version: 66.06
glider: 503
mission: 5
dive: 246
start: 5 8 110 18 15 31
data:
$ID,503
$MISSION,5
$DIVE,246
$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,-3
$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,-15025.751
$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,44
$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
$GPS1,180737,3644.185,-12204.709,39,1.6,39,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,181526,3644.170,-12204.672,8,1.7,8,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,MIDWAY
$TGT_LATLONG,3647.000,-12156.100
$TGT_RADIUS,600.000
$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,52.8,13754,-15.7,-7.865
$D_GRID,963
$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,-116.8,0.0,0.0,0,53,0.00,0.00,-38.47,0.000,2,0.000,0.000,186,1751,2747,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.2,-6.6,7,81,8.77,2.15,-12.73,0.000,4,0.205,0.054,2512,398,3270,0,0,0,0,0,0
$GC,273,-0.52,-116.8,30.1,-11.6,48,279,0.00,2.15,0.00,0.000,6,0.000,0.025,2505,1799,3271,0,0,0,0,0,0
$GC,599,-0.52,-116.8,66.1,-11.3,109,605,0.00,2.25,0.00,0.000,4,0.000,0.049,2505,404,3272,0,0,0,0,0,0
$GC,631,-0.45,-116.8,70.3,-12.9,115,637,0.15,2.12,0.00,0.000,6,0.105,0.025,2550,1797,3272,0,0,0,0,0,0
$GC,958,-0.52,-116.8,95.9,-7.7,176,964,0.00,2.20,0.00,0.000,4,0.000,0.038,2550,399,3272,0,0,0,0,0,0
$GC,1007,-0.59,-116.8,100.0,-8.7,185,1012,0.08,2.15,0.00,0.000,6,0.054,0.025,2486,1810,3272,0,0,0,0,0,0
$GC,1334,-0.53,-116.8,137.9,-12.0,246,1340,0.15,0.00,0.00,0.000,6,0.131,0.000,2533,1810,3272,0,0,0,0,0,0
$GC,1661,-0.58,-116.8,165.2,-8.2,307,1666,0.00,2.22,0.00,0.000,4,0.000,0.038,2533,397,3273,0,0,0,0,0,0
$GC,1698,-0.58,-116.8,168.5,-8.8,314,1704,0.00,2.12,0.00,0.000,6,0.000,0.024,2526,1800,3272,0,0,0,0,0,0
$GC,2024,-0.58,-116.8,196.4,-8.9,375,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1800,3272,0,0,0,0,0,0
$GC,2344,-0.62,-116.8,224.3,-8.9,410,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1800,3273,0,0,0,0,0,0
$GC,2657,-0.66,-116.8,250.4,-8.5,440,2660,0.12,2.20,0.00,0.000,4,0.084,0.038,2449,394,3272,0,0,0,0,0,0
$GC,2693,-0.53,-116.8,254.8,-13.1,443,2697,0.22,2.12,0.00,0.000,6,0.109,0.025,2526,1803,3272,0,0,0,0,0,0
$GC,3013,-0.58,-116.8,281.2,-7.6,474,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1803,3272,0,0,0,0,0,0
$GC,3325,-0.63,-116.8,303.6,-7.1,504,3328,0.00,2.17,0.00,0.000,4,0.000,0.038,2526,400,3272,0,0,0,0,0,0
$GC,3360,-0.63,-116.8,306.8,-8.8,507,3367,0.00,2.12,0.00,0.000,6,0.000,0.024,2522,1806,3272,0,0,0,0,0,0
$GC,3676,-0.67,-116.8,333.5,-8.3,538,3677,0.12,0.00,0.00,0.000,6,0.084,0.000,2444,1808,3272,0,0,0,0,0,0
$GC,3987,-0.56,-116.8,373.7,-13.6,568,3991,0.22,2.22,0.00,0.000,4,0.121,0.038,2518,403,3271,0,0,0,0,0,0
$GC,4055,-0.56,-116.8,380.7,-9.1,574,4063,0.00,2.10,0.00,0.000,6,0.000,0.023,2509,1797,3271,0,0,0,0,0,0
$GC,4372,-0.56,-116.8,408.6,-9.0,605,4375,0.00,2.12,0.00,0.000,4,0.000,0.031,2499,3203,3271,0,0,0,0,0,0
$GC,4424,-0.62,-116.8,413.2,-8.6,610,4429,0.00,2.15,0.00,0.000,6,0.000,0.025,2499,1803,3271,0,0,0,0,0,0
$GC,4746,-0.62,-116.8,443.7,-9.6,641,4749,0.00,2.17,0.00,0.000,4,0.000,0.039,2499,408,3271,0,0,0,0,0,0
$GC,4814,-0.62,-116.8,450.9,-9.9,647,4820,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1804,3271,0,0,0,0,0,0
$GC,5130,-0.62,-116.8,479.5,-9.2,678,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1804,3271,0,0,0,0,0,0
$GC,5449,-0.62,-116.8,510.7,-10.1,704,5453,0.00,2.20,0.00,0.000,4,0.000,0.038,2495,401,3271,0,0,0,0,0,0
$GC,5475,-0.62,-116.8,513.6,-11.2,705,5479,0.00,2.10,0.00,0.000,6,0.000,0.025,2487,1798,3271,0,0,0,0,0,0
$GC,5797,-0.62,-116.8,546.3,-10.0,721,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1798,3270,0,0,0,0,0,0
$GC,6101,-0.62,-116.8,575.5,-9.1,736,6105,0.00,2.17,0.00,0.000,4,0.000,0.038,2487,407,3270,0,0,0,0,0,0
$GC,6187,-0.62,-116.8,584.0,-9.8,740,6191,0.00,2.10,0.00,0.000,6,0.000,0.025,2480,1799,3269,0,0,0,0,0,0
$GC,6513,-0.62,-116.8,614.2,-9.2,756,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1799,3269,0,0,0,0,0,0
$GC,6819,-0.62,-116.8,641.8,-9.0,771,6822,0.00,2.12,0.00,0.000,4,0.000,0.032,2470,3200,3268,0,0,0,0,0,0
$GC,6849,-0.62,-116.8,644.6,-9.3,772,6854,0.08,2.15,0.00,0.000,6,0.100,0.025,2502,1801,3268,0,0,0,0,0,0
$GC,7165,-0.62,-116.8,670.5,-8.2,788,7170,0.00,2.17,0.00,0.000,4,0.000,0.039,2502,410,3268,0,0,0,0,0,0
$GC,7231,-0.62,-116.8,675.9,-9.0,791,7234,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1806,3267,0,0,0,0,0,0
$GC,7554,-0.62,-116.8,700.7,-7.4,807,7557,0.00,2.12,0.00,0.000,4,0.000,0.033,2493,3196,3268,0,0,0,0,0,0
$STATE,7578,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7578,begin apogee
$GC,7584,-0.14,0.0,702.8,8.0,808,7680,0.45,0.00,94.15,1.016,6,0.091,0.000,2656,1745,2792,0,0,0,0,0,0
$STATE,7681,end apogee,CONTROL_FINISHED_OK
$STATE,7681,begin climb
$GC,7682,0.57,116.8,705.1,0.0,813,7789,0.60,2.35,99.88,0.984,4,0.058,0.040,2896,351,2315,0,0,0,0,0,0
$GC,7830,0.45,123.2,702.6,7.6,820,7843,0.15,2.22,6.82,0.795,6,0.117,0.024,2848,1740,2289,0,0,0,0,0,0
$GC,8146,0.53,190.1,684.8,4.8,836,8207,0.00,0.00,57.60,0.975,6,0.000,0.000,2848,1740,2015,0,0,0,0,0,0
$GC,8511,0.55,207.4,661.0,7.1,854,8533,0.00,2.28,15.48,0.923,4,0.000,0.031,2848,3154,1946,0,0,0,0,0,0
$GC,8558,0.57,222.2,657.8,7.2,856,8576,0.00,2.22,13.82,0.901,6,0.000,0.027,2858,1759,1886,0,0,0,0,0,0
$GC,8880,0.57,226.3,634.2,7.7,872,8888,0.00,2.25,5.05,0.729,4,0.000,0.042,2869,348,1869,0,0,0,0,0,0
$GC,8904,0.57,226.3,632.0,8.5,873,8909,0.00,2.15,0.00,0.000,6,0.000,0.023,2869,1744,1869,0,0,0,0,0,0
$GC,9221,0.57,226.3,602.7,9.3,889,9224,0.00,2.17,0.00,0.000,4,0.000,0.031,2869,3144,1868,0,0,0,0,0,0
$GC,9279,0.57,226.3,597.1,9.3,891,9285,0.00,2.17,0.00,0.000,6,0.000,0.028,2880,1756,1868,0,0,0,0,0,0
$GC,9590,0.57,226.3,568.6,9.3,907,9593,0.00,2.20,0.00,0.000,4,0.000,0.041,2891,339,1867,0,0,0,0,0,0
$GC,9626,0.57,226.3,565.0,10.3,908,9633,0.00,2.12,0.00,0.000,6,0.000,0.024,2891,1737,1867,0,0,0,0,0,0
$GC,9937,0.57,226.3,536.5,9.1,924,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1738,1867,0,0,0,0,0,0
$GC,10242,0.57,226.3,508.6,9.2,939,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1738,1866,0,0,0,0,0,0
$GC,10550,0.57,226.3,479.3,10.0,964,10554,0.00,2.20,0.00,0.000,4,0.000,0.031,2891,3153,1867,0,0,0,0,0,0
$GC,10592,0.57,226.3,474.9,10.5,968,10597,0.00,2.17,0.00,0.000,6,0.000,0.028,2901,1756,1866,0,0,0,0,0,0
$GC,10914,0.57,226.3,441.4,10.1,999,10917,0.00,2.15,0.00,0.000,4,0.000,0.031,2901,3154,1866,0,0,0,0,0,0
$GC,10945,0.57,226.3,438.2,10.7,1002,10949,0.00,2.17,0.00,0.000,6,0.000,0.028,2912,1756,1866,0,0,0,0,0,0
$GC,11268,0.52,226.3,403.4,11.3,1033,11271,0.15,2.17,0.00,0.000,4,0.133,0.031,2864,3155,1866,0,0,0,0,0,0
$GC,11294,0.52,226.3,400.6,10.2,1035,11297,0.00,2.15,0.00,0.000,6,0.000,0.028,2874,1749,1866,0,0,0,0,0,0
$GC,11613,0.52,226.3,370.9,9.1,1066,11618,0.00,2.17,0.00,0.000,4,0.000,0.031,2874,3150,1866,0,0,0,0,0,0
$GC,11640,0.52,226.3,368.2,10.2,1068,11647,0.00,2.17,0.00,0.000,6,0.000,0.028,2885,1746,1866,0,0,0,0,0,0
$GC,11956,0.52,226.3,337.9,9.3,1099,11957,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1746,1866,0,0,0,0,0,0
$GC,12268,0.52,226.3,308.3,9.3,1129,12271,0.00,2.15,0.00,0.000,4,0.000,0.031,2885,3151,1866,0,0,0,0,0,0
$GC,12303,0.52,226.3,304.5,10.4,1132,12308,0.00,2.17,0.00,0.000,6,0.000,0.028,2896,1749,1866,0,0,0,0,0,0
$GC,12625,0.52,226.3,271.6,9.7,1163,12628,0.00,2.17,0.00,0.000,4,0.000,0.031,2896,3152,1866,0,0,0,0,0,0
$GC,12671,0.52,226.3,266.5,10.8,1167,12678,0.10,2.17,0.00,0.000,6,0.108,0.028,2868,1750,1866,0,0,0,0,0,0
$GC,12987,0.57,226.3,240.6,8.2,1198,12991,0.00,2.17,0.00,0.000,4,0.000,0.031,2868,3143,1866,0,0,0,0,0,0
$GC,13008,0.62,226.3,238.8,9.2,1200,13013,0.00,2.15,0.00,0.000,6,0.000,0.028,2875,1755,1866,0,0,0,0,0,0
$GC,13330,0.62,226.3,211.2,8.2,1231,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1754,1866,0,0,0,0,0,0
$GC,13646,0.62,226.3,185.8,8.3,1277,13652,0.00,2.17,0.00,0.000,4,0.000,0.032,2876,3146,1866,0,0,0,0,0,0
$GC,13668,0.62,226.3,184.0,8.8,1281,13674,0.00,2.17,0.00,0.000,6,0.000,0.028,2886,1748,1866,0,0,0,0,0,0
$GC,13995,0.62,226.3,154.9,9.0,1342,14000,0.00,2.17,0.00,0.000,4,0.000,0.031,2886,3151,1866,0,0,0,0,0,0
$GC,14026,0.62,226.3,151.7,9.7,1348,14033,0.00,2.17,0.00,0.000,6,0.000,0.028,2897,1747,1866,0,0,0,0,0,0
$GC,14353,0.62,226.3,120.5,9.6,1409,14359,0.00,2.20,0.00,0.000,4,0.000,0.034,2897,3155,1866,0,0,0,0,0,0
$GC,14374,0.62,226.3,118.2,10.2,1413,14380,0.00,2.17,0.00,0.000,6,0.000,0.028,2908,1752,1866,0,0,0,0,0,0
$GC,14700,0.62,226.3,86.5,9.3,1474,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1751,1866,0,0,0,0,0,0
$GC,15026,0.62,226.3,57.9,9.1,1535,15032,0.00,2.17,0.00,0.000,4,0.000,0.031,2908,3153,1866,0,0,0,0,0,0
$GC,15058,0.62,226.3,54.7,9.9,1541,15064,0.00,2.17,0.00,0.000,6,0.000,0.028,2919,1748,1867,0,0,0,0,0,0
$GC,15384,0.62,226.3,23.3,9.9,1602,15390,0.00,2.20,0.00,0.000,4,0.000,0.041,2930,345,1867,0,0,0,0,0,0
$GC,15427,0.62,226.3,19.1,9.9,1610,15434,0.00,2.10,0.00,0.000,6,0.000,0.024,2930,1749,1867,0,0,0,0,0,0
$STATE,15603,end climb,SURFACE_DEPTH_REACHED
$STATE,15603,begin surface coast
$FINISH,0.2,1.011277
$STATE,15646,end surface coast,CONTROL_FINISHED_OK
$STATE,15646,begin surface
$SM_CCo,15658,10.85,0.556,0,0,1771,250.20
$SM_GC,3.51,0.00,0.00,10.85,0.000,0.000,0.556,188,1750,1771,-7.85,-1.41,250.20
$IRIDIUM_FIX,3632.29,-12209.72,020899,121248
$TT8_MAMPS,0.052156
$HUMID,54.29
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.50
$XPDR_PINGS,118
$ALTIM_BOTTOM_PING,700.7,11.7
$24V_AH,23.6,33.686
$10V_AH,9.7,53.525
$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,18.350,134.600,292.800,10.850,0.000,30.292,30.359,275.712,31.000,0.000,10.959,0.000,10787.592,448.447,4226.455,634.108,0.000,1766.103,0.000,3657.046,0.000,12.625,0.000
$DEVICE_MAMPS,204.789,54.457,1015.508,556.075,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1147.620,3500.966,2571.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,247240
$DATA_FILE_SIZE,113842,1651
$CAP_FILE_SIZE,172829,0
$CFSIZE,260165632,229511168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080510,223825,3645.116,-12202.285,83,1.0,83,14.8