version: 66.06
glider: 503
mission: 5
dive: 190
start: 4 26 110 4 56 7
data:
$ID,503
$MISSION,5
$DIVE,190
$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,-11891.68
$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,37
$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
$GPS1,044807,3644.881,-12216.952,29,1.4,29,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.7
$GPS2,045601,3644.813,-12216.908,9,1.9,14,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$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,261.6,3123,-26.9,-7.865
$D_GRID,983
$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,-48.03,0.000,2,0.000,0.000,168,1749,2805,0,0,0,0,0,0
$GC,64,-0.79,-55.2,3.5,-6.5,9,85,8.68,2.30,-4.90,0.000,4,0.213,0.046,2428,3193,3021,0,0,0,0,0,0
$GC,166,-0.79,-55.2,25.4,-20.0,28,171,0.00,2.17,0.00,0.000,6,0.000,0.025,2428,1801,3021,0,0,0,0,0,0
$GC,492,-0.79,-55.2,87.3,-18.2,89,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1801,3022,0,0,0,0,0,0
$GC,818,-0.79,-55.2,137.8,-14.8,150,823,0.00,2.17,0.00,0.000,4,0.000,0.038,2428,402,3023,0,0,0,0,0,0
$GC,893,-0.79,-55.2,149.3,-14.7,164,899,0.00,2.10,0.00,0.000,6,0.000,0.024,2418,1804,3022,0,0,0,0,0,0
$GC,1219,-0.79,-55.2,200.1,-16.7,225,1222,0.00,2.17,0.00,0.000,4,0.000,0.037,2418,392,3023,0,0,0,0,0,0
$GC,1271,-0.79,-55.2,209.2,-17.5,230,1276,0.10,2.12,0.00,0.000,6,0.137,0.023,2441,1801,3023,0,0,0,0,0,0
$GC,1593,-0.85,-55.2,256.8,-13.7,261,1596,0.00,2.15,0.00,0.000,4,0.000,0.037,2442,400,3023,0,0,0,0,0,0
$GC,1614,-0.85,-55.2,259.8,-14.2,263,1617,0.00,2.10,0.00,0.000,6,0.000,0.023,2433,1805,3023,0,0,0,0,0,0
$GC,1934,-0.89,-55.2,306.7,-14.4,294,1938,0.00,2.17,0.00,0.000,4,0.000,0.037,2433,403,3023,0,0,0,0,0,0
$GC,1966,-0.89,-55.2,311.5,-15.3,297,1970,0.00,2.08,0.00,0.000,6,0.000,0.024,2422,1796,3023,0,0,0,0,0,0
$GC,2286,-0.89,-55.2,357.5,-14.2,328,2290,0.00,2.15,0.00,0.000,4,0.000,0.037,2422,406,3022,0,0,0,0,0,0
$GC,2393,-0.89,-55.2,373.8,-15.1,338,2397,0.00,2.08,0.00,0.000,6,0.000,0.023,2412,1803,3022,0,0,0,0,0,0
$GC,2714,-0.89,-55.2,418.1,-13.4,369,2718,0.00,2.17,0.00,0.000,4,0.000,0.037,2413,402,3022,0,0,0,0,0,0
$GC,2745,-0.89,-55.2,422.6,-14.1,372,2750,0.00,2.08,0.00,0.000,6,0.000,0.023,2402,1801,3022,0,0,0,0,0,0
$GC,3067,-0.89,-55.2,463.9,-12.7,403,3070,0.00,2.15,0.00,0.000,4,0.000,0.038,2402,397,3021,0,0,0,0,0,0
$GC,3119,-0.85,-55.2,471.4,-14.3,408,3124,0.08,2.08,0.00,0.000,6,0.139,0.023,2420,1786,3021,0,0,0,0,0,0
$GC,3449,-0.89,-55.2,510.0,-12.0,436,3453,0.00,2.15,0.00,0.000,4,0.000,0.038,2419,405,3021,0,0,0,0,0,0
$GC,3550,-0.89,-55.2,522.8,-13.0,440,3557,0.00,2.10,0.00,0.000,6,0.000,0.023,2410,1803,3021,0,0,0,0,0,0
$GC,3860,-0.89,-55.2,560.2,-11.8,456,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1803,3020,0,0,0,0,0,0
$GC,4167,-0.89,-55.2,596.7,-11.9,471,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1803,3020,0,0,0,0,0,0
$GC,4471,-0.89,-55.2,635.1,-12.7,486,4475,0.00,2.17,0.00,0.000,4,0.000,0.038,2410,402,3019,0,0,0,0,0,0
$GC,4508,-0.89,-55.2,640.2,-14.1,487,4515,0.00,2.10,0.00,0.000,6,0.000,0.024,2400,1803,3018,0,0,0,0,0,0
$GC,4820,-0.89,-55.2,680.0,-12.5,503,4823,0.00,2.12,0.00,0.000,4,0.000,0.038,2400,402,3018,0,0,0,0,0,0
$GC,4850,-0.89,-55.2,684.5,-14.7,504,4857,0.00,2.10,0.00,0.000,6,0.000,0.023,2389,1801,3018,0,0,0,0,0,0
$GC,5161,-0.89,-55.2,725.3,-12.7,520,5165,0.00,2.17,0.00,0.000,4,0.000,0.038,2390,403,3017,0,0,0,0,0,0
$GC,5197,-0.89,-55.2,730.3,-13.7,521,5204,0.10,2.10,0.00,0.000,6,0.176,0.023,2412,1798,3017,0,0,0,0,0,0
$GC,5509,-0.94,-55.2,766.9,-11.5,537,5513,0.00,2.15,0.00,0.000,4,0.000,0.038,2412,400,3017,0,0,0,0,0,0
$GC,5540,-0.94,-55.2,770.8,-13.1,538,5547,0.00,2.10,0.00,0.000,6,0.000,0.024,2403,1804,3017,0,0,0,0,0,0
$GC,5850,-0.94,-55.2,809.4,-12.3,554,5854,0.00,2.20,0.00,0.000,4,0.000,0.038,2403,398,3016,0,0,0,0,0,0
$GC,5872,-0.94,-55.2,812.2,-13.6,555,5875,0.00,2.08,0.00,0.000,6,0.000,0.025,2393,1788,3016,0,0,0,0,0,0
$GC,6198,-0.94,-55.2,855.3,-12.8,571,6202,0.00,2.15,0.00,0.000,4,0.000,0.038,2393,394,3015,0,0,0,0,0,0
$GC,6261,-0.94,-55.2,864.5,-15.2,574,6265,0.00,2.10,0.00,0.000,6,0.000,0.025,2383,1797,3015,0,0,0,0,0,0
$GC,6588,-0.94,-55.2,906.3,-12.5,590,6592,0.00,2.17,0.00,0.000,4,0.000,0.039,2383,400,3015,0,0,0,0,0,0
$GC,6641,-0.89,-55.2,913.2,-13.6,592,6645,0.10,2.08,0.00,0.000,6,0.134,0.024,2407,1787,3015,0,0,0,0,0,0
$GC,6956,-0.94,-55.2,947.7,-10.9,608,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,1787,3014,0,0,0,0,0,0
$GC,7263,-0.99,-55.2,980.4,-10.8,623,7266,0.00,2.15,0.00,0.000,4,0.000,0.040,2407,397,3014,0,0,0,0,0,0
$STATE,7286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7286,begin apogee
$GC,7291,-0.14,0.0,983.6,12.4,624,7342,0.75,0.00,45.75,1.196,6,0.123,0.000,2647,1750,2791,0,0,0,0,0,0
$STATE,7343,end apogee,CONTROL_FINISHED_OK
$STATE,7343,begin climb
$GC,7345,0.79,55.2,985.2,0.0,627,7398,0.82,2.30,48.58,1.162,4,0.062,0.035,2957,3151,2566,0,0,0,0,0,0
$GC,7495,0.78,75.3,979.7,5.5,634,7517,0.00,2.25,18.42,1.115,6,0.000,0.031,2967,1765,2485,0,0,0,0,0,0
$GC,7833,0.78,79.1,955.8,7.4,651,7838,0.00,0.00,4.30,0.785,6,0.000,0.000,2967,1765,2469,0,0,0,0,0,0
$GC,8136,0.79,82.3,932.9,7.5,666,8146,0.00,2.25,4.15,0.770,4,0.000,0.034,2967,3158,2456,0,0,0,0,0,0
$GC,8195,0.74,82.3,928.1,8.4,668,8202,0.10,2.22,0.00,0.000,6,0.158,0.031,2947,1754,2455,0,0,0,0,0,0
$GC,8505,0.75,87.8,905.7,7.2,684,8515,0.00,2.20,6.45,0.946,4,0.000,0.032,2947,3157,2434,0,0,0,0,0,0
$GC,8622,0.75,88.8,896.2,7.7,689,8628,0.00,2.22,0.00,0.000,6,0.000,0.030,2956,1751,2433,0,0,0,0,0,0
$GC,8932,0.75,88.8,871.2,8.8,705,8936,0.00,2.20,0.00,0.000,4,0.000,0.032,2956,3150,2432,0,0,0,0,0,0
$GC,9007,0.75,88.8,864.5,9.0,708,9011,0.00,2.20,0.00,0.000,6,0.000,0.030,2967,1751,2431,0,0,0,0,0,0
$GC,9322,0.75,88.8,838.0,8.0,724,9326,0.00,2.22,0.00,0.000,4,0.000,0.043,2978,349,2431,0,0,0,0,0,0
$GC,9380,0.68,88.8,833.0,8.2,726,9388,0.17,2.12,0.00,0.000,6,0.162,0.025,2925,1752,2431,0,0,0,0,0,0
$GC,9691,0.74,98.9,811.3,6.6,742,9706,0.00,2.25,10.57,1.016,4,0.000,0.044,2934,339,2388,0,0,0,0,0,0
$GC,9743,0.74,98.9,807.1,8.8,743,9750,0.00,2.15,0.00,0.000,6,0.000,0.025,2934,1742,2388,0,0,0,0,0,0
$GC,10055,0.74,98.9,781.9,8.0,759,10058,0.00,2.20,0.00,0.000,4,0.000,0.033,2934,3163,2387,0,0,0,0,0,0
$GC,10187,0.74,98.9,770.1,8.8,765,10191,0.00,2.22,0.00,0.000,6,0.000,0.030,2945,1751,2386,0,0,0,0,0,0
$GC,10503,0.74,98.9,743.1,8.5,781,10507,0.00,2.17,0.00,0.000,4,0.000,0.032,2945,3157,2386,0,0,0,0,0,0
$GC,10593,0.74,98.9,735.1,8.8,785,10597,0.00,2.20,0.00,0.000,6,0.000,0.029,2956,1757,2385,0,0,0,0,0,0
$GC,10915,0.74,98.9,707.9,8.0,801,10918,0.00,2.17,0.00,0.000,4,0.000,0.032,2955,3153,2385,0,0,0,0,0,0
$GC,11005,0.75,103.7,700.7,7.3,805,11014,0.00,2.20,5.22,0.812,6,0.000,0.029,2967,1749,2368,0,0,0,0,0,0
$GC,11326,0.76,110.2,677.5,7.1,821,11334,0.00,0.00,7.55,0.898,6,0.000,0.000,2967,1749,2342,0,0,0,0,0,0
$GC,11631,0.76,110.2,653.5,8.1,836,11631,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,1749,2342,0,0,0,0,0,0
$GC,11936,0.76,110.2,628.6,8.2,851,11940,0.00,2.17,0.00,0.000,4,0.000,0.031,2967,3157,2341,0,0,0,0,0,0
$GC,12080,0.76,110.2,615.9,8.7,857,12086,0.10,2.20,0.00,0.000,6,0.142,0.029,2945,1751,2340,0,0,0,0,0,0
$GC,12390,0.76,117.7,593.0,7.0,873,12399,0.00,0.00,7.50,0.857,6,0.000,0.000,2945,1751,2312,0,0,0,0,0,0
$GC,12695,0.81,117.7,569.2,8.0,888,12699,0.00,2.17,0.00,0.000,4,0.000,0.031,2944,3150,2312,0,0,0,0,0,0
$GC,12796,0.81,117.7,560.9,8.0,892,12804,0.00,2.20,0.00,0.000,6,0.000,0.028,2954,1745,2312,0,0,0,0,0,0
$GC,13106,0.81,117.7,536.3,8.0,908,13111,0.00,2.20,0.00,0.000,4,0.000,0.031,2954,3153,2312,0,0,0,0,0,0
$GC,13214,0.81,117.7,527.1,8.5,913,13218,0.00,2.17,0.00,0.000,6,0.000,0.030,2965,1749,2311,0,0,0,0,0,0
$GC,13540,0.81,117.7,499.1,8.6,929,13544,0.00,2.20,0.00,0.000,4,0.000,0.043,2976,348,2311,0,0,0,0,0,0
$GC,13662,0.81,117.7,487.5,9.2,940,13670,0.00,2.12,0.00,0.000,6,0.000,0.025,2976,1758,2311,0,0,0,0,0,0
$GC,13978,0.81,117.7,458.7,8.9,971,13982,0.00,2.22,0.00,0.000,4,0.000,0.041,2987,341,2311,0,0,0,0,0,0
$GC,14036,0.77,117.7,453.2,9.3,976,14043,0.10,2.10,0.00,0.000,6,0.144,0.024,2954,1745,2311,0,0,0,0,0,0
$GC,14353,0.81,117.7,428.6,8.0,1007,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1745,2311,0,0,0,0,0,0
$GC,14664,0.81,119.6,404.4,7.6,1037,14667,0.00,2.12,0.00,0.000,4,0.000,0.030,2954,3153,2311,0,0,0,0,0,0
$GC,14758,0.81,119.6,396.6,8.1,1045,14765,0.00,2.17,0.00,0.000,6,0.000,0.027,2965,1745,2311,0,0,0,0,0,0
$GC,15074,0.82,121.6,372.4,7.6,1076,15086,0.00,2.20,5.03,0.663,4,0.000,0.030,2965,3153,2296,0,0,0,0,0,0
$GC,15122,0.82,121.6,368.7,8.0,1080,15129,0.00,2.17,0.00,0.000,6,0.000,0.028,2976,1746,2296,0,0,0,0,0,0
$GC,15438,0.82,121.6,342.2,8.1,1111,15442,0.00,2.17,0.00,0.000,4,0.000,0.031,2976,3151,2296,0,0,0,0,0,0
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$GC,16357,0.83,125.6,266.5,7.4,1199,16368,0.00,2.12,5.35,0.629,4,0.000,0.031,2956,3152,2279,0,0,0,0,0,0
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$GC,19566,1.01,193.2,22.2,4.1,1719,19598,0.00,2.20,26.73,0.578,4,0.000,0.039,3012,345,2003,0,0,0,0,0,0
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$STATE,19794,end climb,SURFACE_DEPTH_REACHED
$STATE,19794,begin surface coast
$FINISH,0.2,1.014791
$STATE,19826,end surface coast,CONTROL_FINISHED_OK
$STATE,19826,begin surface
$SM_CCo,19838,29.33,0.557,0,0,1771,250.20
$SM_GC,2.08,0.00,0.00,29.33,0.000,0.000,0.557,188,1743,1771,-7.86,-1.61,250.20
$IRIDIUM_FIX,3632.29,-12211.15,200799,232336
$TT8_MAMPS,0.052156
$HUMID,53.70
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.40
$XPDR_PINGS,155
$24V_AH,23.8,27.079
$10V_AH,9.7,41.820
$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
$DEVICE_SECS,18.775,181.525,235.100,29.325,0.000,30.613,31.185,272.892,41.250,0.000,16.628,0.000,14358.333,459.009,4814.684,669.172,0.000,2024.824,0.000,4146.115,0.000,18.978,0.000
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$SENSOR_SECS,1227.145,3691.729,2609.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286644
$DATA_FILE_SIZE,123617,1768
$CAP_FILE_SIZE,213021,0
$CFSIZE,260165632,235565056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260410,102832,3643.839,-12218.222,56,1.7,57,14.8