version: 66.06
glider: 503
mission: 5
dive: 26
start: 3 21 110 12 18 54
data:
$ID,503
$MISSION,5
$DIVE,26
$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,-8802.7266
$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,35
$R_STBD_OVSHOOT,58
$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
$GPS1,121206,3644.915,-12208.131,26,1.0,26,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.9
$GPS2,121849,3644.919,-12208.081,10,1.0,15,14.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TWO
$TGT_LATLONG,3646.000,-12212.000
$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,274.2,6149,-17.5,-10.000
$D_GRID,988
$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,-0.65,-146.0,0.0,0.0,0,58,0.00,0.00,-44.10,0.000,2,0.000,0.000,184,1811,2611,0,0,0,0,0,0
$GC,59,-0.65,-146.0,3.2,-6.9,8,91,8.73,2.15,-17.95,0.000,4,0.222,0.045,2474,3195,3388,0,0,0,0,0,0
$GC,207,-0.59,-146.0,31.1,-18.1,36,215,0.08,2.17,0.00,0.000,6,0.127,0.028,2502,1790,3389,0,0,0,0,0,0
$GC,534,-0.59,-146.0,80.5,-13.3,97,541,0.00,2.15,0.00,0.000,4,0.000,0.040,2502,405,3390,0,0,0,0,0,0
$GC,604,-0.59,-146.0,89.4,-12.3,110,611,0.00,2.08,0.00,0.000,6,0.000,0.025,2496,1782,3390,0,0,0,0,0,0
$GC,930,-0.59,-146.0,130.6,-12.8,171,937,0.00,2.17,0.00,0.000,4,0.000,0.033,2485,3194,3391,0,0,0,0,0,0
$GC,968,-0.59,-146.0,135.1,-11.5,178,975,0.00,2.12,0.00,0.000,6,0.000,0.027,2486,1805,3391,0,0,0,0,0,0
$GC,1295,-0.59,-146.0,178.9,-14.0,239,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1805,3391,0,0,0,0,0,0
$GC,1619,-0.59,-146.0,222.2,-13.0,285,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1805,3391,0,0,0,0,0,0
$GC,1930,-0.59,-146.0,260.8,-12.6,315,1933,0.00,2.15,0.00,0.000,4,0.000,0.041,2486,403,3391,0,0,0,0,0,0
$GC,1976,-0.59,-146.0,267.2,-13.3,319,1984,0.10,2.10,0.00,0.000,6,0.157,0.025,2510,1805,3391,0,0,0,0,0,0
$GC,2292,-0.64,-146.0,301.9,-10.6,350,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1806,3391,0,0,0,0,0,0
$GC,2603,-0.69,-146.0,333.8,-9.6,380,2607,0.00,2.15,0.00,0.000,4,0.000,0.040,2510,405,3391,0,0,0,0,0,0
$GC,2635,-0.69,-146.0,337.2,-10.7,383,2639,0.00,2.08,0.00,0.000,6,0.000,0.025,2507,1799,3390,0,0,0,0,0,0
$GC,2955,-0.74,-146.0,364.6,-8.0,414,2960,0.12,2.15,0.00,0.000,4,0.089,0.034,2437,3189,3390,0,0,0,0,0,0
$GC,2998,-0.74,-146.0,369.3,-11.9,418,3002,0.00,2.10,0.00,0.000,6,0.000,0.028,2437,1807,3390,0,0,0,0,0,0
$GC,3319,-0.66,-146.0,416.4,-15.1,449,3320,0.17,0.00,0.00,0.000,6,0.142,0.000,2491,1807,3389,0,0,0,0,0,0
$GC,3630,-0.66,-146.0,447.7,-9.9,479,3633,0.00,2.12,0.00,0.000,4,0.000,0.041,2491,402,3389,0,0,0,0,0,0
$GC,3676,-0.66,-146.0,452.8,-11.0,483,3683,0.00,2.10,0.00,0.000,6,0.000,0.025,2483,1797,3389,0,0,0,0,0,0
$GC,3992,-0.66,-146.0,487.3,-11.5,514,3997,0.00,2.17,0.00,0.000,4,0.000,0.035,2475,3218,3389,0,0,0,0,0,0
$GC,4035,-0.72,-146.0,492.1,-11.5,518,4039,0.00,2.15,0.00,0.000,6,0.000,0.028,2475,1805,3389,0,0,0,0,0,0
$GC,4352,-0.72,-146.0,528.3,-11.4,537,4356,0.00,2.15,0.00,0.000,4,0.000,0.041,2475,401,3389,0,0,0,0,0,0
$GC,4372,-0.72,-146.0,530.8,-11.6,538,4377,0.00,2.10,0.00,0.000,6,0.000,0.025,2466,1803,3389,0,0,0,0,0,0
$GC,4699,-0.72,-146.0,569.4,-11.9,554,4703,0.00,2.12,0.00,0.000,4,0.000,0.033,2457,3197,3388,0,0,0,0,0,0
$GC,4730,-0.72,-146.0,573.0,-11.5,555,4735,0.00,2.15,0.00,0.000,6,0.000,0.028,2457,1794,3388,0,0,0,0,0,0
$GC,5047,-0.72,-146.0,613.3,-13.0,571,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1794,3388,0,0,0,0,0,0
$GC,5351,-0.72,-146.0,651.1,-12.4,586,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1794,3388,0,0,0,0,0,0
$GC,5657,-0.72,-146.0,689.6,-12.3,601,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1794,3387,0,0,0,0,0,0
$GC,5962,-0.72,-146.0,724.9,-11.5,616,5966,0.00,2.12,0.00,0.000,4,0.000,0.041,2462,404,3386,0,0,0,0,0,0
$GC,5987,-0.72,-146.0,728.1,-12.6,617,5992,0.00,2.10,0.00,0.000,6,0.000,0.026,2453,1805,3386,0,0,0,0,0,0
$GC,6309,-0.72,-146.0,767.5,-12.8,633,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1805,3385,0,0,0,0,0,0
$GC,6614,-0.72,-146.0,804.4,-11.3,648,6618,0.00,2.12,0.00,0.000,4,0.000,0.034,2443,3200,3385,0,0,0,0,0,0
$GC,6656,-0.72,-146.0,808.9,-11.4,650,6661,0.00,2.15,0.00,0.000,6,0.000,0.028,2443,1796,3384,0,0,0,0,0,0
$GC,6982,-0.72,-146.0,848.9,-12.9,666,6987,0.00,2.12,0.00,0.000,4,0.000,0.040,2443,401,3384,0,0,0,0,0,0
$GC,7014,-0.67,-146.0,853.0,-13.3,667,7019,0.10,2.08,0.00,0.000,6,0.117,0.025,2477,1799,3384,0,0,0,0,0,0
$GC,7331,-0.67,-146.0,884.2,-8.9,683,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1799,3384,0,0,0,0,0,0
$STATE,7634,end dive,NO_VERTICAL_VELOCITY
$STATE,7634,begin apogee
$GC,7637,-0.14,0.0,892.8,0.0,698,7757,0.50,0.00,117.00,1.128,6,0.075,0.000,2666,1799,2792,0,0,0,0,0,0
$STATE,7758,end apogee,CONTROL_FINISHED_OK
$STATE,7758,begin climb
$GC,7759,0.65,146.0,892.7,0.0,704,7893,0.68,2.38,126.22,1.091,4,0.072,0.043,2920,353,2196,0,0,0,0,0,0
$GC,7985,0.54,146.0,877.6,13.0,715,7989,0.12,2.17,0.00,0.000,6,0.151,0.025,2873,1738,2192,0,0,0,0,0,0
$GC,8311,0.57,174.7,848.1,8.7,731,8340,0.00,2.30,23.67,1.048,4,0.000,0.032,2873,3151,2079,0,0,0,0,0,0
$GC,8367,0.59,190.9,843.2,9.2,733,8387,0.00,2.28,15.60,1.004,6,0.000,0.031,2883,1751,2012,0,0,0,0,0,0
$GC,8698,0.62,210.2,813.3,9.1,750,8720,0.00,2.25,16.65,1.016,4,0.000,0.044,2894,339,1935,0,0,0,0,0,0
$GC,8734,0.65,236.8,809.8,8.8,751,8762,0.00,2.20,23.83,1.020,6,0.000,0.025,2894,1747,1826,0,0,0,0,0,0
$GC,9065,0.65,236.8,773.9,11.1,768,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1747,1824,0,0,0,0,0,0
$GC,9371,0.65,236.8,740.2,10.8,783,9374,0.00,2.22,0.00,0.000,4,0.000,0.044,2905,346,1823,0,0,0,0,0,0
$GC,9407,0.65,236.8,735.8,12.9,784,9414,0.00,2.15,0.00,0.000,6,0.000,0.026,2905,1752,1823,0,0,0,0,0,0
$GC,9717,0.65,236.8,698.1,12.5,800,9722,0.00,2.22,0.00,0.000,4,0.000,0.043,2916,341,1821,0,0,0,0,0,0
$GC,9749,0.65,236.8,694.1,13.3,801,9754,0.00,2.12,0.00,0.000,6,0.000,0.025,2916,1746,1821,0,0,0,0,0,0
$GC,10065,0.65,236.8,655.2,11.7,817,10069,0.00,2.15,0.00,0.000,4,0.000,0.031,2916,3144,1820,0,0,0,0,0,0
$GC,10108,0.65,236.8,650.0,12.2,819,10112,0.00,2.17,0.00,0.000,6,0.000,0.031,2927,1748,1820,0,0,0,0,0,0
$GC,10434,0.60,236.8,606.3,14.0,835,10438,0.12,2.20,0.00,0.000,4,0.160,0.044,2900,346,1820,0,0,0,0,0,0
$GC,10454,0.60,236.8,603.5,12.7,836,10459,0.00,2.12,0.00,0.000,6,0.000,0.026,2901,1755,1820,0,0,0,0,0,0
$GC,10781,0.60,236.8,567.5,10.9,852,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1755,1820,0,0,0,0,0,0
$GC,11087,0.61,246.8,536.1,9.5,867,11097,0.00,0.00,8.65,0.848,6,0.000,0.000,2900,1755,1785,0,0,0,0,0,0
$GC,11391,0.61,246.8,506.2,10.0,882,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1755,1785,0,0,0,0,0,0
$GC,11700,0.62,252.8,474.6,9.7,908,11713,0.00,2.22,6.47,0.769,4,0.000,0.044,2912,347,1761,0,0,0,0,0,0
$GC,11776,0.62,252.8,466.5,11.4,915,11780,0.00,2.10,0.00,0.000,6,0.000,0.026,2911,1746,1761,0,0,0,0,0,0
$GC,12096,0.62,252.8,432.1,10.4,946,12100,0.00,2.15,0.00,0.000,4,0.000,0.031,2912,3150,1761,0,0,0,0,0,0
$GC,12132,0.62,252.8,427.8,11.7,949,12140,0.00,2.20,0.00,0.000,6,0.000,0.030,2922,1740,1761,0,0,0,0,0,0
$GC,12448,0.62,252.8,390.7,11.8,980,12453,0.00,2.15,0.00,0.000,4,0.000,0.043,2934,349,1762,0,0,0,0,0,0
$GC,12502,0.62,252.8,384.0,12.1,985,12506,0.08,2.10,0.00,0.000,6,0.124,0.026,2905,1755,1761,0,0,0,0,0,0
$GC,12822,0.62,253.5,350.8,10.0,1016,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1755,1761,0,0,0,0,0,0
$GC,13133,0.62,253.5,317.9,10.5,1046,13134,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1755,1761,0,0,0,0,0,0
$GC,13443,0.65,272.7,288.3,9.1,1076,13465,0.00,2.12,17.12,0.753,4,0.000,0.031,2905,3150,1679,0,0,0,0,0,0
$GC,13500,0.65,274.4,282.6,9.9,1081,13507,0.00,2.20,0.00,0.000,6,0.000,0.030,2913,1747,1681,0,0,0,0,0,0
$GC,13816,0.65,274.4,249.1,10.8,1112,13821,0.00,2.17,0.00,0.000,4,0.000,0.043,2925,348,1681,0,0,0,0,0,0
$GC,13858,0.65,274.4,244.3,12.2,1116,13863,0.00,2.12,0.00,0.000,6,0.000,0.025,2925,1753,1680,0,0,0,0,0,0
$GC,14180,0.65,274.4,203.8,13.0,1147,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1753,1681,0,0,0,0,0,0
$GC,14500,0.65,274.4,164.8,11.4,1204,14507,0.00,2.12,0.00,0.000,4,0.000,0.032,2925,3145,1681,0,0,0,0,0,0
$GC,14521,0.65,274.4,162.2,11.9,1208,14528,0.00,2.15,0.00,0.000,6,0.000,0.031,2935,1752,1681,0,0,0,0,0,0
$GC,14847,0.65,274.4,123.2,11.9,1269,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1752,1681,0,0,0,0,0,0
$GC,15168,0.65,274.4,88.6,10.2,1329,15175,0.00,2.12,0.00,0.000,4,0.000,0.031,2935,3138,1681,0,0,0,0,0,0
$GC,15227,0.65,275.3,82.8,10.0,1340,15240,0.10,2.12,4.75,0.523,6,0.117,0.030,2908,1753,1668,0,0,0,0,0,0
$GC,15560,0.81,330.3,59.0,7.5,1402,15608,0.15,2.15,42.40,0.605,4,0.081,0.030,2987,3145,1445,0,0,0,0,0,0
$GC,15634,0.81,330.3,50.3,13.1,1416,15640,0.10,2.20,0.00,0.000,6,0.127,0.031,2964,1753,1448,0,0,0,0,0,0
$GC,15960,0.81,330.3,14.4,10.5,1477,15966,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1752,1450,0,0,0,0,0,0
$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16076,begin surface coast
$FINISH,0.2,1.012484
$STATE,16109,end surface coast,CONTROL_FINISHED_OK
$STATE,16109,begin surface
$SM_CCo,16180,0.00,0.000,0,0,1449,329.19
$SM_GC,1.20,7.12,0.00,0.00,0.040,0.000,0.000,192,1751,1449,-7.77,-1.39,329.19
$IRIDIUM_FIX,3632.29,-12203.74,150699,070711
$TT8_MAMPS,0.052156
$HUMID,54.72
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.8,8.219
$10V_AH,10.1,8.083
$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,18.275,120.725,402.375,0.000,0.000,32.891,53.140,215.729,0.000,0.000,17.918,0.000,11674.626,512.321,3870.733,491.667,0.000,1773.816,0.000,3332.066,0.000,0.533,0.000
$DEVICE_MAMPS,221.663,45.253,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.462,3147.877,2240.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246364
$DATA_FILE_SIZE,107722,1505
$CAP_FILE_SIZE,165769,0
$CFSIZE,260165632,253349888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210310,164930,3645.407,-12211.313,38,1.0,38,14.8