version: 66.06
glider: 503
mission: 5
dive: 146
start: 4 16 110 16 45 38
data:
$ID,503
$MISSION,5
$DIVE,146
$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,-11113.926
$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,38
$R_STBD_OVSHOOT,81
$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
$GPS1,163736,3647.790,-12216.726,29,1.6,29,14.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-74.3
$GPS2,164532,3647.840,-12216.716,11,1.8,11,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,FOUR
$TGT_LATLONG,3645.000,-12219.000
$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,198.0,6257,-15.7,-7.865
$D_GRID,1024
$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,-116.8,0.0,0.0,0,57,0.00,0.00,-43.15,0.000,2,0.000,0.000,187,1841,2595,0,0,0,0,0,0
$GC,59,-0.57,-116.8,3.1,-6.6,8,90,8.77,2.33,-16.00,0.000,4,0.210,0.051,2511,394,3271,0,0,0,0,0,0
$GC,186,-0.45,-116.8,24.7,-16.7,32,192,0.12,2.10,0.00,0.000,6,0.117,0.028,2546,1761,3271,0,0,0,0,0,0
$GC,512,-0.45,-116.8,64.2,-9.7,93,519,0.00,2.22,0.00,0.000,4,0.000,0.031,2537,3195,3271,0,0,0,0,0,0
$GC,523,-0.45,-116.8,65.3,-10.0,95,530,0.00,2.17,0.00,0.000,6,0.000,0.029,2537,1797,3271,0,0,0,0,0,0
$GC,850,-0.45,-116.8,101.2,-10.9,156,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1797,3272,0,0,0,0,0,0
$GC,1175,-0.45,-116.8,130.2,-7.9,217,1181,0.00,2.15,0.00,0.000,4,0.000,0.038,2537,406,3272,0,0,0,0,0,0
$GC,1217,-0.45,-116.8,134.0,-9.1,225,1224,0.00,2.10,0.00,0.000,6,0.000,0.024,2529,1801,3272,0,0,0,0,0,0
$GC,1544,-0.45,-116.8,162.4,-9.5,286,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1801,3273,0,0,0,0,0,0
$GC,1869,-0.45,-116.8,192.2,-8.5,347,1876,0.00,2.17,0.00,0.000,4,0.000,0.032,2520,3204,3273,0,0,0,0,0,0
$GC,1890,-0.45,-116.8,193.9,-8.4,351,1897,0.08,2.15,0.00,0.000,6,0.104,0.026,2552,1800,3273,0,0,0,0,0,0
$GC,2209,-0.52,-116.8,215.8,-7.2,390,2213,0.00,2.17,0.00,0.000,4,0.000,0.039,2553,409,3273,0,0,0,0,0,0
$GC,2242,-0.57,-116.8,218.5,-8.6,393,2245,0.08,2.08,0.00,0.000,6,0.054,0.024,2485,1799,3273,0,0,0,0,0,0
$GC,2561,-0.52,-116.8,255.8,-11.2,424,2566,0.15,2.20,0.00,0.000,4,0.134,0.038,2532,399,3272,0,0,0,0,0,0
$GC,2573,-0.47,-116.8,256.8,-10.5,425,2576,0.00,2.10,0.00,0.000,6,0.000,0.024,2524,1801,3272,0,0,0,0,0,0
$GC,2892,-0.47,-116.8,285.5,-9.1,456,2897,0.00,2.17,0.00,0.000,4,0.000,0.038,2524,402,3272,0,0,0,0,0,0
$GC,2908,-0.47,-116.8,287.0,-9.5,457,2915,0.00,2.12,0.00,0.000,6,0.000,0.024,2518,1815,3272,0,0,0,0,0,0
$GC,3223,-0.47,-116.8,315.9,-8.7,488,3228,0.00,2.10,0.00,0.000,4,0.000,0.031,2508,3189,3272,0,0,0,0,0,0
$GC,3235,-0.47,-116.8,316.8,-8.6,489,3239,0.10,2.12,0.00,0.000,6,0.102,0.026,2548,1804,3272,0,0,0,0,0,0
$GC,3555,-0.55,-116.8,339.7,-7.0,520,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1803,3271,0,0,0,0,0,0
$GC,3866,-0.63,-116.8,362.6,-7.3,550,3867,0.15,0.00,0.00,0.000,6,0.078,0.000,2467,1803,3271,0,0,0,0,0,0
$GC,4176,-0.55,-116.8,398.0,-11.1,580,4181,0.17,2.20,0.00,0.000,4,0.128,0.039,2527,398,3270,0,0,0,0,0,0
$GC,4208,-0.55,-116.8,401.1,-8.9,583,4212,0.00,2.08,0.00,0.000,6,0.000,0.025,2521,1787,3270,0,0,0,0,0,0
$GC,4528,-0.55,-116.8,426.2,-8.2,614,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1788,3270,0,0,0,0,0,0
$GC,4839,-0.55,-116.8,454.0,-9.1,644,4843,0.00,2.15,0.00,0.000,4,0.000,0.032,2518,3188,3270,0,0,0,0,0,0
$GC,4865,-0.61,-116.8,456.2,-8.7,646,4872,0.00,2.12,0.00,0.000,6,0.000,0.025,2518,1797,3270,0,0,0,0,0,0
$GC,5181,-0.61,-116.8,483.8,-8.8,677,5185,0.00,2.15,0.00,0.000,4,0.000,0.038,2518,402,3269,0,0,0,0,0,0
$GC,5234,-0.61,-116.8,489.0,-9.6,682,5238,0.00,2.08,0.00,0.000,6,0.000,0.024,2509,1793,3269,0,0,0,0,0,0
$GC,5562,-0.61,-116.8,520.5,-9.9,704,5566,0.00,2.15,0.00,0.000,4,0.000,0.032,2506,3196,3269,0,0,0,0,0,0
$GC,5599,-0.66,-116.8,524.2,-9.5,705,5605,0.00,2.12,0.00,0.000,6,0.000,0.025,2506,1803,3269,0,0,0,0,0,0
$GC,5909,-0.66,-116.8,551.7,-8.4,721,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1802,3269,0,0,0,0,0,0
$GC,6214,-0.66,-116.8,577.6,-8.4,736,6218,0.00,2.15,0.00,0.000,4,0.000,0.039,2506,408,3268,0,0,0,0,0,0
$GC,6251,-0.66,-116.8,581.2,-9.6,737,6258,0.00,2.08,0.00,0.000,6,0.000,0.024,2496,1799,3267,0,0,0,0,0,0
$GC,6562,-0.66,-116.8,611.7,-10.5,753,6565,0.00,2.15,0.00,0.000,4,0.000,0.033,2495,3200,3267,0,0,0,0,0,0
$GC,6587,-0.66,-116.8,614.3,-10.7,754,6592,0.00,2.15,0.00,0.000,6,0.000,0.025,2495,1798,3267,0,0,0,0,0,0
$GC,6909,-0.66,-116.8,645.3,-9.3,770,6913,0.00,2.15,0.00,0.000,4,0.000,0.039,2495,405,3267,0,0,0,0,0,0
$GC,6940,-0.66,-116.8,648.4,-10.3,771,6945,0.00,2.10,0.00,0.000,6,0.000,0.024,2491,1805,3267,0,0,0,0,0,0
$GC,7257,-0.66,-116.8,676.4,-8.7,787,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1805,3267,0,0,0,0,0,0
$GC,7561,-0.66,-116.8,703.5,-9.0,802,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1805,3266,0,0,0,0,0,0
$GC,7867,-0.66,-116.8,731.9,-9.2,817,7871,0.00,2.12,0.00,0.000,4,0.000,0.032,2487,3189,3265,0,0,0,0,0,0
$GC,7930,-0.66,-116.8,738.2,-9.6,820,7934,0.00,2.12,0.00,0.000,6,0.000,0.026,2487,1798,3265,0,0,0,0,0,0
$GC,8257,-0.66,-116.8,770.0,-9.8,836,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1798,3265,0,0,0,0,0,0
$GC,8562,-0.66,-116.8,798.7,-8.8,851,8563,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1798,3264,0,0,0,0,0,0
$GC,8867,-0.66,-116.8,824.7,-8.0,866,8872,0.00,2.15,0.00,0.000,4,0.000,0.040,2487,409,3264,0,0,0,0,0,0
$GC,8909,-0.66,-116.8,828.5,-9.0,868,8914,0.00,2.08,0.00,0.000,6,0.000,0.025,2479,1795,3264,0,0,0,0,0,0
$GC,9235,-0.66,-116.8,854.7,-8.2,884,9240,0.00,2.15,0.00,0.000,4,0.000,0.033,2480,3188,3263,0,0,0,0,0,0
$GC,9257,-0.66,-116.8,856.3,-8.1,885,9261,0.00,2.12,0.00,0.000,6,0.000,0.027,2479,1803,3263,0,0,0,0,0,0
$GC,9584,-0.66,-116.8,884.2,-9.0,901,9587,0.00,2.15,0.00,0.000,4,0.000,0.041,2479,402,3263,0,0,0,0,0,0
$GC,9604,-0.66,-116.8,886.3,-10.4,902,9608,0.00,2.10,0.00,0.000,6,0.000,0.025,2469,1798,3263,0,0,0,0,0,0
$GC,9930,-0.66,-116.8,919.4,-10.6,918,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1798,3263,0,0,0,0,0,0
$GC,10236,-0.66,-116.8,949.9,-9.7,933,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1798,3262,0,0,0,0,0,0
$GC,10541,-0.66,-116.8,977.6,-8.9,948,10545,0.00,2.17,0.00,0.000,4,0.000,0.041,2469,408,3262,0,0,0,0,0,0
$GC,10567,-0.61,-116.8,980.1,-9.4,949,10572,0.10,2.10,0.00,0.000,6,0.112,0.025,2498,1799,3262,0,0,0,0,0,0
$STATE,10703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10704,begin apogee
$GC,10707,-0.14,0.0,991.7,8.3,956,10807,0.45,0.00,95.65,1.200,6,0.097,0.000,2655,1800,2793,0,0,0,0,0,0
$STATE,10808,end apogee,CONTROL_FINISHED_OK
$STATE,10808,begin climb
$GC,10809,0.57,116.8,995.1,0.0,961,10920,0.62,2.25,103.82,1.170,4,0.060,0.035,2888,3151,2315,0,0,0,0,0,0
$GC,10951,0.56,211.5,995.3,3.6,968,11041,0.00,2.33,84.38,1.156,6,0.000,0.031,2898,1760,1930,0,0,0,0,0,0
$GC,11351,0.50,211.5,954.6,11.0,988,11356,0.12,2.33,0.00,0.000,4,0.154,0.045,2874,344,1926,0,0,0,0,0,0
$GC,11459,0.50,211.5,943.9,10.7,993,11462,0.00,2.17,0.00,0.000,6,0.000,0.025,2874,1744,1924,0,0,0,0,0,0
$GC,11785,0.50,211.5,908.6,10.6,1009,11789,0.00,2.20,0.00,0.000,4,0.000,0.033,2874,3143,1921,0,0,0,0,0,0
$GC,11854,0.50,211.5,901.2,10.4,1012,11858,0.00,2.20,0.00,0.000,6,0.000,0.030,2885,1751,1919,0,0,0,0,0,0
$GC,12174,0.50,211.5,869.7,9.3,1028,12179,0.00,2.22,0.00,0.000,4,0.000,0.044,2896,346,1918,0,0,0,0,0,0
$GC,12222,0.44,211.5,864.9,10.2,1030,12227,0.15,2.15,0.00,0.000,6,0.110,0.026,2842,1753,1918,0,0,0,0,0,0
$GC,12544,0.49,211.5,840.3,8.0,1046,12548,0.00,2.17,0.00,0.000,4,0.000,0.032,2843,3151,1917,0,0,0,0,0,0
$GC,12569,0.49,211.5,837.9,9.5,1047,12574,0.00,2.22,0.00,0.000,6,0.000,0.030,2851,1742,1917,0,0,0,0,0,0
$GC,12892,0.49,211.5,809.4,9.0,1063,12895,0.00,2.17,0.00,0.000,4,0.000,0.043,2862,343,1916,0,0,0,0,0,0
$GC,12922,0.49,211.5,806.4,10.7,1064,12927,0.00,2.15,0.00,0.000,6,0.000,0.025,2862,1756,1915,0,0,0,0,0,0
$GC,13238,0.49,211.5,775.8,9.5,1080,13242,0.00,2.15,0.00,0.000,4,0.000,0.031,2862,3148,1916,0,0,0,0,0,0
$GC,13260,0.49,211.5,773.5,9.9,1081,13263,0.00,2.17,0.00,0.000,6,0.000,0.030,2873,1752,1915,0,0,0,0,0,0
$GC,13586,0.49,211.5,741.7,8.8,1097,13590,0.00,2.20,0.00,0.000,4,0.000,0.042,2884,349,1915,0,0,0,0,0,0
$GC,13628,0.49,211.5,737.9,9.0,1099,13633,0.00,2.12,0.00,0.000,6,0.000,0.025,2884,1749,1915,0,0,0,0,0,0
$GC,13956,0.49,211.5,709.3,8.5,1115,13959,0.00,2.15,0.00,0.000,4,0.000,0.032,2884,3157,1914,0,0,0,0,0,0
$GC,13996,0.49,211.5,705.4,9.3,1117,14001,0.10,2.20,0.00,0.000,6,0.121,0.028,2858,1747,1914,0,0,0,0,0,0
$GC,14318,0.49,211.5,680.0,8.1,1133,14322,0.00,2.17,0.00,0.000,4,0.000,0.042,2868,341,1914,0,0,0,0,0,0
$GC,14360,0.49,211.5,676.2,9.2,1135,14365,0.00,2.12,0.00,0.000,6,0.000,0.025,2868,1749,1914,0,0,0,0,0,0
$GC,14687,0.49,211.5,647.4,9.1,1151,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1750,1913,0,0,0,0,0,0
$GC,14992,0.49,211.5,619.8,9.2,1166,14993,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1750,1913,0,0,0,0,0,0
$GC,15297,0.49,211.5,592.1,8.8,1181,15301,0.00,2.15,0.00,0.000,4,0.000,0.031,2868,3149,1912,0,0,0,0,0,0
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$STATE,21931,end climb,SURFACE_DEPTH_REACHED
$STATE,21931,begin surface coast
$FINISH,0.2,1.015424
$STATE,21974,end surface coast,CONTROL_FINISHED_OK
$STATE,21974,begin surface
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$HUMID,54.44
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$TCM_TEMP,16.20
$XPDR_PINGS,76
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$10V_AH,9.8,32.803
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.150,193.900,344.750,0.000,0.000,24.878,31.099,295.244,21.500,0.000,13.657,0.000,16111.793,529.788,5166.265,672.105,0.000,2206.033,0.000,4437.343,0.000,19.502,0.000
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$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286644
$DATA_FILE_SIZE,139063,1982
$CAP_FILE_SIZE,228580,0
$CFSIZE,260165632,240250880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160410,225401,3646.789,-12218.925,38,1.0,38,14.8