version: 66.06
glider: 503
mission: 5
dive: 107
start: 4 8 110 5 10 52
data:
$ID,503
$MISSION,5
$DIVE,107
$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,-10335.021
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,045251,3646.377,-12213.358,59,2.1,79,14.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-71.5
$GPS2,051047,3646.334,-12213.572,16,3.3,35,14.8
$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,90.1,2414,-24.0,-7.865
$D_GRID,623
$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,13,-0.71,-54.8,0.0,0.0,0,48,0.00,0.00,-33.72,0.000,2,0.000,0.000,146,1788,2680,0,0,0,0,0,0
$GC,49,-0.73,-66.4,3.3,-6.7,6,71,8.80,2.17,-8.77,0.000,4,0.216,0.049,2461,395,3064,0,0,0,0,0,0
$GC,263,-0.68,-66.4,42.6,-18.3,46,269,0.00,2.15,0.00,0.000,6,0.000,0.024,2451,1810,3066,0,0,0,0,0,0
$GC,589,-0.68,-66.4,93.3,-13.2,107,595,0.00,2.15,0.00,0.000,4,0.000,0.031,2441,3199,3067,0,0,0,0,0,0
$GC,647,-0.68,-66.4,101.7,-13.8,118,655,0.10,2.17,0.00,0.000,6,0.121,0.025,2477,1790,3067,0,0,0,0,0,0
$GC,976,-0.74,-66.4,138.4,-11.3,179,981,0.00,2.15,0.00,0.000,4,0.000,0.038,2477,405,3067,0,0,0,0,0,0
$GC,1060,-0.74,-66.4,148.8,-11.7,195,1067,0.00,2.10,0.00,0.000,6,0.000,0.024,2468,1806,3067,0,0,0,0,0,0
$GC,1387,-0.78,-66.4,182.2,-9.7,256,1393,0.00,2.17,0.00,0.000,4,0.000,0.038,2470,406,3067,0,0,0,0,0,0
$GC,1494,-0.78,-66.4,193.9,-11.0,276,1500,0.00,2.08,0.00,0.000,6,0.000,0.025,2461,1800,3067,0,0,0,0,0,0
$GC,1817,-0.78,-66.4,227.1,-11.1,313,1821,0.00,2.17,0.00,0.000,4,0.000,0.039,2461,410,3067,0,0,0,0,0,0
$GC,1832,-0.78,-66.4,229.0,-11.5,314,1839,0.00,2.08,0.00,0.000,6,0.000,0.024,2451,1804,3066,0,0,0,0,0,0
$GC,2148,-0.78,-66.4,267.9,-13.0,345,2152,0.00,2.15,0.00,0.000,4,0.000,0.038,2452,409,3066,0,0,0,0,0,0
$GC,2205,-0.78,-66.4,276.0,-13.9,350,2213,0.00,2.10,0.00,0.000,6,0.000,0.023,2442,1813,3066,0,0,0,0,0,0
$GC,2522,-0.78,-66.4,318.5,-13.6,381,2526,0.00,2.10,0.00,0.000,4,0.000,0.031,2432,3191,3066,0,0,0,0,0,0
$GC,2569,-0.83,-66.4,324.9,-13.2,385,2575,0.00,2.10,0.00,0.000,6,0.000,0.026,2432,1809,3066,0,0,0,0,0,0
$GC,2884,-0.83,-66.4,368.8,-12.7,416,2889,0.00,2.17,0.00,0.000,4,0.000,0.038,2432,399,3065,0,0,0,0,0,0
$GC,2986,-0.79,-66.4,383.0,-14.3,425,2992,0.00,2.08,0.00,0.000,6,0.000,0.023,2422,1800,3065,0,0,0,0,0,0
$GC,3301,-0.79,-66.4,422.6,-12.1,456,3306,0.00,2.17,0.00,0.000,4,0.000,0.038,2421,404,3065,0,0,0,0,0,0
$GC,3338,-0.73,-66.4,427.4,-13.1,459,3345,0.12,2.05,0.00,0.000,6,0.128,0.024,2456,1788,3065,0,0,0,0,0,0
$GC,3654,-0.78,-66.4,458.6,-10.3,490,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1789,3064,0,0,0,0,0,0
$GC,3965,-0.83,-66.4,490.0,-10.0,520,3969,0.00,2.12,0.00,0.000,4,0.000,0.038,2461,408,3064,0,0,0,0,0,0
$GC,3997,-0.83,-66.4,493.6,-11.4,523,4000,0.00,2.05,0.00,0.000,6,0.000,0.024,2452,1790,3063,0,0,0,0,0,0
$GC,4323,-0.88,-66.4,529.7,-10.9,542,4327,0.10,2.17,0.00,0.000,4,0.107,0.039,2388,400,3062,0,0,0,0,0,0
$GC,4338,-0.88,-66.4,531.8,-12.0,542,4346,0.12,2.10,0.00,0.000,6,0.170,0.024,2411,1804,3063,0,0,0,0,0,0
$GC,4648,-0.88,-66.4,574.3,-13.0,558,4653,0.00,2.17,0.00,0.000,4,0.000,0.038,2412,400,3062,0,0,0,0,0,0
$GC,4718,-0.82,-66.4,583.6,-14.0,561,4723,0.08,2.08,0.00,0.000,6,0.140,0.023,2430,1798,3062,0,0,0,0,0,0
$STATE,4998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4998,begin apogee
$GC,5001,-0.14,0.0,617.4,12.2,575,5059,0.68,0.00,52.15,0.957,6,0.117,0.000,2656,1798,2792,0,0,0,0,0,0
$STATE,5059,end apogee,CONTROL_FINISHED_OK
$STATE,5059,begin climb
$GC,5061,0.73,66.4,619.6,0.0,578,5122,0.75,2.15,55.33,0.927,4,0.062,0.028,2941,3149,2520,0,0,0,0,0,0
$GC,5217,0.72,105.7,615.8,4.1,585,5256,0.00,2.22,33.12,0.913,6,0.000,0.027,2952,1753,2361,0,0,0,0,0,0
$GC,5572,0.72,105.7,588.3,8.0,603,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1753,2356,0,0,0,0,0,0
$GC,5877,0.72,105.7,563.1,7.9,618,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,1753,2353,0,0,0,0,0,0
$GC,6183,0.72,107.1,539.6,7.7,633,6187,0.00,2.15,0.00,0.000,4,0.000,0.030,2953,3154,2352,0,0,0,0,0,0
$GC,6214,0.67,107.1,537.0,8.4,634,6219,0.12,2.17,0.00,0.000,6,0.141,0.028,2922,1754,2351,0,0,0,0,0,0
$GC,6530,0.69,125.9,517.7,6.1,650,6552,0.00,2.20,16.08,0.873,4,0.000,0.031,2922,3149,2278,0,0,0,0,0,0
$GC,6594,0.70,135.5,513.6,6.9,653,6608,0.00,2.20,9.93,0.815,6,0.000,0.028,2931,1745,2238,0,0,0,0,0,0
$GC,6921,0.70,135.5,484.8,9.0,676,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1745,2237,0,0,0,0,0,0
$GC,7232,0.70,135.5,456.7,9.0,706,7236,0.00,2.17,0.00,0.000,4,0.000,0.029,2931,3148,2236,0,0,0,0,0,0
$GC,7471,0.70,135.5,432.9,10.3,728,7479,0.00,2.17,0.00,0.000,6,0.000,0.027,2942,1749,2234,0,0,0,0,0,0
$GC,7788,0.70,135.5,404.3,9.1,759,7792,0.00,2.17,0.00,0.000,4,0.000,0.041,2953,354,2234,0,0,0,0,0,0
$GC,7852,0.70,135.5,398.1,10.1,765,7856,0.00,2.08,0.00,0.000,6,0.000,0.024,2953,1745,2234,0,0,0,0,0,0
$GC,8172,0.70,135.5,368.8,8.7,796,8176,0.00,2.15,0.00,0.000,4,0.000,0.029,2953,3150,2233,0,0,0,0,0,0
$GC,8226,0.70,135.5,364.0,9.5,801,8230,0.10,2.15,0.00,0.000,6,0.140,0.028,2930,1754,2232,0,0,0,0,0,0
$GC,8546,0.70,135.9,338.4,7.8,832,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,1754,2232,0,0,0,0,0,0
$GC,8857,0.70,135.9,312.6,8.5,862,8861,0.00,2.12,0.00,0.000,4,0.000,0.030,2930,3140,2232,0,0,0,0,0,0
$GC,8974,0.70,135.9,301.7,9.4,873,8978,0.00,2.15,0.00,0.000,6,0.000,0.028,2939,1747,2231,0,0,0,0,0,0
$GC,9294,0.70,135.9,269.9,10.9,904,9299,0.00,2.15,0.00,0.000,4,0.000,0.029,2939,3148,2232,0,0,0,0,0,0
$GC,9348,0.70,135.9,264.0,11.5,909,9352,0.00,2.15,0.00,0.000,6,0.000,0.028,2951,1749,2232,0,0,0,0,0,0
$GC,9668,0.70,135.9,229.9,10.6,940,9673,0.00,2.15,0.00,0.000,4,0.000,0.029,2951,3148,2231,0,0,0,0,0,0
$GC,9726,0.70,135.9,223.5,11.6,945,9734,0.12,2.17,0.00,0.000,6,0.166,0.027,2927,1742,2231,0,0,0,0,0,0
$GC,10045,0.75,135.9,195.3,8.0,981,10052,0.00,2.15,0.00,0.000,4,0.000,0.041,2936,350,2231,0,0,0,0,0,0
$GC,10093,0.75,135.9,191.2,8.7,990,10100,0.00,2.08,0.00,0.000,6,0.000,0.024,2936,1750,2231,0,0,0,0,0,0
$GC,10421,0.77,147.3,167.0,6.8,1051,10437,0.00,2.20,9.80,0.656,4,0.000,0.042,2947,353,2190,0,0,0,0,0,0
$GC,10511,0.77,147.3,159.9,8.1,1068,10518,0.00,2.08,0.00,0.000,6,0.000,0.025,2947,1743,2191,0,0,0,0,0,0
$GC,10839,0.77,147.3,134.5,8.7,1129,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1743,2191,0,0,0,0,0,0
$GC,11164,0.78,158.4,110.7,6.8,1190,11181,0.00,2.17,10.55,0.625,4,0.000,0.030,2947,3150,2146,0,0,0,0,0,0
$GC,11261,0.78,158.4,102.9,8.4,1208,11267,0.00,2.15,0.00,0.000,6,0.000,0.028,2958,1756,2145,0,0,0,0,0,0
$GC,11587,0.79,164.9,78.8,7.2,1269,11599,0.00,2.12,7.25,0.577,4,0.000,0.028,2958,3156,2118,0,0,0,0,0,0
$GC,11625,0.79,164.9,75.6,8.0,1276,11631,0.00,2.17,0.00,0.000,6,0.000,0.028,2969,1749,2118,0,0,0,0,0,0
$GC,11951,0.81,186.1,46.7,5.8,1337,11973,0.00,0.00,17.73,0.596,6,0.000,0.000,2969,1749,2034,0,0,0,0,0,0
$GC,12294,0.88,186.1,22.8,9.5,1401,12299,0.00,2.15,0.00,0.000,4,0.000,0.031,2969,3139,2033,0,0,0,0,0,0
$STATE,12511,end climb,SURFACE_DEPTH_REACHED
$STATE,12511,begin surface coast
$FINISH,2.6,1.025224
$STATE,12517,end surface coast,CONTROL_FINISHED_OK
$STATE,12517,begin surface
$SM_CCo,12531,43.65,0.565,0,0,1772,250.20
$SM_GC,1.53,0.00,0.00,43.65,0.000,0.000,0.565,196,1789,1772,-7.83,-0.31,250.20
$IRIDIUM_FIX,3632.29,-12213.43,030799,050520
$TT8_MAMPS,0.052156
$HUMID,54.37
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,600.2,26.8
$24V_AH,24.3,17.789
$10V_AH,9.9,24.705
$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,18.575,111.275,211.925,43.650,0.000,115.647,212.725,415.282,3.250,0.000,38.280,0.000,8476.035,384.168,3762.980,995.478,0.000,1551.768,0.000,3262.307,0.000,9.071,0.000
$DEVICE_MAMPS,216.294,49.088,957.216,565.279,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.750,3092.257,2319.956,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286656
$DATA_FILE_SIZE,101360,1443
$CAP_FILE_SIZE,156606,0
$CFSIZE,260165632,244596736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080410,084206,3646.420,-12213.305,79,1.3,79,14.8