version: 66.06
glider: 503
mission: 5
dive: 106
start: 4 8 110 1 0 26
data:
$ID,503
$MISSION,5
$DIVE,106
$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,-10296.108
$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,34
$R_STBD_OVSHOOT,44
$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
$GPS1,005201,3646.149,-12214.031,35,1.8,35,14.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.0
$GPS2,010020,3646.086,-12214.090,10,1.4,10,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FIVE
$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,78.2,3105,-18.8,-7.865
$D_GRID,646
$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,-0.61,-86.2,0.0,0.0,0,57,0.00,0.00,-43.35,0.000,2,0.000,0.000,173,1750,2602,0,0,0,0,0,0
$GC,58,-0.64,-106.2,3.2,-6.6,8,90,8.73,2.17,-15.15,0.000,4,0.213,0.054,2486,396,3228,0,0,0,0,0,0
$GC,319,-0.56,-106.2,46.2,-15.5,57,326,0.10,2.12,0.00,0.000,6,0.123,0.025,2514,1801,3229,0,0,0,0,0,0
$GC,645,-0.56,-106.2,83.1,-11.0,118,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1801,3231,0,0,0,0,0,0
$GC,966,-0.56,-106.2,115.6,-9.6,178,973,0.00,2.20,0.00,0.000,4,0.000,0.039,2514,394,3231,0,0,0,0,0,0
$GC,988,-0.56,-106.2,118.0,-10.5,182,995,0.00,2.10,0.00,0.000,6,0.000,0.024,2507,1798,3231,0,0,0,0,0,0
$GC,1315,-0.56,-106.2,150.9,-10.1,243,1321,0.00,2.15,0.00,0.000,4,0.000,0.032,2507,3193,3231,0,0,0,0,0,0
$GC,1391,-0.64,-106.2,157.8,-9.1,257,1396,0.00,2.15,0.00,0.000,6,0.000,0.025,2508,1787,3231,0,0,0,0,0,0
$GC,1716,-0.64,-106.2,189.1,-9.0,318,1724,0.00,2.15,0.00,0.000,4,0.000,0.039,2507,401,3231,0,0,0,0,0,0
$GC,1792,-0.64,-106.2,197.4,-11.0,332,1798,0.00,2.10,0.00,0.000,6,0.000,0.024,2498,1810,3231,0,0,0,0,0,0
$GC,2109,-0.64,-106.2,229.1,-9.9,365,2112,0.00,2.17,0.00,0.000,4,0.000,0.038,2497,404,3231,0,0,0,0,0,0
$GC,2144,-0.64,-106.2,232.9,-10.4,368,2152,0.00,2.10,0.00,0.000,6,0.000,0.023,2489,1803,3231,0,0,0,0,0,0
$GC,2461,-0.64,-106.2,265.7,-10.5,399,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1803,3231,0,0,0,0,0,0
$GC,2772,-0.64,-106.2,296.5,-10.1,429,2775,0.00,2.15,0.00,0.000,4,0.000,0.038,2489,401,3230,0,0,0,0,0,0
$GC,2797,-0.64,-106.2,299.5,-11.3,431,2804,0.00,2.10,0.00,0.000,6,0.000,0.024,2479,1803,3230,0,0,0,0,0,0
$GC,3112,-0.64,-106.2,334.1,-11.3,462,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1803,3229,0,0,0,0,0,0
$GC,3423,-0.64,-106.2,365.6,-9.7,492,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1803,3229,0,0,0,0,0,0
$GC,3734,-0.64,-106.2,393.6,-8.3,522,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1803,3229,0,0,0,0,0,0
$GC,4044,-0.64,-106.2,421.1,-8.8,552,4049,0.00,2.15,0.00,0.000,4,0.000,0.038,2479,408,3228,0,0,0,0,0,0
$GC,4098,-0.64,-106.2,426.3,-10.1,557,4102,0.00,2.05,0.00,0.000,6,0.000,0.024,2469,1789,3228,0,0,0,0,0,0
$GC,4418,-0.64,-106.2,456.4,-9.9,588,4423,0.00,2.15,0.00,0.000,4,0.000,0.038,2470,398,3227,0,0,0,0,0,0
$GC,4455,-0.60,-106.2,460.7,-11.4,591,4461,0.12,2.10,0.00,0.000,6,0.114,0.024,2506,1805,3227,0,0,0,0,0,0
$GC,4770,-0.66,-106.2,487.9,-9.0,622,4775,0.00,2.12,0.00,0.000,4,0.000,0.031,2497,3199,3227,0,0,0,0,0,0
$GC,4803,-0.76,-106.2,490.6,-9.2,625,4807,0.08,2.12,0.00,0.000,6,0.055,0.026,2435,1805,3227,0,0,0,0,0,0
$GC,5131,-0.69,-106.2,533.9,-13.5,645,5134,0.15,2.15,0.00,0.000,4,0.146,0.041,2482,403,3227,0,0,0,0,0,0
$GC,5177,-0.69,-106.2,539.7,-11.1,647,5181,0.00,2.08,0.00,0.000,6,0.000,0.023,2472,1797,3227,0,0,0,0,0,0
$GC,5493,-0.69,-106.2,573.6,-10.8,663,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1797,3226,0,0,0,0,0,0
$GC,5797,-0.69,-106.2,606.4,-11.0,678,5802,0.00,2.15,0.00,0.000,4,0.000,0.031,2463,3202,3225,0,0,0,0,0,0
$GC,5824,-0.69,-106.2,609.3,-10.8,679,5828,0.00,2.15,0.00,0.000,6,0.000,0.027,2462,1796,3225,0,0,0,0,0,0
$GC,6146,-0.69,-106.2,642.7,-10.1,695,6149,0.00,2.15,0.00,0.000,4,0.000,0.041,2463,404,3225,0,0,0,0,0,0
$STATE,6175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6175,begin apogee
$GC,6180,-0.14,0.0,646.6,12.4,696,6270,0.57,0.00,83.40,0.977,6,0.113,0.000,2650,1755,2791,0,0,0,0,0,0
$STATE,6270,end apogee,CONTROL_FINISHED_OK
$STATE,6270,begin climb
$GC,6272,0.64,106.2,649.9,0.0,701,6367,0.68,2.28,89.38,0.946,4,0.061,0.028,2904,3153,2358,0,0,0,0,0,0
$GC,6398,0.59,145.1,648.9,5.5,706,6435,0.00,2.28,33.25,0.918,6,0.000,0.028,2914,1756,2199,0,0,0,0,0,0
$GC,6749,0.54,145.1,615.3,9.8,724,6754,0.12,2.28,0.00,0.000,4,0.153,0.042,2889,345,2193,0,0,0,0,0,0
$GC,6797,0.54,145.1,611.0,9.4,726,6802,0.00,2.15,0.00,0.000,6,0.000,0.024,2889,1745,2193,0,0,0,0,0,0
$GC,7118,0.54,145.1,583.3,8.7,742,7122,0.00,2.20,0.00,0.000,4,0.000,0.030,2889,3158,2190,0,0,0,0,0,0
$GC,7176,0.54,145.1,577.8,9.6,744,7184,0.00,2.22,0.00,0.000,6,0.000,0.028,2900,1744,2189,0,0,0,0,0,0
$GC,7487,0.54,145.1,549.6,9.2,760,7491,0.00,2.20,0.00,0.000,4,0.000,0.030,2900,3156,2189,0,0,0,0,0,0
$GC,7545,0.54,145.1,543.3,10.7,762,7553,0.12,2.20,0.00,0.000,6,0.157,0.028,2876,1748,2188,0,0,0,0,0,0
$GC,7855,0.54,145.1,514.0,10.0,778,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1748,2187,0,0,0,0,0,0
$GC,8163,0.54,145.1,484.5,9.1,800,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1748,2187,0,0,0,0,0,0
$GC,8474,0.54,145.1,457.4,8.9,830,8478,0.00,2.17,0.00,0.000,4,0.000,0.031,2876,3150,2186,0,0,0,0,0,0
$GC,8570,0.54,145.1,448.3,9.7,839,8574,0.00,2.15,0.00,0.000,6,0.000,0.028,2885,1756,2185,0,0,0,0,0,0
$GC,8890,0.54,145.1,420.8,8.4,870,8895,0.00,2.15,0.00,0.000,4,0.000,0.031,2885,3150,2185,0,0,0,0,0,0
$GC,8923,0.54,145.1,417.9,9.2,873,8926,0.00,2.12,0.00,0.000,6,0.000,0.028,2896,1745,2185,0,0,0,0,0,0
$GC,9243,0.56,156.1,392.3,7.2,904,9255,0.00,2.15,7.82,0.757,4,0.000,0.041,2907,349,2154,0,0,0,0,0,0
$GC,9286,0.56,156.1,388.8,8.1,908,9290,0.00,2.10,0.00,0.000,6,0.000,0.025,2907,1748,2154,0,0,0,0,0,0
$GC,9607,0.56,156.1,363.7,8.0,939,9611,0.00,2.15,0.00,0.000,4,0.000,0.031,2907,3152,2154,0,0,0,0,0,0
$GC,9650,0.52,156.1,360.3,8.2,943,9654,0.12,2.15,0.00,0.000,6,0.125,0.028,2864,1758,2154,0,0,0,0,0,0
$GC,9970,0.60,179.2,339.9,6.4,974,9991,0.00,0.00,19.92,0.785,6,0.000,0.000,2865,1757,2060,0,0,0,0,0,0
$GC,10300,0.68,186.1,317.0,7.4,1006,10313,0.15,2.20,7.00,0.692,4,0.074,0.041,2953,346,2033,0,0,0,0,0,0
$GC,10343,0.59,186.1,312.0,12.3,1010,10348,0.17,2.12,0.00,0.000,6,0.120,0.025,2892,1745,2033,0,0,0,0,0,0
$GC,10665,0.59,186.1,281.2,9.0,1041,10668,0.00,2.17,0.00,0.000,4,0.000,0.030,2892,3156,2033,0,0,0,0,0,0
$GC,10707,0.59,186.1,277.2,10.4,1045,10711,0.00,2.17,0.00,0.000,6,0.000,0.028,2901,1754,2032,0,0,0,0,0,0
$GC,11027,0.59,186.1,247.9,9.1,1076,11032,0.00,2.17,0.00,0.000,4,0.000,0.030,2901,3156,2032,0,0,0,0,0,0
$GC,11096,0.59,186.1,240.8,10.1,1082,11104,0.00,2.20,0.00,0.000,6,0.000,0.028,2912,1746,2031,0,0,0,0,0,0
$GC,11413,0.59,186.1,210.6,9.2,1113,11416,0.00,2.17,0.00,0.000,4,0.000,0.042,2923,350,2031,0,0,0,0,0,0
$GC,11470,0.59,186.1,205.2,9.9,1118,11478,0.08,2.10,0.00,0.000,6,0.123,0.025,2894,1749,2032,0,0,0,0,0,0
$GC,11795,0.62,211.3,182.3,6.3,1172,11817,0.00,0.00,21.15,0.687,6,0.000,0.000,2894,1749,1930,0,0,0,0,0,0
$GC,12138,0.68,218.9,156.5,7.4,1236,12149,0.00,2.25,7.53,0.619,4,0.000,0.043,2904,349,1899,0,0,0,0,0,0
$GC,12165,0.73,221.8,154.3,7.7,1241,12177,0.00,2.12,4.15,0.492,6,0.000,0.026,2904,1745,1887,0,0,0,0,0,0
$GC,12498,0.73,221.8,123.8,9.6,1303,12503,0.00,2.17,0.00,0.000,4,0.000,0.031,2904,3153,1887,0,0,0,0,0,0
$GC,12529,0.73,221.8,120.5,10.3,1309,12536,0.00,2.17,0.00,0.000,6,0.000,0.028,2914,1752,1887,0,0,0,0,0,0
$GC,12856,0.73,221.8,89.6,9.6,1370,12862,0.00,2.17,0.00,0.000,4,0.000,0.031,2914,3155,1887,0,0,0,0,0,0
$GC,12925,0.73,221.8,82.6,10.1,1383,12932,0.00,2.17,0.00,0.000,6,0.000,0.028,2925,1752,1887,0,0,0,0,0,0
$GC,13252,0.73,221.8,51.5,8.9,1444,13258,0.00,2.20,0.00,0.000,4,0.000,0.043,2936,344,1887,0,0,0,0,0,0
$GC,13295,0.73,221.8,47.6,8.7,1452,13301,0.00,2.12,0.00,0.000,6,0.000,0.026,2936,1754,1887,0,0,0,0,0,0
$GC,13622,0.75,242.5,20.2,6.6,1513,13644,0.00,2.12,17.08,0.582,4,0.000,0.028,2936,3161,1803,0,0,0,0,0,0
$STATE,13802,end climb,SURFACE_DEPTH_REACHED
$STATE,13803,begin surface coast
$FINISH,0.5,1.025190
$STATE,13829,end surface coast,CONTROL_FINISHED_OK
$STATE,13829,begin surface
$SM_CCo,13843,3.38,0.380,0,0,1771,250.20
$SM_GC,2.18,0.00,0.00,3.38,0.000,0.000,0.380,191,1791,1771,-7.84,-0.25,250.20
$IRIDIUM_FIX,3634.97,-12214.86,020799,202004
$TT8_MAMPS,0.052156
$HUMID,55.59
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.00
$XPDR_PINGS,2
$24V_AH,24.1,17.691
$10V_AH,10.0,24.525
$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,18.200,125.025,290.675,3.375,0.000,31.252,32.341,324.536,1.250,0.000,12.544,0.000,9294.769,416.390,3967.961,630.731,0.000,1674.610,0.000,3455.402,0.000,6.390,0.000
$DEVICE_MAMPS,213.226,54.457,977.158,380.432,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1077.241,3307.690,2436.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286692
$DATA_FILE_SIZE,107592,1552
$CAP_FILE_SIZE,160915,0
$CFSIZE,260165632,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080410,045251,3646.377,-12213.358,59,2.1,79,14.8