version: 66.06
glider: 503
mission: 5
dive: 91
start: 4 4 110 14 9 43
data:
$ID,503
$MISSION,5
$DIVE,91
$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,-9993.8467
$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,50
$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
$GPS1,135836,3642.485,-12211.878,35,0.9,40,14.8
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.2
$GPS2,140937,3642.537,-12212.005,9,1.0,14,14.8
$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,118.9,4119,-21.6,-7.865
$D_GRID,967
$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,-0.67,-66.6,0.0,0.0,0,53,0.00,0.00,-39.10,0.000,2,0.000,0.000,152,1747,2730,0,0,0,0,0,0
$GC,54,-0.67,-73.4,3.4,-7.3,7,76,8.90,0.00,-8.25,0.000,6,0.219,0.000,2477,1747,3091,0,0,0,0,0,0
$GC,396,-0.67,-73.4,61.8,-16.4,71,402,0.00,2.10,0.00,0.000,4,0.000,0.038,2478,400,3094,0,0,0,0,0,0
$GC,411,-0.63,-73.4,64.3,-15.5,74,418,0.00,2.12,0.00,0.000,6,0.000,0.024,2469,1804,3095,0,0,0,0,0,0
$GC,738,-0.63,-73.4,111.9,-13.8,135,744,0.00,2.20,0.00,0.000,4,0.000,0.038,2469,395,3095,0,0,0,0,0,0
$GC,856,-0.58,-73.4,129.6,-15.3,157,862,0.15,2.10,0.00,0.000,6,0.120,0.024,2512,1796,3096,0,0,0,0,0,0
$GC,1183,-0.65,-73.4,161.4,-8.7,218,1189,0.00,2.15,0.00,0.000,4,0.000,0.032,2502,3192,3095,0,0,0,0,0,0
$GC,1230,-0.74,-73.4,165.8,-8.9,227,1238,0.10,2.15,0.00,0.000,6,0.048,0.026,2434,1793,3096,0,0,0,0,0,0
$GC,1555,-0.68,-73.4,208.3,-13.0,282,1559,0.15,2.17,0.00,0.000,4,0.154,0.038,2478,398,3096,0,0,0,0,0,0
$GC,1630,-0.68,-73.4,217.0,-11.8,289,1634,0.00,2.10,0.00,0.000,6,0.000,0.024,2469,1806,3095,0,0,0,0,0,0
$GC,1950,-0.68,-73.4,253.1,-10.7,320,1954,0.00,2.17,0.00,0.000,4,0.000,0.038,2471,402,3095,0,0,0,0,0,0
$GC,1971,-0.68,-73.4,255.4,-11.4,322,1976,0.00,2.10,0.00,0.000,6,0.000,0.024,2462,1803,3096,0,0,0,0,0,0
$GC,2293,-0.68,-73.4,291.3,-11.5,353,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1804,3095,0,0,0,0,0,0
$GC,2603,-0.68,-73.4,329.6,-12.7,383,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1803,3095,0,0,0,0,0,0
$GC,2914,-0.68,-73.4,367.9,-12.1,413,2917,0.00,2.15,0.00,0.000,4,0.000,0.039,2463,394,3094,0,0,0,0,0,0
$GC,2940,-0.68,-73.4,371.5,-13.4,415,2944,0.00,2.08,0.00,0.000,6,0.000,0.024,2455,1796,3094,0,0,0,0,0,0
$GC,3260,-0.68,-73.4,410.7,-12.4,446,3264,0.00,2.15,0.00,0.000,4,0.000,0.038,2457,402,3094,0,0,0,0,0,0
$GC,3297,-0.64,-73.4,415.6,-13.7,449,3304,0.12,2.08,0.00,0.000,6,0.123,0.023,2493,1802,3094,0,0,0,0,0,0
$GC,3612,-0.70,-73.4,447.0,-9.6,480,3617,0.00,2.17,0.00,0.000,4,0.000,0.039,2493,397,3094,0,0,0,0,0,0
$GC,3671,-0.75,-73.4,453.2,-10.5,485,3677,0.00,2.10,0.00,0.000,6,0.000,0.024,2484,1802,3093,0,0,0,0,0,0
$GC,3986,-0.80,-73.4,485.4,-10.3,516,3991,0.12,2.15,0.00,0.000,4,0.087,0.031,2405,3199,3093,0,0,0,0,0,0
$GC,4002,-0.80,-73.4,487.2,-10.8,517,4009,0.12,2.15,0.00,0.000,6,0.157,0.026,2440,1794,3093,0,0,0,0,0,0
$GC,4315,-0.80,-73.4,523.3,-11.5,538,4318,0.00,2.12,0.00,0.000,4,0.000,0.039,2440,408,3092,0,0,0,0,0,0
$GC,4351,-0.74,-73.4,528.0,-13.0,539,4358,0.00,2.08,0.00,0.000,6,0.000,0.024,2432,1801,3092,0,0,0,0,0,0
$GC,4662,-0.70,-73.4,565.5,-12.3,555,4663,0.15,0.00,0.00,0.000,6,0.153,0.000,2476,1802,3092,0,0,0,0,0,0
$GC,4967,-0.75,-73.4,596.2,-10.2,570,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1802,3091,0,0,0,0,0,0
$GC,5273,-0.80,-73.4,627.6,-10.2,585,5276,0.10,2.17,0.00,0.000,4,0.102,0.040,2421,406,3091,0,0,0,0,0,0
$GC,5341,-0.72,-73.4,637.1,-14.5,588,5346,0.15,2.08,0.00,0.000,6,0.127,0.024,2464,1804,3091,0,0,0,0,0,0
$GC,5662,-0.72,-73.4,672.0,-10.5,604,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1803,3090,0,0,0,0,0,0
$GC,5968,-0.72,-73.4,704.9,-11.0,619,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1803,3090,0,0,0,0,0,0
$GC,6272,-0.72,-73.4,735.2,-9.2,634,6277,0.00,2.15,0.00,0.000,4,0.000,0.040,2464,410,3089,0,0,0,0,0,0
$GC,6309,-0.72,-73.4,739.0,-10.1,635,6316,0.00,2.08,0.00,0.000,6,0.000,0.025,2456,1804,3089,0,0,0,0,0,0
$GC,6621,-0.72,-73.4,765.5,-8.2,651,6624,0.00,2.15,0.00,0.000,4,0.000,0.040,2456,410,3088,0,0,0,0,0,0
$GC,6651,-0.72,-73.4,768.3,-9.1,652,6656,0.00,2.10,0.00,0.000,6,0.000,0.025,2446,1811,3088,0,0,0,0,0,0
$GC,6967,-0.72,-73.4,795.7,-8.6,668,6971,0.00,2.17,0.00,0.000,4,0.000,0.039,2445,404,3088,0,0,0,0,0,0
$GC,7068,-0.72,-73.4,805.8,-9.5,672,7076,0.08,2.10,0.00,0.000,6,0.131,0.025,2464,1814,3088,0,0,0,0,0,0
$GC,7379,-0.76,-73.4,830.7,-8.8,688,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1814,3087,0,0,0,0,0,0
$GC,7685,-0.81,-73.4,858.0,-8.5,703,7688,0.00,2.17,0.00,0.000,4,0.000,0.039,2464,406,3086,0,0,0,0,0,0
$GC,7737,-0.81,-73.4,863.3,-9.9,705,7741,0.00,2.08,0.00,0.000,6,0.000,0.025,2456,1798,3086,0,0,0,0,0,0
$GC,8053,-0.81,-73.4,892.3,-8.6,721,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1798,3086,0,0,0,0,0,0
$GC,8358,-0.81,-73.4,919.1,-9.4,736,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1798,3085,0,0,0,0,0,0
$GC,8663,-0.81,-73.4,946.1,-8.8,751,8667,0.00,2.15,0.00,0.000,4,0.000,0.041,2459,407,3085,0,0,0,0,0,0
$GC,8684,-0.81,-73.4,947.9,-9.2,752,8689,0.00,2.08,0.00,0.000,6,0.000,0.025,2451,1797,3085,0,0,0,0,0,0
$STATE,8908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8908,begin apogee
$GC,8911,-0.14,0.0,967.6,9.5,763,8973,0.60,0.00,59.08,1.190,6,0.114,0.000,2651,1797,2792,0,0,0,0,0,0
$STATE,8973,end apogee,CONTROL_FINISHED_OK
$STATE,8973,begin climb
$GC,8974,0.67,73.4,969.3,0.0,766,9042,0.73,0.00,65.50,1.154,6,0.062,0.000,2922,1797,2492,0,0,0,0,0,0
$GC,9339,0.60,73.4,947.1,7.9,784,9343,0.00,2.12,0.00,0.000,4,0.000,0.034,2923,3135,2484,0,0,0,0,0,0
$GC,9434,0.50,74.6,939.2,7.8,788,9439,0.22,2.17,0.00,0.000,6,0.156,0.031,2864,1766,2482,0,0,0,0,0,0
$GC,9750,0.54,106.3,920.9,5.3,804,9781,0.00,2.30,27.52,1.128,4,0.000,0.042,2874,340,2357,0,0,0,0,0,0
$GC,9807,0.55,111.4,917.3,7.5,807,9817,0.00,2.17,6.22,0.904,6,0.000,0.025,2874,1740,2337,0,0,0,0,0,0
$GC,10127,0.55,111.4,889.0,9.2,823,10131,0.00,2.20,0.00,0.000,4,0.000,0.032,2874,3140,2334,0,0,0,0,0,0
$GC,10234,0.55,111.4,879.0,9.0,828,10238,0.00,2.20,0.00,0.000,6,0.000,0.031,2885,1745,2332,0,0,0,0,0,0
$GC,10560,0.55,111.4,853.1,8.0,844,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1745,2331,0,0,0,0,0,0
$GC,10866,0.55,111.4,827.8,8.2,859,10870,0.00,2.15,0.00,0.000,4,0.000,0.033,2885,3154,2330,0,0,0,0,0,0
$GC,10886,0.55,111.4,826.0,7.9,860,10891,0.00,2.20,0.00,0.000,6,0.000,0.031,2895,1751,2330,0,0,0,0,0,0
$GC,11212,0.55,112.8,800.7,7.8,876,11217,0.00,2.17,0.00,0.000,4,0.000,0.032,2895,3148,2330,0,0,0,0,0,0
$GC,11271,0.55,112.8,795.6,9.0,878,11278,0.00,2.17,0.00,0.000,6,0.000,0.030,2906,1753,2329,0,0,0,0,0,0
$GC,11581,0.55,112.8,768.5,8.9,894,11586,0.00,2.20,0.00,0.000,4,0.000,0.042,2917,343,2329,0,0,0,0,0,0
$GC,11624,0.49,112.8,764.4,9.3,896,11628,0.15,2.12,0.00,0.000,6,0.143,0.026,2867,1753,2328,0,0,0,0,0,0
$GC,11951,0.56,129.7,742.1,6.5,912,11971,0.00,0.00,15.25,1.022,6,0.000,0.000,2867,1753,2263,0,0,0,0,0,0
$GC,12275,0.63,137.7,718.7,7.2,928,12289,0.10,2.22,8.38,0.935,4,0.098,0.032,2925,3154,2230,0,0,0,0,0,0
$GC,12428,0.58,137.7,703.0,11.2,935,12433,0.15,2.22,0.00,0.000,6,0.139,0.028,2886,1736,2229,0,0,0,0,0,0
$GC,12750,0.58,143.5,678.6,7.4,951,12758,0.00,0.00,6.57,0.871,6,0.000,0.000,2886,1736,2207,0,0,0,0,0,0
$GC,13054,0.63,144.7,654.5,7.8,966,13059,0.00,2.20,0.00,0.000,4,0.000,0.031,2886,3150,2207,0,0,0,0,0,0
$GC,13096,0.63,144.7,650.8,9.0,968,13101,0.00,2.17,0.00,0.000,6,0.000,0.028,2895,1752,2206,0,0,0,0,0,0
$GC,13423,0.63,144.7,622.6,8.7,984,13424,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1752,2206,0,0,0,0,0,0
$GC,13729,0.63,144.7,596.1,8.8,999,13732,0.00,2.17,0.00,0.000,4,0.000,0.031,2896,3152,2206,0,0,0,0,0,0
$GC,13803,0.63,144.7,588.9,9.2,1002,13807,0.00,2.17,0.00,0.000,6,0.000,0.028,2906,1747,2206,0,0,0,0,0,0
$GC,14118,0.63,144.7,558.1,9.7,1018,14119,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1747,2206,0,0,0,0,0,0
$GC,14424,0.63,144.7,527.8,10.0,1033,14428,0.00,2.17,0.00,0.000,4,0.000,0.031,2906,3153,2205,0,0,0,0,0,0
$GC,14487,0.63,144.7,521.2,10.3,1036,14492,0.00,2.17,0.00,0.000,6,0.000,0.028,2917,1745,2205,0,0,0,0,0,0
$GC,14805,0.63,144.7,490.3,10.0,1056,14809,0.00,2.17,0.00,0.000,4,0.000,0.031,2917,3153,2205,0,0,0,0,0,0
$GC,14933,0.63,144.7,477.3,10.4,1068,14937,0.00,2.17,0.00,0.000,6,0.000,0.028,2928,1748,2204,0,0,0,0,0,0
$GC,15254,0.63,144.7,447.8,8.7,1099,15258,0.00,2.17,0.00,0.000,4,0.000,0.041,2939,347,2204,0,0,0,0,0,0
$GC,15297,0.57,144.7,443.6,10.0,1103,15301,0.15,2.10,0.00,0.000,6,0.126,0.025,2888,1751,2204,0,0,0,0,0,0
$GC,15617,0.64,161.3,421.3,6.5,1134,15639,0.00,2.17,16.00,0.841,4,0.000,0.032,2888,3145,2134,0,0,0,0,0,0
$GC,15659,0.69,163.7,418.4,7.7,1138,15671,0.00,2.17,4.03,0.581,6,0.000,0.028,2897,1748,2124,0,0,0,0,0,0
$GC,15980,0.74,167.8,393.5,7.5,1169,15991,0.12,2.17,4.90,0.663,4,0.087,0.031,2974,3152,2108,0,0,0,0,0,0
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$STATE,20325,end climb,SURFACE_DEPTH_REACHED
$STATE,20325,begin surface coast
$FINISH,0.7,1.025105
$STATE,20347,end surface coast,CONTROL_FINISHED_OK
$STATE,20347,begin surface
$SM_CCo,20360,15.80,0.557,0,0,1771,250.20
$SM_GC,3.40,0.00,0.00,15.80,0.000,0.000,0.557,184,1787,1771,-7.86,-0.37,250.20
$IRIDIUM_FIX,3629.60,-12209.72,290699,080812
$TT8_MAMPS,0.050622
$HUMID,54.96
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.20
$XPDR_PINGS,0
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$10V_AH,10.0,21.407
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.925,167.750,258.625,15.800,0.000,59.445,65.040,354.732,2.500,0.000,16.095,0.000,15000.640,486.999,4744.602,763.637,0.000,1996.035,0.000,4091.462,0.000,18.978,0.000
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$SENSOR_SECS,1257.335,3781.426,2669.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286640
$DATA_FILE_SIZE,126661,1808
$CAP_FILE_SIZE,213141,0
$CFSIZE,260165632,246272000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040410,195037,3641.671,-12210.776,58,1.8,58,14.8