version: 66.06
glider: 503
mission: 5
dive: 226
start: 5 4 110 6 43 13
data:
$ID,503
$MISSION,5
$DIVE,226
$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,-14638.067
$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,46
$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
$GPS1,063437,3645.719,-12212.859,59,1.1,59,14.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,3
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.3
$GPS2,064307,3645.576,-12212.926,10,1.8,10,14.8
$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,138.1,9524,-15.7,-7.865
$D_GRID,715
$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,12,-0.57,-116.8,0.0,0.0,0,53,0.00,0.00,-38.88,0.000,2,0.000,0.000,166,1743,2797,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.3,-6.0,7,81,8.75,2.33,-11.05,0.000,4,0.203,0.043,2498,3195,3271,0,0,0,0,0,0
$GC,321,-0.57,-116.8,39.4,-14.4,57,328,0.00,2.17,0.00,0.000,6,0.000,0.025,2498,1804,3272,0,0,0,0,0,0
$GC,647,-0.51,-116.8,82.1,-10.9,118,654,0.12,2.20,0.00,0.000,4,0.145,0.031,2527,3193,3272,0,0,0,0,0,0
$GC,729,-0.57,-116.8,89.3,-8.4,133,735,0.00,2.15,0.00,0.000,6,0.000,0.025,2527,1801,3273,0,0,0,0,0,0
$GC,1056,-0.57,-116.8,122.1,-10.3,194,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1800,3273,0,0,0,0,0,0
$GC,1381,-0.57,-116.8,151.4,-8.3,255,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1800,3273,0,0,0,0,0,0
$GC,1706,-0.57,-116.8,179.6,-8.1,316,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1800,3273,0,0,0,0,0,0
$GC,2029,-0.57,-116.8,204.7,-7.6,371,2033,0.00,2.17,0.00,0.000,4,0.000,0.032,2519,3198,3273,0,0,0,0,0,0
$GC,2066,-0.64,-116.8,207.3,-6.6,374,2072,0.00,2.15,0.00,0.000,6,0.000,0.025,2519,1796,3274,0,0,0,0,0,0
$GC,2382,-0.64,-116.8,231.1,-7.7,405,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1796,3273,0,0,0,0,0,0
$GC,2694,-0.64,-116.8,254.9,-7.1,435,2697,0.00,2.15,0.00,0.000,4,0.000,0.031,2516,3197,3273,0,0,0,0,0,0
$GC,2708,-0.64,-116.8,256.0,-7.1,436,2712,0.00,2.12,0.00,0.000,6,0.000,0.025,2516,1812,3273,0,0,0,0,0,0
$GC,3029,-0.64,-116.8,281.0,-8.5,467,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1812,3273,0,0,0,0,0,0
$GC,3341,-0.64,-116.8,309.0,-9.0,497,3344,0.00,2.17,0.00,0.000,4,0.000,0.038,2515,401,3272,0,0,0,0,0,0
$GC,3388,-0.64,-116.8,313.6,-10.2,501,3392,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1800,3272,0,0,0,0,0,0
$GC,3708,-0.64,-116.8,344.6,-10.4,532,3712,0.00,2.15,0.00,0.000,4,0.000,0.031,2499,3195,3272,0,0,0,0,0,0
$GC,3740,-0.64,-116.8,347.9,-10.2,535,3744,0.00,2.12,0.00,0.000,6,0.000,0.025,2499,1808,3272,0,0,0,0,0,0
$GC,4060,-0.64,-116.8,378.1,-8.6,566,4065,0.00,2.17,0.00,0.000,4,0.000,0.038,2498,409,3272,0,0,0,0,0,0
$GC,4071,-0.64,-116.8,379.0,-8.5,567,4075,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1793,3272,0,0,0,0,0,0
$GC,4391,-0.64,-116.8,406.5,-9.3,598,4396,0.00,2.17,0.00,0.000,4,0.000,0.031,2495,3199,3272,0,0,0,0,0,0
$GC,4417,-0.64,-116.8,408.9,-9.2,600,4425,0.00,2.15,0.00,0.000,6,0.000,0.025,2495,1804,3272,0,0,0,0,0,0
$GC,4735,-0.64,-116.8,438.6,-9.4,631,4738,0.00,2.12,0.00,0.000,4,0.000,0.031,2493,3198,3272,0,0,0,0,0,0
$GC,4786,-0.64,-116.8,443.5,-8.8,635,4793,0.00,2.15,0.00,0.000,6,0.000,0.025,2493,1796,3272,0,0,0,0,0,0
$GC,5102,-0.64,-116.8,469.1,-7.7,666,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1796,3271,0,0,0,0,0,0
$GC,5413,-0.64,-116.8,492.6,-7.9,696,5417,0.00,2.17,0.00,0.000,4,0.000,0.040,2493,401,3271,0,0,0,0,0,0
$GC,5428,-0.64,-116.8,493.7,-7.1,697,5434,0.00,2.10,0.00,0.000,6,0.000,0.024,2483,1803,3270,0,0,0,0,0,0
$GC,5751,-0.64,-116.8,522.8,-9.7,717,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1803,3270,0,0,0,0,0,0
$GC,6055,-0.64,-116.8,554.0,-10.4,732,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1803,3269,0,0,0,0,0,0
$GC,6361,-0.64,-116.8,580.8,-8.0,747,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1803,3269,0,0,0,0,0,0
$GC,6666,-0.64,-116.8,607.1,-9.2,762,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1803,3269,0,0,0,0,0,0
$GC,6971,-0.64,-116.8,631.8,-7.2,777,6975,0.00,2.15,0.00,0.000,4,0.000,0.032,2480,3198,3269,0,0,0,0,0,0
$GC,6997,-0.64,-116.8,633.7,-7.6,778,7001,0.00,2.15,0.00,0.000,6,0.000,0.025,2480,1799,3269,0,0,0,0,0,0
$GC,7319,-0.64,-116.8,658.8,-7.7,794,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1799,3269,0,0,0,0,0,0
$GC,7624,-0.64,-116.8,679.7,-6.2,809,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1799,3268,0,0,0,0,0,0
$GC,7929,-0.64,-116.8,698.9,-6.6,824,7933,0.00,2.17,0.00,0.000,4,0.000,0.040,2479,409,3268,0,0,0,0,0,0
$GC,7976,-0.60,-116.8,703.0,-8.8,826,7981,0.08,2.08,0.00,0.000,6,0.115,0.024,2501,1789,3268,0,0,0,0,0,0
$STATE,8133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8133,begin apogee
$GC,8137,-0.14,0.0,716.1,9.0,834,8237,0.45,0.00,93.88,1.025,6,0.094,0.000,2659,1790,2794,0,0,0,0,0,0
$STATE,8237,end apogee,CONTROL_FINISHED_OK
$STATE,8238,begin climb
$GC,8239,0.57,116.8,721.1,0.0,839,8348,0.60,2.45,100.68,0.997,4,0.058,0.041,2900,355,2315,0,0,1,0,0,0
$GC,8402,0.54,192.2,721.6,4.5,847,8471,0.00,2.20,64.93,0.983,6,0.000,0.024,2900,1749,2008,0,0,0,0,0,0
$GC,8788,0.48,192.2,688.1,11.1,866,8792,0.15,2.25,0.00,0.000,4,0.133,0.041,2865,356,2005,0,0,1,0,0,0
$GC,8862,0.48,192.2,680.4,9.5,869,8866,0.00,2.15,0.00,0.000,6,0.000,0.023,2865,1752,2004,0,0,0,0,0,0
$GC,9178,0.48,192.2,649.8,8.9,885,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1752,2002,0,0,0,0,0,0
$GC,9483,0.52,223.7,627.8,6.4,900,9513,0.00,2.20,25.45,0.949,4,0.000,0.031,2865,3149,1879,0,0,0,0,0,0
$GC,9534,0.56,255.4,624.6,6.4,902,9567,0.00,2.22,27.77,0.933,6,0.000,0.028,2876,1756,1751,0,0,0,0,0,0
$GC,9873,0.56,255.4,595.3,8.8,919,9876,0.00,2.22,0.00,0.000,4,0.000,0.042,2887,343,1750,0,0,0,0,0,0
$GC,9903,0.56,255.4,592.2,9.4,920,9910,0.00,2.15,0.00,0.000,6,0.000,0.024,2887,1745,1750,0,0,0,0,0,0
$GC,10213,0.56,255.4,561.6,10.8,936,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1745,1750,0,0,0,0,0,0
$GC,10520,0.56,255.4,524.0,11.5,951,10523,0.00,2.15,0.00,0.000,4,0.000,0.031,2887,3149,1750,0,0,0,0,0,0
$GC,10545,0.56,255.4,520.9,11.1,952,10550,0.00,2.17,0.00,0.000,6,0.000,0.028,2897,1757,1750,0,0,0,0,0,0
$GC,10863,0.56,255.4,487.3,10.0,974,10867,0.00,2.22,0.00,0.000,4,0.000,0.041,2909,346,1750,0,0,0,0,0,0
$GC,10921,0.56,255.4,480.4,12.6,979,10927,0.00,2.12,0.00,0.000,6,0.000,0.024,2909,1752,1750,0,0,0,0,0,0
$GC,11236,0.56,255.4,443.9,11.0,1010,11241,0.00,2.15,0.00,0.000,4,0.000,0.029,2909,3149,1750,0,0,0,0,0,0
$GC,11263,0.56,255.4,440.8,11.5,1012,11270,0.10,2.17,0.00,0.000,6,0.114,0.028,2881,1754,1750,0,0,0,0,0,0
$GC,11579,0.56,255.4,410.9,10.3,1043,11583,0.00,2.22,0.00,0.000,4,0.000,0.041,2891,346,1750,0,0,0,0,0,0
$GC,11616,0.56,255.4,407.0,10.4,1046,11623,0.00,2.12,0.00,0.000,6,0.000,0.025,2891,1753,1750,0,0,0,0,0,0
$GC,11932,0.56,255.4,374.9,9.2,1077,11936,0.00,2.17,0.00,0.000,4,0.000,0.041,2902,344,1750,0,0,0,0,0,0
$GC,11958,0.56,255.4,372.4,9.3,1079,11962,0.00,2.12,0.00,0.000,6,0.000,0.025,2902,1753,1750,0,0,0,0,0,0
$GC,12278,0.56,255.4,341.5,10.8,1110,12282,0.00,2.15,0.00,0.000,4,0.000,0.030,2901,3152,1750,0,0,0,0,0,0
$GC,12332,0.56,255.4,335.6,10.6,1115,12336,0.08,2.17,0.00,0.000,6,0.114,0.028,2882,1749,1750,0,0,0,0,0,0
$GC,12652,0.60,255.4,306.8,9.0,1146,12656,0.00,2.20,0.00,0.000,4,0.000,0.041,2891,348,1750,0,0,0,0,0,0
$GC,12689,0.60,255.4,303.3,10.1,1149,12696,0.00,2.10,0.00,0.000,6,0.000,0.024,2891,1745,1750,0,0,0,0,0,0
$GC,13005,0.60,255.4,274.7,8.6,1180,13009,0.00,2.15,0.00,0.000,4,0.000,0.030,2891,3147,1750,0,0,0,0,0,0
$GC,13031,0.60,255.4,272.1,10.2,1182,13038,0.00,2.17,0.00,0.000,6,0.000,0.028,2902,1747,1750,0,0,0,0,0,0
$GC,13347,0.60,255.4,241.0,9.4,1213,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1747,1750,0,0,0,0,0,0
$GC,13658,0.60,255.4,213.3,8.5,1243,13661,0.00,2.15,0.00,0.000,4,0.000,0.030,2902,3147,1750,0,0,0,0,0,0
$GC,13679,0.60,255.4,211.4,8.8,1245,13682,0.00,2.12,0.00,0.000,6,0.000,0.028,2912,1749,1750,0,0,0,0,0,0
$GC,14000,0.60,255.4,184.8,8.3,1292,14006,0.00,2.20,0.00,0.000,4,0.000,0.041,2924,345,1750,0,0,0,0,0,0
$GC,14054,0.60,255.4,179.9,9.2,1302,14060,0.00,2.10,0.00,0.000,6,0.000,0.024,2923,1747,1750,0,0,0,0,0,0
$GC,14381,0.60,255.4,148.5,9.3,1363,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1747,1749,0,0,0,0,0,0
$GC,14706,0.60,255.4,115.1,11.2,1424,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1747,1750,0,0,0,0,0,0
$GC,15033,0.60,255.4,81.0,10.1,1485,15038,0.00,2.15,0.00,0.000,4,0.000,0.031,2924,3147,1750,0,0,0,0,0,0
$GC,15096,0.60,255.4,73.9,10.7,1497,15103,0.10,2.15,0.00,0.000,6,0.112,0.028,2896,1754,1750,0,0,0,0,0,0
$GC,15423,0.66,255.4,46.8,8.2,1558,15429,0.00,2.20,0.00,0.000,4,0.000,0.041,2905,349,1749,0,0,0,0,0,0
$GC,15471,0.66,255.4,42.5,9.5,1567,15478,0.00,2.10,0.00,0.000,6,0.000,0.024,2904,1751,1750,0,0,0,0,0,0
$GC,15799,0.70,260.1,17.0,7.7,1628,15811,0.00,2.22,5.40,0.510,4,0.000,0.041,2916,346,1732,0,0,0,0,0,0
$GC,15891,0.70,260.1,8.6,9.5,1645,15896,0.00,2.10,0.00,0.000,6,0.000,0.024,2915,1745,1732,0,0,0,0,0,0
$STATE,15958,end climb,SURFACE_DEPTH_REACHED
$STATE,15958,begin surface coast
$FINISH,0.6,1.025983
$STATE,15992,end surface coast,CONTROL_FINISHED_OK
$STATE,15992,begin surface
$SM_CCo,16065,0.00,0.000,0,0,1732,260.26
$SM_GC,1.19,6.93,0.00,0.00,0.035,0.000,0.000,188,1747,1732,-7.77,-1.50,260.26
$IRIDIUM_FIX,3629.60,-12215.70,290799,020255
$TT8_MAMPS,0.052156
$HUMID,54.05
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.80
$XPDR_PINGS,124
$24V_AH,23.6,31.360
$10V_AH,9.8,49.330
$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,17.350,125.625,318.100,0.000,0.000,23.870,36.776,324.903,32.250,0.000,12.168,0.000,11180.524,440.324,4235.688,683.757,0.000,1775.325,0.000,3667.956,0.000,9.985,0.000
$DEVICE_MAMPS,203.255,42.952,1024.712,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.730,3520.281,2566.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286664
$DATA_FILE_SIZE,117068,1664
$CAP_FILE_SIZE,172996,0
$CFSIZE,260165632,231690240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040510,111154,3643.800,-12213.210,36,1.3,36,14.8