version: 66.06
glider: 503
mission: 5
dive: 196
start: 4 27 110 13 4 32
data:
$ID,503
$MISSION,5
$DIVE,196
$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,-11973.988
$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,46
$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
$GPS1,125700,3640.446,-12209.205,38,1.4,38,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.9
$GPS2,130426,3640.429,-12209.227,12,1.9,12,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$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,28.7,9115,-15.7,-7.865
$D_GRID,1222
$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,10,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,52,0.00,0.00,-38.10,0.000,2,0.000,0.000,186,1755,2693,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.2,-6.0,7,80,8.73,2.28,-13.60,0.000,4,0.206,0.042,2501,3207,3269,0,0,0,0,0,0
$GC,240,-0.53,-116.8,32.8,-15.4,42,246,0.00,2.20,0.00,0.000,6,0.000,0.025,2501,1801,3271,0,0,0,0,0,0
$GC,567,-0.44,-116.8,79.5,-12.7,103,573,0.17,2.22,0.00,0.000,4,0.132,0.039,2558,397,3272,0,0,0,0,0,0
$GC,679,-0.44,-116.8,90.5,-9.1,124,685,0.00,2.12,0.00,0.000,6,0.000,0.023,2551,1802,3272,0,0,0,0,0,0
$GC,1006,-0.50,-116.8,114.7,-5.9,185,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1802,3272,0,0,0,0,0,0
$GC,1332,-0.55,-116.8,135.0,-7.2,246,1337,0.00,2.20,0.00,0.000,4,0.000,0.038,2551,393,3273,0,0,0,0,0,0
$GC,1364,-0.60,-116.8,137.4,-7.9,252,1370,0.08,2.10,0.00,0.000,6,0.056,0.024,2485,1791,3272,0,0,0,0,0,0
$GC,1691,-0.53,-116.8,175.9,-11.7,313,1697,0.15,2.17,0.00,0.000,4,0.135,0.038,2531,406,3273,0,0,0,0,0,0
$GC,1739,-0.53,-116.8,181.1,-10.0,322,1745,0.00,2.10,0.00,0.000,6,0.000,0.033,2523,1799,3273,0,0,0,0,0,0
$GC,2067,-0.53,-116.8,206.5,-7.5,376,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1799,3273,0,0,0,0,0,0
$GC,2378,-0.53,-116.8,230.5,-7.9,406,2382,0.00,2.17,0.00,0.000,4,0.000,0.038,2523,400,3273,0,0,0,0,0,0
$GC,2453,-0.53,-116.8,237.3,-9.5,413,2456,0.00,2.10,0.00,0.000,6,0.000,0.024,2518,1805,3272,0,0,0,0,0,0
$GC,2773,-0.53,-116.8,267.0,-10.1,444,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1805,3272,0,0,0,0,0,0
$GC,3085,-0.53,-116.8,299.1,-10.3,474,3088,0.00,2.15,0.00,0.000,4,0.000,0.038,2518,395,3272,0,0,0,0,0,0
$GC,3168,-0.53,-116.8,308.7,-11.4,481,3175,0.00,2.10,0.00,0.000,6,0.000,0.023,2508,1799,3272,0,0,0,0,0,0
$GC,3484,-0.53,-116.8,341.3,-10.5,512,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1799,3272,0,0,0,0,0,0
$GC,3795,-0.53,-116.8,372.6,-10.2,542,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1799,3272,0,0,0,0,0,0
$GC,4106,-0.53,-116.8,403.1,-9.5,572,4109,0.00,2.20,0.00,0.000,4,0.000,0.038,2509,402,3271,0,0,0,0,0,0
$GC,4158,-0.53,-116.8,409.0,-11.2,577,4163,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1804,3271,0,0,0,0,0,0
$GC,4479,-0.53,-116.8,441.1,-9.7,608,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1803,3270,0,0,0,0,0,0
$GC,4790,-0.53,-116.8,473.0,-10.7,638,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1804,3269,0,0,0,0,0,0
$GC,5100,-0.53,-116.8,504.9,-10.1,666,5103,0.00,2.15,0.00,0.000,4,0.000,0.038,2505,400,3269,0,0,0,0,0,0
$GC,5136,-0.53,-116.8,508.8,-10.9,667,5142,0.08,2.10,0.00,0.000,6,0.171,0.023,2525,1799,3269,0,0,0,0,0,0
$GC,5448,-0.58,-116.8,532.8,-7.2,683,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1800,3269,0,0,0,0,0,0
$GC,5752,-0.64,-116.8,553.0,-6.4,698,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1799,3268,0,0,0,0,0,0
$GC,6058,-0.70,-116.8,572.3,-6.3,713,6059,0.15,0.00,0.00,0.000,6,0.075,0.000,2442,1800,3269,0,0,0,0,0,0
$GC,6362,-0.59,-116.8,606.2,-11.0,728,6366,0.20,2.20,0.00,0.000,4,0.124,0.039,2507,398,3268,0,0,0,0,0,0
$GC,6436,-0.59,-116.8,612.6,-8.2,731,6441,0.00,2.12,0.00,0.000,6,0.000,0.023,2498,1820,3268,0,0,0,0,0,0
$GC,6753,-0.59,-116.8,634.8,-7.0,747,6757,0.00,2.20,0.00,0.000,4,0.000,0.039,2498,393,3267,0,0,0,0,0,0
$GC,6790,-0.59,-116.8,637.8,-8.5,749,6793,0.00,2.10,0.00,0.000,6,0.000,0.025,2493,1797,3267,0,0,0,0,0,0
$GC,7116,-0.59,-116.8,660.7,-6.8,765,7120,0.00,2.12,0.00,0.000,4,0.000,0.039,2493,398,3267,0,0,0,0,0,0
$GC,7153,-0.59,-116.8,663.4,-7.5,766,7159,0.00,2.10,0.00,0.000,6,0.000,0.024,2483,1799,3266,0,0,0,0,0,0
$GC,7463,-0.59,-116.8,690.4,-10.4,782,7467,0.00,2.17,0.00,0.000,4,0.000,0.039,2483,405,3266,0,0,0,0,0,0
$GC,7515,-0.59,-116.8,696.8,-12.9,784,7520,0.08,2.10,0.00,0.000,6,0.114,0.024,2508,1801,3266,0,0,0,0,0,0
$GC,7832,-0.59,-116.8,725.1,-8.3,800,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1802,3266,0,0,0,0,0,0
$GC,8137,-0.59,-116.8,748.8,-7.6,815,8141,0.00,2.17,0.00,0.000,4,0.000,0.039,2508,406,3266,0,0,0,0,0,0
$GC,8180,-0.59,-116.8,752.3,-8.9,817,8184,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1796,3266,0,0,0,0,0,0
$GC,8506,-0.59,-116.8,777.7,-8.1,833,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1796,3265,0,0,0,0,0,0
$GC,8811,-0.59,-116.8,801.4,-7.7,848,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1796,3264,0,0,0,0,0,0
$GC,9117,-0.59,-116.8,825.3,-8.1,863,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1796,3264,0,0,0,0,0,0
$GC,9421,-0.59,-116.8,849.6,-8.0,878,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1796,3264,0,0,0,0,0,0
$GC,9727,-0.59,-116.8,872.3,-7.4,893,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1796,3263,0,0,0,0,0,0
$GC,10032,-0.63,-116.8,894.8,-7.3,908,10036,0.00,2.17,0.00,0.000,4,0.000,0.041,2505,405,3263,0,0,0,0,0,0
$GC,10084,-0.63,-116.8,899.2,-8.7,910,10089,0.00,2.12,0.00,0.000,6,0.000,0.025,2496,1805,3263,0,0,0,0,0,0
$GC,10401,-0.63,-116.8,923.6,-8.0,926,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1806,3263,0,0,0,0,0,0
$GC,10706,-0.63,-116.8,946.8,-7.1,941,10710,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,402,3263,0,0,0,0,0,0
$GC,10753,-0.63,-116.8,951.0,-9.6,943,10757,0.00,2.12,0.00,0.000,6,0.000,0.025,2487,1800,3262,0,0,0,0,0,0
$GC,11075,-0.63,-116.8,975.1,-7.0,959,11078,0.00,2.17,0.00,0.000,4,0.000,0.042,2487,399,3262,0,0,0,0,0,0
$GC,11127,-0.63,-116.8,979.2,-8.1,961,11131,0.00,2.12,0.00,0.000,6,0.000,0.025,2479,1799,3262,0,0,0,0,0,0
$STATE,11299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11299,begin apogee
$GC,11303,-0.14,0.0,992.2,7.4,970,11403,0.52,0.00,95.68,1.206,6,0.100,0.000,2659,1799,2794,0,0,0,0,0,0
$STATE,11403,end apogee,CONTROL_FINISHED_OK
$STATE,11404,begin climb
$GC,11405,0.57,116.8,994.6,0.0,975,11516,0.60,2.28,104.88,1.178,4,0.058,0.032,2886,3149,2314,0,0,0,0,0,0
$GC,11607,0.46,116.8,986.3,8.0,985,11610,0.17,2.28,0.00,0.000,6,0.151,0.031,2850,1759,2310,0,0,0,0,0,0
$GC,11928,0.49,140.8,963.9,6.8,1001,11952,0.00,2.25,20.10,1.117,4,0.000,0.033,2850,3150,2218,0,0,0,0,0,0
$GC,12006,0.51,158.4,958.2,7.1,1005,12027,0.00,2.25,17.15,1.094,6,0.000,0.031,2859,1747,2146,0,0,0,0,0,0
$GC,12332,0.51,158.4,931.5,8.3,1021,12335,0.00,2.22,0.00,0.000,4,0.000,0.044,2870,345,2143,0,0,0,0,0,0
$GC,12374,0.47,158.4,927.7,9.4,1023,12377,0.00,2.17,0.00,0.000,6,0.000,0.026,2870,1743,2143,0,0,0,0,0,0
$GC,12700,0.47,158.4,899.2,9.0,1039,12703,0.00,2.17,0.00,0.000,4,0.000,0.034,2870,3157,2142,0,0,0,0,0,0
$GC,12736,0.42,158.4,895.8,8.8,1040,12743,0.12,2.22,0.00,0.000,6,0.127,0.030,2838,1750,2142,0,0,0,0,0,0
$GC,13047,0.44,169.8,872.6,7.4,1056,13061,0.00,2.25,10.50,1.039,4,0.000,0.045,2848,341,2099,0,0,0,0,0,0
$GC,13125,0.45,182.6,866.3,7.3,1059,13142,0.00,2.17,12.50,1.045,6,0.000,0.025,2848,1756,2047,0,0,0,0,0,0
$GC,13452,0.46,188.8,840.8,7.6,1076,13465,0.00,2.20,7.20,0.943,4,0.000,0.031,2848,3158,2021,0,0,0,0,0,0
$GC,13481,0.46,188.8,838.4,8.1,1077,13485,0.00,2.25,0.00,0.000,6,0.000,0.029,2859,1748,2021,0,0,0,0,0,0
$GC,13798,0.46,188.8,810.7,8.5,1093,13801,0.00,2.20,0.00,0.000,4,0.000,0.032,2859,3157,2021,0,0,0,0,0,0
$GC,13844,0.46,188.8,806.3,10.0,1095,13849,0.00,2.22,0.00,0.000,6,0.000,0.029,2869,1746,2021,0,0,0,0,0,0
$GC,14166,0.47,192.6,780.3,7.7,1111,14172,0.00,0.00,4.70,0.802,6,0.000,0.000,2869,1746,2007,0,0,0,0,0,0
$GC,14471,0.48,202.3,757.7,7.4,1126,14482,0.00,0.00,10.00,0.980,6,0.000,0.000,2869,1746,1967,0,0,0,0,0,0
$GC,14777,0.48,203.6,734.9,7.8,1141,14780,0.00,2.22,0.00,0.000,4,0.000,0.031,2869,3156,1967,0,0,0,0,0,0
$GC,14824,0.48,203.6,730.8,8.2,1143,14828,0.00,2.22,0.00,0.000,6,0.000,0.028,2880,1747,1967,0,0,0,0,0,0
$GC,15145,0.48,203.6,703.5,8.7,1159,15146,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1746,1967,0,0,0,0,0,0
$GC,15450,0.48,203.6,674.4,9.8,1174,15454,0.00,2.17,0.00,0.000,4,0.000,0.030,2880,3145,1967,0,0,0,0,0,0
$GC,15466,0.48,203.6,672.8,10.0,1174,15473,0.10,2.17,0.00,0.000,6,0.116,0.028,2854,1752,1967,0,0,0,0,0,0
$GC,15776,0.48,203.6,646.9,8.5,1190,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1752,1967,0,0,0,0,0,0
$GC,16082,0.52,233.6,624.9,6.5,1205,16113,0.00,2.22,27.08,0.973,4,0.000,0.043,2864,348,1838,0,0,0,0,0,0
$GC,16138,0.53,243.7,621.0,7.4,1208,16152,0.00,2.17,10.12,0.882,6,0.000,0.025,2864,1757,1798,0,0,0,0,0,0
$GC,16464,0.53,243.7,594.7,8.3,1224,16465,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1758,1799,0,0,0,0,0,0
$GC,16769,0.53,243.7,566.2,9.5,1239,16773,0.00,2.12,0.00,0.000,4,0.000,0.031,2863,3152,1799,0,0,0,0,0,0
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$STATE,22462,end climb,SURFACE_DEPTH_REACHED
$STATE,22462,begin surface coast
$FINISH,0.1,1.025129
$STATE,22501,end surface coast,CONTROL_FINISHED_OK
$STATE,22501,begin surface
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$HUMID,54.48
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$TCM_TEMP,16.10
$XPDR_PINGS,83
$24V_AH,23.3,27.809
$10V_AH,9.7,43.071
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.075,169.600,361.225,0.000,0.000,28.005,34.793,254.780,23.250,0.000,14.784,0.000,16792.811,501.158,5047.148,638.978,0.000,2118.221,0.000,4315.746,0.000,18.980,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286672
$DATA_FILE_SIZE,136229,1945
$CAP_FILE_SIZE,221459,0
$CFSIZE,260165632,234893312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,192157,3642.081,-12206.182,33,2.7,52,14.8