version: 66.06
glider: 503
mission: 5
dive: 233
start: 5 5 110 23 10 8
data:
$ID,503
$MISSION,5
$DIVE,233
$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,-14769.689
$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,55
$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
$GPS1,230157,3645.634,-12212.628,46,2.1,65,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-65.2
$GPS2,230936,3645.541,-12212.604,37,0.8,41,14.8
$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,321.9,8990,-15.7,-7.865
$D_GRID,680
$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,-116.8,0.0,0.0,0,52,0.00,0.00,-38.05,0.000,2,0.000,0.000,152,1744,2754,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.4,-5.8,7,81,8.93,2.12,-12.00,0.000,4,0.208,0.057,2514,398,3270,0,0,0,0,0,0
$GC,96,-0.24,-116.8,11.9,-19.7,15,102,0.30,2.15,0.00,0.000,6,0.100,0.027,2625,1783,3271,0,0,0,0,0,0
$GC,422,-0.54,-116.8,36.3,-8.4,76,429,0.28,2.25,0.00,0.000,4,0.076,0.032,2523,3207,3272,0,0,0,0,0,0
$GC,482,-0.58,-116.8,42.0,-9.7,87,487,0.00,2.17,0.00,0.000,6,0.000,0.025,2523,1802,3272,0,0,0,0,0,0
$GC,809,-0.58,-116.8,72.1,-9.8,148,814,0.00,2.20,0.00,0.000,4,0.000,0.038,2523,404,3272,0,0,0,0,0,0
$GC,840,-0.58,-116.8,75.8,-11.6,154,847,0.00,2.12,0.00,0.000,6,0.000,0.025,2518,1806,3272,0,0,0,0,0,0
$GC,1166,-0.58,-116.8,106.1,-8.1,215,1173,0.00,2.20,0.00,0.000,4,0.000,0.038,2518,407,3272,0,0,0,0,0,0
$GC,1193,-0.58,-116.8,108.5,-9.1,220,1200,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1797,3272,0,0,0,0,0,0
$GC,1520,-0.58,-116.8,137.7,-8.5,281,1526,0.00,2.17,0.00,0.000,4,0.000,0.038,2509,405,3272,0,0,0,0,0,0
$GC,1606,-0.58,-116.8,146.6,-10.2,297,1612,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1796,3272,0,0,0,0,0,0
$GC,1932,-0.58,-116.8,178.1,-9.0,358,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1795,3272,0,0,0,0,0,0
$GC,2259,-0.58,-116.8,208.9,-9.3,411,2263,0.00,2.17,0.00,0.000,4,0.000,0.038,2505,405,3272,0,0,0,0,0,0
$GC,2302,-0.58,-116.8,213.3,-11.0,415,2306,0.00,2.10,0.00,0.000,6,0.000,0.024,2496,1817,3272,0,0,0,0,0,0
$GC,2617,-0.58,-116.8,244.9,-9.7,445,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1817,3273,0,0,0,0,0,0
$GC,2929,-0.58,-116.8,274.1,-9.4,475,2932,0.00,2.20,0.00,0.000,4,0.000,0.038,2495,398,3272,0,0,0,0,0,0
$GC,3041,-0.58,-116.8,285.9,-10.5,485,3044,0.00,2.10,0.00,0.000,6,0.000,0.024,2489,1794,3273,0,0,0,0,0,0
$GC,3360,-0.58,-116.8,320.0,-10.6,516,3365,0.00,2.17,0.00,0.000,4,0.000,0.038,2489,401,3272,0,0,0,0,0,0
$GC,3397,-0.52,-116.8,324.4,-11.6,519,3404,0.12,2.10,0.00,0.000,6,0.104,0.024,2528,1799,3272,0,0,0,0,0,0
$GC,3713,-0.58,-116.8,348.0,-7.0,550,3717,0.00,2.17,0.00,0.000,4,0.000,0.038,2528,406,3272,0,0,0,0,0,0
$GC,3756,-0.62,-116.8,351.2,-7.5,554,3760,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1803,3272,0,0,0,0,0,0
$GC,4077,-0.66,-116.8,373.6,-7.3,585,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1804,3272,0,0,0,0,0,0
$GC,4389,-0.71,-116.8,394.9,-6.4,615,4392,0.15,2.20,0.00,0.000,4,0.074,0.038,2438,396,3272,0,0,0,0,0,0
$GC,4430,-0.56,-116.8,399.3,-11.8,618,4437,0.25,2.10,0.00,0.000,6,0.110,0.024,2514,1795,3272,0,0,0,0,0,0
$GC,4746,-0.56,-116.8,419.6,-5.9,649,4749,0.00,2.17,0.00,0.000,4,0.000,0.039,2514,394,3271,0,0,0,0,0,0
$GC,4810,-0.56,-116.8,423.8,-6.2,655,4813,0.00,2.10,0.00,0.000,6,0.000,0.024,2508,1806,3271,0,0,0,0,0,0
$GC,5130,-0.56,-116.8,444.4,-7.2,686,5134,0.00,2.20,0.00,0.000,4,0.000,0.038,2508,404,3271,0,0,0,0,0,0
$GC,5163,-0.56,-116.8,447.2,-8.8,689,5166,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1799,3271,0,0,0,0,0,0
$GC,5482,-0.56,-116.8,474.0,-9.1,720,5487,0.00,2.20,0.00,0.000,4,0.000,0.038,2505,399,3270,0,0,0,0,0,0
$GC,5552,-0.56,-116.8,481.3,-10.2,726,5559,0.00,2.10,0.00,0.000,6,0.000,0.024,2496,1800,3270,0,0,0,0,0,0
$GC,5876,-0.56,-116.8,510.9,-8.9,752,5880,0.00,2.22,0.00,0.000,4,0.000,0.040,2495,400,3269,0,0,0,0,0,0
$GC,5922,-0.56,-116.8,515.8,-10.5,754,5927,0.00,2.12,0.00,0.000,6,0.000,0.024,2491,1808,3269,0,0,0,0,0,0
$GC,6244,-0.56,-116.8,547.0,-9.9,770,6248,0.00,2.20,0.00,0.000,4,0.000,0.039,2491,407,3269,0,0,0,0,0,0
$GC,6318,-0.56,-116.8,555.1,-10.9,773,6323,0.08,2.10,0.00,0.000,6,0.114,0.024,2515,1804,3269,0,0,0,0,0,0
$GC,6636,-0.61,-116.8,580.8,-7.7,789,6639,0.00,2.17,0.00,0.000,4,0.000,0.040,2515,398,3268,0,0,0,0,0,0
$GC,6682,-0.61,-116.8,584.8,-8.2,791,6687,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1798,3268,0,0,0,0,0,0
$GC,6999,-0.61,-116.8,607.4,-7.1,807,7003,0.00,2.17,0.00,0.000,4,0.000,0.040,2508,398,3269,0,0,0,0,0,0
$GC,7036,-0.61,-116.8,610.4,-8.9,809,7040,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1792,3268,0,0,0,0,0,0
$STATE,7218,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7218,begin apogee
$GC,7221,-0.14,0.0,623.9,7.3,818,7321,0.45,0.00,93.35,0.964,6,0.095,0.000,2663,1792,2792,0,0,0,0,0,0
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7324,0.57,116.8,626.5,0.0,823,7426,0.62,0.00,99.40,0.937,6,0.055,0.000,2897,1792,2315,0,0,0,0,0,0
$GC,7726,0.50,134.2,605.6,7.1,843,7747,0.12,2.17,14.10,0.877,4,0.146,0.031,2861,3148,2245,0,0,0,0,0,0
$GC,7794,0.51,135.7,600.4,7.8,846,7798,0.00,2.22,0.00,0.000,6,0.000,0.028,2871,1754,2244,0,0,0,0,0,0
$GC,8114,0.51,137.0,574.8,7.8,862,8123,0.00,2.22,3.75,0.593,4,0.000,0.030,2871,3149,2232,0,0,0,0,0,0
$GC,8179,0.48,152.4,570.1,7.2,865,8199,0.00,2.17,14.57,0.877,6,0.000,0.027,2882,1747,2170,0,0,0,0,0,0
$GC,8504,0.54,202.1,548.5,5.6,881,8552,0.00,2.30,42.35,0.906,4,0.000,0.030,2882,3148,1968,0,0,0,0,0,0
$GC,8638,0.55,210.5,539.7,7.5,887,8652,0.00,2.22,8.82,0.802,6,0.000,0.027,2893,1756,1933,0,0,0,0,0,0
$GC,8975,0.55,214.1,514.4,7.7,904,8984,0.00,2.20,4.78,0.676,4,0.000,0.030,2893,3157,1918,0,0,0,0,0,0
$GC,9001,0.55,214.1,512.2,8.2,905,9005,0.00,2.22,0.00,0.000,6,0.000,0.028,2904,1752,1918,0,0,0,0,0,0
$GC,9314,0.51,214.1,484.8,9.2,928,9318,0.12,2.20,0.00,0.000,4,0.141,0.030,2865,3156,1918,0,0,0,0,0,0
$GC,9362,0.51,214.1,480.8,8.1,932,9368,0.00,2.22,0.00,0.000,6,0.000,0.038,2875,1748,1918,0,0,0,0,0,0
$GC,9678,0.53,231.2,456.7,7.1,963,9700,0.00,2.22,14.85,0.835,4,0.000,0.031,2875,3148,1849,0,0,0,0,0,0
$GC,9742,0.53,231.2,451.5,8.3,969,9745,0.00,2.17,0.00,0.000,6,0.000,0.028,2886,1748,1849,0,0,0,0,0,0
$GC,10061,0.53,231.2,425.4,8.0,1000,10066,0.00,2.17,0.00,0.000,4,0.000,0.030,2886,3140,1849,0,0,0,0,0,0
$GC,10099,0.53,231.2,422.0,8.9,1003,10105,0.00,2.17,0.00,0.000,6,0.000,0.028,2897,1752,1849,0,0,0,0,0,0
$GC,10414,0.53,231.2,391.0,9.6,1034,10418,0.00,2.17,0.00,0.000,4,0.000,0.030,2897,3148,1849,0,0,0,0,0,0
$GC,10447,0.53,231.2,387.8,9.7,1037,10451,0.10,2.20,0.00,0.000,6,0.113,0.028,2869,1746,1849,0,0,0,0,0,0
$GC,10767,0.59,245.3,365.9,7.2,1068,10783,0.00,2.17,12.82,0.783,4,0.000,0.028,2869,3148,1790,0,0,0,0,0,0
$GC,10836,0.63,245.3,360.2,8.6,1074,10840,0.00,2.17,0.00,0.000,6,0.000,0.028,2876,1747,1790,0,0,0,0,0,0
$GC,11157,0.63,245.3,331.5,9.6,1105,11160,0.00,2.17,0.00,0.000,4,0.000,0.030,2877,3145,1790,0,0,0,0,0,0
$GC,11178,0.63,245.3,329.3,10.9,1107,11181,0.00,2.15,0.00,0.000,6,0.000,0.028,2887,1750,1790,0,0,0,0,0,0
$GC,11498,0.63,245.3,296.0,10.1,1138,11498,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1750,1791,0,0,0,0,0,0
$GC,11810,0.65,258.3,269.8,7.3,1168,11825,0.00,2.15,11.85,0.724,4,0.000,0.029,2887,3148,1738,0,0,0,0,0,0
$GC,11867,0.65,258.3,265.6,8.1,1173,11871,0.00,2.20,0.00,0.000,6,0.000,0.028,2898,1747,1739,0,0,0,0,0,0
$GC,12187,0.65,258.3,241.8,7.9,1204,12191,0.00,2.17,0.00,0.000,4,0.000,0.029,2898,3146,1739,0,0,0,0,0,0
$GC,12229,0.65,258.3,238.1,9.3,1208,12234,0.00,2.17,0.00,0.000,6,0.000,0.028,2909,1751,1739,0,0,0,0,0,0
$GC,12551,0.65,258.3,206.2,10.1,1239,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1750,1739,0,0,0,0,0,0
$GC,12871,0.65,258.3,171.1,10.9,1293,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1751,1739,0,0,0,0,0,0
$GC,13196,0.65,258.3,138.7,8.6,1354,13202,0.00,2.15,0.00,0.000,4,0.000,0.030,2909,3142,1739,0,0,0,0,0,0
$GC,13283,0.65,258.3,130.0,10.3,1370,13288,0.00,2.20,0.00,0.000,6,0.000,0.035,2919,1742,1739,0,0,0,0,0,0
$GC,13609,0.65,258.3,96.3,9.0,1431,13616,0.00,2.17,0.00,0.000,4,0.000,0.029,2919,3148,1739,0,0,0,0,0,0
$GC,13631,0.65,258.3,94.0,10.0,1435,13637,0.00,2.17,0.00,0.000,6,0.000,0.028,2930,1747,1739,0,0,0,0,0,0
$GC,13958,0.65,258.3,56.3,12.1,1496,13964,0.00,2.15,0.00,0.000,4,0.000,0.030,2930,3146,1739,0,0,0,0,0,0
$GC,13979,0.65,258.3,53.8,11.8,1500,13985,0.08,2.17,0.00,0.000,6,0.123,0.039,2912,1753,1738,0,0,0,0,0,0
$GC,14305,0.65,258.3,24.9,10.6,1561,14311,0.00,2.15,0.00,0.000,4,0.000,0.029,2912,3152,1739,0,0,0,0,0,0
$GC,14435,0.65,261.2,14.7,7.7,1585,14446,0.00,2.17,4.43,0.475,6,0.000,0.027,2921,1746,1726,0,0,0,0,0,0
$STATE,14556,end climb,SURFACE_DEPTH_REACHED
$STATE,14556,begin surface coast
$FINISH,0.8,1.026023
$STATE,14588,end surface coast,CONTROL_FINISHED_OK
$STATE,14588,begin surface
$SM_CCo,14661,0.00,0.000,0,0,1726,261.49
$SM_GC,1.47,7.25,0.00,0.00,0.058,0.000,0.000,186,1745,1726,-7.77,-1.53,261.49
$IRIDIUM_FIX,3629.60,-12209.72,300799,181833
$TT8_MAMPS,0.052156
$HUMID,54.44
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.60
$XPDR_PINGS,141
$ALTIM_BOTTOM_PING,600.2,33.5
$24V_AH,23.7,32.259
$10V_AH,9.8,50.846
$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,18.850,143.125,325.075,0.000,0.000,29.096,31.551,244.657,36.250,0.000,43.028,0.000,9780.568,460.551,4228.468,640.574,0.000,1788.088,0.000,3644.763,0.000,10.124,0.000
$DEVICE_MAMPS,207.857,56.758,964.119,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.523,3435.313,2515.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287140
$DATA_FILE_SIZE,113858,1614
$CAP_FILE_SIZE,173787,0
$CFSIZE,260165632,230912000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,031530,3647.156,-12214.308,37,1.4,41,14.8