version: 66.06
glider: 503
mission: 5
dive: 165
start: 4 20 110 21 15 42
data:
$ID,503
$MISSION,5
$DIVE,165
$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,-11434.515
$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,50
$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
$GPS1,210137,3647.512,-12212.997,32,1.8,32,14.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.1
$GPS2,211537,3647.439,-12213.124,13,1.6,13,14.8
$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,314.8,5498,-15.7,-7.865
$D_GRID,546
$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,-0.57,-116.8,0.0,0.0,0,58,0.00,0.00,-43.30,0.000,2,0.000,0.000,162,1741,2679,0,0,0,0,0,0
$GC,60,-0.57,-116.8,3.0,-5.8,8,86,8.88,2.10,-13.60,0.000,4,0.213,0.048,2511,395,3268,0,0,0,0,0,0
$GC,102,-0.20,-116.8,11.2,-17.6,16,107,0.35,2.15,0.00,0.000,6,0.109,0.031,2634,1794,3270,0,0,0,0,0,0
$GC,428,-0.55,-116.8,31.9,-6.6,77,434,0.32,2.20,0.00,0.000,4,0.070,0.031,2509,3196,3270,0,0,0,0,0,0
$GC,487,-0.55,-116.8,37.2,-9.9,88,493,0.00,2.17,0.00,0.000,6,0.000,0.025,2510,1797,3270,0,0,0,0,0,0
$GC,814,-0.49,-116.8,78.2,-12.2,149,820,0.10,2.20,0.00,0.000,4,0.155,0.041,2540,400,3270,0,0,0,0,0,0
$GC,878,-0.49,-116.8,85.3,-10.6,161,884,0.00,2.10,0.00,0.000,6,0.000,0.023,2534,1801,3270,0,0,0,0,0,0
$GC,1204,-0.49,-116.8,117.6,-9.8,222,1211,0.00,2.15,0.00,0.000,4,0.000,0.041,2534,3190,3270,0,0,0,0,0,0
$GC,1301,-0.56,-116.8,125.9,-8.1,240,1307,0.00,2.15,0.00,0.000,6,0.000,0.035,2534,1797,3271,0,0,0,0,0,0
$GC,1627,-0.56,-116.8,155.1,-9.7,301,1633,0.00,2.15,0.00,0.000,4,0.000,0.038,2534,404,3270,0,0,0,0,0,0
$GC,1718,-0.56,-116.8,164.7,-10.2,318,1725,0.00,2.08,0.00,0.000,6,0.000,0.023,2525,1792,3271,0,0,0,0,0,0
$GC,2045,-0.56,-116.8,197.2,-10.4,379,2051,0.00,2.15,0.00,0.000,4,0.000,0.031,2521,3193,3270,0,0,0,0,0,0
$GC,2087,-0.63,-116.8,201.2,-9.3,386,2091,0.00,2.12,0.00,0.000,6,0.000,0.025,2521,1800,3270,0,0,0,0,0,0
$GC,2408,-0.63,-116.8,231.6,-8.7,417,2412,0.00,2.15,0.00,0.000,4,0.000,0.038,2521,405,3269,0,0,0,0,0,0
$GC,2472,-0.63,-116.8,237.6,-9.3,423,2476,0.00,2.08,0.00,0.000,6,0.000,0.023,2512,1797,3269,0,0,0,0,0,0
$GC,2792,-0.63,-116.8,268.8,-10.0,454,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1797,3269,0,0,0,0,0,0
$GC,3103,-0.63,-116.8,298.8,-9.2,484,3107,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,399,3269,0,0,0,0,0,0
$GC,3135,-0.63,-116.8,302.0,-10.3,487,3138,0.00,2.10,0.00,0.000,6,0.000,0.024,2507,1800,3269,0,0,0,0,0,0
$GC,3455,-0.63,-116.8,331.9,-9.3,518,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1801,3268,0,0,0,0,0,0
$GC,3766,-0.63,-116.8,361.1,-9.4,548,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1801,3268,0,0,0,0,0,0
$GC,4077,-0.63,-116.8,389.7,-9.4,578,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1801,3268,0,0,0,0,0,0
$GC,4387,-0.63,-116.8,418.7,-9.2,608,4390,0.00,2.15,0.00,0.000,4,0.000,0.038,2507,407,3267,0,0,0,0,0,0
$GC,4498,-0.63,-116.8,430.4,-10.1,618,4505,0.00,2.08,0.00,0.000,6,0.000,0.022,2497,1803,3267,0,0,0,0,0,0
$GC,4815,-0.63,-116.8,462.6,-10.1,649,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1803,3266,0,0,0,0,0,0
$GC,5125,-0.63,-116.8,493.4,-9.7,679,5128,0.00,2.15,0.00,0.000,4,0.000,0.038,2497,399,3266,0,0,0,0,0,0
$GC,5167,-0.63,-116.8,498.0,-10.5,683,5171,0.00,2.08,0.00,0.000,6,0.000,0.024,2493,1794,3266,0,0,0,0,0,0
$GC,5493,-0.63,-116.8,531.5,-10.0,700,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1794,3266,0,0,0,0,0,0
$STATE,5654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5654,begin apogee
$GC,5657,-0.14,0.0,546.3,8.7,708,5749,0.47,0.00,90.53,0.902,6,0.098,0.000,2658,1794,2792,0,0,0,0,0,0
$STATE,5750,end apogee,CONTROL_FINISHED_OK
$STATE,5750,begin climb
$GC,5751,0.57,116.8,548.3,0.0,712,5857,0.62,2.25,96.55,0.873,4,0.054,0.030,2894,3151,2315,0,0,0,0,0,0
$GC,5883,0.51,159.8,547.8,5.9,719,5924,0.12,2.28,36.42,0.851,6,0.120,0.026,2863,1752,2140,0,0,0,0,0,0
$GC,6246,0.51,159.8,520.9,8.5,737,6249,0.00,2.20,0.00,0.000,4,0.000,0.029,2863,3148,2136,0,0,0,0,0,0
$GC,6276,0.51,159.8,518.2,8.5,738,6281,0.00,2.22,0.00,0.000,6,0.000,0.027,2872,1740,2134,0,0,0,0,0,0
$GC,6594,0.51,159.8,493.2,8.4,757,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1740,2133,0,0,0,0,0,0
$GC,6905,0.53,180.2,471.7,6.9,787,6926,0.00,0.00,16.30,0.829,6,0.000,0.000,2872,1740,2057,0,0,0,0,0,0
$GC,7235,0.57,213.7,449.0,6.4,819,7266,0.00,0.00,28.17,0.834,6,0.000,0.000,2872,1739,1919,0,0,0,0,0,0
$GC,7575,0.59,225.0,424.3,7.4,852,7589,0.00,2.22,10.52,0.774,4,0.000,0.042,2884,353,1874,0,0,0,0,0,0
$GC,7616,0.59,225.0,421.0,8.8,856,7621,0.00,2.12,0.00,0.000,6,0.000,0.023,2883,1743,1874,0,0,0,0,0,0
$GC,7938,0.59,225.0,392.7,9.3,887,7942,0.00,2.22,0.00,0.000,4,0.000,0.041,2895,343,1874,0,0,0,0,0,0
$GC,7981,0.59,225.0,388.3,10.8,891,7984,0.00,2.10,0.00,0.000,6,0.000,0.025,2894,1751,1874,0,0,0,0,0,0
$GC,8300,0.59,225.0,356.0,10.0,922,8305,0.00,2.15,0.00,0.000,4,0.000,0.029,2894,3143,1874,0,0,0,0,0,0
$GC,8386,0.59,225.0,347.0,10.7,930,8390,0.00,2.17,0.00,0.000,6,0.000,0.028,2905,1745,1873,0,0,0,0,0,0
$GC,8707,0.59,225.0,313.1,10.6,961,8711,0.00,2.17,0.00,0.000,4,0.000,0.029,2905,3148,1873,0,0,0,0,0,0
$GC,8738,0.59,225.0,309.8,10.1,964,8743,0.00,2.17,0.00,0.000,6,0.000,0.028,2916,1746,1872,0,0,0,0,0,0
$GC,9060,0.54,225.0,275.4,10.5,995,9061,0.15,0.00,0.00,0.000,6,0.135,0.000,2868,1745,1872,0,0,0,0,0,0
$GC,9371,0.59,226.2,250.8,7.8,1025,9374,0.00,2.15,0.00,0.000,4,0.000,0.029,2868,3140,1872,0,0,0,0,0,0
$GC,9413,0.64,226.2,247.1,9.0,1029,9417,0.00,2.15,0.00,0.000,6,0.000,0.028,2876,1748,1872,0,0,0,0,0,0
$GC,9733,0.64,226.2,221.1,8.0,1060,9737,0.00,2.17,0.00,0.000,4,0.000,0.041,2887,353,1872,0,0,0,0,0,0
$GC,9748,0.64,229.7,219.9,7.7,1061,9758,0.00,2.12,5.15,0.586,6,0.000,0.023,2887,1761,1854,0,0,0,0,0,0
$GC,10073,0.64,229.7,192.4,8.7,1100,10079,0.00,2.12,0.00,0.000,4,0.000,0.030,2887,3149,1854,0,0,0,0,0,0
$GC,10126,0.64,229.7,187.6,8.9,1110,10133,0.00,2.15,0.00,0.000,6,0.000,0.028,2898,1755,1854,0,0,0,0,0,0
$GC,10453,0.64,229.7,157.6,8.5,1171,10459,0.00,2.20,0.00,0.000,4,0.000,0.042,2909,345,1854,0,0,0,0,0,0
$GC,10506,0.64,229.7,152.8,9.1,1181,10512,0.00,2.10,0.00,0.000,6,0.000,0.024,2909,1750,1854,0,0,0,0,0,0
$GC,10832,0.64,229.7,124.8,8.5,1242,10838,0.00,2.15,0.00,0.000,4,0.000,0.030,2909,3146,1854,0,0,0,0,0,0
$GC,10881,0.64,229.7,120.6,8.8,1251,10887,0.00,2.15,0.00,0.000,6,0.000,0.028,2920,1753,1854,0,0,0,0,0,0
$GC,11207,0.64,229.7,91.5,8.8,1312,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1753,1854,0,0,0,0,0,0
$GC,11533,0.64,229.7,61.9,9.2,1373,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,1753,1854,0,0,0,0,0,0
$GC,11858,0.64,229.7,34.6,8.2,1434,11865,0.00,2.15,0.00,0.000,4,0.000,0.029,2920,3149,1854,0,0,0,0,0,0
$GC,11896,0.64,229.7,31.4,8.6,1441,11903,0.00,2.15,0.00,0.000,6,0.000,0.028,2930,1748,1854,0,0,0,0,0,0
$GC,12223,0.71,281.2,9.4,5.5,1502,12272,0.00,2.20,40.58,0.564,4,0.000,0.029,2930,3140,1645,0,0,0,0,0,0
$STATE,12308,end climb,SURFACE_DEPTH_REACHED
$STATE,12308,begin surface coast
$FINISH,0.3,1.003578
$STATE,12339,end surface coast,CONTROL_FINISHED_OK
$STATE,12340,begin surface
$SM_CCo,12414,0.00,0.000,0,0,1647,280.86
$SM_GC,1.30,7.03,0.00,0.00,0.035,0.000,0.000,197,1795,1647,-7.76,-0.17,280.86
$IRIDIUM_FIX,3632.29,-12217.14,150799,212148
$TT8_MAMPS,0.052923
$HUMID,54.44
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,15.70
$XPDR_PINGS,77
$24V_AH,24.1,24.231
$10V_AH,9.8,36.685
$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,18.050,99.075,324.225,0.000,0.000,78.464,112.739,396.508,19.500,0.000,15.322,0.000,8127.797,423.935,3836.889,833.045,0.000,1605.681,0.000,3340.008,0.000,2.794,0.000
$DEVICE_MAMPS,213.226,48.321,901.992,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.113,3265.657,2474.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286608
$DATA_FILE_SIZE,104422,1524
$CAP_FILE_SIZE,152397,0
$CFSIZE,260165632,238317568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210410,004336,3648.966,-12213.851,41,1.2,41,14.8