version: 66.06
glider: 503
mission: 5
dive: 216
start: 5 2 110 3 23 2
data:
$ID,503
$MISSION,5
$DIVE,216
$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,-14467.283
$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,41
$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
$GPS1,221832,3644.955,-12211.865,721,99.0,721,14.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.6
$GPS2,221832,3644.955,-12211.865,721,99.0,721,14.8
$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,318.8,10434,-15.7,-7.865
$D_GRID,721
$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,-116.8,0.0,0.0,0,63,0.00,0.00,-48.92,0.000,2,0.000,0.000,129,1749,2856,0,0,0,0,0,0
$GC,65,-0.57,-116.8,3.3,-5.6,9,92,8.95,2.30,-9.32,0.000,4,0.210,0.044,2503,3198,3271,0,0,0,0,0,0
$GC,113,-0.36,-116.8,13.0,-16.9,18,119,0.22,2.17,0.00,0.000,6,0.110,0.027,2581,1794,3272,0,0,0,0,0,0
$GC,440,-0.43,-116.8,41.2,-8.1,79,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1792,3272,0,0,0,0,0,0
$GC,766,-0.52,-116.8,65.3,-6.1,140,772,0.15,2.22,0.00,0.000,4,0.080,0.041,2504,3203,3272,0,0,0,0,0,0
$GC,820,-0.52,-116.8,70.4,-9.9,150,826,0.00,2.15,0.00,0.000,6,0.000,0.025,2505,1798,3272,0,0,0,0,0,0
$GC,1146,-0.46,-116.8,108.3,-11.2,211,1153,0.15,2.17,0.00,0.000,4,0.136,0.038,2551,408,3273,0,0,0,0,0,0
$GC,1216,-0.50,-116.8,114.8,-8.5,224,1222,0.00,2.10,0.00,0.000,6,0.000,0.023,2548,1807,3272,0,0,0,0,0,0
$GC,1542,-0.55,-116.8,141.2,-7.9,285,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,1809,3272,0,0,0,0,0,0
$GC,1868,-0.60,-116.8,166.4,-7.7,346,1874,0.12,2.20,0.00,0.000,4,0.087,0.038,2472,401,3272,0,0,0,0,0,0
$GC,1906,-0.50,-116.8,170.8,-12.4,353,1911,0.20,2.10,0.00,0.000,6,0.109,0.024,2532,1804,3272,0,0,0,0,0,0
$GC,2236,-0.50,-116.8,201.2,-8.5,414,2240,0.00,2.17,0.00,0.000,4,0.000,0.037,2533,402,3272,0,0,0,0,0,0
$GC,2283,-0.50,-116.8,206.1,-10.6,418,2291,0.00,2.10,0.00,0.000,6,0.000,0.023,2524,1803,3271,0,0,0,0,0,0
$GC,2600,-0.50,-116.8,235.9,-9.1,449,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1803,3272,0,0,0,0,0,0
$GC,2911,-0.50,-116.8,263.7,-9.1,479,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1803,3272,0,0,0,0,0,0
$GC,3222,-0.50,-116.8,294.5,-9.8,509,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1803,3271,0,0,0,0,0,0
$GC,3531,-0.50,-116.8,323.3,-8.4,539,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1803,3271,0,0,0,0,0,0
$GC,3843,-0.50,-116.8,346.0,-6.9,569,3846,0.00,2.15,0.00,0.000,4,0.000,0.037,2525,401,3270,0,0,0,0,0,0
$GC,3900,-0.50,-116.8,350.5,-7.6,574,3904,0.00,2.08,0.00,0.000,6,0.000,0.024,2521,1792,3270,0,0,0,0,0,0
$GC,4221,-0.50,-116.8,375.0,-8.5,605,4225,0.00,2.15,0.00,0.000,4,0.000,0.037,2521,399,3269,0,0,0,0,0,0
$GC,4252,-0.50,-116.8,378.2,-10.3,608,4257,0.00,2.08,0.00,0.000,6,0.000,0.023,2511,1788,3269,0,0,0,0,0,0
$GC,4575,-0.50,-116.8,411.2,-10.4,639,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1788,3269,0,0,0,0,0,0
$GC,4885,-0.50,-116.8,443.2,-10.3,669,4888,0.00,2.12,0.00,0.000,4,0.000,0.037,2512,401,3268,0,0,0,0,0,0
$GC,4931,-0.50,-116.8,448.7,-11.5,673,4938,0.00,2.10,0.00,0.000,6,0.000,0.024,2507,1805,3269,0,0,0,0,0,0
$GC,5247,-0.50,-116.8,482.6,-10.3,704,5251,0.00,2.17,0.00,0.000,4,0.000,0.037,2507,404,3269,0,0,0,0,0,0
$GC,5289,-0.50,-116.8,487.6,-11.8,708,5294,0.10,2.08,0.00,0.000,6,0.107,0.024,2536,1793,3269,0,0,0,0,0,0
$GC,5607,-0.57,-116.8,518.2,-9.9,730,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1793,3268,0,0,0,0,0,0
$GC,5913,-0.64,-116.8,547.3,-9.3,745,5914,0.12,0.00,0.00,0.000,6,0.084,0.000,2461,1794,3267,0,0,0,0,0,0
$GC,6218,-0.56,-116.8,586.1,-12.4,760,6222,0.17,2.17,0.00,0.000,4,0.126,0.038,2518,404,3267,0,0,0,0,0,0
$GC,6260,-0.56,-116.8,590.8,-10.1,762,6264,0.00,2.10,0.00,0.000,6,0.000,0.024,2510,1803,3267,0,0,0,0,0,0
$GC,6586,-0.56,-116.8,619.4,-8.8,778,6590,0.00,2.17,0.00,0.000,4,0.000,0.037,2510,404,3266,0,0,0,0,0,0
$GC,6639,-0.56,-116.8,624.6,-9.8,780,6643,0.00,2.10,0.00,0.000,6,0.000,0.024,2506,1803,3267,0,0,0,0,0,0
$GC,6958,-0.56,-116.8,651.0,-7.8,796,6961,0.00,2.15,0.00,0.000,4,0.000,0.038,2506,402,3266,0,0,0,0,0,0
$STATE,6992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6992,begin apogee
$GC,6998,-0.14,0.0,654.4,9.7,798,7096,0.47,0.00,92.82,0.983,6,0.097,0.000,2662,1748,2791,0,0,0,0,0,0
$STATE,7096,end apogee,CONTROL_FINISHED_OK
$STATE,7096,begin climb
$GC,7097,0.57,116.8,657.7,0.0,803,7205,0.62,2.35,98.93,0.955,4,0.061,0.039,2904,355,2315,0,0,1,0,0,0
$GC,7220,0.54,186.1,657.5,4.7,809,7285,0.00,2.22,59.67,0.937,6,0.000,0.023,2904,1748,2033,0,0,0,0,0,0
$GC,7602,0.49,186.1,622.6,10.0,828,7606,0.15,2.22,0.00,0.000,4,0.137,0.039,2869,362,2029,0,0,1,0,0,0
$GC,7638,0.49,186.1,619.1,9.6,829,7645,0.00,2.15,0.00,0.000,6,0.000,0.023,2869,1761,2028,0,0,0,0,0,0
$GC,7950,0.50,198.4,595.1,7.3,845,7964,0.00,2.17,10.27,0.857,4,0.000,0.031,2869,3157,1982,0,0,0,0,0,0
$GC,8007,0.50,198.4,590.6,8.6,847,8013,0.00,2.20,0.00,0.000,6,0.000,0.027,2880,1757,1982,0,0,0,0,0,0
$GC,8318,0.50,198.4,565.2,8.3,863,8321,0.00,2.15,0.00,0.000,4,0.000,0.030,2880,3149,1982,0,0,0,0,0,0
$GC,8348,0.50,198.4,562.5,8.5,864,8353,0.00,2.17,0.00,0.000,6,0.000,0.027,2890,1752,1982,0,0,0,0,0,0
$GC,8665,0.51,204.1,536.3,7.6,880,8674,0.00,2.17,6.00,0.759,4,0.000,0.031,2890,3149,1960,0,0,0,0,0,0
$GC,8766,0.51,204.1,527.9,8.9,885,8770,0.10,2.17,0.00,0.000,6,0.112,0.028,2863,1755,1960,0,0,0,0,0,0
$GC,9093,0.54,232.1,505.9,6.6,901,9118,0.00,0.00,23.92,0.883,6,0.000,0.000,2863,1755,1845,0,0,0,0,0,0
$GC,9421,0.62,251.1,483.6,7.0,928,9443,0.10,2.20,16.95,0.854,4,0.099,0.029,2918,3155,1767,0,0,0,0,0,0
$GC,9463,0.57,251.1,479.7,10.2,932,9467,0.12,2.22,0.00,0.000,6,0.112,0.028,2883,1750,1767,0,0,0,0,0,0
$GC,9784,0.57,251.1,450.8,9.4,963,9788,0.00,2.25,0.00,0.000,4,0.000,0.041,2893,327,1767,0,0,0,0,0,0
$GC,9806,0.57,251.1,448.8,10.0,965,9809,0.00,2.15,0.00,0.000,6,0.000,0.025,2893,1754,1767,0,0,0,0,0,0
$GC,10125,0.57,251.1,416.5,9.6,996,10130,0.00,2.15,0.00,0.000,4,0.000,0.030,2893,3147,1767,0,0,0,0,0,0
$GC,10159,0.57,251.1,413.4,9.3,999,10162,0.00,2.15,0.00,0.000,6,0.000,0.028,2903,1748,1767,0,0,0,0,0,0
$GC,10473,0.57,251.1,380.2,10.3,1029,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1747,1767,0,0,0,0,0,0
$GC,10785,0.57,251.1,350.0,9.1,1059,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1748,1768,0,0,0,0,0,0
$GC,11095,0.57,251.1,320.7,9.6,1089,11098,0.00,2.15,0.00,0.000,4,0.000,0.030,2903,3149,1767,0,0,0,0,0,0
$GC,11141,0.57,251.1,315.8,10.2,1093,11147,0.00,2.17,0.00,0.000,6,0.000,0.028,2915,1747,1767,0,0,0,0,0,0
$GC,11456,0.57,251.1,282.8,10.3,1124,11461,0.00,2.17,0.00,0.000,4,0.000,0.029,2914,3148,1767,0,0,0,0,0,0
$GC,11478,0.57,251.1,280.6,10.5,1126,11482,0.10,2.17,0.00,0.000,6,0.113,0.027,2887,1746,1766,0,0,0,0,0,0
$GC,11799,0.57,251.1,255.8,8.0,1157,11803,0.00,2.17,0.00,0.000,4,0.000,0.030,2887,3149,1767,0,0,0,0,0,0
$GC,11824,0.57,251.1,253.6,8.5,1159,11831,0.00,2.17,0.00,0.000,6,0.000,0.027,2895,1746,1767,0,0,0,0,0,0
$GC,12140,0.57,251.1,225.8,9.5,1190,12145,0.00,2.17,0.00,0.000,4,0.000,0.029,2895,3153,1767,0,0,0,0,0,0
$GC,12166,0.57,251.1,223.2,10.1,1192,12174,0.00,2.17,0.00,0.000,6,0.000,0.027,2905,1748,1767,0,0,0,0,0,0
$GC,12486,0.57,251.1,191.5,9.8,1231,12492,0.00,2.20,0.00,0.000,4,0.000,0.040,2917,339,1767,0,0,0,0,0,0
$GC,12512,0.57,251.1,188.9,9.9,1236,12519,0.08,2.10,0.00,0.000,6,0.105,0.024,2886,1743,1767,0,0,0,0,0,0
$GC,12840,0.63,256.1,162.1,7.6,1297,12852,0.00,2.15,5.40,0.580,4,0.000,0.038,2886,3155,1749,0,0,0,0,0,0
$GC,12895,0.68,256.1,157.3,9.1,1307,12900,0.00,2.17,0.00,0.000,6,0.000,0.028,2894,1749,1749,0,0,0,0,0,0
$GC,13221,0.73,262.8,130.0,7.6,1368,13232,0.12,0.00,7.20,0.605,6,0.089,0.000,2967,1749,1720,0,0,0,0,0,0
$GC,13553,0.64,262.8,88.7,13.2,1430,13559,0.20,2.22,0.00,0.000,4,0.130,0.040,2912,343,1721,0,0,0,0,0,0
$GC,13569,0.58,262.8,86.7,12.6,1433,13575,0.00,2.10,0.00,0.000,6,0.000,0.024,2912,1745,1720,0,0,0,0,0,0
$GC,13895,0.58,262.8,56.1,9.5,1494,13901,0.00,2.15,0.00,0.000,4,0.000,0.030,2912,3148,1721,0,0,0,0,0,0
$GC,13971,0.58,262.8,49.5,8.1,1508,13977,0.08,2.17,0.00,0.000,6,0.112,0.035,2891,1747,1721,0,0,0,0,0,0
$GC,14298,0.71,292.2,29.9,6.5,1569,14327,0.10,2.22,24.58,0.586,4,0.102,0.028,2942,3151,1599,0,0,0,0,0,0
$GC,14358,0.71,292.2,24.8,8.9,1580,14364,0.00,2.17,0.00,0.000,6,0.000,0.027,2952,1756,1602,0,0,0,0,0,0
$STATE,14566,end climb,SURFACE_DEPTH_REACHED
$STATE,14566,begin surface coast
$FINISH,0.2,1.012827
$STATE,14587,end surface coast,CONTROL_FINISHED_OK
$STATE,14587,begin surface
$SM_CCo,14659,0.00,0.000,0,0,1602,291.90
$SM_GC,1.37,7.00,0.00,0.00,0.030,0.000,0.000,177,1754,1602,-7.77,-1.30,291.90
$IRIDIUM_FIX,3632.29,-12209.72,270799,030342
$TT8_MAMPS,0.051389
$HUMID,54.88
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.80
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,651.0,13.4
$24V_AH,23.7,30.214
$10V_AH,9.7,47.306
$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,19.450,125.525,345.750,0.000,0.000,140.628,221.813,502.329,32.750,0.000,724.719,0.000,10092.098,463.679,4869.262,1160.843,0.000,1765.474,0.000,3595.004,0.000,10.835,0.000
$DEVICE_MAMPS,210.158,44.486,982.527,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.849,3453.645,2574.937,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,246400
$DATA_FILE_SIZE,113957,1623
$CAP_FILE_SIZE,179213,0
$CFSIZE,260165632,232742912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020510,072837,3646.752,-12214.578,55,1.7,55,14.8