version: 66.06
glider: 503
mission: 5
dive: 194
start: 4 27 110 3 27 50
data:
$ID,503
$MISSION,5
$DIVE,194
$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,-11946.812
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,031925,3645.321,-12211.137,39,1.1,39,14.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.7
$GPS2,032744,3645.279,-12211.140,9,1.5,9,14.8
$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,153.1,8104,-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,13,-0.57,-116.8,0.0,0.0,0,63,0.00,0.00,-48.62,0.000,2,0.000,0.000,172,1750,2655,0,0,0,0,0,0
$GC,65,-0.57,-116.8,3.0,-6.0,9,97,8.77,2.33,-14.55,0.000,4,0.206,0.045,2498,3197,3271,0,0,0,0,0,0
$GC,267,-0.52,-116.8,34.5,-15.5,47,273,0.08,2.20,0.00,0.000,6,0.117,0.035,2526,1792,3272,0,0,0,0,0,0
$GC,593,-0.52,-116.8,73.5,-11.3,108,599,0.00,2.17,0.00,0.000,4,0.000,0.037,2528,405,3272,0,0,0,0,0,0
$GC,620,-0.52,-116.8,76.7,-11.8,113,626,0.00,2.10,0.00,0.000,6,0.000,0.024,2521,1795,3272,0,0,0,0,0,0
$GC,947,-0.52,-116.8,112.8,-10.7,174,953,0.00,2.17,0.00,0.000,4,0.000,0.031,2512,3203,3273,0,0,0,0,0,0
$GC,985,-0.52,-116.8,116.5,-9.9,181,990,0.00,2.17,0.00,0.000,6,0.000,0.025,2512,1798,3273,0,0,0,0,0,0
$GC,1311,-0.52,-116.8,150.1,-9.3,242,1317,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,401,3273,0,0,0,0,0,0
$GC,1321,-0.52,-116.8,151.1,-9.5,244,1328,0.08,2.10,0.00,0.000,6,0.114,0.024,2532,1800,3273,0,0,0,0,0,0
$GC,1649,-0.52,-116.8,176.6,-7.6,305,1655,0.00,2.22,0.00,0.000,4,0.000,0.039,2532,396,3273,0,0,0,0,0,0
$GC,1702,-0.52,-116.8,181.1,-8.4,315,1709,0.00,2.10,0.00,0.000,6,0.000,0.023,2524,1798,3272,0,0,0,0,0,0
$GC,2025,-0.52,-116.8,212.1,-10.5,365,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1798,3273,0,0,0,0,0,0
$GC,2336,-0.52,-116.8,243.8,-9.7,395,2339,0.00,2.15,0.00,0.000,4,0.000,0.038,2524,399,3273,0,0,0,0,0,0
$GC,2409,-0.52,-116.8,251.6,-10.1,401,2415,0.00,2.12,0.00,0.000,6,0.000,0.022,2519,1808,3273,0,0,0,0,0,0
$GC,2724,-0.52,-116.8,279.9,-8.0,432,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1808,3273,0,0,0,0,0,0
$GC,3035,-0.52,-116.8,304.5,-8.0,462,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1808,3272,0,0,0,0,0,0
$GC,3346,-0.52,-116.8,333.6,-9.5,492,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1809,3271,0,0,0,0,0,0
$GC,3656,-0.52,-116.8,361.9,-9.0,522,3660,0.00,2.17,0.00,0.000,4,0.000,0.038,2519,405,3271,0,0,0,0,0,0
$GC,3698,-0.52,-116.8,366.1,-10.0,526,3703,0.00,2.08,0.00,0.000,6,0.000,0.023,2510,1795,3271,0,0,0,0,0,0
$GC,4020,-0.52,-116.8,398.2,-10.3,557,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1795,3270,0,0,0,0,0,0
$GC,4332,-0.52,-116.8,428.6,-9.4,587,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1795,3270,0,0,0,0,0,0
$GC,4642,-0.52,-116.8,454.7,-8.4,617,4645,0.00,2.15,0.00,0.000,4,0.000,0.038,2509,399,3270,0,0,0,0,0,0
$GC,4671,-0.52,-116.8,457.6,-9.5,619,4678,0.00,2.12,0.00,0.000,6,0.000,0.023,2505,1809,3270,0,0,0,0,0,0
$GC,4987,-0.52,-116.8,486.4,-8.9,650,4991,0.00,2.20,0.00,0.000,4,0.000,0.038,2504,396,3269,0,0,0,0,0,0
$GC,4998,-0.52,-116.8,487.2,-8.8,651,5002,0.10,2.10,0.00,0.000,6,0.105,0.024,2534,1798,3269,0,0,0,0,0,0
$GC,5316,-0.58,-116.8,507.7,-6.4,676,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1798,3269,0,0,0,0,0,0
$GC,5623,-0.65,-116.8,530.6,-7.9,691,5626,0.12,2.17,0.00,0.000,4,0.084,0.039,2461,396,3268,0,0,0,0,0,0
$GC,5648,-0.60,-116.8,533.5,-11.7,692,5653,0.15,2.10,0.00,0.000,6,0.107,0.024,2507,1800,3268,0,0,0,0,0,0
$GC,5969,-0.60,-116.8,560.9,-7.7,708,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1801,3268,0,0,0,0,0,0
$GC,6275,-0.60,-116.8,582.9,-7.4,723,6278,0.00,2.17,0.00,0.000,4,0.000,0.039,2507,404,3268,0,0,0,0,0,0
$GC,6300,-0.60,-116.8,585.0,-8.3,724,6305,0.00,2.10,0.00,0.000,6,0.000,0.024,2498,1804,3267,0,0,0,0,0,0
$GC,6621,-0.60,-116.8,609.3,-7.9,740,6626,0.00,2.17,0.00,0.000,4,0.000,0.038,2498,405,3267,0,0,0,0,0,0
$GC,6647,-0.60,-116.8,611.8,-9.4,741,6652,0.00,2.10,0.00,0.000,6,0.000,0.025,2493,1799,3267,0,0,0,0,0,0
$GC,6970,-0.60,-116.8,640.0,-9.8,757,6973,0.00,2.17,0.00,0.000,4,0.000,0.039,2493,392,3267,0,0,0,0,0,0
$GC,6995,-0.60,-116.8,642.5,-10.2,758,6999,0.00,2.10,0.00,0.000,6,0.000,0.024,2484,1796,3266,0,0,0,0,0,0
$GC,7316,-0.60,-116.8,673.5,-8.7,774,7320,0.00,2.15,0.00,0.000,4,0.000,0.032,2477,3195,3267,0,0,0,0,0,0
$GC,7338,-0.60,-116.8,675.4,-9.5,775,7342,0.00,2.15,0.00,0.000,6,0.000,0.026,2477,1797,3266,0,0,0,0,0,0
$STATE,7541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7541,begin apogee
$GC,7544,-0.14,0.0,695.7,9.8,785,7643,0.52,0.00,93.12,1.008,6,0.099,0.000,2659,1797,2792,0,0,0,0,0,0
$STATE,7644,end apogee,CONTROL_FINISHED_OK
$STATE,7644,begin climb
$GC,7645,0.57,116.8,698.6,0.0,790,7751,0.60,2.22,99.50,0.979,4,0.060,0.029,2887,3147,2314,0,0,0,0,0,0
$GC,7782,0.55,191.5,698.4,4.5,797,7852,0.00,2.28,64.00,0.963,6,0.000,0.028,2897,1758,2010,0,0,0,0,0,0
$GC,8168,0.49,191.5,664.4,9.3,816,8172,0.15,2.22,0.00,0.000,4,0.137,0.030,2853,3143,2007,0,0,0,0,0,0
$GC,8205,0.50,200.2,661.5,7.5,817,8219,0.00,2.20,8.27,0.840,6,0.000,0.028,2862,1755,1975,0,0,0,0,0,0
$GC,8536,0.53,227.8,639.2,6.6,834,8565,0.00,2.28,23.20,0.935,4,0.000,0.030,2862,3153,1863,0,0,0,0,0,0
$GC,8608,0.53,227.8,633.3,8.3,837,8612,0.00,2.25,0.00,0.000,6,0.000,0.028,2872,1751,1863,0,0,0,0,0,0
$GC,8924,0.53,227.8,606.6,8.4,853,8928,0.00,2.20,0.00,0.000,4,0.000,0.030,2872,3164,1863,0,0,0,0,0,0
$GC,8949,0.53,227.8,604.2,7.9,854,8954,0.00,2.22,0.00,0.000,6,0.000,0.028,2882,1756,1863,0,0,0,0,0,0
$GC,9271,0.53,227.8,576.9,8.2,870,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1756,1861,0,0,0,0,0,0
$GC,9577,0.53,227.8,548.4,11.0,885,9580,0.00,2.22,0.00,0.000,4,0.000,0.043,2894,349,1860,0,0,0,0,0,0
$GC,9602,0.53,227.8,545.7,11.1,886,9607,0.00,2.12,0.00,0.000,6,0.000,0.024,2894,1748,1861,0,0,0,0,0,0
$GC,9923,0.53,227.8,508.3,11.0,902,9928,0.00,2.17,0.00,0.000,4,0.000,0.031,2894,3144,1860,0,0,0,0,0,0
$GC,9988,0.53,227.8,501.2,10.1,905,9992,0.08,2.17,0.00,0.000,6,0.119,0.028,2858,1751,1860,0,0,0,0,0,0
$GC,10310,0.60,241.7,477.2,7.2,935,10330,0.10,2.22,12.07,0.841,4,0.099,0.030,2917,3151,1806,0,0,0,0,0,0
$GC,10355,0.54,241.7,472.3,11.6,939,10362,0.15,2.20,0.00,0.000,6,0.113,0.028,2874,1751,1806,0,0,0,0,0,0
$GC,10671,0.54,241.7,444.1,9.0,970,10675,0.00,2.20,0.00,0.000,4,0.000,0.042,2884,355,1806,0,0,0,0,0,0
$GC,10704,0.54,241.7,441.0,9.5,973,10707,0.00,2.10,0.00,0.000,6,0.000,0.024,2884,1743,1806,0,0,0,0,0,0
$GC,11023,0.54,241.7,411.6,8.2,1004,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1743,1806,0,0,0,0,0,0
$GC,11334,0.54,241.7,388.6,8.0,1034,11338,0.00,2.17,0.00,0.000,4,0.000,0.030,2884,3152,1806,0,0,0,0,0,0
$GC,11367,0.54,241.7,385.8,8.8,1037,11370,0.00,2.15,0.00,0.000,6,0.000,0.028,2894,1748,1805,0,0,0,0,0,0
$GC,11686,0.54,241.7,352.7,10.7,1068,11691,0.00,2.17,0.00,0.000,4,0.000,0.029,2894,3149,1806,0,0,0,0,0,0
$GC,11712,0.54,241.7,349.7,11.0,1070,11720,0.00,2.17,0.00,0.000,6,0.000,0.028,2904,1749,1805,0,0,0,0,0,0
$GC,12029,0.54,241.7,317.4,10.0,1101,12032,0.00,2.17,0.00,0.000,4,0.000,0.041,2915,358,1806,0,0,0,0,0,0
$GC,12065,0.54,241.7,313.4,10.7,1104,12073,0.10,2.12,0.00,0.000,6,0.104,0.024,2876,1762,1806,0,0,0,0,0,0
$GC,12382,0.59,241.7,284.3,9.4,1135,12385,0.00,2.12,0.00,0.000,4,0.000,0.030,2876,3146,1806,0,0,0,0,0,0
$GC,12445,0.59,241.7,278.1,10.0,1141,12449,0.00,2.17,0.00,0.000,6,0.000,0.028,2886,1747,1806,0,0,0,0,0,0
$GC,12765,0.59,241.7,248.6,8.9,1172,12770,0.00,2.17,0.00,0.000,4,0.000,0.041,2897,354,1806,0,0,0,0,0,0
$GC,12819,0.59,241.7,243.4,10.5,1177,12823,0.00,2.08,0.00,0.000,6,0.000,0.024,2897,1739,1806,0,0,0,0,0,0
$GC,13139,0.59,241.7,214.8,8.4,1208,13144,0.00,2.15,0.00,0.000,4,0.000,0.029,2896,3144,1806,0,0,0,0,0,0
$GC,13176,0.59,241.7,211.5,8.5,1211,13183,0.00,2.15,0.00,0.000,6,0.000,0.028,2906,1751,1806,0,0,0,0,0,0
$GC,13499,0.59,245.3,184.1,7.7,1260,13511,0.00,2.17,4.43,0.543,4,0.000,0.029,2906,3147,1792,0,0,0,0,0,0
$GC,13542,0.59,245.3,180.6,8.1,1268,13549,0.00,2.17,0.00,0.000,6,0.000,0.028,2917,1747,1792,0,0,0,0,0,0
$GC,13869,0.59,245.3,153.2,8.6,1329,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1747,1792,0,0,0,0,0,0
$GC,14194,0.59,245.3,121.1,9.1,1390,14200,0.00,2.15,0.00,0.000,4,0.000,0.029,2917,3145,1792,0,0,0,0,0,0
$GC,14221,0.59,245.3,118.5,9.6,1395,14227,0.10,2.17,0.00,0.000,6,0.112,0.037,2889,1748,1792,0,0,0,0,0,0
$GC,14548,0.64,245.3,90.7,7.9,1456,14554,0.00,2.15,0.00,0.000,4,0.000,0.030,2889,3145,1792,0,0,0,0,0,0
$GC,14596,0.64,245.3,86.4,8.8,1465,14602,0.00,2.15,0.00,0.000,6,0.000,0.028,2898,1751,1791,0,0,0,0,0,0
$GC,14923,0.69,247.5,61.3,7.8,1526,14934,0.00,2.20,3.83,0.453,4,0.000,0.041,2909,349,1781,0,0,0,0,0,0
$GC,14960,0.69,247.5,58.0,8.9,1533,14967,0.00,2.08,0.00,0.000,6,0.000,0.024,2909,1744,1781,0,0,0,0,0,0
$GC,15287,0.79,280.4,30.0,6.4,1594,15319,0.12,2.15,26.55,0.584,4,0.087,0.028,2986,3155,1649,0,0,0,0,0,0
$GC,15399,0.71,280.4,16.7,13.3,1615,15405,0.17,2.17,0.00,0.000,6,0.112,0.028,2935,1754,1651,0,0,0,0,0,0
$STATE,15553,end climb,SURFACE_DEPTH_REACHED
$STATE,15553,begin surface coast
$FINISH,0.2,1.025279
$STATE,15590,end surface coast,CONTROL_FINISHED_OK
$STATE,15591,begin surface
$SM_CCo,15663,0.00,0.000,0,0,1650,279.88
$SM_GC,1.25,7.07,0.00,0.00,0.039,0.000,0.000,175,1754,1650,-7.78,-1.30,279.88
$IRIDIUM_FIX,3632.29,-12212.00,210799,222234
$TT8_MAMPS,0.050622
$HUMID,54.68
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.30
$XPDR_PINGS,91
$24V_AH,23.7,27.567
$10V_AH,9.7,42.644
$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,18.475,142.950,334.975,0.000,0.000,23.972,33.449,314.340,23.750,0.000,11.688,0.000,10759.436,470.099,4237.364,654.502,0.000,1825.737,0.000,3661.095,0.000,8.189,0.000
$DEVICE_MAMPS,205.556,45.253,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1144.585,3491.022,2559.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286692
$DATA_FILE_SIZE,114150,1651
$CAP_FILE_SIZE,178560,0
$CFSIZE,260165632,235171840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,074937,3643.186,-12210.416,25,1.3,25,14.8