version: 66.06
glider: 503
mission: 5
dive: 198
start: 4 28 110 1 18 40
data:
$ID,503
$MISSION,5
$DIVE,198
$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,-12025.072
$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,57
$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
$GPS1,010718,3643.610,-12205.503,51,3.6,70,14.8
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.8
$GPS2,011835,3643.504,-12205.418,10,2.6,29,14.8
$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,280.5,10803,-15.7,-7.865
$D_GRID,1330
$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,-38.83,0.000,2,0.000,0.000,178,1750,2803,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.3,-6.1,7,77,8.82,0.00,-10.30,0.000,6,0.210,0.000,2513,1750,3271,0,0,0,0,0,0
$GC,397,-0.50,-116.8,50.1,-12.1,71,403,0.00,2.28,0.00,0.000,4,0.000,0.042,2503,3188,3273,0,0,0,0,0,0
$GC,487,-0.50,-116.8,60.6,-11.4,88,494,0.08,2.15,0.00,0.000,6,0.114,0.025,2532,1805,3274,0,0,0,0,0,0
$GC,814,-0.50,-116.8,94.5,-10.8,149,820,0.00,2.20,0.00,0.000,4,0.000,0.038,2533,402,3274,0,0,0,0,0,0
$GC,938,-0.50,-116.8,109.0,-10.7,172,944,0.00,2.10,0.00,0.000,6,0.000,0.023,2523,1795,3273,0,0,0,0,0,0
$GC,1263,-0.50,-116.8,138.7,-8.0,233,1270,0.00,2.17,0.00,0.000,4,0.000,0.038,2523,406,3274,0,0,0,0,0,0
$GC,1302,-0.50,-116.8,142.0,-8.8,240,1308,0.00,2.10,0.00,0.000,6,0.000,0.024,2519,1801,3274,0,0,0,0,0,0
$GC,1629,-0.50,-116.8,165.8,-7.2,301,1634,0.00,2.20,0.00,0.000,4,0.000,0.040,2518,403,3274,0,0,0,0,0,0
$GC,1676,-0.50,-116.8,169.9,-9.0,310,1682,0.00,2.10,0.00,0.000,6,0.000,0.023,2509,1800,3274,0,0,0,0,0,0
$GC,2007,-0.50,-116.8,202.8,-11.0,370,2010,0.00,2.20,0.00,0.000,4,0.000,0.038,2509,405,3274,0,0,0,0,0,0
$GC,2054,-0.46,-116.8,208.5,-11.9,374,2062,0.12,2.10,0.00,0.000,6,0.105,0.023,2546,1799,3274,0,0,0,0,0,0
$GC,2370,-0.53,-116.8,234.3,-7.2,405,2374,0.00,2.17,0.00,0.000,4,0.000,0.038,2546,405,3273,0,0,0,0,0,0
$GC,2401,-0.59,-116.8,236.7,-7.8,408,2406,0.08,2.10,0.00,0.000,6,0.051,0.023,2485,1806,3274,0,0,0,0,0,0
$GC,2723,-0.54,-116.8,269.9,-9.9,439,2727,0.12,2.22,0.00,0.000,4,0.141,0.038,2525,397,3273,0,0,0,0,0,0
$GC,2754,-0.54,-116.8,272.9,-9.4,442,2758,0.00,2.10,0.00,0.000,6,0.000,0.024,2521,1798,3273,0,0,0,0,0,0
$GC,3075,-0.54,-116.8,296.5,-7.2,473,3079,0.00,2.17,0.00,0.000,4,0.000,0.038,2521,400,3273,0,0,0,0,0,0
$GC,3118,-0.54,-116.8,300.0,-8.9,477,3122,0.00,2.08,0.00,0.000,6,0.000,0.023,2511,1793,3273,0,0,0,0,0,0
$GC,3438,-0.54,-116.8,329.8,-9.7,508,3442,0.00,2.17,0.00,0.000,4,0.000,0.038,2511,399,3272,0,0,0,0,0,0
$GC,3486,-0.54,-116.8,334.4,-9.6,512,3493,0.00,2.10,0.00,0.000,6,0.000,0.023,2506,1804,3272,0,0,0,0,0,0
$GC,3802,-0.54,-116.8,363.1,-9.5,543,3805,0.00,2.10,0.00,0.000,4,0.000,0.031,2496,3197,3272,0,0,0,0,0,0
$GC,3833,-0.54,-116.8,365.9,-9.4,546,3837,0.00,2.15,0.00,0.000,6,0.000,0.025,2496,1798,3272,0,0,0,0,0,0
$GC,4155,-0.54,-116.8,395.1,-8.8,577,4159,0.10,2.15,0.00,0.000,4,0.152,0.040,2527,399,3272,0,0,0,0,0,0
$GC,4212,-0.54,-116.8,400.0,-8.5,582,4216,0.00,2.10,0.00,0.000,6,0.000,0.024,2522,1799,3271,0,0,0,0,0,0
$GC,4534,-0.58,-116.8,424.5,-7.7,613,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1800,3271,0,0,0,0,0,0
$GC,4845,-0.58,-116.8,448.9,-7.4,643,4848,0.00,2.17,0.00,0.000,4,0.000,0.039,2522,402,3271,0,0,0,0,0,0
$GC,4875,-0.58,-116.8,451.6,-8.1,645,4882,0.00,2.10,0.00,0.000,6,0.000,0.023,2512,1801,3270,0,0,0,0,0,0
$GC,5192,-0.58,-116.8,476.0,-7.5,676,5195,0.00,2.15,0.00,0.000,4,0.000,0.038,2512,400,3270,0,0,0,0,0,0
$GC,5233,-0.58,-116.8,479.3,-8.1,680,5237,0.00,2.10,0.00,0.000,6,0.000,0.024,2508,1805,3270,0,0,0,0,0,0
$GC,5555,-0.58,-116.8,499.2,-5.7,711,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1805,3269,0,0,0,0,0,0
$GC,5860,-0.58,-116.8,519.2,-7.2,727,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1805,3269,0,0,0,0,0,0
$GC,6165,-0.58,-116.8,543.4,-7.6,742,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1805,3269,0,0,0,0,0,0
$GC,6471,-0.58,-116.8,565.8,-7.2,757,6474,0.00,2.17,0.00,0.000,4,0.000,0.039,2508,408,3268,0,0,0,0,0,0
$GC,6501,-0.58,-116.8,568.3,-8.4,758,6506,0.00,2.10,0.00,0.000,6,0.000,0.024,2505,1803,3268,0,0,0,0,0,0
$GC,6818,-0.58,-116.8,594.0,-8.4,774,6818,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1803,3268,0,0,0,0,0,0
$GC,7123,-0.58,-116.8,620.1,-8.3,789,7127,0.00,2.17,0.00,0.000,4,0.000,0.039,2505,406,3268,0,0,0,0,0,0
$GC,7192,-0.58,-116.8,626.3,-9.6,792,7196,0.00,2.08,0.00,0.000,6,0.000,0.024,2495,1788,3268,0,0,0,0,0,0
$GC,7513,-0.58,-116.8,653.8,-8.1,808,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1789,3267,0,0,0,0,0,0
$GC,7819,-0.58,-116.8,678.4,-8.1,823,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1789,3267,0,0,0,0,0,0
$GC,8123,-0.58,-116.8,702.9,-8.1,838,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1789,3266,0,0,0,0,0,0
$GC,8429,-0.58,-116.8,726.9,-7.8,853,8432,0.00,2.15,0.00,0.000,4,0.000,0.040,2496,409,3266,0,0,0,0,0,0
$GC,8486,-0.58,-116.8,731.7,-7.7,855,8494,0.00,2.10,0.00,0.000,6,0.000,0.025,2492,1806,3266,0,0,0,0,0,0
$GC,8798,-0.58,-116.8,755.2,-7.6,871,8801,0.00,2.10,0.00,0.000,4,0.000,0.033,2492,3194,3266,0,0,0,0,0,0
$GC,8834,-0.64,-116.8,758.0,-7.7,872,8841,0.00,2.15,0.00,0.000,6,0.000,0.025,2492,1798,3265,0,0,0,0,0,0
$GC,9145,-0.64,-116.8,782.1,-7.9,888,9148,0.00,2.17,0.00,0.000,4,0.000,0.041,2492,402,3265,0,0,0,0,0,0
$GC,9181,-0.64,-116.8,785.6,-9.6,889,9188,0.00,2.12,0.00,0.000,6,0.000,0.024,2482,1810,3265,0,0,0,0,0,0
$GC,9492,-0.64,-116.8,814.3,-9.5,905,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1810,3264,0,0,0,0,0,0
$GC,9797,-0.64,-116.8,839.1,-7.2,920,9801,0.00,2.20,0.00,0.000,4,0.000,0.040,2482,405,3264,0,0,0,0,0,0
$GC,9850,-0.64,-116.8,843.1,-7.0,922,9854,0.00,2.08,0.00,0.000,6,0.000,0.025,2473,1784,3264,0,0,0,0,0,0
$GC,10165,-0.64,-116.8,867.6,-7.9,938,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1783,3264,0,0,0,0,0,0
$GC,10472,-0.64,-116.8,891.7,-7.7,953,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1783,3264,0,0,0,0,0,0
$GC,10776,-0.64,-116.8,915.5,-8.3,968,10781,0.00,2.15,0.00,0.000,4,0.000,0.041,2473,409,3263,0,0,0,0,0,0
$GC,10808,-0.59,-116.8,918.4,-9.8,969,10813,0.10,2.10,0.00,0.000,6,0.109,0.025,2503,1804,3263,0,0,0,0,0,0
$GC,11125,-0.64,-116.8,940.1,-7.2,985,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1804,3263,0,0,0,0,0,0
$GC,11428,-0.68,-116.8,964.3,-8.2,1000,11433,0.00,2.20,0.00,0.000,4,0.000,0.041,2503,402,3263,0,0,0,0,0,0
$GC,11482,-0.68,-116.8,969.3,-9.7,1002,11486,0.00,2.10,0.00,0.000,6,0.000,0.025,2496,1788,3263,0,0,0,0,0,0
$STATE,11735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11735,begin apogee
$GC,11739,-0.14,0.0,992.8,10.0,1015,11838,0.47,0.00,96.43,1.208,6,0.097,0.000,2661,1789,2792,0,0,0,0,0,0
$STATE,11839,end apogee,CONTROL_FINISHED_OK
$STATE,11839,begin climb
$GC,11841,0.57,116.8,999.0,0.0,1020,11948,0.62,0.00,105.10,1.182,6,0.057,0.000,2891,1789,2315,0,0,0,0,0,0
$GC,12242,0.54,170.3,989.0,5.5,1040,12293,0.00,2.22,46.62,1.160,4,0.000,0.033,2891,3152,2097,0,0,0,0,0,0
$GC,12345,0.46,176.4,981.6,7.6,1045,12357,0.15,2.28,7.22,0.955,6,0.126,0.031,2853,1767,2072,0,0,0,0,0,0
$GC,12661,0.47,181.4,959.9,7.6,1060,12671,0.00,2.30,5.78,0.907,4,0.000,0.046,2863,343,2052,0,0,0,0,0,0
$GC,12703,0.47,181.4,956.3,8.5,1062,12707,0.00,2.17,0.00,0.000,6,0.000,0.025,2864,1746,2052,0,0,0,0,0,0
$GC,13024,0.47,181.4,929.5,8.7,1078,13028,0.00,2.20,0.00,0.000,4,0.000,0.032,2863,3148,2050,0,0,0,0,0,0
$GC,13092,0.47,181.4,922.9,9.3,1081,13098,0.00,2.22,0.00,0.000,6,0.000,0.030,2874,1748,2049,0,0,0,0,0,0
$GC,13415,0.47,181.4,893.0,9.2,1097,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1748,2049,0,0,0,0,0,0
$GC,13719,0.47,181.4,864.5,9.5,1112,13723,0.00,2.20,0.00,0.000,4,0.000,0.032,2874,3148,2048,0,0,0,0,0,0
$GC,13751,0.43,181.4,861.5,9.5,1113,13755,0.12,2.20,0.00,0.000,6,0.124,0.031,2841,1750,2048,0,0,0,0,0,0
$GC,14067,0.43,181.7,837.0,7.9,1129,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1750,2047,0,0,0,0,0,0
$GC,14372,0.44,186.2,813.4,7.7,1144,14378,0.00,0.00,4.80,0.825,6,0.000,0.000,2842,1750,2033,0,0,0,0,0,0
$GC,14677,0.44,186.2,789.2,7.9,1159,14681,0.00,2.20,0.00,0.000,4,0.000,0.033,2841,3152,2032,0,0,1,0,0,0
$GC,14713,0.44,186.2,786.1,8.8,1160,14721,0.00,2.20,0.00,0.000,6,0.000,0.029,2850,1749,2033,0,0,0,0,0,0
$GC,15024,0.44,186.2,761.1,8.1,1176,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1750,2032,0,0,0,0,0,0
$GC,15330,0.45,200.4,738.5,7.2,1191,15345,0.00,0.00,13.52,1.009,6,0.000,0.000,2850,1749,1974,0,0,0,0,0,0
$GC,15635,0.46,203.8,715.5,7.7,1206,15640,0.00,0.00,4.70,0.775,6,0.000,0.000,2850,1749,1960,0,0,0,0,0,0
$GC,15941,0.49,230.2,694.6,6.7,1221,15969,0.00,2.25,23.23,1.006,4,0.000,0.031,2850,3147,1853,0,0,0,0,0,0
$GC,16007,0.54,238.4,689.9,7.5,1224,16024,0.00,2.22,8.95,0.902,6,0.000,0.028,2860,1753,1820,0,0,0,0,0,0
$GC,16328,0.55,248.3,666.4,7.4,1240,16342,0.00,2.28,10.10,0.923,4,0.000,0.045,2871,343,1779,0,0,0,0,0,0
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$STATE,23440,end climb,SURFACE_DEPTH_REACHED
$STATE,23441,begin surface coast
$FINISH,0.3,1.015853
$STATE,23478,end surface coast,CONTROL_FINISHED_OK
$STATE,23478,begin surface
$SM_CCo,23551,0.00,0.000,0,0,1541,306.87
$SM_GC,0.84,7.05,0.00,0.00,0.038,0.000,0.000,180,1748,1541,-7.77,-1.47,306.87
$IRIDIUM_FIX,3629.60,-12212.00,230799,010125
$TT8_MAMPS,0.052156
$HUMID,54.56
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,15.40
$XPDR_PINGS,100
$24V_AH,23.3,28.050
$10V_AH,9.7,43.519
$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,18.475,164.500,377.625,0.000,0.000,57.996,112.363,295.831,27.500,0.000,31.958,0.000,17589.393,555.914,5240.179,800.358,0.000,2199.214,0.000,4472.652,0.000,18.979,0.000
$DEVICE_MAMPS,210.158,46.020,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
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$SENSOR_SECS,1426.145,4260.543,2984.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246416
$DATA_FILE_SIZE,142301,2051
$CAP_FILE_SIZE,226953,0
$CFSIZE,260165632,234647552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280410,075207,3644.160,-12209.521,37,1.8,37,14.8