version: 66.06
glider: 503
mission: 5
dive: 22
start: 3 20 110 17 8 2
data:
$ID,503
$MISSION,5
$DIVE,22
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,400
$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,150
$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,-8725.6006
$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,37
$R_STBD_OVSHOOT,51
$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,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,170207,3643.573,-12211.189,29,1.0,29,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-75.4
$GPS2,170756,3643.569,-12211.207,11,1.1,11,14.8
$SPEED_LIMITS,0.173,0.260
$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,144.5,5084,-17.5,-10.000
$D_GRID,815
$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,-0.65,-146.0,0.0,0.0,0,57,0.00,0.00,-43.45,0.000,2,0.000,0.000,186,1749,2687,0,0,0,0,0,0
$GC,58,-0.65,-146.0,3.3,-6.8,8,90,8.70,2.15,-15.82,0.000,4,0.222,0.059,2483,401,3389,0,0,0,0,0,0
$GC,207,-0.55,-146.0,34.1,-20.3,36,214,0.12,2.12,0.00,0.000,6,0.121,0.028,2518,1790,3391,0,0,0,0,0,0
$GC,533,-0.55,-146.0,80.1,-11.3,97,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1790,3392,0,0,0,0,0,0
$GC,854,-0.55,-146.0,116.1,-11.0,157,861,0.00,2.20,0.00,0.000,4,0.000,0.035,2509,3211,3392,0,0,0,0,0,0
$GC,865,-0.55,-146.0,117.4,-11.2,159,871,0.00,2.17,0.00,0.000,6,0.000,0.028,2509,1796,3392,0,0,0,0,0,0
$GC,1191,-0.55,-146.0,154.6,-10.0,220,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1796,3392,0,0,0,0,0,0
$GC,1516,-0.55,-146.0,188.5,-9.7,281,1523,0.00,2.17,0.00,0.000,4,0.000,0.035,2503,3205,3393,0,0,0,0,0,0
$GC,1533,-0.59,-146.0,190.3,-10.2,284,1539,0.00,2.15,0.00,0.000,6,0.000,0.029,2503,1803,3392,0,0,0,0,0,0
$GC,1851,-0.59,-146.0,223.5,-11.1,324,1855,0.00,2.17,0.00,0.000,4,0.000,0.041,2503,397,3393,0,0,0,0,0,0
$GC,1862,-0.59,-146.0,224.9,-11.4,325,1866,0.00,2.12,0.00,0.000,6,0.000,0.027,2495,1817,3393,0,0,0,0,0,0
$GC,2182,-0.59,-146.0,260.9,-11.2,356,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1818,3393,0,0,0,0,0,0
$GC,2493,-0.59,-146.0,296.7,-11.5,386,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1818,3392,0,0,0,0,0,0
$GC,2803,-0.59,-146.0,333.4,-12.2,416,2807,0.00,2.17,0.00,0.000,4,0.000,0.040,2495,401,3391,0,0,0,0,0,0
$GC,2835,-0.59,-146.0,337.4,-12.7,419,2839,0.00,2.08,0.00,0.000,6,0.000,0.026,2492,1793,3391,0,0,0,0,0,0
$GC,3155,-0.59,-146.0,375.2,-11.4,450,3160,0.00,2.17,0.00,0.000,4,0.000,0.040,2492,391,3392,0,0,0,0,0,0
$GC,3171,-0.59,-146.0,377.1,-11.6,451,3178,0.00,2.12,0.00,0.000,6,0.000,0.025,2482,1809,3392,0,0,0,0,0,0
$GC,3486,-0.59,-146.0,415.0,-12.2,482,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1810,3391,0,0,0,0,0,0
$GC,3797,-0.59,-146.0,451.6,-11.9,512,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1810,3391,0,0,0,0,0,0
$GC,4108,-0.59,-146.0,484.8,-10.0,542,4112,0.00,2.17,0.00,0.000,4,0.000,0.041,2482,397,3390,0,0,0,0,0,0
$GC,4166,-0.59,-146.0,491.2,-11.1,547,4173,0.10,2.10,0.00,0.000,6,0.158,0.026,2507,1798,3390,0,0,0,0,0,0
$GC,4478,-0.66,-146.0,515.5,-7.8,568,4483,0.00,2.12,0.00,0.000,4,0.000,0.035,2505,3188,3390,0,0,0,0,0,0
$GC,4504,-0.77,-146.0,517.5,-8.4,569,4509,0.12,2.15,0.00,0.000,6,0.049,0.028,2432,1788,3389,0,0,0,0,0,0
$GC,4826,-0.71,-146.0,560.3,-13.9,585,4830,0.12,2.12,0.00,0.000,4,0.151,0.042,2474,401,3389,0,0,0,0,0,0
$GC,4846,-0.71,-146.0,563.3,-13.8,586,4851,0.00,2.10,0.00,0.000,6,0.000,0.025,2466,1805,3389,0,0,0,0,0,0
$GC,5172,-0.71,-146.0,601.6,-11.4,602,5177,0.00,2.12,0.00,0.000,4,0.000,0.035,2464,3195,3389,0,0,0,0,0,0
$GC,5194,-0.71,-146.0,603.9,-11.6,603,5198,0.00,2.12,0.00,0.000,6,0.000,0.028,2464,1802,3389,0,0,0,0,0,0
$GC,5520,-0.71,-146.0,642.2,-11.6,619,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1802,3389,0,0,0,0,0,0
$GC,5825,-0.71,-146.0,677.9,-11.5,634,5830,0.00,2.15,0.00,0.000,4,0.000,0.042,2464,401,3388,0,0,0,0,0,0
$GC,5856,-0.71,-146.0,682.1,-13.4,635,5862,0.00,2.10,0.00,0.000,6,0.000,0.026,2455,1805,3388,0,0,0,0,0,0
$GC,6173,-0.71,-146.0,721.6,-12.2,651,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1806,3387,0,0,0,0,0,0
$GC,6478,-0.71,-146.0,756.2,-10.9,666,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1806,3386,0,0,0,0,0,0
$GC,6784,-0.71,-146.0,789.9,-11.2,681,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1806,3385,0,0,0,0,0,0
$STATE,7027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7027,begin apogee
$GC,7029,-0.14,0.0,817.0,11.3,693,7150,0.60,0.00,116.25,1.084,6,0.109,0.000,2660,1745,2792,0,0,0,0,0,0
$STATE,7150,end apogee,CONTROL_FINISHED_OK
$STATE,7150,begin climb
$GC,7151,0.65,146.0,821.9,0.0,699,7282,0.68,2.17,125.05,1.048,4,0.058,0.032,2912,3140,2196,0,0,0,0,0,0
$GC,7377,0.55,146.0,812.5,10.7,710,7381,0.12,2.25,0.00,0.000,6,0.146,0.032,2884,1758,2193,0,0,0,0,0,0
$GC,7697,0.59,177.1,785.1,8.6,726,7727,0.00,2.33,25.85,1.012,4,0.000,0.046,2894,347,2069,0,0,0,0,0,0
$GC,7754,0.55,187.1,779.8,9.5,728,7769,0.00,2.17,9.95,0.915,6,0.000,0.027,2894,1733,2029,0,0,0,0,0,0
$GC,8086,0.57,209.1,748.9,9.0,745,8110,0.00,2.28,19.17,0.992,4,0.000,0.046,2904,346,1939,0,0,0,0,0,0
$GC,8127,0.53,209.1,744.9,10.1,747,8132,0.10,2.20,0.00,0.000,6,0.127,0.027,2871,1755,1939,0,0,0,0,0,0
$GC,8454,0.53,209.1,712.9,10.1,763,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1755,1936,0,0,0,0,0,0
$GC,8758,0.54,220.2,682.9,9.5,778,8769,0.00,0.00,9.60,0.917,6,0.000,0.000,2871,1755,1893,0,0,0,0,0,0
$GC,9064,0.57,241.5,654.0,9.0,793,9085,0.00,0.00,18.98,0.959,6,0.000,0.000,2872,1755,1807,0,0,0,0,0,0
$GC,9389,0.58,251.0,623.5,9.6,809,9400,0.00,0.00,9.48,0.887,6,0.000,0.000,2871,1755,1768,0,0,0,0,0,0
$GC,9694,0.62,251.0,594.0,10.1,824,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1755,1768,0,0,0,0,0,0
$GC,10000,0.68,262.2,563.9,9.5,839,10015,0.15,2.15,10.75,0.880,4,0.080,0.032,2944,3155,1723,0,0,0,0,0,0
$GC,10058,0.61,262.2,555.9,14.8,841,10062,0.20,2.20,0.00,0.000,6,0.148,0.032,2895,1757,1723,0,0,0,0,0,0
$GC,10384,0.61,262.2,515.4,12.2,857,10388,0.00,2.22,0.00,0.000,4,0.000,0.044,2905,340,1723,0,0,0,0,0,0
$GC,10447,0.61,262.2,507.1,13.5,860,10452,0.00,2.12,0.00,0.000,6,0.000,0.026,2905,1746,1723,0,0,0,0,0,0
$GC,10768,0.61,262.2,467.6,11.7,888,10772,0.00,2.20,0.00,0.000,4,0.000,0.043,2916,343,1723,0,0,0,0,0,0
$GC,10815,0.61,262.2,461.5,13.5,892,10823,0.00,2.15,0.00,0.000,6,0.000,0.026,2916,1759,1724,0,0,0,0,0,0
$GC,11131,0.61,262.2,422.1,12.7,923,11135,0.00,2.12,0.00,0.000,4,0.000,0.032,2916,3147,1723,0,0,0,0,0,0
$GC,11152,0.61,262.2,419.3,12.9,925,11156,0.00,2.17,0.00,0.000,6,0.000,0.031,2927,1744,1723,0,0,0,0,0,0
$GC,11472,0.61,262.2,376.7,13.4,956,11477,0.00,2.15,0.00,0.000,4,0.000,0.031,2927,3142,1723,0,0,0,0,0,0
$GC,11509,0.61,262.2,371.3,14.0,959,11517,0.15,2.17,0.00,0.000,6,0.146,0.031,2893,1748,1723,0,0,0,0,0,0
$GC,11825,0.61,262.2,335.9,11.2,990,11830,0.00,2.17,0.00,0.000,4,0.000,0.044,2902,346,1723,0,0,0,0,0,0
$GC,11894,0.61,262.2,327.8,12.6,996,11902,0.00,2.12,0.00,0.000,6,0.000,0.027,2902,1753,1723,0,0,0,0,0,0
$GC,12210,0.61,262.2,292.8,10.7,1027,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1754,1723,0,0,0,0,0,0
$GC,12522,0.61,262.2,258.1,11.0,1057,12525,0.00,2.10,0.00,0.000,4,0.000,0.034,2902,3147,1723,0,0,0,0,0,0
$GC,12557,0.61,262.2,253.8,10.9,1060,12565,0.00,2.17,0.00,0.000,6,0.000,0.031,2913,1750,1723,0,0,0,0,0,0
$GC,12873,0.61,262.2,216.3,11.3,1091,12877,0.00,2.20,0.00,0.000,4,0.000,0.044,2924,343,1723,0,0,0,0,0,0
$GC,12938,0.61,262.2,208.9,11.7,1097,12941,0.00,2.08,0.00,0.000,6,0.000,0.026,2924,1741,1723,0,0,0,0,0,0
$GC,13261,0.61,262.2,174.3,11.0,1150,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1742,1723,0,0,0,0,0,0
$GC,13586,0.61,262.2,139.0,10.9,1211,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1742,1723,0,0,0,0,0,0
$GC,13911,0.61,262.2,104.2,10.6,1272,13918,0.00,2.15,0.00,0.000,4,0.000,0.042,2935,350,1723,0,0,0,0,0,0
$GC,13938,0.61,262.2,101.3,10.5,1277,13945,0.10,2.08,0.00,0.000,6,0.114,0.026,2897,1745,1723,0,0,0,0,0,0
$GC,14265,0.75,312.8,74.5,7.7,1338,14313,0.12,2.20,40.00,0.619,4,0.088,0.032,2963,3150,1516,0,0,0,0,0,0
$GC,14419,0.75,312.8,54.3,13.4,1367,14425,0.08,2.17,0.00,0.000,6,0.125,0.031,2945,1755,1519,0,0,0,0,0,0
$GC,14745,0.81,318.9,20.4,9.7,1428,14757,0.00,2.17,6.93,0.535,4,0.000,0.042,2955,343,1493,0,0,0,0,0,0
$GC,14783,0.86,324.1,16.5,9.8,1435,14794,0.00,2.10,6.05,0.505,6,0.000,0.025,2955,1740,1470,0,0,0,0,0,0
$STATE,14916,end climb,SURFACE_DEPTH_REACHED
$STATE,14916,begin surface coast
$FINISH,0.2,1.023077
$STATE,14947,end surface coast,CONTROL_FINISHED_OK
$STATE,14947,begin surface
$SM_CCo,15019,0.00,0.000,0,0,1470,324.28
$SM_GC,1.11,7.12,0.00,0.00,0.042,0.000,0.000,196,1742,1470,-7.76,-1.64,324.28
$IRIDIUM_FIX,3629.60,-12215.70,140699,131324
$TT8_MAMPS,0.051389
$HUMID,54.84
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,16.40
$XPDR_PINGS,4
$24V_AH,23.9,7.690
$10V_AH,10.1,7.368
$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,18.600,107.950,398.050,0.000,0.000,28.327,30.476,202.141,1.000,0.000,13.559,0.000,10648.382,499.887,3756.432,437.851,0.000,1709.377,0.000,3241.400,0.000,0.534,0.000
$DEVICE_MAMPS,221.663,143.429,1083.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.452,3083.875,2241.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246392
$DATA_FILE_SIZE,104399,1466
$CAP_FILE_SIZE,157757,0
$CFSIZE,260165632,253751296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200310,211907,3641.448,-12210.124,29,1.0,29,14.8