version: 66.06
glider: 503
mission: 5
dive: 235
start: 5 6 110 7 32 8
data:
$ID,503
$MISSION,5
$DIVE,235
$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,-14804.771
$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,54
$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
$GPS1,072436,3648.847,-12214.986,38,1.1,38,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,073202,3648.806,-12214.937,15,1.9,15,14.8
$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,342.8,2213,-26.9,-7.865
$D_GRID,992
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.78,-44.0,0.0,0.0,0,64,0.00,0.00,-48.08,0.000,2,0.000,0.000,146,1786,2809,0,0,0,0,0,0
$GC,66,-0.79,-52.7,3.3,-6.8,9,87,8.55,2.25,-4.88,0.000,4,0.207,0.048,2436,390,3009,0,0,0,0,0,0
$GC,163,-0.73,-52.7,20.9,-18.7,27,169,0.10,2.15,0.00,0.000,6,0.139,0.026,2460,1781,3010,0,0,0,0,0,0
$GC,490,-0.78,-52.7,70.0,-13.3,88,495,0.00,2.17,0.00,0.000,4,0.000,0.038,2460,404,3011,0,0,0,0,0,0
$GC,580,-0.78,-52.7,83.4,-14.3,105,586,0.00,2.12,0.00,0.000,6,0.000,0.024,2451,1806,3011,0,0,0,0,0,0
$GC,907,-0.83,-52.7,125.1,-12.4,166,913,0.00,2.20,0.00,0.000,4,0.000,0.037,2451,404,3011,0,0,0,0,0,0
$GC,1019,-0.83,-52.7,139.9,-12.5,187,1025,0.00,2.10,0.00,0.000,6,0.000,0.023,2441,1800,3010,0,0,0,0,0,0
$GC,1346,-0.88,-52.7,177.8,-11.5,248,1351,0.00,2.20,0.00,0.000,4,0.000,0.036,2441,393,3011,0,0,0,0,0,0
$GC,1474,-0.88,-52.7,194.7,-12.9,272,1480,0.00,2.12,0.00,0.000,6,0.000,0.024,2431,1800,3011,0,0,0,0,0,0
$GC,1796,-0.88,-52.7,234.1,-13.1,307,1799,0.00,2.17,0.00,0.000,4,0.000,0.037,2431,396,3011,0,0,0,0,0,0
$GC,1870,-0.88,-52.7,244.4,-14.1,314,1874,0.00,2.10,0.00,0.000,6,0.000,0.023,2421,1797,3011,0,0,0,0,0,0
$GC,2191,-0.88,-52.7,286.3,-12.6,345,2195,0.00,2.17,0.00,0.000,4,0.000,0.036,2421,399,3011,0,0,0,0,0,0
$GC,2270,-0.88,-52.7,297.8,-14.1,352,2277,0.00,2.10,0.00,0.000,6,0.000,0.022,2411,1800,3012,0,0,0,0,0,0
$GC,2586,-0.88,-52.7,342.1,-15.7,383,2590,0.00,2.17,0.00,0.000,4,0.000,0.036,2411,401,3012,0,0,0,0,0,0
$GC,2639,-0.88,-52.7,350.7,-16.4,388,2643,0.00,2.10,0.00,0.000,6,0.000,0.023,2401,1804,3011,0,0,0,0,0,0
$GC,2961,-0.88,-52.7,396.9,-13.4,419,2964,0.00,2.17,0.00,0.000,4,0.000,0.036,2401,388,3011,0,0,0,0,0,0
$GC,3040,-0.88,-52.7,408.4,-14.2,426,3047,0.00,2.12,0.00,0.000,6,0.000,0.023,2390,1803,3011,0,0,0,0,0,0
$GC,3356,-0.88,-52.7,451.9,-14.3,457,3359,0.00,2.17,0.00,0.000,4,0.000,0.036,2390,401,3011,0,0,0,0,0,0
$GC,3542,-0.83,-52.7,481.8,-14.9,474,3549,0.12,2.10,0.00,0.000,6,0.130,0.023,2423,1800,3011,0,0,0,0,0,0
$GC,3865,-0.89,-52.7,519.5,-11.1,498,3869,0.00,2.17,0.00,0.000,4,0.000,0.037,2423,399,3011,0,0,0,0,0,0
$GC,3930,-0.89,-52.7,527.4,-11.8,501,3933,0.00,2.08,0.00,0.000,6,0.000,0.023,2414,1803,3011,0,0,0,0,0,0
$GC,4256,-0.93,-52.7,565.8,-11.2,517,4259,0.00,2.20,0.00,0.000,4,0.000,0.037,2415,396,3010,0,0,0,0,0,0
$GC,4324,-0.93,-52.7,574.7,-12.9,520,4328,0.00,2.10,0.00,0.000,6,0.000,0.024,2404,1799,3010,0,0,0,0,0,0
$GC,4645,-0.93,-52.7,613.8,-12.3,536,4649,0.00,2.15,0.00,0.000,4,0.000,0.030,2393,3200,3009,0,0,0,0,0,0
$GC,4677,-0.98,-52.7,617.7,-12.9,537,4681,0.00,2.15,0.00,0.000,6,0.000,0.025,2394,1798,3010,0,0,0,0,0,0
$GC,4994,-0.98,-52.7,656.7,-11.8,553,4997,0.00,2.17,0.00,0.000,4,0.000,0.039,2393,402,3009,0,0,0,0,0,0
$GC,5050,-0.98,-52.7,665.2,-15.7,555,5057,0.00,2.10,0.00,0.000,6,0.000,0.023,2383,1805,3009,0,0,0,0,0,0
$GC,5362,-0.98,-52.7,705.7,-13.2,571,5365,0.00,2.17,0.00,0.000,4,0.000,0.038,2384,399,3009,0,0,0,0,0,0
$GC,5414,-0.93,-52.7,713.4,-14.4,573,5419,0.00,2.10,0.00,0.000,6,0.000,0.024,2373,1799,3008,0,0,0,0,0,0
$GC,5731,-0.93,-52.7,753.4,-12.4,589,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1800,3008,0,0,0,0,0,0
$GC,6036,-0.93,-52.7,790.2,-11.9,604,6039,0.00,2.20,0.00,0.000,4,0.000,0.038,2373,405,3007,0,0,0,0,0,0
$GC,6222,-0.87,-52.7,813.2,-12.2,612,6229,0.15,2.10,0.00,0.000,6,0.132,0.024,2413,1800,3007,0,0,0,0,0,0
$GC,6533,-0.93,-52.7,841.1,-9.2,628,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1800,3006,0,0,0,0,0,0
$GC,6838,-0.99,-52.7,869.1,-9.0,643,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1800,3006,0,0,0,0,0,0
$GC,7144,-1.05,-52.7,897.3,-9.6,658,7147,0.15,2.20,0.00,0.000,4,0.070,0.039,2323,398,3005,0,0,0,0,0,0
$GC,7234,-0.91,-52.7,910.1,-15.4,662,7238,0.28,2.10,0.00,0.000,6,0.137,0.024,2401,1794,3005,0,0,0,0,0,0
$GC,7549,-0.96,-52.7,941.8,-9.7,678,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,1794,3005,0,0,0,0,0,0
$GC,7855,-1.01,-52.7,969.8,-8.8,693,7858,0.00,2.17,0.00,0.000,4,0.000,0.040,2401,411,3004,0,0,0,0,0,0
$GC,7912,-1.01,-52.7,975.7,-10.1,695,7919,0.00,2.10,0.00,0.000,6,0.000,0.025,2393,1799,3004,0,0,0,0,0,0
$STATE,8059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8059,begin apogee
$GC,8063,-0.14,0.0,991.5,10.4,703,8110,0.80,0.00,44.30,1.206,6,0.117,0.000,2654,1800,2792,0,0,0,0,0,0
$STATE,8110,end apogee,CONTROL_FINISHED_OK
$STATE,8110,begin climb
$GC,8111,0.79,52.7,992.8,0.0,705,8165,0.80,2.25,46.38,1.170,4,0.058,0.035,2959,3146,2577,0,0,0,0,0,0
$GC,8213,0.79,89.9,990.1,3.4,710,8255,0.00,2.25,34.22,1.157,6,0.000,0.031,2970,1767,2425,0,0,0,0,0,0
$GC,8560,0.79,89.9,963.1,8.4,727,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1767,2417,0,0,0,0,0,0
$GC,8865,0.79,89.9,938.9,7.9,742,8869,0.00,2.20,0.00,0.000,4,0.000,0.035,2970,3149,2414,0,0,0,0,0,0
$GC,8907,0.79,90.9,935.7,7.7,744,8911,0.00,2.22,0.00,0.000,6,0.000,0.031,2980,1748,2414,0,0,0,0,0,0
$GC,9234,0.79,90.9,909.9,8.5,760,9237,0.00,2.20,0.00,0.000,4,0.000,0.035,2981,3140,2414,0,0,0,0,0,0
$GC,9341,0.74,90.9,900.2,8.8,765,9345,0.20,2.15,0.00,0.000,6,0.180,0.031,2938,1748,2413,0,0,0,0,0,0
$GC,9662,0.75,97.7,877.3,7.0,781,9672,0.00,2.20,6.15,0.933,4,0.000,0.031,2938,3154,2392,0,0,0,0,0,0
$GC,9729,0.75,97.7,871.9,8.0,784,9733,0.00,2.22,0.00,0.000,6,0.000,0.030,2948,1745,2392,0,0,0,0,0,0
$GC,10045,0.75,97.7,846.4,8.4,800,10049,0.00,2.20,0.00,0.000,4,0.000,0.031,2948,3149,2392,0,0,0,0,0,0
$GC,10146,0.75,97.7,837.5,8.5,804,10153,0.00,2.20,0.00,0.000,6,0.000,0.030,2959,1749,2391,0,0,0,0,0,0
$GC,10456,0.75,97.7,810.9,8.8,820,10461,0.00,2.17,0.00,0.000,4,0.000,0.031,2959,3146,2391,0,0,0,0,0,0
$GC,10590,0.75,97.7,798.6,9.2,826,10594,0.00,2.17,0.00,0.000,6,0.000,0.029,2969,1749,2389,0,0,0,0,0,0
$GC,10910,0.75,97.7,772.3,8.0,842,10915,0.00,2.20,0.00,0.000,4,0.000,0.041,2980,351,2389,0,0,0,0,0,0
$GC,10937,0.70,97.7,770.1,8.9,843,10942,0.17,2.12,0.00,0.000,6,0.153,0.025,2925,1756,2389,0,0,0,0,0,0
$GC,11260,0.77,108.0,748.7,6.6,859,11274,0.00,2.17,9.90,0.984,4,0.000,0.034,2925,3154,2351,0,0,0,0,0,0
$GC,11339,0.82,111.3,743.0,7.5,862,11348,0.00,2.20,4.68,0.779,6,0.000,0.029,2934,1754,2338,0,0,0,0,0,0
$GC,11665,0.88,114.9,718.7,7.4,878,11674,0.12,2.17,4.80,0.789,4,0.078,0.033,3020,3147,2323,0,0,0,0,0,0
$GC,11750,0.79,114.9,709.8,11.0,882,11754,0.22,2.20,0.00,0.000,6,0.159,0.029,2961,1748,2322,0,0,0,0,0,0
$GC,12076,0.79,114.9,678.7,9.7,898,12079,0.00,2.20,0.00,0.000,4,0.000,0.031,2961,3150,2323,0,0,0,0,0,0
$GC,12133,0.79,114.9,672.7,10.2,900,12141,0.00,2.20,0.00,0.000,6,0.000,0.028,2970,1744,2322,0,0,0,0,0,0
$GC,12444,0.79,114.9,643.4,8.9,916,12448,0.00,2.17,0.00,0.000,4,0.000,0.031,2970,3143,2321,0,0,0,0,0,0
$GC,12555,0.79,114.9,633.2,8.8,921,12560,0.00,2.17,0.00,0.000,6,0.000,0.028,2981,1750,2321,0,0,0,0,0,0
$GC,12877,0.79,114.9,603.6,9.0,937,12881,0.00,2.20,0.00,0.000,4,0.000,0.031,2981,3149,2321,0,0,0,0,0,0
$GC,12946,0.79,114.9,596.9,10.1,940,12950,0.10,2.17,0.00,0.000,6,0.147,0.028,2959,1751,2321,0,0,0,0,0,0
$GC,13267,0.79,114.9,569.5,8.9,956,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1751,2321,0,0,0,0,0,0
$GC,13574,0.79,114.9,542.6,9.0,971,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1751,2321,0,0,0,0,0,0
$GC,13877,0.79,114.9,517.8,7.9,986,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1751,2321,0,0,0,0,0,0
$GC,14185,0.80,124.0,496.6,6.8,1003,14198,0.00,2.20,8.93,0.841,4,0.000,0.031,2959,3148,2286,0,0,0,0,0,0
$GC,14258,0.81,130.6,491.3,7.1,1010,14270,0.00,2.17,7.60,0.799,6,0.000,0.028,2968,1757,2259,0,0,0,0,0,0
$GC,14579,0.81,130.6,465.4,8.8,1041,14582,0.00,2.15,0.00,0.000,4,0.000,0.031,2968,3148,2259,0,0,0,0,0,0
$GC,14605,0.81,130.6,462.8,9.6,1043,14609,0.00,2.15,0.00,0.000,6,0.000,0.029,2979,1748,2258,0,0,0,0,0,0
$GC,14925,0.81,130.6,433.7,9.1,1074,14929,0.00,2.17,0.00,0.000,4,0.000,0.031,2979,3145,2257,0,0,0,0,0,0
$GC,15043,0.81,130.6,422.3,10.0,1085,15047,0.00,2.17,0.00,0.000,6,0.000,0.029,2990,1751,2257,0,0,0,0,0,0
$GC,15363,0.81,130.6,393.0,9.0,1116,15367,0.00,2.17,0.00,0.000,4,0.000,0.031,2989,3148,2257,0,0,0,0,0,0
$GC,15485,0.81,130.6,382.0,8.3,1127,15492,0.10,2.17,0.00,0.000,6,0.145,0.028,2968,1751,2257,0,0,0,0,0,0
$GC,15801,0.86,135.0,358.0,7.3,1158,15813,0.00,2.20,5.20,0.670,4,0.000,0.032,2968,3151,2241,0,0,0,0,0,0
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$GC,19419,0.97,146.5,39.8,8.9,1665,19425,0.00,2.17,0.00,0.000,6,0.000,0.038,2990,1752,2194,0,0,0,0,0,0
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$STATE,19899,end climb,SURFACE_DEPTH_REACHED
$STATE,19899,begin surface coast
$FINISH,0.3,1.026054
$STATE,19926,end surface coast,CONTROL_FINISHED_OK
$STATE,19926,begin surface
$SM_CCo,19941,46.58,0.567,0,0,1772,250.20
$SM_GC,0.97,0.00,0.00,46.58,0.000,0.000,0.567,185,1795,1772,-7.86,-0.14,250.20
$IRIDIUM_FIX,3634.97,-12217.14,310799,030332
$TT8_MAMPS,0.052156
$HUMID,54.21
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,15.70
$XPDR_PINGS,95
$24V_AH,23.7,32.458
$10V_AH,9.7,51.243
$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,19.250,182.300,205.000,46.575,0.000,30.511,36.030,246.342,26.250,0.000,17.425,0.000,14440.229,438.471,4843.915,677.556,0.000,2009.061,0.000,4187.339,0.000,18.977,0.000
$DEVICE_MAMPS,207.090,48.321,1205.724,566.813,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1224.347,3681.763,2598.699,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286688
$DATA_FILE_SIZE,123352,1760
$CAP_FILE_SIZE,210428,0
$CFSIZE,260165632,230666240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060510,130637,3650.457,-12216.111,60,1.6,60,14.8