version: 66.06
glider: 503
mission: 5
dive: 167
start: 4 21 110 5 53 38
data:
$ID,503
$MISSION,5
$DIVE,167
$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,-11481.787
$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,43
$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
$GPS1,054421,3650.241,-12214.972,37,5.0,56,14.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.1
$GPS2,055332,3650.253,-12214.958,27,1.2,27,14.8
$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,196.9,11428,-15.7,-7.865
$D_GRID,1132
$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,-116.8,0.0,0.0,0,53,0.00,0.00,-38.65,0.000,2,0.000,0.000,154,1751,2792,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.5,-6.5,7,81,8.90,2.30,-10.35,0.000,4,0.209,0.045,2501,3184,3272,0,0,0,0,0,0
$GC,236,-0.51,-116.8,32.6,-14.0,41,242,0.08,2.17,0.00,0.000,6,0.120,0.025,2528,1795,3273,0,0,0,0,0,0
$GC,562,-0.51,-116.8,69.5,-10.1,102,569,0.00,2.17,0.00,0.000,4,0.000,0.038,2529,403,3274,0,0,0,0,0,0
$GC,605,-0.51,-116.8,74.0,-10.5,110,612,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1792,3274,0,0,0,0,0,0
$GC,932,-0.51,-116.8,109.9,-11.5,171,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1793,3274,0,0,0,0,0,0
$GC,1258,-0.51,-116.8,146.4,-11.1,232,1264,0.00,2.17,0.00,0.000,4,0.000,0.038,2522,400,3275,0,0,0,0,0,0
$GC,1338,-0.51,-116.8,156.0,-11.6,247,1344,0.00,2.10,0.00,0.000,6,0.000,0.024,2512,1803,3275,0,0,0,0,0,0
$GC,1665,-0.51,-116.8,189.1,-9.8,308,1671,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,408,3275,0,0,0,0,0,0
$GC,1755,-0.51,-116.8,199.6,-11.2,325,1763,0.08,2.08,0.00,0.000,6,0.114,0.035,2536,1788,3275,0,0,0,0,0,0
$GC,2070,-0.55,-116.8,227.2,-9.0,356,2075,0.00,2.15,0.00,0.000,4,0.000,0.038,2537,405,3274,0,0,0,0,0,0
$GC,2103,-0.55,-116.8,230.1,-9.2,359,2106,0.00,2.10,0.00,0.000,6,0.000,0.024,2534,1809,3275,0,0,0,0,0,0
$GC,2423,-0.59,-116.8,257.3,-7.9,390,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1809,3275,0,0,0,0,0,0
$GC,2734,-0.64,-116.8,281.2,-8.4,420,2738,0.12,2.20,0.00,0.000,4,0.084,0.039,2460,406,3274,0,0,0,0,0,0
$GC,2760,-0.55,-116.8,284.2,-12.7,422,2767,0.17,2.08,0.00,0.000,6,0.110,0.024,2516,1795,3275,0,0,0,0,0,0
$GC,3076,-0.55,-116.8,312.4,-8.3,453,3079,0.00,2.15,0.00,0.000,4,0.000,0.038,2516,409,3274,0,0,0,0,0,0
$GC,3086,-0.55,-116.8,313.3,-8.5,454,3090,0.00,2.08,0.00,0.000,6,0.000,0.024,2509,1796,3274,0,0,0,0,0,0
$GC,3407,-0.55,-116.8,340.1,-8.7,485,3411,0.00,2.15,0.00,0.000,4,0.000,0.038,2509,408,3273,0,0,0,0,0,0
$GC,3450,-0.55,-116.8,344.0,-9.4,489,3453,0.00,2.08,0.00,0.000,6,0.000,0.025,2505,1799,3274,0,0,0,0,0,0
$GC,3769,-0.55,-116.8,374.2,-9.1,520,3774,0.00,2.15,0.00,0.000,4,0.000,0.031,2495,3201,3273,0,0,0,0,0,0
$GC,3802,-0.55,-116.8,376.9,-8.5,523,3806,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1807,3273,0,0,0,0,0,0
$GC,4122,-0.55,-116.8,408.0,-9.9,554,4126,0.00,2.17,0.00,0.000,4,0.000,0.038,2495,400,3272,0,0,0,0,0,0
$GC,4159,-0.50,-116.8,412.1,-11.1,557,4166,0.12,2.10,0.00,0.000,6,0.104,0.024,2534,1810,3272,0,0,0,0,0,0
$GC,4475,-0.57,-116.8,434.3,-6.8,588,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1810,3272,0,0,0,0,0,0
$GC,4786,-0.63,-116.8,454.2,-6.2,618,4787,0.12,0.00,0.00,0.000,6,0.085,0.000,2460,1810,3272,0,0,0,0,0,0
$GC,5095,-0.56,-116.8,487.1,-10.7,648,5100,0.17,2.20,0.00,0.000,4,0.125,0.038,2517,403,3271,0,0,0,0,0,0
$GC,5121,-0.56,-116.8,489.7,-9.8,650,5129,0.00,2.10,0.00,0.000,6,0.000,0.024,2509,1803,3271,0,0,0,0,0,0
$GC,5446,-0.56,-116.8,514.3,-7.5,673,5449,0.00,2.12,0.00,0.000,4,0.000,0.038,2509,400,3270,0,0,0,0,0,0
$GC,5492,-0.56,-116.8,518.9,-9.8,675,5497,0.00,2.08,0.00,0.000,6,0.000,0.024,2505,1793,3270,0,0,0,0,0,0
$GC,5815,-0.56,-116.8,546.9,-8.5,691,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1793,3270,0,0,0,0,0,0
$GC,6118,-0.56,-116.8,572.0,-8.0,706,6123,0.00,2.17,0.00,0.000,4,0.000,0.038,2505,397,3269,0,0,0,0,0,0
$GC,6161,-0.56,-116.8,575.9,-9.2,708,6166,0.00,2.10,0.00,0.000,6,0.000,0.025,2496,1803,3269,0,0,0,0,0,0
$GC,6488,-0.56,-116.8,604.1,-9.1,724,6492,0.00,2.12,0.00,0.000,4,0.000,0.032,2495,3186,3269,0,0,0,0,0,0
$GC,6509,-0.56,-116.8,606.1,-9.4,725,6513,0.00,2.12,0.00,0.000,6,0.000,0.026,2494,1800,3269,0,0,0,0,0,0
$GC,6836,-0.56,-116.8,636.3,-9.3,741,6839,0.00,2.15,0.00,0.000,4,0.000,0.040,2495,399,3268,0,0,0,0,0,0
$GC,6882,-0.56,-116.8,641.0,-10.4,743,6887,0.10,2.12,0.00,0.000,6,0.155,0.024,2517,1809,3269,0,0,0,0,0,0
$GC,7206,-0.61,-116.8,666.2,-7.8,759,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1810,3268,0,0,0,0,0,0
$GC,7509,-0.66,-116.8,688.3,-7.2,774,7513,0.00,2.20,0.00,0.000,4,0.000,0.039,2517,397,3268,0,0,0,0,0,0
$GC,7535,-0.66,-116.8,690.5,-8.8,775,7539,0.00,2.12,0.00,0.000,6,0.000,0.024,2509,1806,3268,0,0,0,0,0,0
$GC,7857,-0.70,-116.8,718.7,-8.9,791,7861,0.10,2.17,0.00,0.000,4,0.100,0.040,2444,400,3267,0,0,0,0,0,0
$GC,7894,-0.58,-116.8,723.3,-13.7,793,7898,0.17,2.10,0.00,0.000,6,0.107,0.025,2508,1801,3267,0,0,0,0,0,0
$GC,8220,-0.58,-116.8,749.0,-7.0,809,8224,0.00,2.12,0.00,0.000,4,0.000,0.032,2500,3188,3267,0,0,0,0,0,0
$GC,8267,-0.65,-116.8,752.4,-7.8,811,8272,0.00,2.12,0.00,0.000,6,0.000,0.026,2500,1805,3267,0,0,0,0,0,0
$GC,8589,-0.65,-116.8,773.4,-6.6,827,8592,0.00,2.15,0.00,0.000,4,0.000,0.041,2500,394,3266,0,0,0,0,0,0
$GC,8625,-0.65,-116.8,776.4,-8.1,828,8632,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1800,3266,0,0,0,0,0,0
$GC,8935,-0.65,-116.8,797.9,-7.1,844,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1800,3266,0,0,0,0,0,0
$GC,9241,-0.65,-116.8,819.5,-7.1,859,9245,0.00,2.20,0.00,0.000,4,0.000,0.040,2495,402,3265,0,0,0,0,0,0
$GC,9284,-0.65,-116.8,822.1,-6.1,861,9288,0.00,2.10,0.00,0.000,6,0.000,0.025,2487,1804,3265,0,0,0,0,0,0
$GC,9610,-0.65,-116.8,848.1,-8.3,877,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1805,3264,0,0,0,0,0,0
$GC,9914,-0.65,-116.8,871.3,-8.9,892,9919,0.00,2.20,0.00,0.000,4,0.000,0.040,2486,400,3264,0,0,0,0,0,0
$GC,9925,-0.65,-116.8,872.2,-8.9,892,9929,0.00,2.10,0.00,0.000,6,0.000,0.025,2480,1799,3264,0,0,0,0,0,0
$GC,10240,-0.65,-116.8,898.9,-10.6,908,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1799,3264,0,0,0,0,0,0
$GC,10547,-0.65,-116.8,926.2,-9.9,923,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1799,3264,0,0,0,0,0,0
$GC,10852,-0.65,-116.8,954.3,-8.6,938,10855,0.00,2.17,0.00,0.000,4,0.000,0.041,2480,406,3264,0,0,0,0,0,0
$GC,10888,-0.65,-116.8,957.8,-9.4,939,10895,0.00,2.10,0.00,0.000,6,0.000,0.025,2469,1797,3264,0,0,0,0,0,0
$GC,11199,-0.65,-116.8,989.1,-11.0,955,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1797,3264,0,0,0,0,0,0
$STATE,11217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11218,begin apogee
$GC,11220,-0.14,0.0,991.4,11.0,956,11321,0.55,0.00,95.28,1.209,6,0.101,0.000,2658,1797,2794,0,0,0,0,0,0
$STATE,11321,end apogee,CONTROL_FINISHED_OK
$STATE,11321,begin climb
$GC,11323,0.57,116.8,995.4,0.0,961,11433,0.60,2.28,104.15,1.176,4,0.056,0.035,2886,3152,2315,0,0,0,0,0,0
$GC,11453,0.53,173.1,994.5,5.3,967,11508,0.00,2.33,51.20,1.150,6,0.000,0.031,2896,1768,2086,0,0,0,0,0,0
$GC,11824,0.45,173.1,963.1,8.4,986,11829,0.17,2.35,0.00,0.000,4,0.144,0.044,2856,343,2080,0,0,0,0,0,0
$GC,11856,0.45,173.1,960.3,8.1,987,11861,0.00,2.20,0.00,0.000,6,0.000,0.025,2856,1748,2080,0,0,0,0,0,0
$GC,12173,0.45,173.1,922.6,10.4,1003,12176,0.00,2.20,0.00,0.000,4,0.000,0.032,2856,3158,2077,0,0,0,0,0,0
$GC,12203,0.45,173.1,919.7,9.3,1004,12208,0.00,2.25,0.00,0.000,6,0.000,0.031,2867,1748,2077,0,0,0,0,0,0
$GC,12519,0.45,173.1,888.2,9.6,1020,12524,0.00,2.22,0.00,0.000,4,0.000,0.031,2867,3154,2076,0,0,0,0,0,0
$GC,12562,0.41,173.1,884.3,8.7,1022,12567,0.12,2.22,0.00,0.000,6,0.128,0.031,2835,1747,2075,0,0,0,0,0,0
$GC,12888,0.41,173.1,858.7,8.0,1038,12892,0.00,2.22,0.00,0.000,4,0.000,0.044,2844,349,2074,0,0,0,0,0,0
$GC,12919,0.41,173.1,856.0,8.8,1039,12924,0.00,2.15,0.00,0.000,6,0.000,0.025,2845,1752,2073,0,0,0,0,0,0
$GC,13237,0.41,176.5,830.6,7.7,1055,13240,0.00,2.15,0.00,0.000,4,0.000,0.033,2845,3152,2073,0,0,0,0,0,0
$GC,13267,0.41,176.5,827.9,9.1,1056,13272,0.00,2.22,0.00,0.000,6,0.000,0.030,2855,1745,2073,0,0,0,0,0,0
$GC,13583,0.41,176.5,800.6,8.2,1072,13587,0.00,2.20,0.00,0.000,4,0.000,0.044,2866,350,2072,0,0,0,0,0,0
$GC,13648,0.41,176.5,794.8,8.8,1075,13651,0.12,2.10,0.00,0.000,6,0.140,0.025,2829,1756,2072,0,0,0,0,0,0
$GC,13974,0.52,223.3,774.8,5.8,1091,14019,0.12,2.20,40.03,1.067,4,0.088,0.031,2902,3150,1881,0,0,0,0,0,0
$GC,14056,0.46,223.3,766.5,11.9,1095,14060,0.17,2.25,0.00,0.000,6,0.116,0.030,2853,1755,1881,0,0,0,0,0,0
$GC,14378,0.46,225.9,740.3,7.7,1111,14386,0.00,2.28,4.15,0.719,4,0.000,0.044,2863,347,1871,0,0,0,0,0,0
$GC,14430,0.46,225.9,735.7,9.3,1113,14434,0.00,2.15,0.00,0.000,6,0.000,0.025,2863,1745,1870,0,0,0,0,0,0
$GC,14746,0.46,225.9,708.8,8.3,1129,14749,0.00,2.20,0.00,0.000,4,0.000,0.031,2863,3152,1870,0,0,0,0,0,0
$GC,14771,0.46,225.9,706.4,8.5,1130,14776,0.00,2.20,0.00,0.000,6,0.000,0.028,2873,1754,1871,0,0,0,0,0,0
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$STATE,22514,end climb,SURFACE_DEPTH_REACHED
$STATE,22514,begin surface coast
$FINISH,0.3,1.025221
$STATE,22540,end surface coast,CONTROL_FINISHED_OK
$STATE,22540,begin surface
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$TCM_TEMP,16.30
$XPDR_PINGS,69
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$10V_AH,9.8,37.114
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,287024
$DATA_FILE_SIZE,139190,1987
$CAP_FILE_SIZE,240141,0
$CFSIZE,260165632,237993984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
$GPS,210410,121155,3647.996,-12215.647,66,1.1,66,14.8