version: 66.06
glider: 503
mission: 5
dive: 118
start: 4 10 110 10 3 13
data:
$ID,503
$MISSION,5
$DIVE,118
$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,-3
$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,-10570.981
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,095437,3644.514,-12205.731,95,1.2,95,14.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.2
$GPS2,100307,3644.613,-12205.679,9,1.5,9,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,TWO
$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,270.5,9724,-15.7,-7.865
$D_GRID,1093
$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,-0.57,-116.8,0.0,0.0,0,53,0.00,0.00,-39.12,0.000,2,0.000,0.000,163,1790,2803,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.5,-7.1,7,82,8.95,2.22,-10.10,0.000,4,0.216,0.054,2512,407,3271,0,0,0,0,0,0
$GC,171,-0.46,-116.8,24.8,-15.4,29,178,0.12,2.12,0.00,0.000,6,0.115,0.024,2549,1795,3272,0,0,0,0,0,0
$GC,498,-0.51,-116.8,55.4,-7.9,90,505,0.00,2.20,0.00,0.000,4,0.000,0.039,2549,404,3273,0,0,0,0,0,0
$GC,530,-0.51,-116.8,58.0,-8.2,96,537,0.00,2.10,0.00,0.000,6,0.000,0.025,2548,1796,3273,0,0,0,0,0,0
$GC,857,-0.55,-116.8,85.0,-8.4,157,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1796,3274,0,0,0,0,0,0
$GC,1182,-0.61,-116.8,113.3,-8.8,218,1188,0.12,0.00,0.00,0.000,6,0.088,0.000,2475,1796,3274,0,0,0,0,0,0
$GC,1508,-0.53,-116.8,153.2,-12.2,279,1515,0.17,2.17,0.00,0.000,4,0.130,0.039,2531,410,3274,0,0,0,0,0,0
$GC,1562,-0.53,-116.8,158.6,-9.3,289,1569,0.00,2.08,0.00,0.000,6,0.000,0.024,2524,1793,3274,0,0,0,0,0,0
$GC,1889,-0.53,-116.8,184.5,-7.1,350,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1793,3274,0,0,0,0,0,0
$GC,2215,-0.53,-116.8,208.8,-7.3,401,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1793,3274,0,0,0,0,0,0
$GC,2527,-0.53,-116.8,234.4,-8.0,431,2530,0.00,2.12,0.00,0.000,4,0.000,0.039,2524,405,3274,0,0,0,0,0,0
$GC,2552,-0.53,-116.8,236.7,-8.7,433,2556,0.00,2.08,0.00,0.000,6,0.000,0.025,2519,1796,3274,0,0,0,0,0,0
$GC,2872,-0.53,-116.8,263.8,-8.6,464,2877,0.00,2.15,0.00,0.000,4,0.000,0.039,2519,409,3273,0,0,0,0,0,0
$GC,2898,-0.53,-116.8,266.3,-9.7,466,2906,0.00,2.10,0.00,0.000,6,0.000,0.023,2510,1807,3273,0,0,0,0,0,0
$GC,3215,-0.53,-116.8,295.1,-9.2,497,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1807,3273,0,0,0,0,0,0
$GC,3525,-0.53,-116.8,321.9,-8.8,527,3529,0.00,2.17,0.00,0.000,4,0.000,0.039,2510,406,3273,0,0,0,0,0,0
$GC,3556,-0.53,-116.8,324.7,-9.6,530,3561,0.00,2.10,0.00,0.000,6,0.000,0.025,2506,1810,3273,0,0,0,0,0,0
$GC,3877,-0.53,-116.8,352.9,-9.1,561,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1810,3272,0,0,0,0,0,0
$GC,4188,-0.53,-116.8,380.0,-8.7,591,4192,0.00,2.17,0.00,0.000,4,0.000,0.039,2506,387,3272,0,0,0,0,0,0
$GC,4231,-0.53,-116.8,383.8,-8.9,595,4235,0.08,2.10,0.00,0.000,6,0.114,0.025,2526,1793,3272,0,0,0,0,0,0
$GC,4551,-0.58,-116.8,407.4,-7.7,626,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1793,3272,0,0,0,0,0,0
$GC,4862,-0.64,-116.8,431.5,-7.1,656,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,1793,3272,0,0,0,0,0,0
$GC,5173,-0.70,-116.8,454.9,-7.6,686,5174,0.15,0.00,0.00,0.000,6,0.078,0.000,2446,1793,3271,0,0,0,0,0,0
$GC,5482,-0.60,-116.8,492.7,-11.6,716,5487,0.20,2.17,0.00,0.000,4,0.129,0.039,2513,404,3270,0,0,0,0,0,0
$GC,5558,-0.60,-116.8,499.4,-8.5,723,5561,0.00,2.05,0.00,0.000,6,0.000,0.025,2508,1804,3270,0,0,0,0,0,0
$GC,5873,-0.60,-116.8,523.0,-7.7,739,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1805,3270,0,0,0,0,0,0
$GC,6177,-0.60,-116.8,547.3,-8.2,754,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1805,3269,0,0,0,0,0,0
$GC,6483,-0.60,-116.8,572.7,-8.2,769,6487,0.00,2.17,0.00,0.000,4,0.000,0.040,2509,401,3269,0,0,0,0,0,0
$GC,6540,-0.60,-116.8,578.0,-8.9,771,6548,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1804,3269,0,0,0,0,0,0
$GC,6852,-0.60,-116.8,602.7,-7.9,787,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1804,3269,0,0,0,0,0,0
$GC,7156,-0.60,-116.8,625.7,-7.6,802,7161,0.00,2.17,0.00,0.000,4,0.000,0.040,2505,403,3268,0,0,0,0,0,0
$GC,7182,-0.60,-116.8,628.0,-8.9,803,7187,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1800,3269,0,0,0,0,0,0
$GC,7505,-0.60,-116.8,655.2,-8.5,819,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3268,0,0,0,0,0,0
$GC,7809,-0.60,-116.8,681.7,-8.1,834,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3268,0,0,0,0,0,0
$GC,8115,-0.60,-116.8,706.6,-8.2,849,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1801,3267,0,0,0,0,0,0
$GC,8419,-0.60,-116.8,728.6,-6.8,864,8424,0.00,2.17,0.00,0.000,4,0.000,0.041,2496,403,3267,0,0,0,0,0,0
$GC,8484,-0.60,-116.8,733.6,-8.1,867,8488,0.00,2.08,0.00,0.000,6,0.000,0.025,2491,1796,3267,0,0,0,0,0,0
$GC,8811,-0.60,-116.8,755.2,-6.6,883,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1797,3266,0,0,0,0,0,0
$GC,9115,-0.60,-116.8,777.7,-7.8,898,9119,0.00,2.15,0.00,0.000,4,0.000,0.041,2491,412,3266,0,0,0,0,0,0
$GC,9146,-0.60,-116.8,780.4,-8.9,899,9151,0.00,2.10,0.00,0.000,6,0.000,0.025,2481,1807,3266,0,0,0,0,0,0
$GC,9463,-0.60,-116.8,806.9,-8.4,915,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1807,3266,0,0,0,0,0,0
$GC,9767,-0.60,-116.8,831.4,-8.3,930,9772,0.00,2.17,0.00,0.000,4,0.000,0.041,2481,407,3265,0,0,0,0,0,0
$GC,9798,-0.60,-116.8,834.3,-9.6,931,9803,0.00,2.10,0.00,0.000,6,0.000,0.025,2478,1805,3265,0,0,0,0,0,0
$GC,10115,-0.60,-116.8,860.4,-8.2,947,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1804,3265,0,0,0,0,0,0
$GC,10420,-0.60,-116.8,883.6,-7.2,962,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1805,3265,0,0,0,0,0,0
$GC,10726,-0.60,-116.8,906.7,-7.7,977,10729,0.00,2.10,0.00,0.000,4,0.000,0.034,2476,3202,3264,0,0,0,0,0,0
$GC,10768,-0.65,-116.8,909.9,-7.5,979,10772,0.00,2.15,0.00,0.000,6,0.000,0.028,2476,1800,3264,0,0,0,0,0,0
$GC,11094,-0.65,-116.8,936.5,-8.0,995,11098,0.00,2.20,0.00,0.000,4,0.000,0.043,2476,400,3264,0,0,0,0,0,0
$GC,11120,-0.65,-116.8,938.9,-9.6,996,11125,0.00,2.10,0.00,0.000,6,0.000,0.025,2467,1797,3264,0,0,0,0,0,0
$GC,11441,-0.65,-116.8,966.4,-8.1,1012,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1798,3263,0,0,0,0,0,0
$GC,11747,-0.65,-116.8,989.8,-7.4,1027,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1798,3264,0,0,0,0,0,0
$STATE,11765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11765,begin apogee
$GC,11768,-0.14,0.0,991.3,7.3,1028,11869,0.55,0.00,95.28,1.202,6,0.108,0.000,2653,1798,2794,0,0,0,0,0,0
$STATE,11870,end apogee,CONTROL_FINISHED_OK
$STATE,11870,begin climb
$GC,11871,0.57,116.8,993.0,0.0,1033,11982,0.65,2.28,104.55,1.168,4,0.061,0.034,2890,3138,2315,0,0,0,0,0,0
$GC,11999,0.48,146.1,989.0,6.5,1039,12031,0.15,2.28,27.00,1.115,6,0.143,0.032,2856,1765,2196,0,0,1,0,0,0
$GC,12333,0.48,146.1,958.8,9.2,1056,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1765,2190,0,0,0,0,0,0
$GC,12640,0.48,146.1,931.7,8.9,1071,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1765,2188,0,0,0,0,0,0
$GC,12944,0.48,146.1,905.4,8.1,1086,12948,0.00,2.25,0.00,0.000,4,0.000,0.044,2866,351,2187,0,0,0,0,0,0
$GC,12975,0.42,146.1,902.6,8.5,1087,12980,0.00,2.12,0.00,0.000,6,0.000,0.026,2866,1738,2186,0,0,0,0,0,0
$GC,13292,0.37,146.1,876.1,8.1,1103,13296,0.15,2.20,0.00,0.000,4,0.146,0.033,2822,3162,2185,0,0,0,0,0,0
$GC,13334,0.39,163.2,873.1,7.1,1105,13355,0.00,2.22,13.82,1.067,6,0.000,0.031,2831,1747,2125,0,0,0,0,0,0
$GC,13661,0.43,189.8,851.6,6.7,1121,13689,0.00,2.30,23.85,1.088,4,0.000,0.044,2842,343,2018,0,0,0,0,0,0
$GC,13710,0.45,204.3,847.8,7.2,1123,13730,0.00,2.20,14.25,1.029,6,0.000,0.025,2842,1755,1959,0,0,0,0,0,0
$GC,14047,0.45,204.3,819.9,8.7,1140,14048,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1755,1959,0,0,0,0,0,0
$GC,14352,0.45,204.3,792.8,9.0,1155,14356,0.00,2.25,0.00,0.000,4,0.000,0.043,2853,345,1958,0,0,0,0,0,0
$GC,14404,0.45,204.3,787.7,9.9,1157,14409,0.00,2.17,0.00,0.000,6,0.000,0.025,2854,1757,1958,0,0,0,0,0,0
$GC,14722,0.45,204.3,757.7,9.3,1173,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1758,1957,0,0,0,0,0,0
$GC,15025,0.45,204.3,729.6,9.2,1188,15026,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1758,1957,0,0,0,0,0,0
$GC,15332,0.45,204.3,702.1,8.7,1203,15335,0.00,2.22,0.00,0.000,4,0.000,0.042,2864,349,1956,0,0,0,0,0,0
$GC,15384,0.45,204.3,697.3,8.7,1205,15388,0.00,2.12,0.00,0.000,6,0.000,0.025,2864,1754,1956,0,0,0,0,0,0
$GC,15700,0.45,204.3,668.6,8.6,1221,15704,0.00,2.15,0.00,0.000,4,0.000,0.031,2864,3152,1956,0,0,0,0,0,0
$GC,15725,0.45,204.4,666.1,7.9,1222,15731,0.08,2.20,0.00,0.000,6,0.121,0.028,2847,1737,1955,0,0,0,0,0,0
$GC,16047,0.45,204.4,640.9,7.9,1238,16051,0.00,2.17,0.00,0.000,4,0.000,0.042,2856,342,1955,0,0,0,0,0,0
$GC,16078,0.45,204.4,638.1,8.9,1239,16083,0.00,2.15,0.00,0.000,6,0.000,0.025,2856,1757,1955,0,0,0,0,0,0
$GC,16395,0.45,204.4,609.0,9.2,1255,16396,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1758,1955,0,0,0,0,0,0
$GC,16699,0.45,204.4,579.6,10.2,1270,16704,0.00,2.22,0.00,0.000,4,0.000,0.041,2867,340,1955,0,0,0,0,0,0
$GC,16725,0.45,204.4,576.8,11.8,1271,16730,0.00,2.15,0.00,0.000,6,0.000,0.025,2867,1759,1955,0,0,0,0,0,0
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$STATE,22971,end climb,SURFACE_DEPTH_REACHED
$STATE,22971,begin surface coast
$FINISH,0.4,1.025126
$STATE,22993,end surface coast,CONTROL_FINISHED_OK
$STATE,22993,begin surface
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$TT8_MAMPS,0.052156
$HUMID,54.37
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$TCM_TEMP,15.00
$XPDR_PINGS,23
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$10V_AH,9.9,26.925
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.150,164.025,348.950,0.000,0.000,27.490,44.219,316.475,8.250,0.000,11.248,0.000,17137.650,528.123,5144.553,722.778,0.000,2156.691,0.000,4442.091,0.000,18.978,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246416
$DATA_FILE_SIZE,142193,2027
$CAP_FILE_SIZE,224878,0
$CFSIZE,260165632,243359744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,100410,162851,3645.755,-12210.224,35,3.3,54,14.8