version: 66.06
glider: 503
mission: 5
dive: 43
start: 3 25 110 2 15 38
data:
$ID,503
$MISSION,5
$DIVE,43
$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,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,-9079.9678
$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,52
$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
$GPS1,020454,3647.614,-12217.018,65,1.0,65,14.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.3
$GPS2,021532,3647.616,-12216.940,12,1.2,12,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$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,197.4,5728,-15.8,-7.857
$D_GRID,1025
$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,-0.57,-116.8,0.0,0.0,0,48,0.00,0.00,-34.38,0.000,2,0.000,0.000,192,1796,2669,0,0,0,0,0,0
$GC,49,-0.57,-116.8,3.2,-5.7,6,76,8.95,2.20,-13.75,0.000,4,0.225,0.052,2499,3200,3269,0,0,0,0,0,0
$GC,177,-0.49,-116.8,24.9,-15.3,30,184,0.10,2.17,0.00,0.000,6,0.118,0.026,2535,1797,3271,0,0,0,0,0,0
$GC,504,-0.49,-116.8,63.8,-11.1,91,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1797,3271,0,0,0,0,0,0
$GC,829,-0.49,-116.8,94.4,-9.5,152,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1797,3272,0,0,0,0,0,0
$GC,1154,-0.49,-116.8,123.6,-8.8,213,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1797,3273,0,0,0,0,0,0
$GC,1479,-0.49,-116.8,152.5,-8.1,274,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1798,3273,0,0,0,0,0,0
$GC,1800,-0.49,-116.8,178.1,-7.9,334,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1797,3273,0,0,0,0,0,0
$GC,2123,-0.53,-116.8,204.5,-8.6,390,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1797,3273,0,0,0,0,0,0
$GC,2434,-0.58,-116.8,230.0,-8.2,420,2438,0.00,2.12,0.00,0.000,4,0.000,0.039,2536,406,3271,0,0,0,0,0,0
$GC,2470,-0.58,-116.8,233.3,-8.9,423,2477,0.00,2.10,0.00,0.000,6,0.000,0.024,2532,1807,3272,0,0,0,0,0,0
$GC,2786,-0.58,-116.8,261.4,-9.6,454,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1808,3271,0,0,0,0,0,0
$GC,3096,-0.58,-116.8,290.1,-8.5,484,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1808,3271,0,0,0,0,0,0
$GC,3407,-0.62,-116.8,315.0,-7.8,514,3412,0.00,2.15,0.00,0.000,4,0.000,0.040,2532,407,3271,0,0,0,0,0,0
$GC,3433,-0.62,-116.8,317.1,-8.0,516,3440,0.00,2.08,0.00,0.000,6,0.000,0.023,2522,1800,3271,0,0,0,0,0,0
$GC,3749,-0.62,-116.8,342.7,-8.1,547,3753,0.00,2.15,0.00,0.000,4,0.000,0.032,2518,3195,3270,0,0,0,0,0,0
$GC,3771,-0.66,-116.8,344.4,-8.2,549,3774,0.08,2.10,0.00,0.000,6,0.063,0.027,2461,1809,3270,0,0,0,0,0,0
$GC,4090,-0.57,-116.8,382.6,-12.3,580,4095,0.17,2.17,0.00,0.000,4,0.133,0.040,2517,400,3270,0,0,0,0,0,0
$GC,4133,-0.57,-116.8,387.1,-10.0,584,4137,0.00,2.08,0.00,0.000,6,0.000,0.025,2509,1800,3270,0,0,0,0,0,0
$GC,4454,-0.57,-116.8,415.5,-8.7,615,4458,0.00,2.12,0.00,0.000,4,0.000,0.033,2505,3192,3270,0,0,0,0,0,0
$GC,4469,-0.57,-116.8,417.0,-8.8,616,4477,0.00,2.15,0.00,0.000,6,0.000,0.027,2505,1788,3269,0,0,0,0,0,0
$GC,4786,-0.57,-116.8,443.8,-8.4,647,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1788,3269,0,0,0,0,0,0
$GC,5096,-0.57,-116.8,472.2,-9.9,677,5100,0.00,2.12,0.00,0.000,4,0.000,0.041,2505,402,3269,0,0,0,0,0,0
$GC,5121,-0.57,-116.8,475.0,-11.0,679,5129,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1809,3269,0,0,0,0,0,0
$GC,5436,-0.57,-116.8,507.1,-10.2,707,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1810,3268,0,0,0,0,0,0
$GC,5741,-0.57,-116.8,536.9,-9.3,722,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1810,3268,0,0,0,0,0,0
$GC,6047,-0.57,-116.8,562.7,-8.0,737,6051,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,398,3268,0,0,0,0,0,0
$GC,6062,-0.57,-116.8,564.2,-8.5,737,6069,0.00,2.10,0.00,0.000,6,0.000,0.025,2491,1802,3268,0,0,0,0,0,0
$GC,6373,-0.57,-116.8,589.1,-8.0,753,6377,0.00,2.15,0.00,0.000,4,0.000,0.040,2491,404,3267,0,0,0,0,0,0
$GC,6393,-0.57,-116.8,591.0,-8.9,754,6398,0.12,2.08,0.00,0.000,6,0.146,0.025,2520,1799,3267,0,0,0,0,0,0
$GC,6720,-0.62,-116.8,614.4,-7.5,770,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1800,3266,0,0,0,0,0,0
$GC,7026,-0.67,-116.8,636.7,-7.2,785,7030,0.12,2.15,0.00,0.000,4,0.093,0.033,2452,3199,3266,0,0,0,0,0,0
$GC,7068,-0.67,-116.8,640.6,-10.0,787,7072,0.00,2.12,0.00,0.000,6,0.000,0.028,2453,1804,3266,0,0,0,0,0,0
$GC,7394,-0.60,-116.8,677.2,-11.0,803,7398,0.17,2.17,0.00,0.000,4,0.133,0.041,2509,400,3265,0,0,0,0,0,0
$GC,7430,-0.60,-116.8,680.9,-9.1,804,7438,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1806,3264,0,0,0,0,0,0
$GC,7741,-0.60,-116.8,706.7,-8.6,820,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1806,3265,0,0,0,0,0,0
$GC,8047,-0.60,-116.8,732.9,-8.3,835,8051,0.00,2.17,0.00,0.000,4,0.000,0.041,2505,398,3265,0,0,0,0,0,0
$GC,8077,-0.60,-116.8,735.7,-9.5,836,8083,0.00,2.10,0.00,0.000,6,0.000,0.025,2496,1801,3265,0,0,0,0,0,0
$GC,8394,-0.60,-116.8,761.3,-8.2,852,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3265,0,0,0,0,0,0
$GC,8699,-0.60,-116.8,785.8,-8.0,867,8703,0.00,2.15,0.00,0.000,4,0.000,0.041,2496,405,3264,0,0,0,0,0,0
$GC,8714,-0.60,-116.8,787.3,-8.6,867,8721,0.00,2.10,0.00,0.000,6,0.000,0.025,2487,1810,3264,0,0,0,0,0,0
$GC,9025,-0.60,-116.8,814.8,-8.9,883,9029,0.00,2.17,0.00,0.000,4,0.000,0.040,2487,400,3263,0,0,0,0,0,0
$GC,9051,-0.60,-116.8,817.5,-10.3,884,9056,0.00,2.10,0.00,0.000,6,0.000,0.025,2480,1816,3263,0,0,0,0,0,0
$GC,9372,-0.60,-116.8,848.2,-9.6,900,9376,0.00,2.17,0.00,0.000,4,0.000,0.040,2480,403,3263,0,0,0,0,0,0
$GC,9387,-0.60,-116.8,849.7,-10.0,900,9397,0.12,2.10,0.00,0.000,6,0.150,0.025,2508,1807,3263,0,0,0,0,0,0
$GC,9698,-0.64,-116.8,874.6,-8.2,916,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1808,3262,0,0,0,0,0,0
$GC,10004,-0.68,-116.8,898.7,-7.9,931,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1808,3262,0,0,0,0,0,0
$GC,10308,-0.73,-116.8,923.4,-8.2,946,10309,0.12,0.00,0.00,0.000,6,0.100,0.000,2448,1808,3262,0,0,0,0,0,0
$GC,10615,-0.66,-116.8,958.5,-11.4,961,10618,0.12,2.17,0.00,0.000,4,0.149,0.043,2487,399,3262,0,0,0,0,0,0
$GC,10634,-0.62,-116.8,960.7,-10.2,962,10639,0.00,2.08,0.00,0.000,6,0.000,0.026,2479,1786,3262,0,0,0,0,0,0
$GC,10961,-0.62,-116.8,989.6,-8.1,978,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1786,3262,0,0,0,0,0,0
$STATE,10981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10981,begin apogee
$GC,10984,-0.14,0.0,991.4,8.2,979,11083,0.52,0.00,94.22,1.203,6,0.112,0.000,2657,1787,2791,0,0,0,0,0,0
$STATE,11083,end apogee,CONTROL_FINISHED_OK
$STATE,11084,begin climb
$GC,11085,0.57,116.8,993.7,0.0,984,11194,0.62,2.30,102.82,1.166,4,0.066,0.035,2889,3148,2315,0,0,0,0,0,0
$GC,11227,0.43,116.8,990.1,8.9,991,11231,0.17,2.28,0.00,0.000,6,0.149,0.032,2847,1766,2313,0,0,0,0,0,0
$GC,11553,0.46,136.7,966.9,7.0,1007,11574,0.00,2.30,16.35,1.100,4,0.000,0.044,2857,340,2234,0,0,0,0,0,0
$GC,11595,0.41,138.7,963.9,7.8,1009,11598,0.00,2.20,0.00,0.000,6,0.000,0.027,2857,1745,2234,0,0,0,0,0,0
$GC,11921,0.41,141.8,939.0,7.7,1025,11930,0.00,2.25,5.68,0.904,4,0.000,0.035,2857,3157,2213,0,0,0,0,0,0
$GC,11999,0.36,141.8,932.5,9.2,1028,12007,0.15,2.22,0.00,0.000,6,0.138,0.031,2818,1751,2213,0,0,0,0,0,0
$GC,12310,0.40,176.9,913.4,6.3,1044,12345,0.00,2.30,31.33,1.126,4,0.000,0.046,2827,340,2070,0,0,0,0,0,0
$GC,12388,0.41,182.9,907.9,7.6,1047,12398,0.00,2.20,6.85,0.935,6,0.000,0.025,2827,1756,2046,0,0,0,0,0,0
$GC,12714,0.47,196.5,883.7,7.2,1064,12731,0.00,2.25,12.85,1.059,4,0.000,0.033,2827,3152,1989,0,0,0,0,0,0
$GC,12761,0.47,196.5,880.0,8.4,1065,12766,0.00,2.28,0.00,0.000,6,0.000,0.031,2837,1741,1989,0,0,0,0,0,0
$GC,13077,0.47,196.8,855.0,7.8,1081,13081,0.00,2.20,0.00,0.000,4,0.000,0.045,2847,352,1988,0,0,0,0,0,0
$GC,13140,0.47,196.8,849.4,9.3,1084,13145,0.00,2.15,0.00,0.000,6,0.000,0.025,2847,1750,1987,0,0,0,0,0,0
$GC,13467,0.47,196.8,822.8,8.1,1100,13471,0.00,2.22,0.00,0.000,4,0.000,0.044,2858,347,1986,0,0,0,0,0,0
$GC,13509,0.47,196.8,818.7,10.2,1102,13514,0.00,2.15,0.00,0.000,6,0.000,0.026,2858,1752,1987,0,0,0,0,0,0
$GC,13835,0.47,196.8,789.2,8.8,1118,13840,0.00,2.15,0.00,0.000,4,0.000,0.032,2858,3149,1986,0,0,0,0,0,0
$GC,13883,0.47,196.8,784.9,8.8,1120,13888,0.00,2.20,0.00,0.000,6,0.000,0.030,2869,1748,1986,0,0,0,0,0,0
$GC,14204,0.47,196.8,755.9,8.9,1136,14205,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1748,1985,0,0,0,0,0,0
$GC,14510,0.47,196.8,729.0,9.0,1151,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1748,1984,0,0,0,0,0,0
$GC,14814,0.47,196.8,702.7,8.6,1166,14819,0.00,2.17,0.00,0.000,4,0.000,0.031,2869,3155,1984,0,0,0,0,0,0
$GC,14841,0.47,196.8,700.3,8.6,1167,14846,0.00,2.20,0.00,0.000,6,0.000,0.030,2879,1745,1983,0,0,0,0,0,0
$GC,15163,0.47,196.8,670.3,9.5,1183,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1745,1984,0,0,0,0,0,0
$GC,15467,0.47,196.8,642.8,9.3,1198,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1745,1983,0,0,0,0,0,0
$GC,15773,0.47,196.8,612.0,10.4,1213,15777,0.00,2.17,0.00,0.000,4,0.000,0.031,2880,3155,1983,0,0,0,0,0,0
$GC,15804,0.42,196.8,608.5,11.1,1214,15809,0.15,2.17,0.00,0.000,6,0.123,0.030,2838,1746,1983,0,0,0,0,0,0
$GC,16120,0.47,196.8,580.9,8.3,1230,16124,0.00,2.17,0.00,0.000,4,0.000,0.043,2847,342,1983,0,0,0,0,0,0
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$STATE,22895,end climb,SURFACE_DEPTH_REACHED
$STATE,22895,begin surface coast
$FINISH,0.3,1.024668
$STATE,22933,end surface coast,CONTROL_FINISHED_OK
$STATE,22933,begin surface
$SM_CCo,23004,0.00,0.000,0,0,1576,298.28
$SM_GC,0.94,7.10,0.00,0.00,0.041,0.000,0.000,190,1745,1576,-7.78,-1.55,298.28
$IRIDIUM_FIX,3634.97,-12220.85,190699,020235
$TT8_MAMPS,0.051389
$HUMID,53.89
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.50
$XPDR_PINGS,2
$24V_AH,23.8,10.296
$10V_AH,10.1,11.506
$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,19.000,177.000,363.675,0.000,0.000,48.869,86.983,326.314,3.000,0.000,14.855,0.000,17054.285,542.570,5288.276,716.187,0.000,2226.643,0.000,4533.409,0.000,19.005,0.000
$DEVICE_MAMPS,224.731,52.156,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1433.889,4302.691,3056.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286620
$DATA_FILE_SIZE,145545,2062
$CAP_FILE_SIZE,234481,0
$CFSIZE,260165632,251478016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,084001,3645.515,-12218.840,41,1.6,41,14.8