0
$GC,6165,-0.53,-116.8,570.8,-7.9,721,6168,0.00,2.17,0.00,0.000,4,0.000,0.040,2510,402,3269,0,0,0,0,0,0
$GC,6217,-0.53,-116.8,575.3,-8.5,723,6221,0.00,2.10,0.00,0.000,6,0.000,0.025,2506,1802,3268,0,0,0,0,0,0
$STATE,6307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6307,begin apogee
$GC,6310,-0.14,0.0,582.6,7.9,728,6404,0.43,0.00,91.97,0.934,6,0.097,0.000,2654,1803,2792,0,0,0,0,0,0
$STATE,6405,end apogee,CONTROL_FINISHED_OK
$STATE,6405,begin climb
$GC,6406,0.57,116.8,584.6,0.0,732,6512,0.62,2.22,97.72,0.904,4,0.057,0.030,2892,3146,2314,0,0,0,0,0,0
$GC,6577,0.47,124.5,580.2,7.5,741,6590,0.15,2.25,7.38,0.756,6,0.117,0.028,2843,1757,2284,0,0,0,0,0,0
$GC,6902,0.53,169.4,560.3,5.8,757,6944,0.00,2.35,37.72,0.890,4,0.000,0.042,2853,346,2101,0,0,0,0,0,0
$GC,6963,0.56,193.0,556.5,6.8,760,6988,0.00,2.17,21.02,0.856,6,0.000,0.024,2853,1742,2005,0,0,0,0,0,0
$GC,7311,0.56,197.9,530.4,7.6,777,7317,0.00,0.00,5.55,0.706,6,0.000,0.000,2853,1742,1985,0,0,0,0,0,0
$GC,7615,0.61,197.9,506.2,8.0,792,7616,0.12,0.00,0.00,0.000,6,0.083,0.000,2925,1743,1984,0,0,0,0,0,0
$GC,7926,0.52,197.9,472.4,10.2,819,7930,0.20,2.17,0.00,0.000,4,0.127,0.028,2862,3155,1982,0,0,0,0,0,0
$GC,7945,0.52,197.9,470.3,9.9,820,7953,0.00,2.20,0.00,0.000,6,0.000,0.028,2872,1750,1982,0,0,0,0,0,0
$GC,8262,0.52,199.9,446.7,7.8,851,8265,0.00,2.17,0.00,0.000,4,0.000,0.031,2871,3147,1982,0,0,0,0,0,0
$GC,8287,0.52,199.9,444.5,8.4,853,8294,0.00,2.20,0.00,0.000,6,0.000,0.028,2882,1747,1982,0,0,0,0,0,0
$GC,8603,0.52,199.9,417.8,9.1,884,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1747,1982,0,0,0,0,0,0
$GC,8914,0.52,199.9,389.3,9.3,914,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1747,1982,0,0,0,0,0,0
$GC,9225,0.52,199.9,360.6,9.6,944,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1747,1981,0,0,0,0,0,0
$GC,9535,0.52,199.9,333.1,8.1,974,9539,0.00,2.15,0.00,0.000,4,0.000,0.029,2882,3141,1980,0,0,0,0,0,0
$GC,9571,0.52,199.9,330.0,8.9,977,9578,0.00,2.17,0.00,0.000,6,0.000,0.028,2893,1747,1980,0,0,0,0,0,0
$GC,9887,0.53,205.7,304.9,7.6,1008,9899,0.00,0.00,6.97,0.692,6,0.000,0.000,2892,1747,1952,0,0,0,0,0,0
$GC,10209,0.55,228.0,281.9,6.9,1039,10233,0.00,2.20,18.62,0.746,4,0.000,0.030,2893,3145,1862,0,0,0,0,0,0
$GC,10260,0.55,228.0,278.0,8.2,1044,10265,0.00,2.17,0.00,0.000,6,0.000,0.028,2903,1753,1862,0,0,0,0,0,0
$GC,10582,0.56,234.2,253.1,7.6,1075,10592,0.00,2.17,6.57,0.647,4,0.000,0.028,2903,3156,1837,0,0,0,0,0,0
$GC,10628,0.56,234.2,249.2,8.6,1079,10635,0.08,2.20,0.00,0.000,6,0.117,0.028,2884,1750,1837,0,0,0,0,0,0
$GC,10944,0.56,234.2,225.9,7.9,1110,10945,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1750,1837,0,0,0,0,0,0
$GC,11255,0.57,238.9,202.4,7.7,1140,11266,0.00,0.00,5.70,0.604,6,0.000,0.000,2884,1750,1818,0,0,0,0,0,0
$GC,11585,0.64,265.4,178.4,6.7,1198,11611,0.00,2.17,21.58,0.680,4,0.000,0.029,2884,3150,1712,0,0,0,0,0,0
$GC,11633,0.71,276.3,174.9,7.4,1207,11649,0.08,2.20,11.48,0.636,6,0.058,0.037,2943,1755,1664,0,0,0,0,0,0
$GC,11969,0.65,276.3,135.4,12.5,1270,11975,0.12,0.00,0.00,0.000,6,0.141,0.000,2905,1755,1665,0,0,0,0,0,0
$GC,12295,0.65,276.3,104.1,9.1,1331,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1755,1665,0,0,0,0,0,0
$GC,12622,0.69,276.3,73.6,9.1,1392,12627,0.00,2.17,0.00,0.000,4,0.000,0.035,2905,3147,1665,0,0,0,0,0,0
$GC,12669,0.69,276.3,69.0,9.8,1401,12675,0.00,2.17,0.00,0.000,6,0.000,0.037,2914,1754,1665,0,0,0,0,0,0
$GC,12996,0.77,302.3,40.0,6.7,1462,13024,0.10,2.22,21.30,0.590,4,0.104,0.040,2991,350,1560,0,0,0,0,0,0
$GC,13055,0.70,302.3,34.2,10.4,1473,13061,0.17,2.12,0.00,0.000,6,0.106,0.024,2927,1755,1561,0,0,0,0,0,0
$GC,13382,0.75,302.3,6.8,9.7,1534,13388,0.00,2.15,0.00,0.000,4,0.000,0.031,2928,3146,1562,0,0,0,0,0,0
$STATE,13429,end climb,SURFACE_DEPTH_REACHED
$STATE,13429,begin surface coast
$FINISH,0.3,1.025386
$STATE,13466,end surface coast,CONTROL_FINISHED_OK
$STATE,13466,begin surface
$SM_CCo,13540,0.00,0.000,0,0,1562,301.71
$SM_GC,1.11,6.93,0.00,0.00,0.031,0.000,0.000,193,1792,1562,-7.76,-0.25,301.71
$IRIDIUM_FIX,3634.97,-12211.15,200799,050555
$TT8_MAMPS,0.052156
$HUMID,54.96
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.30
$XPDR_PINGS,93
$ALTIM_BOTTOM_PING,551.6,65.2
$24V_AH,24.0,26.638
$10V_AH,9.7,40.978
$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,18.525,99.550,353.600,0.000,0.000,23.972,35.967,246.318,24.250,0.000,12.995,0.000,9010.232,451.018,3902.011,568.768,0.000,1668.241,0.000,3384.473,0.000,10.327,0.000
$DEVICE_MAMPS,219.362,51.389,934.206,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.762,3294.514,2432.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286632
$DATA_FILE_SIZE,107493,1550
$CAP_FILE_SIZE,155648,0
$CFSIZE,260165632,236068864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,124354,3648.600,-12214.590,35,1.9,35,14.8