version: 66.06
glider: 503
mission: 5
dive: 143
start: 4 16 110 3 41 2
data:
$ID,503
$MISSION,5
$DIVE,143
$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,-11072.505
$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
$GPS1,032906,3645.726,-12211.177,32,1.0,32,14.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.1
$GPS2,034056,3645.749,-12211.107,11,1.0,11,14.8
$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,309.0,9760,-15.7,-7.865
$D_GRID,658
$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,-39.05,0.000,2,0.000,0.000,185,1752,2612,0,0,0,0,0,0
$GC,54,-0.57,-116.8,3.3,-7.2,7,86,8.77,2.15,-15.15,0.000,4,0.210,0.051,2513,402,3271,0,0,0,0,0,0
$GC,102,-0.33,-116.8,11.8,-15.4,16,108,0.25,2.12,0.00,0.000,6,0.112,0.025,2589,1787,3272,0,0,0,0,0,0
$GC,428,-0.43,-116.8,39.7,-7.0,77,434,0.00,2.20,0.00,0.000,4,0.000,0.038,2589,391,3272,0,0,0,0,0,0
$GC,460,-0.54,-116.8,42.1,-7.4,83,467,0.15,2.15,0.00,0.000,6,0.043,0.024,2502,1802,3272,0,0,0,0,0,0
$GC,787,-0.48,-116.8,80.2,-11.2,144,794,0.15,2.20,0.00,0.000,4,0.134,0.031,2540,3205,3273,0,0,0,0,0,0
$GC,863,-0.56,-116.8,86.5,-7.6,158,868,0.00,2.17,0.00,0.000,6,0.000,0.025,2540,1792,3273,0,0,0,0,0,0
$GC,1189,-0.60,-116.8,114.6,-8.8,219,1195,0.00,2.15,0.00,0.000,4,0.000,0.038,2540,404,3274,0,0,0,0,0,0
$GC,1237,-0.60,-116.8,119.2,-9.3,228,1243,0.00,2.10,0.00,0.000,6,0.000,0.035,2535,1798,3273,0,0,0,0,0,0
$GC,1564,-0.60,-116.8,146.2,-7.9,289,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1799,3274,0,0,0,0,0,0
$GC,1889,-0.64,-116.8,172.1,-8.5,350,1895,0.12,0.00,0.00,0.000,6,0.084,0.000,2457,1799,3274,0,0,0,0,0,0
$GC,2211,-0.52,-116.8,215.8,-13.6,400,2212,0.22,0.00,0.00,0.000,6,0.124,0.000,2529,1799,3273,0,0,0,0,0,0
$GC,2521,-0.56,-116.8,240.8,-7.8,430,2525,0.00,2.15,0.00,0.000,4,0.000,0.038,2529,407,3273,0,0,0,0,0,0
$GC,2564,-0.56,-116.8,244.4,-9.0,434,2568,0.00,2.08,0.00,0.000,6,0.000,0.023,2521,1804,3273,0,0,0,0,0,0
$GC,2884,-0.56,-116.8,270.7,-7.9,465,2888,0.00,2.12,0.00,0.000,4,0.000,0.031,2521,3191,3273,0,0,0,0,0,0
$GC,2932,-0.65,-116.8,274.3,-7.6,469,2938,0.00,2.12,0.00,0.000,6,0.000,0.025,2522,1797,3273,0,0,0,0,0,0
$GC,3247,-0.65,-116.8,301.0,-8.8,500,3252,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,403,3272,0,0,0,0,0,0
$GC,3301,-0.65,-116.8,306.1,-9.5,505,3305,0.00,2.08,0.00,0.000,6,0.000,0.023,2511,1796,3273,0,0,0,0,0,0
$GC,3621,-0.65,-116.8,335.4,-9.3,536,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1797,3272,0,0,0,0,0,0
$GC,3932,-0.65,-116.8,363.5,-8.7,566,3936,0.00,2.15,0.00,0.000,4,0.000,0.038,2511,409,3271,0,0,0,0,0,0
$GC,3964,-0.65,-116.8,366.5,-9.7,569,3968,0.00,2.08,0.00,0.000,6,0.000,0.024,2508,1801,3271,0,0,0,0,0,0
$GC,4284,-0.65,-116.8,394.2,-8.2,600,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1801,3271,0,0,0,0,0,0
$GC,4595,-0.65,-116.8,419.7,-7.3,630,4599,0.00,2.12,0.00,0.000,4,0.000,0.032,2508,3191,3270,0,0,0,0,0,0
$GC,4648,-0.71,-116.8,423.6,-7.1,635,4652,0.08,2.12,0.00,0.000,6,0.057,0.025,2443,1795,3270,0,0,0,0,0,0
$GC,4968,-0.60,-116.8,462.3,-12.2,666,4973,0.20,2.15,0.00,0.000,4,0.131,0.038,2508,407,3270,0,0,0,0,0,0
$GC,5059,-0.60,-116.8,472.0,-11.2,674,5066,0.00,2.08,0.00,0.000,6,0.000,0.022,2499,1801,3269,0,0,0,0,0,0
$GC,5378,-0.60,-116.8,500.8,-8.9,705,5381,0.00,2.15,0.00,0.000,4,0.000,0.038,2499,399,3270,0,0,0,0,0,0
$GC,5418,-0.60,-116.8,505.2,-10.0,707,5423,0.00,2.10,0.00,0.000,6,0.000,0.023,2495,1801,3269,0,0,0,0,0,0
$STATE,5596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5596,begin apogee
$GC,5599,-0.14,0.0,521.9,9.4,716,5692,0.47,0.00,91.22,0.887,6,0.098,0.000,2662,1802,2792,0,0,0,0,0,0
$STATE,5693,end apogee,CONTROL_FINISHED_OK
$STATE,5693,begin climb
$GC,5694,0.57,116.8,524.9,0.0,720,5801,0.60,2.22,96.45,0.859,4,0.058,0.030,2892,3147,2315,0,0,0,0,0,0
$GC,5836,0.52,172.4,524.8,5.4,727,5887,0.10,2.25,46.70,0.843,6,0.122,0.026,2869,1754,2089,0,0,0,0,0,0
$GC,6198,0.54,189.6,498.6,7.1,746,6220,0.00,2.28,14.32,0.806,4,0.000,0.041,2879,353,2019,0,0,0,0,0,0
$GC,6309,0.54,189.6,489.3,8.6,756,6316,0.00,2.12,0.00,0.000,6,0.000,0.023,2879,1743,2019,0,0,0,0,0,0
$GC,6625,0.54,189.6,462.5,8.7,787,6629,0.00,2.17,0.00,0.000,4,0.000,0.029,2879,3150,2018,0,0,0,0,0,0
$GC,6683,0.54,189.6,457.1,9.4,792,6690,0.00,2.20,0.00,0.000,6,0.000,0.027,2890,1750,2017,0,0,0,0,0,0
$GC,6999,0.50,189.6,426.7,9.4,823,7003,0.00,2.22,0.00,0.000,4,0.000,0.041,2901,346,2017,0,0,0,0,0,0
$GC,7052,0.43,189.6,421.4,11.0,828,7056,0.17,2.12,0.00,0.000,6,0.107,0.024,2838,1753,2016,0,0,0,0,0,0
$GC,7373,0.53,213.3,399.4,6.8,859,7395,0.00,0.00,19.65,0.804,6,0.000,0.000,2838,1753,1921,0,0,0,0,0,0
$GC,7704,0.62,230.2,375.3,7.1,891,7725,0.17,2.25,14.45,0.774,4,0.067,0.041,2936,350,1854,0,0,0,0,0,0
$GC,7768,0.53,230.2,368.0,12.7,897,7771,0.22,2.12,0.00,0.000,6,0.120,0.024,2864,1765,1854,0,0,0,0,0,0
$GC,8088,0.53,232.5,341.6,7.8,928,8099,0.00,2.28,3.80,0.535,4,0.000,0.040,2875,346,1844,0,0,0,0,0,0
$GC,8108,0.53,235.8,340.0,7.7,930,8121,0.00,2.12,4.93,0.610,6,0.000,0.024,2875,1750,1830,0,0,0,0,0,0
$GC,8430,0.54,242.1,313.5,7.6,961,8441,0.00,2.20,6.50,0.671,4,0.000,0.039,2886,346,1804,0,0,0,0,0,0
$GC,8466,0.54,242.1,310.4,7.9,964,8474,0.00,2.15,0.00,0.000,6,0.000,0.024,2886,1754,1805,0,0,0,0,0,0
$GC,8783,0.54,242.1,280.9,9.4,995,8786,0.00,2.22,0.00,0.000,4,0.000,0.041,2897,345,1805,0,0,0,0,0,0
$GC,8808,0.54,242.1,278.1,10.6,997,8814,0.00,2.12,0.00,0.000,6,0.000,0.023,2897,1749,1805,0,0,0,0,0,0
$GC,9123,0.54,242.1,245.1,10.4,1028,9128,0.00,2.17,0.00,0.000,4,0.000,0.030,2897,3151,1805,0,0,0,0,0,0
$GC,9178,0.54,242.1,239.0,11.6,1033,9182,0.08,2.17,0.00,0.000,6,0.118,0.028,2877,1748,1805,0,0,0,0,0,0
$GC,9497,0.54,242.1,210.1,8.4,1064,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1748,1805,0,0,0,0,0,0
$GC,9814,0.54,244.4,185.2,7.8,1111,9822,0.00,2.22,3.80,0.495,4,0.000,0.041,2887,339,1795,0,0,0,0,0,0
$GC,9837,0.55,247.8,183.4,7.7,1115,9849,0.00,2.10,4.57,0.542,6,0.000,0.024,2887,1748,1780,0,0,0,0,0,0
$GC,10170,0.55,249.0,157.8,7.8,1177,10175,0.00,2.15,0.00,0.000,4,0.000,0.030,2887,3148,1780,0,0,0,0,0,0
$GC,10196,0.55,249.0,155.6,8.0,1182,10202,0.00,2.15,0.00,0.000,6,0.000,0.028,2897,1754,1780,0,0,0,0,0,0
$GC,10522,0.55,249.0,128.5,8.5,1243,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1754,1780,0,0,0,0,0,0
$GC,10848,0.55,249.0,99.9,9.3,1304,10854,0.00,2.17,0.00,0.000,4,0.000,0.041,2908,352,1780,0,0,0,0,0,0
$GC,10891,0.55,249.0,95.6,9.9,1312,10898,0.08,2.10,0.00,0.000,6,0.101,0.024,2877,1756,1780,0,0,0,0,0,0
$GC,11219,0.63,264.0,71.5,7.2,1373,11241,0.00,2.22,13.80,0.604,4,0.000,0.041,2888,349,1715,0,0,0,0,0,0
$GC,11305,0.70,264.0,64.5,8.4,1389,11311,0.08,2.10,0.00,0.000,6,0.054,0.024,2948,1746,1715,0,0,0,0,0,0
$GC,11632,0.66,264.0,31.8,12.1,1450,11638,0.12,2.17,0.00,0.000,4,0.143,0.031,2909,3150,1716,0,0,0,0,0,0
$GC,11707,0.71,264.0,24.2,9.7,1464,11713,0.00,2.15,0.00,0.000,6,0.000,0.027,2917,1752,1716,0,0,0,0,0,0
$STATE,11994,end climb,SURFACE_DEPTH_REACHED
$STATE,11994,begin surface coast
$FINISH,0.2,1.017069
$STATE,12038,end surface coast,CONTROL_FINISHED_OK
$STATE,12038,begin surface
$SM_CCo,12109,0.00,0.000,0,0,1715,264.18
$SM_GC,1.53,6.93,0.00,0.00,0.036,0.000,0.000,183,1751,1715,-7.76,-1.39,264.18
$IRIDIUM_FIX,3634.97,-12211.15,110799,030303
$TT8_MAMPS,0.052923
$HUMID,54.44
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,15.50
$XPDR_PINGS,86
$ALTIM_BOTTOM_PING,500.8,30.3
$24V_AH,24.1,21.795
$10V_AH,9.9,32.172
$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,18.975,107.875,320.200,0.000,0.000,58.001,65.041,375.260,22.000,0.000,13.779,0.000,7685.188,433.947,3908.557,745.729,0.000,1651.083,0.000,3395.087,0.000,5.483,0.000
$DEVICE_MAMPS,210.158,50.622,887.419,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1056.008,3274.988,2492.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246416
$DATA_FILE_SIZE,107680,1526
$CAP_FILE_SIZE,159423,0
$CFSIZE,260165632,240660480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,070337,3647.851,-12212.794,28,1.5,28,14.8