version: 66.06
glider: 503
mission: 5
dive: 97
start: 4 5 110 23 58 0
data:
$ID,503
$MISSION,5
$DIVE,97
$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,-10128.376
$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
$GPS1,234826,3646.009,-12213.112,65,2.1,84,14.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.7
$GPS2,235728,3646.029,-12213.090,12,2.3,31,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,THREE
$TGT_LATLONG,3650.000,-12215.000
$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,324.1,7880,-15.7,-7.865
$D_GRID,634
$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,11,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,51,0.00,0.00,-37.67,0.000,2,0.000,0.000,169,1794,2775,0,0,0,0,0,0
$GC,53,-0.57,-116.8,3.2,-4.5,7,80,9.00,2.22,-11.27,0.000,4,0.221,0.051,2514,394,3273,0,0,0,0,0,0
$GC,133,-0.44,-116.8,18.7,-17.4,22,139,0.12,2.15,0.00,0.000,6,0.118,0.025,2551,1797,3273,0,0,0,0,0,0
$GC,458,-0.44,-116.8,49.5,-8.9,83,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1798,3274,0,0,0,0,0,0
$GC,779,-0.49,-116.8,80.6,-8.8,143,786,0.00,2.17,0.00,0.000,4,0.000,0.038,2551,401,3275,0,0,0,0,0,0
$GC,807,-0.53,-116.8,83.2,-9.1,148,813,0.00,2.10,0.00,0.000,6,0.000,0.024,2547,1799,3275,0,0,0,0,0,0
$GC,1133,-0.58,-116.8,112.6,-8.7,209,1139,0.10,0.00,0.00,0.000,6,0.104,0.000,2487,1800,3276,0,0,0,0,0,0
$GC,1459,-0.52,-116.8,151.2,-11.9,270,1465,0.15,0.00,0.00,0.000,6,0.136,0.000,2534,1800,3275,0,0,0,0,0,0
$GC,1784,-0.52,-116.8,177.4,-7.7,331,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1801,3275,0,0,0,0,0,0
$GC,2107,-0.56,-116.8,203.9,-8.8,388,2112,0.00,2.15,0.00,0.000,4,0.000,0.038,2534,403,3275,0,0,0,0,0,0
$GC,2154,-0.56,-116.8,208.7,-10.3,392,2162,0.00,2.10,0.00,0.000,6,0.000,0.024,2532,1804,3275,0,0,0,0,0,0
$GC,2471,-0.56,-116.8,236.4,-8.0,423,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1805,3275,0,0,0,0,0,0
$GC,2783,-0.60,-116.8,261.7,-8.5,453,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1805,3274,0,0,0,0,0,0
$GC,3093,-0.65,-116.8,286.9,-7.1,483,3096,0.12,2.12,0.00,0.000,4,0.087,0.031,2453,3199,3274,0,0,0,0,0,0
$GC,3140,-0.60,-116.8,291.4,-10.5,487,3144,0.15,2.12,0.00,0.000,6,0.107,0.026,2507,1798,3274,0,0,0,0,0,0
$GC,3460,-0.60,-116.8,316.0,-9.1,518,3464,0.00,2.15,0.00,0.000,4,0.000,0.038,2507,401,3273,0,0,0,0,0,0
$GC,3529,-0.60,-116.8,323.5,-11.1,524,3536,0.00,2.08,0.00,0.000,6,0.000,0.024,2505,1800,3274,0,0,0,0,0,0
$GC,3845,-0.60,-116.8,355.1,-9.8,555,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1800,3273,0,0,0,0,0,0
$GC,4156,-0.60,-116.8,385.6,-9.6,585,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1800,3273,0,0,0,0,0,0
$GC,4466,-0.60,-116.8,413.1,-7.9,615,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1800,3272,0,0,0,0,0,0
$GC,4777,-0.60,-116.8,441.3,-10.5,645,4780,0.00,2.15,0.00,0.000,4,0.000,0.039,2505,403,3272,0,0,0,0,0,0
$GC,4823,-0.60,-116.8,446.7,-12.1,649,4830,0.00,2.10,0.00,0.000,6,0.000,0.024,2496,1803,3272,0,0,0,0,0,0
$GC,5139,-0.60,-116.8,484.0,-11.2,680,5143,0.00,2.12,0.00,0.000,4,0.000,0.031,2485,3196,3271,0,0,0,0,0,0
$GC,5176,-0.60,-116.8,488.2,-10.9,683,5182,0.00,2.12,0.00,0.000,6,0.000,0.025,2486,1801,3271,0,0,0,0,0,0
$GC,5488,-0.60,-116.8,523.6,-11.9,704,5492,0.00,2.15,0.00,0.000,4,0.000,0.039,2487,403,3271,0,0,0,0,0,0
$GC,5553,-0.60,-116.8,532.2,-13.6,707,5556,0.00,2.08,0.00,0.000,6,0.000,0.025,2480,1796,3270,0,0,0,0,0,0
$GC,5879,-0.60,-116.8,569.9,-10.7,723,5883,0.00,2.15,0.00,0.000,4,0.000,0.032,2470,3202,3270,0,0,0,0,0,0
$GC,5915,-0.60,-116.8,573.8,-10.4,724,5923,0.10,2.15,0.00,0.000,6,0.104,0.028,2508,1799,3270,0,0,0,0,0,0
$GC,6226,-0.60,-116.8,597.8,-7.5,740,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1798,3270,0,0,0,0,0,0
$GC,6532,-0.60,-116.8,621.5,-8.5,755,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1799,3269,0,0,0,0,0,0
$STATE,6591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6591,begin apogee
$GC,6594,-0.14,0.0,626.6,8.3,758,6687,0.43,0.00,91.55,0.963,6,0.098,0.000,2659,1798,2792,0,0,0,0,0,0
$STATE,6688,end apogee,CONTROL_FINISHED_OK
$STATE,6688,begin climb
$GC,6689,0.57,116.8,629.5,0.0,762,6793,0.60,0.00,98.35,0.932,6,0.061,0.000,2888,1798,2315,0,0,0,0,0,0
$GC,7098,0.50,126.0,612.1,7.4,783,7112,0.00,2.17,7.47,0.799,4,0.000,0.031,2888,3152,2278,0,0,0,0,0,0
$GC,7175,0.40,126.0,605.9,8.2,786,7183,0.20,2.22,0.00,0.000,6,0.120,0.027,2832,1748,2278,0,0,0,0,0,0
$GC,7486,0.45,163.4,588.3,6.2,802,7522,0.00,2.22,31.62,0.914,4,0.000,0.029,2831,3155,2127,0,0,0,0,0,0
$GC,7558,0.45,163.4,582.4,9.6,804,7566,0.00,2.28,0.00,0.000,6,0.000,0.028,2841,1744,2127,0,0,0,0,0,0
$GC,7869,0.45,163.4,554.1,8.3,820,7873,0.00,2.20,0.00,0.000,4,0.000,0.030,2841,3145,2125,0,0,0,0,0,0
$GC,7917,0.45,163.4,550.3,8.0,822,7921,0.00,2.17,0.00,0.000,6,0.000,0.028,2849,1755,2124,0,0,0,0,0,0
$GC,8237,0.48,191.7,527.1,6.6,838,8267,0.00,2.25,23.90,0.887,4,0.000,0.031,2848,3152,2010,0,0,0,0,0,0
$GC,8310,0.48,191.7,521.7,8.6,841,8315,0.00,2.22,0.00,0.000,6,0.000,0.028,2858,1749,2010,0,0,0,0,0,0
$GC,8627,0.48,191.7,494.8,8.3,860,8632,0.00,2.22,0.00,0.000,4,0.000,0.042,2869,341,2010,0,0,0,0,0,0
$GC,8663,0.48,191.7,491.5,8.5,863,8670,0.00,2.15,0.00,0.000,6,0.000,0.024,2869,1755,2010,0,0,0,0,0,0
$GC,8979,0.48,191.7,460.5,9.2,894,8984,0.00,2.15,0.00,0.000,4,0.000,0.030,2869,3149,2010,0,0,0,0,0,0
$GC,9005,0.48,191.7,458.0,10.3,896,9013,0.00,2.20,0.00,0.000,6,0.000,0.028,2880,1747,2009,0,0,0,0,0,0
$GC,9322,0.50,209.1,431.6,7.1,927,9344,0.00,2.22,15.02,0.826,4,0.000,0.043,2891,346,1939,0,0,0,0,0,0
$GC,9385,0.51,216.4,426.9,7.5,933,9397,0.00,2.12,7.82,0.748,6,0.000,0.025,2891,1746,1909,0,0,0,0,0,0
$GC,9705,0.51,216.4,397.4,11.7,964,9710,0.00,2.20,0.00,0.000,4,0.000,0.041,2902,351,1909,0,0,0,0,0,0
$GC,9731,0.51,216.4,394.1,13.7,966,9739,0.12,2.15,0.00,0.000,6,0.137,0.025,2864,1757,1908,0,0,0,0,0,0
$GC,10048,0.51,216.4,363.9,8.1,997,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1757,1908,0,0,0,0,0,0
$GC,10359,0.55,246.3,341.3,6.5,1027,10390,0.00,2.28,24.33,0.788,4,0.000,0.042,2874,344,1787,0,0,0,0,0,0
$GC,10410,0.60,285.7,338.2,6.1,1032,10447,0.00,2.15,33.08,0.771,6,0.000,0.025,2874,1751,1627,0,0,0,0,0,0
$GC,10757,0.72,343.1,318.9,5.3,1065,10809,0.15,2.28,47.33,0.760,4,0.077,0.040,2959,346,1393,0,0,0,0,0,0
$GC,10861,0.64,343.1,306.3,15.0,1075,10866,0.15,2.17,0.00,0.000,6,0.107,0.024,2907,1746,1395,0,0,0,0,0,0
$GC,11181,0.64,343.1,265.3,14.1,1106,11186,0.00,2.22,0.00,0.000,4,0.000,0.041,2916,344,1397,0,0,0,0,0,0
$GC,11218,0.64,343.1,259.9,15.6,1109,11225,0.00,2.17,0.00,0.000,6,0.000,0.024,2916,1759,1397,0,0,0,0,0,0
$GC,11534,0.64,343.1,214.8,11.6,1140,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1759,1397,0,0,0,0,0,0
$GC,11851,0.64,343.1,176.6,11.7,1187,11858,0.00,2.22,0.00,0.000,4,0.000,0.041,2926,347,1397,0,0,0,0,0,0
$GC,11878,0.64,343.1,173.4,12.2,1192,11885,0.00,2.10,0.00,0.000,6,0.000,0.025,2927,1742,1396,0,0,0,0,0,0
$GC,12204,0.64,343.1,128.8,12.3,1253,12211,0.00,2.20,0.00,0.000,4,0.000,0.042,2938,343,1396,0,0,0,0,0,0
$GC,12221,0.64,343.1,126.6,13.1,1256,12227,0.00,2.10,0.00,0.000,6,0.000,0.024,2937,1744,1396,0,0,0,0,0,0
$GC,12547,0.64,343.1,78.8,13.9,1317,12552,0.12,0.00,0.00,0.000,6,0.145,0.000,2898,1744,1396,0,0,0,0,0,0
$GC,12873,0.73,343.1,50.1,8.9,1378,12879,0.10,2.20,0.00,0.000,4,0.104,0.041,2962,344,1396,0,0,0,0,0,0
$GC,12942,0.73,343.1,40.9,14.9,1391,12949,0.00,2.10,0.00,0.000,6,0.000,0.024,2963,1747,1396,0,0,0,0,0,0
$STATE,13252,end climb,SURFACE_DEPTH_REACHED
$STATE,13252,begin surface coast
$FINISH,0.3,1.024830
$STATE,13279,end surface coast,CONTROL_FINISHED_OK
$STATE,13279,begin surface
$SM_CCo,13350,0.00,0.000,0,0,1395,342.68
$SM_GC,1.26,7.03,0.00,0.00,0.035,0.000,0.000,187,1748,1395,-7.78,-1.47,342.68
$IRIDIUM_FIX,3632.29,-12211.15,300699,191904
$TT8_MAMPS,0.052156
$HUMID,54.96
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,15.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,600.8,35.3
$24V_AH,24.1,16.670
$10V_AH,10.0,22.635
$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,18.650,99.775,380.475,0.000,0.000,27.596,32.794,350.929,2.000,0.000,34.357,0.000,8988.705,497.630,3730.916,664.572,0.000,1669.436,0.000,3223.062,0.000,9.096,0.000
$DEVICE_MAMPS,220.896,51.389,963.352,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.611,3090.548,2254.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287136
$DATA_FILE_SIZE,101342,1454
$CAP_FILE_SIZE,152981,0
$CFSIZE,260165632,245686272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060410,034124,3648.496,-12215.104,36,1.2,36,14.8