version: 66.06
glider: 503
mission: 5
dive: 201
start: 4 28 110 16 54 40
data:
$ID,503
$MISSION,5
$DIVE,201
$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,-12066.546
$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,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
$GPS1,164655,3646.883,-12213.078,36,1.5,36,14.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.4
$GPS2,165408,3646.855,-12213.018,11,1.0,11,14.8
$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,318.4,6524,-15.7,-7.865
$D_GRID,577
$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,-116.8,0.0,0.0,0,56,0.00,0.00,-43.05,0.000,2,0.000,0.000,156,1755,2642,0,0,0,0,0,0
$GC,58,-0.57,-116.8,3.1,-6.1,8,90,9.00,2.17,-14.95,0.000,4,0.214,0.052,2514,399,3271,0,0,0,0,0,0
$GC,154,-0.50,-116.8,17.2,-13.3,26,160,0.08,2.15,0.00,0.000,6,0.123,0.032,2535,1794,3272,0,0,0,0,0,0
$GC,480,-0.50,-116.8,57.6,-10.9,87,486,0.00,2.20,0.00,0.000,4,0.000,0.040,2534,405,3271,0,0,0,0,0,0
$GC,507,-0.50,-116.8,60.8,-11.7,92,513,0.00,2.12,0.00,0.000,6,0.000,0.025,2532,1802,3271,0,0,0,0,0,0
$GC,834,-0.50,-116.8,98.8,-11.2,153,840,0.00,2.17,0.00,0.000,4,0.000,0.043,2527,3200,3272,0,0,0,0,0,0
$GC,903,-0.57,-116.8,106.0,-10.1,166,910,0.00,2.15,0.00,0.000,6,0.000,0.025,2527,1800,3272,0,0,0,0,0,0
$GC,1230,-0.57,-116.8,139.1,-9.3,227,1236,0.00,2.20,0.00,0.000,4,0.000,0.039,2528,405,3272,0,0,0,0,0,0
$GC,1278,-0.57,-116.8,143.9,-10.5,236,1284,0.00,2.10,0.00,0.000,6,0.000,0.024,2520,1802,3273,0,0,0,0,0,0
$GC,1604,-0.57,-116.8,175.2,-9.0,297,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1802,3273,0,0,0,0,0,0
$GC,1932,-0.57,-116.8,208.9,-10.2,351,1935,0.00,2.17,0.00,0.000,4,0.000,0.038,2520,392,3273,0,0,0,0,0,0
$GC,1974,-0.57,-116.8,213.8,-11.7,355,1978,0.00,2.12,0.00,0.000,6,0.000,0.024,2510,1806,3273,0,0,0,0,0,0
$GC,2294,-0.57,-116.8,244.4,-8.7,386,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1807,3273,0,0,0,0,0,0
$GC,2605,-0.57,-116.8,271.0,-8.8,416,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1807,3273,0,0,0,0,0,0
$GC,2915,-0.57,-116.8,299.7,-9.6,446,2919,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,408,3272,0,0,0,0,0,0
$GC,2963,-0.57,-116.8,304.7,-10.3,450,2970,0.00,2.08,0.00,0.000,6,0.000,0.024,2506,1798,3272,0,0,0,0,0,0
$GC,3279,-0.57,-116.8,336.2,-10.2,481,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3273,0,0,0,0,0,0
$GC,3590,-0.57,-116.8,368.5,-10.3,511,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3272,0,0,0,0,0,0
$GC,3900,-0.57,-116.8,399.2,-9.1,541,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3272,0,0,0,0,0,0
$GC,4211,-0.57,-116.8,427.9,-9.1,571,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3271,0,0,0,0,0,0
$GC,4521,-0.57,-116.8,457.6,-9.5,601,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3270,0,0,0,0,0,0
$GC,4832,-0.57,-116.8,491.3,-11.8,631,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1798,3270,0,0,0,0,0,0
$GC,5137,-0.57,-116.8,524.8,-10.5,650,5141,0.00,2.17,0.00,0.000,4,0.000,0.039,2506,402,3269,0,0,0,0,0,0
$GC,5189,-0.57,-116.8,530.4,-10.7,652,5194,0.00,2.10,0.00,0.000,6,0.000,0.023,2496,1801,3270,0,0,0,0,0,0
$GC,5506,-0.57,-116.8,558.4,-8.2,668,5510,0.00,2.12,0.00,0.000,4,0.000,0.031,2495,3188,3269,0,0,0,0,0,0
$STATE,5530,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5530,begin apogee
$GC,5535,-0.14,0.0,560.4,7.6,669,5631,0.45,0.00,92.10,0.913,6,0.095,0.000,2657,1748,2792,0,0,0,0,0,0
$STATE,5631,end apogee,CONTROL_FINISHED_OK
$STATE,5632,begin climb
$GC,5633,0.57,116.8,562.7,0.0,674,5739,0.60,2.33,97.32,0.884,4,0.058,0.030,2887,3147,2315,0,0,0,0,0,0
$GC,5957,0.48,116.9,545.3,7.9,689,5962,0.12,2.22,0.00,0.000,6,0.116,0.027,2854,1749,2307,0,0,0,0,0,0
$GC,6274,0.56,182.1,526.8,4.9,705,6328,0.00,0.00,53.20,0.873,6,0.000,0.000,2854,1748,2049,0,0,0,0,0,0
$GC,6619,0.62,233.0,505.0,5.6,722,6666,0.12,2.28,42.12,0.858,4,0.083,0.041,2934,347,1840,0,0,0,0,0,0
$GC,6708,0.53,233.0,496.2,11.9,728,6712,0.17,2.17,0.00,0.000,6,0.107,0.024,2873,1746,1841,0,0,0,0,0,0
$GC,7029,0.53,233.0,470.8,8.0,759,7032,0.00,2.25,0.00,0.000,4,0.000,0.041,2883,332,1840,0,0,0,0,0,0
$GC,7050,0.53,233.0,469.1,8.5,761,7053,0.00,2.15,0.00,0.000,6,0.000,0.024,2883,1742,1840,0,0,0,0,0,0
$GC,7369,0.53,233.0,440.9,8.4,792,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,1743,1840,0,0,0,0,0,0
$GC,7681,0.53,233.0,411.9,9.8,822,7684,0.00,2.17,0.00,0.000,4,0.000,0.029,2883,3154,1839,0,0,0,0,0,0
$GC,7713,0.53,233.0,408.7,10.4,825,7716,0.00,2.17,0.00,0.000,6,0.000,0.028,2893,1744,1838,0,0,0,0,0,0
$GC,8032,0.53,233.0,379.9,8.3,856,8037,0.00,2.17,0.00,0.000,4,0.000,0.028,2893,3148,1838,0,0,0,0,0,0
$GC,8065,0.53,233.0,377.0,9.0,859,8069,0.12,2.15,0.00,0.000,6,0.143,0.028,2866,1747,1838,0,0,0,0,0,0
$GC,8385,0.59,233.0,354.5,8.4,890,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1747,1837,0,0,0,0,0,0
$GC,8697,0.64,233.0,329.7,8.1,920,8698,0.12,0.00,0.00,0.000,6,0.084,0.000,2933,1746,1836,0,0,0,0,0,0
$GC,9006,0.57,233.0,293.5,12.1,950,9007,0.17,0.00,0.00,0.000,6,0.128,0.000,2878,1746,1836,0,0,0,0,0,0
$GC,9316,0.57,233.0,266.0,9.1,980,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1746,1836,0,0,0,0,0,0
$GC,9628,0.61,233.0,238.5,8.6,1010,9631,0.00,2.15,0.00,0.000,4,0.000,0.029,2878,3142,1836,0,0,0,0,0,0
$GC,9669,0.61,233.0,234.7,8.4,1014,9674,0.00,2.15,0.00,0.000,6,0.000,0.027,2887,1748,1836,0,0,0,0,0,0
$GC,9991,0.61,233.0,208.4,8.3,1045,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1748,1835,0,0,0,0,0,0
$GC,10308,0.63,248.6,184.4,7.2,1094,10324,0.00,2.15,12.18,0.668,4,0.000,0.028,2887,3154,1780,0,0,0,0,0,0
$GC,10351,0.64,257.6,181.2,7.5,1102,10367,0.00,2.17,9.15,0.630,6,0.000,0.032,2897,1754,1741,0,0,0,0,0,0
$GC,10687,0.64,257.6,154.6,8.3,1165,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1753,1742,0,0,0,0,0,0
$GC,11012,0.64,257.6,127.1,8.2,1226,11019,0.00,2.17,0.00,0.000,4,0.000,0.041,2898,3149,1742,0,0,0,0,0,0
$GC,11034,0.64,257.6,125.3,8.5,1230,11040,0.00,2.17,0.00,0.000,6,0.000,0.027,2908,1747,1742,0,0,0,0,0,0
$GC,11361,0.64,257.6,95.5,8.4,1291,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1747,1742,0,0,0,0,0,0
$GC,11686,0.64,257.6,68.5,8.4,1352,11692,0.00,2.17,0.00,0.000,4,0.000,0.029,2907,3155,1742,0,0,0,0,0,0
$GC,11718,0.64,257.6,65.6,8.4,1358,11724,0.00,2.17,0.00,0.000,6,0.000,0.038,2919,1755,1742,0,0,0,0,0,0
$GC,12044,0.64,257.6,34.9,8.5,1419,12051,0.00,2.20,0.00,0.000,4,0.000,0.041,2930,346,1742,0,0,0,0,0,0
$GC,12098,0.64,257.6,30.0,9.3,1429,12104,0.00,2.10,0.00,0.000,6,0.000,0.024,2930,1753,1742,0,0,0,0,0,0
$GC,12425,0.67,283.2,3.5,6.7,1490,12437,0.00,0.00,10.75,0.550,2,0.000,0.000,2930,1754,1677,0,0,0,0,0,0
$STATE,12437,end climb,SURFACE_DEPTH_REACHED
$STATE,12437,begin surface coast
$FINISH,0.3,1.003701
$STATE,12483,end surface coast,CONTROL_FINISHED_OK
$STATE,12483,begin surface
$SM_CCo,12555,0.00,0.000,0,0,1679,273.01
$SM_GC,1.71,6.95,0.00,0.00,0.032,0.000,0.000,183,1755,1679,-7.77,-1.27,273.01
$IRIDIUM_FIX,3632.29,-12209.72,230799,121257
$TT8_MAMPS,0.052156
$HUMID,54.64
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,16.00
$XPDR_PINGS,120
$ALTIM_BOTTOM_PING,500.2,69.8
$24V_AH,23.9,28.390
$10V_AH,9.7,44.084
$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,17.925,78.150,316.825,0.000,0.000,23.593,35.424,254.962,30.500,0.000,13.805,0.000,8222.010,386.197,3808.092,564.204,0.000,1552.140,0.000,3299.857,0.000,5.590,0.000
$DEVICE_MAMPS,213.993,52.156,912.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.390,3202.684,2410.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287108
$DATA_FILE_SIZE,104615,1501
$CAP_FILE_SIZE,141950,0
$CFSIZE,260165632,234455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280410,202454,3648.476,-12214.178,23,1.7,40,14.8