version: 66.06
glider: 503
mission: 5
dive: 187
start: 4 25 110 12 56 2
data:
$ID,503
$MISSION,5
$DIVE,187
$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,-11846.065
$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,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
$GPS1,124354,3648.600,-12214.590,35,1.9,35,14.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.8
$GPS2,125556,3648.592,-12214.569,15,1.3,15,14.8
$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,331.4,2685,-26.9,-7.865
$D_GRID,860
$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,11,begin dive
$GC,12,-0.78,-44.0,0.0,0.0,0,62,0.00,0.00,-48.30,0.000,2,0.000,0.000,155,1790,2835,0,0,0,0,0,0
$GC,64,-0.81,-64.0,3.4,-5.5,9,81,8.68,0.00,-4.97,0.000,6,0.212,0.000,2432,1791,3056,0,0,0,0,0,0
$GC,401,-0.81,-64.0,74.2,-17.8,72,407,0.00,2.20,0.00,0.000,4,0.000,0.048,2433,399,3057,0,0,0,0,0,0
$GC,470,-0.81,-64.0,86.6,-17.6,85,476,0.00,2.12,0.00,0.000,6,0.000,0.023,2425,1801,3057,0,0,0,0,0,0
$GC,797,-0.81,-64.0,138.5,-14.8,146,803,0.00,2.20,0.00,0.000,4,0.000,0.036,2424,398,3058,0,0,0,0,0,0
$GC,909,-0.76,-64.0,156.9,-16.6,167,916,0.10,2.10,0.00,0.000,6,0.135,0.023,2448,1794,3058,0,0,0,0,0,0
$GC,1234,-0.82,-64.0,203.2,-14.2,226,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1794,3058,0,0,0,0,0,0
$GC,1546,-0.89,-64.0,246.5,-12.9,256,1549,0.00,2.15,0.00,0.000,4,0.000,0.038,2449,396,3058,0,0,0,0,0,0
$GC,1630,-0.89,-64.0,258.3,-14.2,264,1634,0.00,2.10,0.00,0.000,6,0.000,0.023,2440,1802,3058,0,0,0,0,0,0
$GC,1952,-0.94,-64.0,301.0,-12.5,295,1953,0.12,0.00,0.00,0.000,6,0.083,0.000,2348,1803,3057,0,0,0,0,0,0
$GC,2262,-0.86,-64.0,358.6,-19.3,325,2266,0.25,2.17,0.00,0.000,4,0.143,0.036,2422,397,3057,0,0,0,0,0,0
$GC,2416,-0.86,-64.0,384.1,-15.4,339,2422,0.00,2.08,0.00,0.000,6,0.000,0.023,2414,1795,3057,0,0,0,0,0,0
$GC,2732,-0.86,-64.0,432.1,-14.7,370,2736,0.00,2.17,0.00,0.000,4,0.000,0.037,2414,394,3058,0,0,0,0,0,0
$GC,2785,-0.86,-64.0,440.3,-15.7,375,2789,0.00,2.10,0.00,0.000,6,0.000,0.024,2404,1801,3057,0,0,0,0,0,0
$GC,3105,-0.86,-64.0,485.8,-13.6,406,3110,0.00,2.17,0.00,0.000,4,0.000,0.037,2404,398,3057,0,0,0,0,0,0
$GC,3202,-0.86,-64.0,499.8,-14.5,415,3207,0.00,2.08,0.00,0.000,6,0.000,0.024,2394,1792,3056,0,0,0,0,0,0
$GC,3517,-0.86,-64.0,544.2,-14.1,431,3521,0.10,2.17,0.00,0.000,4,0.176,0.038,2421,406,3056,0,0,0,0,0,0
$GC,3624,-0.86,-64.0,559.2,-13.8,436,3628,0.00,2.08,0.00,0.000,6,0.000,0.024,2412,1800,3055,0,0,0,0,0,0
$GC,3951,-0.90,-64.0,601.5,-13.1,452,3954,0.00,2.17,0.00,0.000,4,0.000,0.038,2412,399,3055,0,0,0,0,0,0
$GC,4030,-0.90,-64.0,612.6,-14.3,455,4036,0.00,2.08,0.00,0.000,6,0.000,0.024,2402,1796,3055,0,0,0,0,0,0
$GC,4340,-0.90,-64.0,652.8,-13.0,471,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1797,3054,0,0,0,0,0,0
$GC,4646,-0.90,-64.0,693.1,-13.5,486,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1797,3054,0,0,0,0,0,0
$GC,4951,-0.90,-64.0,732.7,-12.3,501,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,1797,3053,0,0,0,0,0,0
$GC,5255,-0.90,-64.0,771.3,-12.5,516,5260,0.00,2.17,0.00,0.000,4,0.000,0.038,2402,395,3052,0,0,0,0,0,0
$GC,5330,-0.90,-64.0,781.3,-13.7,519,5334,0.00,2.10,0.00,0.000,6,0.000,0.024,2392,1800,3052,0,0,0,0,0,0
$GC,5646,-0.90,-64.0,821.9,-12.8,535,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1800,3051,0,0,0,0,0,0
$GC,5951,-0.90,-64.0,857.9,-11.0,550,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1801,3051,0,0,0,0,0,0
$STATE,5971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5971,begin apogee
$GC,5974,-0.14,0.0,860.1,11.1,551,6032,0.80,0.00,52.08,1.118,6,0.120,0.000,2653,1801,2792,0,0,0,0,0,0
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6033,begin climb
$GC,6034,0.81,64.0,861.2,0.0,554,6093,0.85,0.00,56.12,1.085,6,0.057,0.000,2970,1801,2530,0,0,0,0,0,0
$GC,6396,0.82,77.8,842.0,6.2,572,6411,0.00,2.12,11.95,1.006,4,0.000,0.031,2970,3145,2473,0,0,0,0,0,0
$GC,6508,0.77,77.8,833.4,8.1,576,6512,0.10,2.22,0.00,0.000,6,0.160,0.031,2950,1753,2472,0,0,0,0,0,0
$GC,6823,0.78,82.7,810.5,7.3,592,6832,0.00,2.20,5.15,0.821,4,0.000,0.031,2950,3134,2454,0,0,0,0,0,0
$GC,6982,0.78,88.0,798.0,7.2,599,6994,0.00,2.17,6.10,0.872,6,0.000,0.029,2959,1754,2434,0,0,0,0,0,0
$GC,7299,0.79,95.2,774.5,7.0,615,7313,0.00,2.22,7.97,0.936,4,0.000,0.032,2959,3143,2403,0,0,0,0,0,0
$GC,7404,0.79,95.2,766.5,8.6,620,7408,0.00,2.20,0.00,0.000,6,0.000,0.029,2970,1753,2402,0,0,0,0,0,0
$GC,7731,0.79,95.4,741.0,7.8,636,7734,0.00,2.17,0.00,0.000,4,0.000,0.031,2970,3139,2401,0,0,0,0,0,0
$GC,7826,0.79,95.4,733.6,8.0,640,7830,0.00,2.20,0.00,0.000,6,0.000,0.029,2980,1742,2400,0,0,0,0,0,0
$GC,8142,0.80,102.4,711.3,7.0,656,8153,0.00,2.15,7.40,0.904,4,0.000,0.030,2980,3144,2373,0,0,0,0,0,0
$GC,8244,0.76,102.4,703.3,8.2,661,8248,0.17,2.17,0.00,0.000,6,0.170,0.029,2943,1743,2373,0,0,0,0,0,0
$GC,8565,0.77,112.1,682.2,6.7,677,8578,0.00,2.20,9.43,0.933,4,0.000,0.031,2943,3136,2335,0,0,0,0,0,0
$GC,8600,0.77,112.1,679.3,8.0,678,8607,0.00,2.17,0.00,0.000,6,0.000,0.028,2952,1752,2335,0,0,0,0,0,0
$GC,8910,0.78,115.1,655.3,7.5,694,8920,0.00,2.22,4.45,0.732,4,0.000,0.031,2952,3151,2322,0,0,0,0,0,0
$GC,8990,0.78,115.1,648.4,8.8,697,8996,0.00,2.20,0.00,0.000,6,0.000,0.028,2963,1749,2322,0,0,0,0,0,0
$GC,9301,0.78,115.1,620.0,9.0,713,9304,0.00,2.20,0.00,0.000,4,0.000,0.031,2963,3147,2321,0,0,0,0,0,0
$GC,9364,0.78,115.1,613.6,9.3,716,9368,0.00,2.17,0.00,0.000,6,0.000,0.028,2974,1754,2321,0,0,0,0,0,0
$GC,9690,0.78,115.1,582.2,9.5,732,9694,0.00,2.15,0.00,0.000,4,0.000,0.030,2974,3137,2320,0,0,0,0,0,0
$GC,9737,0.78,115.1,577.3,10.3,734,9742,0.10,2.17,0.00,0.000,6,0.141,0.028,2952,1750,2320,0,0,0,0,0,0
$GC,10060,0.78,122.0,550.6,7.0,750,10070,0.00,2.20,7.30,0.833,4,0.000,0.041,2961,339,2294,0,0,0,0,0,0
$GC,10112,0.78,122.0,546.2,9.0,752,10119,0.00,2.12,0.00,0.000,6,0.000,0.024,2961,1746,2294,0,0,0,0,0,0
$GC,10422,0.78,122.0,521.7,7.9,768,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,1746,2294,0,0,0,0,0,0
$GC,10728,0.79,129.4,500.2,7.0,783,10737,0.00,0.00,7.80,0.818,6,0.000,0.000,2961,1746,2264,0,0,0,0,0,0
$GC,11037,0.79,129.4,476.6,8.5,812,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1746,2263,0,0,0,0,0,0
$GC,11348,0.79,129.4,449.9,8.8,842,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,1746,2263,0,0,0,0,0,0
$GC,11658,0.79,129.4,424.3,8.0,872,11662,0.00,2.15,0.00,0.000,4,0.000,0.031,2961,3140,2263,0,0,0,0,0,0
$GC,11766,0.79,129.4,414.8,9.2,882,11769,0.00,2.15,0.00,0.000,6,0.000,0.028,2972,1742,2262,0,0,0,0,0,0
$GC,12080,0.79,129.4,388.3,8.9,912,12084,0.00,2.17,0.00,0.000,4,0.000,0.030,2972,3142,2262,0,0,0,0,0,0
$GC,12181,0.79,129.4,378.9,9.1,921,12188,0.00,2.17,0.00,0.000,6,0.000,0.028,2983,1745,2262,0,0,0,0,0,0
$GC,12497,0.79,129.4,350.9,8.5,952,12501,0.00,2.17,0.00,0.000,4,0.000,0.030,2983,3149,2262,0,0,0,0,0,0
$GC,12566,0.79,129.4,344.2,8.5,958,12573,0.10,2.17,0.00,0.000,6,0.142,0.028,2960,1747,2262,0,0,0,0,0,0
$GC,12883,0.85,129.4,317.8,8.8,989,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1747,2262,0,0,0,0,0,0
$GC,13193,0.90,131.7,292.2,7.6,1019,13194,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1747,2262,0,0,0,0,0,0
$GC,13504,0.96,137.8,268.6,7.1,1049,13518,0.12,2.20,8.23,0.700,4,0.080,0.041,3049,346,2230,0,0,0,0,0,0
$GC,13528,0.88,137.8,266.3,9.1,1051,13535,0.20,2.10,0.00,0.000,6,0.150,0.023,2986,1747,2230,0,0,0,0,0,0
$GC,13844,0.88,137.8,237.0,9.3,1082,13848,0.00,2.15,0.00,0.000,4,0.000,0.030,2986,3146,2230,0,0,0,0,0,0
$GC,13876,0.88,137.8,233.8,9.7,1085,13880,0.00,2.17,0.00,0.000,6,0.000,0.028,2995,1745,2229,0,0,0,0,0,0
$GC,14196,0.88,137.8,203.1,9.9,1116,14201,0.00,2.15,0.00,0.000,4,0.000,0.029,2995,3138,2230,0,0,0,0,0,0
$GC,14261,0.88,137.8,196.9,9.8,1125,14267,0.00,2.15,0.00,0.000,6,0.000,0.028,3006,1746,2229,0,0,0,0,0,0
$GC,14587,0.88,137.8,165.8,9.4,1186,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,1746,2229,0,0,0,0,0,0
$GC,14913,0.88,137.8,135.6,8.8,1247,14919,0.00,2.15,0.00,0.000,4,0.000,0.030,3005,3141,2230,0,0,0,0,0,0
$GC,15159,0.88,137.8,113.1,9.1,1293,15165,0.10,2.15,0.00,0.000,6,0.142,0.028,2983,1747,2229,0,0,0,0,0,0
$GC,15486,0.89,145.4,89.5,6.9,1354,15497,0.00,0.00,7.97,0.595,6,0.000,0.000,2983,1747,2199,0,0,0,0,0,0
$GC,15819,0.95,152.8,65.7,7.0,1416,15830,0.00,2.20,8.00,0.579,4,0.000,0.028,2982,3149,2169,0,0,0,0,0,0
$GC,15942,1.00,152.8,56.2,8.0,1439,15948,0.00,2.17,0.00,0.000,6,0.000,0.034,2992,1750,2169,0,0,0,0,0,0
$GC,16269,1.05,158.1,33.3,7.2,1500,16280,0.12,0.00,6.07,0.530,6,0.084,0.000,3084,1750,2147,0,0,0,0,0,0
$GC,16602,0.98,166.5,11.8,6.9,1562,16618,0.22,2.20,8.52,0.550,4,0.156,0.040,3028,350,2112,0,0,0,0,0,0
$GC,16692,0.98,169.3,4.8,7.5,1579,16704,0.00,2.10,3.55,0.397,6,0.000,0.034,3028,1751,2100,0,0,0,0,0,0
$STATE,16718,end climb,SURFACE_DEPTH_REACHED
$STATE,16718,begin surface coast
$FINISH,0.2,1.001336
$STATE,16756,end surface coast,CONTROL_FINISHED_OK
$STATE,16756,begin surface
$SM_CCo,16768,47.60,0.562,0,0,1771,250.20
$SM_GC,1.01,0.00,0.00,47.60,0.000,0.000,0.562,189,1752,1771,-7.85,-1.36,250.20
$IRIDIUM_FIX,3634.97,-12214.86,200799,121246
$TT8_MAMPS,0.051389
$HUMID,53.93
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.40
$XPDR_PINGS,66
$24V_AH,23.9,26.735
$10V_AH,9.8,41.168
$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,19.475,121.000,218.100,47.600,0.000,60.205,71.452,403.889,18.500,0.000,16.798,0.000,12054.973,422.178,4231.800,797.510,0.000,1744.935,0.000,3641.387,0.000,15.413,0.000
$DEVICE_MAMPS,212.459,48.321,1118.286,562.211,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.923,3333.669,2408.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286636
$DATA_FILE_SIZE,110793,1591
$CAP_FILE_SIZE,182319,0
$CFSIZE,260165632,235941888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250410,173737,3649.842,-12215.450,58,1.6,58,14.8