version: 66.06
glider: 503
mission: 5
dive: 202
start: 4 28 110 20 36 2
data:
$ID,503
$MISSION,5
$DIVE,202
$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,-12100.318
$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,54
$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
$GPS1,202454,3648.476,-12214.178,23,1.7,40,14.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.4
$GPS2,203556,3648.365,-12214.105,13,1.9,31,14.8
$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,321.5,3305,-20.8,-7.865
$D_GRID,750
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.65,-71.5,0.0,0.0,0,52,0.00,0.00,-38.70,0.000,2,0.000,0.000,167,1755,2693,0,0,0,0,0,0
$GC,54,-0.68,-93.6,3.3,-6.2,7,81,8.70,2.17,-11.23,0.000,4,0.208,0.052,2475,402,3175,0,0,0,0,0,0
$GC,123,-0.60,-93.6,16.2,-17.6,20,129,0.10,2.12,0.00,0.000,6,0.127,0.024,2500,1791,3177,0,0,0,0,0,0
$GC,448,-0.60,-93.6,64.6,-13.7,81,455,0.00,2.17,0.00,0.000,4,0.000,0.038,2501,408,3178,0,0,0,0,0,0
$GC,492,-0.60,-93.6,70.9,-14.8,89,498,0.00,2.10,0.00,0.000,6,0.000,0.025,2494,1794,3178,0,0,0,0,0,0
$GC,818,-0.60,-93.6,109.3,-10.7,150,825,0.00,2.17,0.00,0.000,4,0.000,0.037,2495,403,3179,0,0,0,0,0,0
$GC,867,-0.60,-93.6,114.8,-11.3,159,873,0.00,2.10,0.00,0.000,6,0.000,0.024,2484,1799,3178,0,0,0,0,0,0
$GC,1194,-0.60,-93.6,148.6,-10.0,220,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1799,3179,0,0,0,0,0,0
$GC,1519,-0.60,-93.6,183.9,-12.2,281,1525,0.00,2.20,0.00,0.000,4,0.000,0.038,2484,404,3178,0,0,0,0,0,0
$GC,1573,-0.60,-93.6,190.4,-11.9,291,1579,0.08,2.10,0.00,0.000,6,0.121,0.035,2504,1797,3179,0,0,0,0,0,0
$GC,1893,-0.67,-93.6,220.9,-8.8,331,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1797,3179,0,0,0,0,0,0
$GC,2203,-0.74,-93.6,247.4,-8.7,361,2207,0.12,2.17,0.00,0.000,4,0.084,0.038,2429,399,3179,0,0,0,0,0,0
$GC,2282,-0.63,-93.6,258.6,-15.3,368,2287,0.20,2.10,0.00,0.000,6,0.119,0.023,2488,1804,3179,0,0,0,0,0,0
$GC,2603,-0.68,-93.6,293.7,-11.0,399,2607,0.00,2.17,0.00,0.000,4,0.000,0.038,2488,403,3178,0,0,0,0,0,0
$GC,2635,-0.68,-93.6,297.4,-12.0,402,2639,0.00,2.10,0.00,0.000,6,0.000,0.024,2480,1805,3178,0,0,0,0,0,0
$GC,2956,-0.68,-93.6,332.8,-11.3,433,2959,0.00,2.17,0.00,0.000,4,0.000,0.038,2480,403,3178,0,0,0,0,0,0
$GC,3035,-0.68,-93.6,342.3,-11.7,440,3042,0.00,2.08,0.00,0.000,6,0.000,0.023,2470,1792,3178,0,0,0,0,0,0
$GC,3351,-0.68,-93.6,377.2,-10.8,471,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1792,3178,0,0,0,0,0,0
$GC,3663,-0.68,-93.6,412.4,-11.6,501,3666,0.00,2.15,0.00,0.000,4,0.000,0.038,2469,395,3177,0,0,0,0,0,0
$GC,3703,-0.68,-93.6,417.8,-12.8,504,3710,0.00,2.12,0.00,0.000,6,0.000,0.023,2459,1805,3177,0,0,0,0,0,0
$GC,4020,-0.68,-93.6,453.9,-11.7,535,4023,0.00,2.17,0.00,0.000,4,0.000,0.038,2459,394,3177,0,0,0,0,0,0
$GC,4077,-0.68,-93.6,461.1,-12.2,540,4084,0.00,2.12,0.00,0.000,6,0.000,0.023,2450,1806,3177,0,0,0,0,0,0
$GC,4393,-0.68,-93.6,498.8,-11.7,571,4397,0.00,2.17,0.00,0.000,4,0.000,0.038,2450,406,3176,0,0,0,0,0,0
$GC,4452,-0.68,-93.6,506.0,-12.3,574,4459,0.10,2.08,0.00,0.000,6,0.115,0.023,2477,1795,3176,0,0,0,0,0,0
$GC,4762,-0.73,-93.6,534.9,-8.9,590,4766,0.00,2.17,0.00,0.000,4,0.000,0.038,2477,402,3176,0,0,0,0,0,0
$GC,4810,-0.73,-93.6,539.8,-10.5,592,4814,0.00,2.10,0.00,0.000,6,0.000,0.024,2468,1804,3176,0,0,0,0,0,0
$GC,5130,-0.73,-93.6,571.9,-10.3,608,5135,0.00,2.20,0.00,0.000,4,0.000,0.038,2468,390,3175,0,0,0,0,0,0
$GC,5173,-0.73,-93.6,576.9,-12.1,610,5177,0.00,2.10,0.00,0.000,6,0.000,0.024,2459,1792,3175,0,0,0,0,0,0
$GC,5500,-0.73,-93.6,612.3,-10.8,626,5503,0.00,2.17,0.00,0.000,4,0.000,0.038,2459,400,3175,0,0,0,0,0,0
$GC,5541,-0.73,-93.6,617.3,-11.9,628,5546,0.00,2.10,0.00,0.000,6,0.000,0.024,2449,1802,3174,0,0,0,0,0,0
$GC,5868,-0.73,-93.6,654.5,-11.2,644,5873,0.00,2.17,0.00,0.000,4,0.000,0.038,2448,405,3174,0,0,0,0,0,0
$GC,5910,-0.73,-93.6,659.8,-12.7,646,5915,0.00,2.10,0.00,0.000,6,0.000,0.024,2440,1804,3174,0,0,0,0,0,0
$GC,6236,-0.73,-93.6,696.0,-10.7,662,6241,0.00,2.20,0.00,0.000,4,0.000,0.038,2440,396,3173,0,0,0,0,0,0
$GC,6290,-0.69,-93.6,702.5,-12.7,664,6295,0.12,2.10,0.00,0.000,6,0.116,0.024,2475,1796,3172,0,0,0,0,0,0
$GC,6605,-0.75,-93.6,730.0,-8.3,680,6610,0.00,2.17,0.00,0.000,4,0.000,0.039,2475,402,3172,0,0,0,0,0,0
$GC,6637,-0.75,-93.6,733.0,-9.9,681,6642,0.00,2.12,0.00,0.000,6,0.000,0.024,2466,1823,3172,0,0,0,0,0,0
$STATE,6831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6831,begin apogee
$GC,6835,-0.14,0.0,750.9,9.5,691,6913,0.55,0.00,75.30,1.045,6,0.102,0.000,2654,1734,2792,0,0,0,0,0,0
$STATE,6914,end apogee,CONTROL_FINISHED_OK
$STATE,6914,begin climb
$GC,6915,0.68,93.6,753.2,0.0,695,7001,0.75,2.33,81.07,1.012,4,0.058,0.031,2928,3147,2410,0,0,0,0,0,0
$GC,7023,0.64,139.1,752.2,4.5,700,7068,0.10,2.28,40.38,0.990,6,0.143,0.028,2908,1762,2224,0,0,0,0,0,0
$GC,7378,0.64,139.1,719.9,9.6,718,7383,0.00,2.17,0.00,0.000,4,0.000,0.031,2908,3139,2216,0,0,0,0,0,0
$GC,7469,0.64,139.1,711.0,9.3,722,7473,0.00,2.20,0.00,0.000,6,0.000,0.028,2917,1751,2215,0,0,0,0,0,0
$GC,7790,0.64,139.1,679.1,10.7,738,7794,0.00,2.17,0.00,0.000,4,0.000,0.030,2917,3141,2213,0,0,0,0,0,0
$GC,7859,0.64,139.1,671.0,12.0,741,7863,0.00,2.17,0.00,0.000,6,0.000,0.028,2927,1755,2212,0,0,0,0,0,0
$GC,8181,0.64,139.1,637.3,10.5,757,8184,0.00,2.15,0.00,0.000,4,0.000,0.030,2928,3154,2211,0,0,0,0,0,0
$GC,8228,0.59,139.1,632.1,10.9,759,8232,0.12,2.20,0.00,0.000,6,0.128,0.028,2896,1746,2210,0,0,0,0,0,0
$GC,8550,0.59,139.1,603.3,9.1,775,8553,0.00,2.15,0.00,0.000,4,0.000,0.030,2895,3148,2210,0,0,0,0,0,0
$GC,8570,0.59,139.1,601.3,9.4,776,8574,0.00,2.17,0.00,0.000,6,0.000,0.028,2904,1748,2210,0,0,0,0,0,0
$GC,8896,0.59,139.1,570.8,9.8,792,8900,0.00,2.17,0.00,0.000,4,0.000,0.030,2904,3147,2209,0,0,0,0,0,0
$GC,8961,0.59,139.1,564.1,10.4,795,8964,0.00,2.17,0.00,0.000,6,0.000,0.028,2915,1729,2209,0,0,0,0,0,0
$GC,9287,0.59,139.1,531.9,10.4,811,9291,0.00,2.17,0.00,0.000,4,0.000,0.031,2915,3133,2208,0,0,0,0,0,0
$GC,9361,0.59,139.1,524.3,10.4,814,9365,0.10,2.15,0.00,0.000,6,0.125,0.028,2890,1747,2208,0,0,0,0,0,0
$GC,9677,0.64,141.0,498.8,7.7,830,9681,0.00,2.17,0.00,0.000,4,0.000,0.030,2890,3149,2208,0,0,0,0,0,0
$GC,9783,0.65,145.8,490.5,7.5,840,9795,0.00,2.15,3.95,0.620,6,0.000,0.027,2899,1752,2197,0,0,0,0,0,0
$GC,10104,0.66,152.9,466.5,7.3,871,10117,0.00,2.20,7.82,0.792,4,0.000,0.030,2899,3149,2168,0,0,0,0,0,0
$GC,10150,0.66,152.9,462.6,8.4,875,10156,0.00,2.17,0.00,0.000,6,0.000,0.027,2910,1747,2168,0,0,0,0,0,0
$GC,10465,0.66,152.9,436.1,8.4,906,10470,0.00,2.15,0.00,0.000,4,0.000,0.029,2910,3136,2168,0,0,0,0,0,0
$GC,10541,0.66,152.9,429.2,9.0,913,10545,0.00,2.15,0.00,0.000,6,0.000,0.028,2921,1752,2168,0,0,0,0,0,0
$GC,10861,0.66,152.9,400.4,9.3,944,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,1752,2168,0,0,0,0,0,0
$GC,11172,0.66,152.9,373.0,8.5,974,11175,0.00,2.15,0.00,0.000,4,0.000,0.030,2922,3158,2167,0,0,0,0,0,0
$GC,11235,0.66,152.9,367.4,9.0,980,11239,0.00,2.17,0.00,0.000,6,0.000,0.028,2932,1749,2167,0,0,0,0,0,0
$GC,11557,0.66,152.9,338.2,9.3,1011,11560,0.00,2.17,0.00,0.000,4,0.000,0.031,2932,3143,2167,0,0,0,0,0,0
$GC,11577,0.66,152.9,336.2,10.1,1013,11582,0.08,2.15,0.00,0.000,6,0.133,0.028,2915,1751,2167,0,0,0,0,0,0
$GC,11898,0.66,152.9,309.8,8.0,1044,11902,0.00,2.15,0.00,0.000,4,0.000,0.030,2915,3145,2167,0,0,0,0,0,0
$GC,11956,0.66,152.9,304.7,9.0,1049,11962,0.00,2.15,0.00,0.000,6,0.000,0.027,2924,1749,2167,0,0,0,0,0,0
$GC,12271,0.66,152.9,275.1,9.2,1080,12276,0.00,2.15,0.00,0.000,4,0.000,0.029,2924,3146,2167,0,0,0,0,0,0
$GC,12293,0.66,152.9,273.1,9.2,1082,12297,0.00,2.15,0.00,0.000,6,0.000,0.028,2934,1752,2167,0,0,0,0,0,0
$GC,12614,0.66,152.9,243.7,8.7,1113,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1752,2167,0,0,0,0,0,0
$GC,12926,0.66,154.0,218.6,7.8,1143,12929,0.00,2.12,0.00,0.000,4,0.000,0.030,2935,3148,2167,0,0,0,0,0,0
$GC,13041,0.66,154.0,208.9,8.3,1153,13048,0.08,2.15,0.00,0.000,6,0.134,0.027,2917,1751,2167,0,0,0,0,0,0
$GC,13364,0.69,178.1,189.9,6.1,1201,13392,0.00,2.17,21.60,0.691,4,0.000,0.032,2918,3143,2065,0,0,0,0,0,0
$GC,13418,0.71,196.1,186.6,6.5,1211,13440,0.00,2.15,16.10,0.664,6,0.000,0.028,2926,1756,1992,0,0,0,0,0,0
$GC,13760,0.72,203.0,161.0,7.3,1275,13771,0.00,2.15,7.07,0.605,4,0.000,0.028,2926,3150,1965,0,0,0,0,0,0
$GC,13792,0.72,203.0,158.5,8.0,1281,13799,0.00,2.17,0.00,0.000,6,0.000,0.028,2937,1758,1964,0,0,0,0,0,0
$GC,14119,0.72,203.0,130.9,7.9,1342,14125,0.00,2.15,0.00,0.000,4,0.000,0.030,2937,3145,1964,0,0,0,0,0,0
$GC,14268,0.72,203.0,117.3,9.3,1370,14275,0.00,2.15,0.00,0.000,6,0.000,0.028,2948,1757,1964,0,0,0,0,0,0
$GC,14595,0.72,203.0,85.9,9.5,1431,14601,0.00,2.15,0.00,0.000,4,0.000,0.030,2948,3145,1964,0,0,0,0,0,0
$GC,14616,0.72,203.0,83.8,9.8,1435,14622,0.00,2.17,0.00,0.000,6,0.000,0.028,2959,1746,1964,0,0,0,0,0,0
$GC,14942,0.72,203.0,51.1,9.1,1496,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,1746,1964,0,0,0,0,0,0
$GC,15268,0.74,223.9,21.4,6.3,1557,15290,0.00,2.17,17.48,0.577,4,0.000,0.039,2959,3157,1879,0,0,0,0,0,0
$GC,15471,0.74,223.9,3.6,10.3,1595,15477,0.08,2.20,0.00,0.000,6,0.124,0.027,2942,1746,1879,0,0,0,0,0,0
$STATE,15480,end climb,SURFACE_DEPTH_REACHED
$STATE,15480,begin surface coast
$FINISH,0.2,1.012223
$STATE,15513,end surface coast,CONTROL_FINISHED_OK
$STATE,15513,begin surface
$SM_CCo,15525,11.68,0.548,0,0,1772,250.20
$SM_GC,3.18,0.00,0.00,11.68,0.000,0.000,0.548,182,1746,1772,-7.87,-1.53,250.20
$IRIDIUM_FIX,3634.97,-12211.15,230799,202047
$TT8_MAMPS,0.052156
$HUMID,54.80
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,15.90
$XPDR_PINGS,105
$24V_AH,23.8,28.491
$10V_AH,9.7,44.276
$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,18.300,155.450,270.775,11.675,0.000,61.671,68.641,320.830,27.750,0.000,33.143,0.000,10749.627,446.656,4245.178,727.908,0.000,1791.516,0.000,3639.584,0.000,11.786,0.000
$DEVICE_MAMPS,207.857,79.001,1044.654,547.638,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.031,3380.646,2473.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286632
$DATA_FILE_SIZE,113843,1603
$CAP_FILE_SIZE,180224,0
$CFSIZE,260165632,234315776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290410,005631,3649.662,-12215.422,70,1.6,71,14.8