version: 66.06
glider: 503
mission: 5
dive: 205
start: 4 29 110 12 11 25
data:
$ID,503
$MISSION,5
$DIVE,205
$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,-12145.785
$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,51
$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
$GPS1,120137,3643.986,-12217.956,28,1.2,28,14.8
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.9
$GPS2,121120,3643.834,-12217.966,10,1.7,10,14.8
$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,309.8,2649,-26.9,-7.865
$D_GRID,1125
$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,-0.78,-44.0,0.0,0.0,0,64,0.00,0.00,-49.62,0.000,2,0.000,0.000,152,1744,2776,0,0,0,0,0,0
$GC,66,-0.81,-64.5,3.3,-5.4,9,83,8.70,0.00,-6.45,0.000,6,0.212,0.000,2432,1744,3056,0,0,0,0,0,0
$GC,404,-0.81,-64.5,69.1,-16.9,72,409,0.00,2.28,0.00,0.000,4,0.000,0.030,2422,3195,3058,0,0,0,0,0,0
$GC,473,-0.86,-64.5,80.0,-14.7,85,479,0.00,2.17,0.00,0.000,6,0.000,0.026,2422,1797,3057,0,0,0,0,0,0
$GC,799,-0.86,-64.5,134.4,-16.1,146,805,0.00,2.17,0.00,0.000,4,0.000,0.038,2422,402,3058,0,0,0,0,0,0
$GC,907,-0.81,-64.5,153.2,-17.6,166,913,0.00,2.12,0.00,0.000,6,0.000,0.025,2412,1806,3058,0,0,0,0,0,0
$GC,1236,-0.81,-64.5,207.1,-16.4,224,1240,0.00,2.20,0.00,0.000,4,0.000,0.036,2412,399,3058,0,0,0,0,0,0
$GC,1279,-0.76,-64.5,214.3,-17.6,228,1283,0.12,2.10,0.00,0.000,6,0.134,0.023,2445,1797,3058,0,0,0,0,0,0
$GC,1600,-0.83,-64.5,258.3,-13.6,259,1603,0.00,2.15,0.00,0.000,4,0.000,0.038,2445,398,3059,0,0,0,0,0,0
$GC,1654,-0.83,-64.5,266.1,-13.9,264,1657,0.00,2.08,0.00,0.000,6,0.000,0.023,2436,1803,3059,0,0,0,0,0,0
$GC,1974,-0.89,-64.5,310.9,-13.2,295,1977,0.00,2.17,0.00,0.000,4,0.000,0.037,2436,405,3059,0,0,0,0,0,0
$GC,2021,-0.89,-64.5,318.2,-15.5,299,2027,0.00,2.08,0.00,0.000,6,0.000,0.023,2427,1792,3059,0,0,0,0,0,0
$GC,2336,-0.93,-64.5,362.4,-13.9,330,2340,0.00,2.17,0.00,0.000,4,0.000,0.037,2426,397,3059,0,0,0,0,0,0
$GC,2379,-0.93,-64.5,368.6,-15.1,334,2383,0.00,2.10,0.00,0.000,6,0.000,0.023,2416,1804,3059,0,0,0,0,0,0
$GC,2700,-0.93,-64.5,414.6,-13.7,365,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1804,3059,0,0,0,0,0,0
$GC,3012,-0.93,-64.5,457.0,-13.3,395,3015,0.00,2.17,0.00,0.000,4,0.000,0.038,2416,390,3058,0,0,0,0,0,0
$GC,3063,-0.93,-64.5,464.9,-14.6,399,3069,0.00,2.12,0.00,0.000,6,0.000,0.023,2406,1803,3058,0,0,0,0,0,0
$GC,3379,-0.93,-64.5,509.1,-14.1,427,3382,0.00,2.17,0.00,0.000,4,0.000,0.038,2406,392,3057,0,0,0,0,0,0
$GC,3436,-0.93,-64.5,518.0,-15.2,429,3442,0.00,2.12,0.00,0.000,6,0.000,0.024,2396,1799,3057,0,0,0,0,0,0
$GC,3747,-0.93,-64.5,561.5,-13.6,445,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,1799,3057,0,0,0,0,0,0
$GC,4052,-0.93,-64.5,598.9,-11.7,460,4056,0.00,2.20,0.00,0.000,4,0.000,0.038,2395,401,3056,0,0,0,0,0,0
$GC,4190,-0.93,-64.5,617.7,-13.6,466,4195,0.00,2.10,0.00,0.000,6,0.000,0.023,2385,1806,3056,0,0,0,0,0,0
$GC,4506,-0.93,-64.5,656.4,-12.0,482,4510,0.00,2.17,0.00,0.000,4,0.000,0.037,2385,403,3056,0,0,0,0,0,0
$GC,4564,-0.89,-64.5,664.5,-14.1,484,4572,0.10,2.08,0.00,0.000,6,0.135,0.024,2409,1793,3055,0,0,0,0,0,0
$GC,4876,-0.94,-64.5,702.4,-12.4,500,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1794,3055,0,0,0,0,0,0
$GC,5181,-0.99,-64.5,740.5,-12.9,515,5184,0.00,2.15,0.00,0.000,4,0.000,0.039,2409,399,3054,0,0,0,0,0,0
$GC,5223,-0.99,-64.5,746.2,-13.5,517,5227,0.00,2.10,0.00,0.000,6,0.000,0.024,2401,1803,3053,0,0,0,0,0,0
$GC,5550,-0.99,-64.5,787.0,-12.5,533,5553,0.00,2.17,0.00,0.000,4,0.000,0.038,2401,396,3053,0,0,0,0,0,0
$GC,5623,-0.99,-64.5,797.6,-15.1,536,5627,0.00,2.12,0.00,0.000,6,0.000,0.024,2390,1805,3052,0,0,0,0,0,0
$GC,5939,-0.99,-64.5,840.3,-13.4,552,5943,0.00,2.20,0.00,0.000,4,0.000,0.038,2390,399,3052,0,0,0,0,0,0
$GC,6013,-0.99,-64.5,851.4,-15.0,555,6018,0.00,2.12,0.00,0.000,6,0.000,0.024,2380,1807,3051,0,0,0,0,0,0
$GC,6330,-0.99,-64.5,893.1,-13.0,571,6333,0.00,2.17,0.00,0.000,4,0.000,0.039,2380,398,3051,0,0,0,0,0,0
$GC,6409,-0.99,-64.5,904.5,-14.2,574,6416,0.00,2.10,0.00,0.000,6,0.000,0.024,2370,1798,3051,0,0,0,0,0,0
$GC,6719,-0.99,-64.5,945.6,-13.5,590,6723,0.00,2.15,0.00,0.000,4,0.000,0.031,2359,3198,3050,0,0,0,0,0,0
$GC,6794,-0.99,-64.5,955.5,-12.9,593,6798,0.00,2.15,0.00,0.000,6,0.000,0.026,2360,1799,3050,0,0,0,0,0,0
$STATE,7068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7068,begin apogee
$GC,7071,-0.14,0.0,993.0,13.2,607,7130,0.93,0.00,53.35,1.200,6,0.125,0.000,2657,1795,2792,0,0,0,0,0,0
$STATE,7130,end apogee,CONTROL_FINISHED_OK
$STATE,7130,begin climb
$GC,7132,0.81,64.5,994.3,0.0,610,7196,0.82,2.22,57.22,1.169,4,0.064,0.032,2962,3144,2529,0,0,0,0,0,0
$GC,7320,0.79,82.4,987.3,5.7,619,7341,0.00,2.22,16.75,1.111,6,0.000,0.031,2973,1754,2455,0,0,0,0,0,0
$GC,7646,0.79,86.5,963.4,7.4,635,7652,0.00,0.00,4.18,0.771,6,0.000,0.000,2973,1754,2439,0,0,0,0,0,0
$GC,7950,0.79,87.4,940.1,7.8,650,7954,0.00,2.20,0.00,0.000,4,0.000,0.032,2973,3146,2438,0,0,0,0,0,0
$GC,8110,0.75,87.4,927.0,8.6,657,8114,0.12,2.20,0.00,0.000,6,0.156,0.031,2945,1751,2436,0,0,0,0,0,0
$GC,8426,0.77,100.1,905.3,6.3,673,8446,0.00,2.25,12.93,1.079,4,0.000,0.033,2945,3148,2382,0,0,0,0,0,0
$GC,8573,0.77,100.1,893.8,8.4,680,8577,0.00,2.22,0.00,0.000,6,0.000,0.029,2954,1746,2382,0,0,0,0,0,0
$GC,8899,0.77,100.1,867.7,7.9,696,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1746,2381,0,0,0,0,0,0
$GC,9206,0.77,100.1,841.6,8.8,711,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1746,2380,0,0,0,0,0,0
$GC,9510,0.77,100.1,815.2,8.7,726,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,1746,2379,0,0,0,0,0,0
$GC,9816,0.77,100.1,787.9,9.3,741,9819,0.00,2.17,0.00,0.000,4,0.000,0.032,2954,3155,2378,0,0,0,0,0,0
$GC,9976,0.77,100.1,772.2,9.9,748,9979,0.00,2.20,0.00,0.000,6,0.000,0.030,2966,1747,2377,0,0,0,0,0,0
$GC,10291,0.77,100.1,743.2,8.6,764,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,1747,2377,0,0,0,0,0,0
$GC,10597,0.77,103.3,719.6,7.5,779,10601,0.00,2.15,0.00,0.000,4,0.000,0.032,2966,3149,2377,0,0,0,0,0,0
$GC,10707,0.77,103.3,710.7,8.2,784,10712,0.00,2.17,0.00,0.000,6,0.000,0.029,2976,1750,2376,0,0,0,0,0,0
$GC,11024,0.79,118.1,689.1,6.1,800,11046,0.00,2.20,15.52,0.992,4,0.000,0.033,2976,3139,2309,0,0,0,0,0,0
$GC,11131,0.79,118.1,681.2,8.2,805,11135,0.12,2.17,0.00,0.000,6,0.183,0.030,2955,1744,2309,0,0,0,0,0,0
$GC,11452,0.79,118.1,656.0,8.5,821,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1744,2308,0,0,0,0,0,0
$GC,11756,0.79,118.1,630.4,8.1,836,11760,0.00,2.17,0.00,0.000,4,0.000,0.031,2955,3141,2307,0,0,0,0,0,0
$GC,11809,0.79,118.1,625.7,8.3,838,11813,0.00,2.17,0.00,0.000,6,0.000,0.028,2964,1750,2307,0,0,0,0,0,0
$GC,12125,0.79,118.1,598.9,8.2,854,12129,0.00,2.17,0.00,0.000,4,0.000,0.031,2964,3146,2307,0,0,1,0,0,0
$GC,12193,0.79,118.1,592.8,9.3,857,12198,0.00,2.20,0.00,0.000,6,0.000,0.028,2975,1739,2306,0,0,0,0,0,0
$GC,12515,0.79,118.1,563.4,8.6,873,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1739,2306,0,0,0,0,0,0
$GC,12821,0.79,123.2,539.4,7.3,888,12830,0.00,2.20,5.57,0.767,4,0.000,0.031,2975,3147,2289,0,0,0,0,0,0
$GC,12851,0.79,123.2,537.0,7.9,889,12856,0.00,2.17,0.00,0.000,6,0.000,0.028,2986,1751,2289,0,0,0,0,0,0
$GC,13168,0.79,123.2,511.3,8.3,905,13171,0.00,2.15,0.00,0.000,4,0.000,0.031,2986,3153,2289,0,0,0,0,0,0
$GC,13241,0.79,123.2,504.6,9.1,908,13246,0.10,2.17,0.00,0.000,6,0.145,0.028,2962,1757,2288,0,0,0,0,0,0
$GC,13562,0.80,125.1,479.9,7.6,936,13566,0.00,2.22,0.00,0.000,4,0.000,0.042,2972,344,2288,0,0,0,0,0,0
$GC,13598,0.80,126.4,476.8,7.7,939,13608,0.00,2.10,4.43,0.667,6,0.000,0.025,2973,1739,2276,0,0,0,0,0,0
$GC,13925,0.80,126.4,449.2,8.5,971,13928,0.00,2.15,0.00,0.000,4,0.000,0.031,2973,3154,2276,0,0,0,0,0,0
$GC,14004,0.80,126.4,442.2,8.4,978,14011,0.00,2.17,0.00,0.000,6,0.000,0.028,2983,1751,2275,0,0,0,0,0,0
$GC,14321,0.80,126.4,414.3,8.9,1009,14324,0.00,2.15,0.00,0.000,4,0.000,0.031,2984,3155,2276,0,0,0,0,0,0
$GC,14383,0.80,126.4,408.1,10.1,1014,14390,0.10,2.17,0.00,0.000,6,0.145,0.028,2961,1756,2275,0,0,0,0,0,0
$GC,14700,0.84,126.4,379.5,8.8,1045,14704,0.00,2.15,0.00,0.000,4,0.000,0.031,2961,3159,2275,0,0,0,0,0,0
$GC,14757,0.84,126.4,374.0,10.1,1050,14762,0.00,2.17,0.00,0.000,6,0.000,0.028,2971,1751,2275,0,0,0,0,0,0
$GC,15080,0.84,126.4,345.9,8.5,1081,15083,0.00,2.15,0.00,0.000,4,0.000,0.031,2970,3157,2275,0,0,0,0,0,0
$GC,15174,0.84,126.4,337.2,9.6,1089,15180,0.00,2.17,0.00,0.000,6,0.000,0.028,2981,1754,2275,0,0,0,0,0,0
$GC,15489,0.84,126.4,306.0,10.4,1120,15494,0.00,2.20,0.00,0.000,4,0.000,0.041,2992,349,2275,0,0,0,0,0,0
$GC,15543,0.84,126.4,300.3,10.8,1125,15547,0.00,2.10,0.00,0.000,6,0.000,0.025,2993,1750,2275,0,0,0,0,0,0
$GC,15864,0.84,126.4,270.3,8.8,1156,15868,0.00,2.15,0.00,0.000,4,0.000,0.030,2992,3153,2275,0,0,0,0,0,0
$GC,16045,0.84,126.4,253.0,10.1,1173,16050,0.08,2.17,0.00,0.000,6,0.149,0.028,2977,1747,2274,0,0,0,0,0,0
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$GC,18646,0.99,170.1,45.2,7.3,1594,18657,0.00,2.17,5.07,0.505,4,0.000,0.030,3003,3145,2098,0,0,0,0,0,0
$GC,18795,1.01,189.0,34.3,5.6,1622,18817,0.00,2.15,16.70,0.581,6,0.000,0.027,3014,1752,2020,0,0,0,0,0,0
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$STATE,19205,end climb,SURFACE_DEPTH_REACHED
$STATE,19205,begin surface coast
$FINISH,0.3,1.025236
$STATE,19232,end surface coast,CONTROL_FINISHED_OK
$STATE,19233,begin surface
$SM_CCo,19247,36.90,0.562,0,0,1771,250.20
$SM_GC,2.42,0.00,0.00,36.90,0.000,0.000,0.562,169,1790,1771,-7.91,-0.28,250.20
$IRIDIUM_FIX,3632.29,-12217.14,240799,060620
$TT8_MAMPS,0.052156
$HUMID,53.89
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,16.40
$XPDR_PINGS,104
$24V_AH,23.7,28.856
$10V_AH,9.7,44.910
$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,18.525,168.650,229.000,36.900,0.000,28.515,32.263,392.443,28.500,0.000,12.525,0.000,13956.046,437.310,4641.275,791.310,0.000,1943.160,0.000,4016.852,0.000,18.978,0.000
$DEVICE_MAMPS,212.459,50.622,1199.588,562.211,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.995,3567.063,2514.060,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286652
$DATA_FILE_SIZE,120359,1704
$CAP_FILE_SIZE,203900,0
$CFSIZE,260165632,233955328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290410,173509,3643.823,-12219.416,118,1.0,119,14.8