version: 66.06
glider: 503
mission: 5
dive: 61
start: 3 29 110 0 13 2
data:
$ID,503
$MISSION,5
$DIVE,61
$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,-9362.5303
$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,40
$R_STBD_OVSHOOT,41
$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
$GPS1,000636,3646.164,-12212.651,100,1.4,105,14.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.3
$GPS2,001256,3646.073,-12212.637,12,1.0,12,14.8
$SPEED_LIMITS,0.136,0.217
$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,142.6,10179,-15.7,-7.865
$D_GRID,653
$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,-0.57,-116.8,0.0,0.0,0,47,0.00,0.00,-33.80,0.000,2,0.000,0.000,194,1812,2669,0,0,0,0,0,0
$GC,48,-0.57,-116.8,3.2,-5.8,6,75,8.70,2.17,-13.77,0.000,4,0.214,0.043,2499,3211,3268,0,0,0,0,0,0
$GC,315,-0.52,-116.8,43.1,-12.8,56,322,0.08,2.20,0.00,0.000,6,0.131,0.027,2526,1793,3270,0,0,0,0,0,0
$GC,641,-0.52,-116.8,81.6,-10.5,117,648,0.00,2.15,0.00,0.000,4,0.000,0.038,2526,406,3271,0,0,0,0,0,0
$GC,706,-0.52,-116.8,88.7,-11.1,129,713,0.00,2.10,0.00,0.000,6,0.000,0.024,2519,1808,3271,0,0,0,0,0,0
$GC,1032,-0.52,-116.8,122.4,-10.1,190,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1808,3271,0,0,0,0,0,0
$GC,1353,-0.52,-116.8,154.1,-10.1,250,1360,0.00,2.17,0.00,0.000,4,0.000,0.038,2520,403,3271,0,0,0,0,0,0
$GC,1406,-0.52,-116.8,159.8,-11.1,260,1414,0.00,2.08,0.00,0.000,6,0.000,0.023,2510,1799,3271,0,0,0,0,0,0
$GC,1733,-0.52,-116.8,196.2,-10.7,321,1740,0.00,2.12,0.00,0.000,4,0.000,0.031,2502,3191,3271,0,0,0,0,0,0
$GC,1755,-0.52,-116.8,198.6,-10.6,325,1761,0.00,2.12,0.00,0.000,6,0.000,0.027,2502,1801,3271,0,0,0,0,0,0
$GC,2071,-0.52,-116.8,229.7,-9.9,357,2075,0.10,2.17,0.00,0.000,4,0.158,0.041,2532,403,3271,0,0,0,0,0,0
$GC,2117,-0.52,-116.8,234.0,-8.4,361,2124,0.00,2.10,0.00,0.000,6,0.000,0.023,2524,1806,3271,0,0,0,0,0,0
$GC,2433,-0.52,-116.8,261.0,-8.8,392,2438,0.00,2.17,0.00,0.000,4,0.000,0.039,2524,399,3270,0,0,0,0,0,0
$GC,2444,-0.52,-116.8,261.9,-9.0,393,2448,0.00,2.08,0.00,0.000,6,0.000,0.025,2519,1797,3270,0,0,0,0,0,0
$GC,2764,-0.52,-116.8,289.8,-8.1,424,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1796,3270,0,0,0,0,0,0
$GC,3075,-0.52,-116.8,316.1,-9.0,454,3080,0.00,2.12,0.00,0.000,4,0.000,0.032,2515,3190,3270,0,0,0,0,0,0
$GC,3090,-0.52,-116.8,317.6,-9.3,455,3097,0.00,2.12,0.00,0.000,6,0.000,0.026,2515,1798,3269,0,0,0,0,0,0
$GC,3406,-0.52,-116.8,346.0,-9.1,486,3411,0.00,2.15,0.00,0.000,4,0.000,0.040,2514,400,3269,0,0,0,0,0,0
$GC,3439,-0.52,-116.8,349.3,-10.7,489,3442,0.00,2.08,0.00,0.000,6,0.000,0.025,2509,1800,3269,0,0,0,0,0,0
$GC,3758,-0.52,-116.8,380.7,-9.6,520,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1799,3269,0,0,0,0,0,0
$GC,4069,-0.52,-116.8,407.9,-8.1,550,4074,0.00,2.15,0.00,0.000,4,0.000,0.039,2508,405,3269,0,0,0,0,0,0
$GC,4095,-0.52,-116.8,410.3,-9.1,552,4102,0.00,2.08,0.00,0.000,6,0.000,0.025,2504,1800,3269,0,0,0,0,0,0
$GC,4412,-0.52,-116.8,437.9,-8.9,583,4415,0.00,2.17,0.00,0.000,4,0.000,0.040,2505,400,3268,0,0,0,0,0,0
$GC,4432,-0.52,-116.8,439.9,-9.6,585,4437,0.10,2.08,0.00,0.000,6,0.110,0.024,2533,1797,3268,0,0,0,0,0,0
$GC,4753,-0.58,-116.8,462.8,-7.3,616,4757,0.00,2.15,0.00,0.000,4,0.000,0.040,2534,401,3268,0,0,0,0,0,0
$GC,4768,-0.63,-116.8,464.1,-7.8,617,4775,0.08,2.10,0.00,0.000,6,0.057,0.024,2477,1817,3268,0,0,0,0,0,0
$GC,5084,-0.58,-116.8,499.3,-11.2,648,5089,0.12,2.20,0.00,0.000,4,0.147,0.040,2516,403,3268,0,0,0,0,0,0
$GC,5128,-0.58,-116.8,503.7,-10.4,651,5131,0.00,2.05,0.00,0.000,6,0.000,0.024,2508,1789,3267,0,0,0,0,0,0
$GC,5453,-0.58,-116.8,533.5,-8.9,667,5457,0.00,2.12,0.00,0.000,4,0.000,0.040,2508,407,3267,0,0,0,0,0,0
$GC,5479,-0.58,-116.8,536.1,-10.1,668,5484,0.00,2.08,0.00,0.000,6,0.000,0.024,2504,1808,3267,0,0,0,0,0,0
$GC,5800,-0.58,-116.8,563.4,-8.4,684,5805,0.00,2.15,0.00,0.000,4,0.000,0.040,2505,408,3266,0,0,0,0,0,0
$GC,5858,-0.58,-116.8,568.8,-9.6,686,5866,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1800,3266,0,0,0,0,0,0
$GC,6169,-0.58,-116.8,597.1,-9.2,702,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1801,3266,0,0,0,0,0,0
$GC,6475,-0.58,-116.8,623.6,-8.6,717,6478,0.00,2.15,0.00,0.000,4,0.000,0.040,2496,403,3266,0,0,0,0,0,0
$GC,6532,-0.58,-116.8,629.1,-9.6,719,6539,0.00,2.10,0.00,0.000,6,0.000,0.025,2492,1806,3265,0,0,0,0,0,0
$STATE,6842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6842,begin apogee
$GC,6845,-0.14,0.0,654.2,7.9,735,6938,0.47,0.00,90.97,0.983,6,0.104,0.000,2656,1806,2792,0,0,0,0,0,0
$STATE,6939,end apogee,CONTROL_FINISHED_OK
$STATE,6939,begin climb
$GC,6940,0.57,116.8,655.3,0.0,739,7044,0.60,2.20,98.10,0.947,4,0.059,0.031,2886,3144,2315,0,0,0,0,0,0
$GC,7140,0.45,116.8,645.7,8.2,748,7147,0.15,2.25,0.00,0.000,6,0.127,0.028,2848,1736,2310,0,0,0,0,0,0
$GC,7450,0.48,139.5,624.0,6.8,764,7473,0.00,0.00,18.08,0.909,6,0.000,0.000,2848,1736,2223,0,0,0,0,0,0
$GC,7775,0.48,140.8,598.4,7.8,780,7780,0.00,2.20,0.00,0.000,4,0.000,0.030,2848,3147,2222,0,0,0,0,0,0
$GC,7855,0.48,140.8,591.9,7.9,783,7862,0.00,2.20,0.00,0.000,6,0.000,0.028,2858,1747,2220,0,0,0,0,0,0
$GC,8166,0.55,196.2,573.4,5.4,799,8218,0.00,2.22,47.30,0.921,4,0.000,0.029,2858,3154,1991,0,0,0,0,0,0
$GC,8274,0.56,205.9,565.9,7.4,804,8288,0.00,2.25,9.70,0.824,6,0.000,0.028,2868,1751,1952,0,0,0,0,0,0
$GC,8590,0.56,205.9,538.7,9.4,820,8594,0.00,2.20,0.00,0.000,4,0.000,0.042,2880,357,1952,0,0,0,0,0,0
$GC,8621,0.56,205.9,535.4,11.0,821,8626,0.00,2.15,0.00,0.000,6,0.000,0.024,2880,1757,1952,0,0,0,0,0,0
$GC,8938,0.56,205.9,504.5,9.6,837,8942,0.00,2.15,0.00,0.000,4,0.000,0.031,2879,3151,1950,0,0,0,0,0,0
$GC,8969,0.56,205.9,501.2,10.1,838,8974,0.00,2.20,0.00,0.000,6,0.000,0.028,2890,1750,1949,0,0,0,0,0,0
$GC,9289,0.56,205.9,465.9,11.6,868,9294,0.00,2.17,0.00,0.000,4,0.000,0.030,2890,3147,1949,0,0,0,0,0,0
$GC,9322,0.52,205.9,462.1,11.7,871,9326,0.08,2.17,0.00,0.000,6,0.127,0.029,2872,1748,1948,0,0,0,0,0,0
$GC,9642,0.52,205.9,431.2,9.1,902,9647,0.00,2.15,0.00,0.000,4,0.000,0.030,2871,3140,1948,0,0,0,0,0,0
$GC,9668,0.52,205.9,428.6,9.7,904,9676,0.00,2.17,0.00,0.000,6,0.000,0.028,2881,1734,1947,0,0,0,0,0,0
$GC,9985,0.52,205.9,399.6,9.8,935,9989,0.00,2.17,0.00,0.000,4,0.000,0.031,2880,3147,1947,0,0,0,0,0,0
$GC,10038,0.52,205.9,394.0,10.8,940,10042,0.00,2.17,0.00,0.000,6,0.000,0.028,2892,1740,1946,0,0,0,0,0,0
$GC,10359,0.52,205.9,358.7,11.4,971,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1740,1946,0,0,0,0,0,0
$GC,10670,0.52,205.9,325.9,9.8,1001,10673,0.00,2.15,0.00,0.000,4,0.000,0.031,2891,3154,1945,0,0,0,0,0,0
$GC,10755,0.48,205.9,317.2,10.9,1009,10758,0.12,2.17,0.00,0.000,6,0.115,0.029,2848,1745,1945,0,0,0,0,0,0
$GC,11074,0.57,234.0,295.8,6.6,1040,11100,0.10,2.17,21.60,0.762,4,0.103,0.043,2921,347,1838,0,0,0,0,0,0
$GC,11147,0.49,234.0,288.3,11.8,1046,11155,0.17,2.10,0.00,0.000,6,0.113,0.024,2859,1741,1838,0,0,0,0,0,0
$GC,11464,0.55,240.1,264.6,7.6,1077,11475,0.00,2.15,6.62,0.663,4,0.000,0.029,2858,3153,1814,0,0,0,0,0,0
$GC,11506,0.60,240.1,261.2,8.3,1081,11510,0.00,2.15,0.00,0.000,6,0.000,0.029,2868,1750,1814,0,0,0,0,0,0
$GC,11826,0.65,240.1,233.0,8.4,1112,11831,0.12,2.20,0.00,0.000,4,0.087,0.043,2944,354,1814,0,0,0,0,0,0
$GC,11847,0.60,240.1,230.5,11.8,1114,11852,0.12,2.10,0.00,0.000,6,0.118,0.025,2898,1755,1814,0,0,0,0,0,0
$GC,12169,0.60,240.1,199.4,9.1,1145,12175,0.00,2.12,0.00,0.000,4,0.000,0.030,2898,3145,1814,0,0,0,0,0,0
$GC,12244,0.60,240.1,191.8,9.8,1159,12250,0.00,2.15,0.00,0.000,6,0.000,0.029,2907,1753,1814,0,0,0,0,0,0
$GC,12570,0.60,240.1,159.9,10.2,1220,12576,0.00,2.15,0.00,0.000,4,0.000,0.031,2907,3148,1815,0,0,0,0,0,0
$GC,12602,0.60,240.1,156.5,10.5,1226,12608,0.00,2.15,0.00,0.000,6,0.000,0.029,2918,1750,1814,0,0,0,0,0,0
$GC,12928,0.60,240.1,123.3,9.2,1287,12935,0.00,2.17,0.00,0.000,4,0.000,0.042,2929,347,1814,0,0,0,0,0,0
$GC,12972,0.55,240.1,118.7,10.5,1295,12978,0.12,2.08,0.00,0.000,6,0.107,0.025,2882,1740,1815,0,0,0,0,0,0
$GC,13298,0.59,242.7,94.7,7.8,1356,13310,0.00,2.17,4.03,0.487,4,0.000,0.030,2882,3155,1802,0,0,0,0,0,0
$GC,13363,0.59,242.7,89.3,8.7,1368,13369,0.00,2.15,0.00,0.000,6,0.000,0.028,2889,1755,1802,0,0,0,0,0,0
$GC,13689,0.65,248.3,63.9,7.6,1429,13701,0.00,2.12,6.25,0.558,4,0.000,0.029,2889,3158,1778,0,0,0,0,0,0
$GC,13759,0.70,251.2,58.3,7.7,1442,13771,0.00,2.17,4.05,0.465,6,0.000,0.028,2900,1747,1767,0,0,0,0,0,0
$GC,14091,0.78,275.3,36.0,6.8,1504,14119,0.15,2.20,19.70,0.590,4,0.082,0.043,2994,350,1669,0,0,0,0,0,0
$GC,14166,0.67,275.3,28.2,11.3,1518,14172,0.22,2.12,0.00,0.000,6,0.117,0.025,2900,1755,1670,0,0,0,0,0,0
$GC,14493,0.84,336.1,10.5,5.1,1579,14545,0.20,2.30,47.95,0.565,4,0.069,0.043,3010,343,1421,0,0,0,0,0,0
$STATE,14570,end climb,SURFACE_DEPTH_REACHED
$STATE,14571,begin surface coast
$FINISH,0.2,1.013476
$STATE,14586,end surface coast,CONTROL_FINISHED_OK
$STATE,14586,begin surface
$SM_CCo,14660,0.00,0.000,0,0,1425,335.56
$SM_GC,1.36,7.35,0.00,0.00,0.038,0.000,0.000,192,1799,1425,-7.77,-0.03,335.56
$IRIDIUM_FIX,3634.97,-12217.14,220699,202051
$TT8_MAMPS,0.051389
$HUMID,54.01
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.50
$XPDR_PINGS,1
$24V_AH,24.1,12.372
$10V_AH,10.0,15.170
$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,19.175,146.350,374.350,0.000,0.000,25.772,29.650,228.308,1.250,0.000,14.012,0.000,9895.473,504.115,4122.618,489.382,0.000,1827.961,0.000,3562.199,0.000,8.188,0.000
$DEVICE_MAMPS,213.993,42.952,982.527,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.140,3389.484,2501.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286704
$DATA_FILE_SIZE,113937,1597
$CAP_FILE_SIZE,173626,0
$CFSIZE,260165632,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290310,041806,3644.700,-12212.275,26,1.3,26,14.8