version: 66.06
glider: 503
mission: 5
dive: 219
start: 5 2 110 16 55 14
data:
$ID,503
$MISSION,5
$DIVE,219
$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,-14514.076
$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,40
$R_STBD_OVSHOOT,53
$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
$GPS1,164130,3649.686,-12215.050,40,1.8,40,14.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.4
$GPS2,165508,3649.544,-12214.916,11,1.3,11,14.8
$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,201.0,10371,-15.7,-7.865
$D_GRID,1064
$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,12,-0.57,-116.8,0.0,0.0,0,53,0.00,0.00,-38.92,0.000,2,0.000,0.000,155,1751,2766,0,0,0,0,0,0
$GC,55,-0.57,-116.8,3.2,-6.9,7,81,8.95,2.28,-11.82,0.000,4,0.210,0.047,2498,3201,3270,0,0,0,0,0,0
$GC,257,-0.57,-116.8,29.0,-11.2,45,263,0.00,2.17,0.00,0.000,6,0.000,0.025,2498,1804,3272,0,0,0,0,0,0
$GC,583,-0.49,-116.8,69.8,-10.9,106,590,0.15,2.22,0.00,0.000,4,0.138,0.038,2544,402,3272,0,0,0,0,0,0
$GC,621,-0.49,-116.8,73.9,-10.2,113,628,0.00,2.12,0.00,0.000,6,0.000,0.023,2536,1804,3272,0,0,0,0,0,0
$GC,948,-0.49,-116.8,100.7,-7.8,174,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,1804,3272,0,0,0,0,0,0
$GC,1273,-0.49,-116.8,126.9,-9.3,235,1280,0.00,2.20,0.00,0.000,4,0.000,0.037,2536,399,3272,0,0,0,0,0,0
$GC,1322,-0.49,-116.8,131.5,-9.5,244,1328,0.00,2.10,0.00,0.000,6,0.000,0.025,2534,1793,3272,0,0,0,0,0,0
$GC,1647,-0.49,-116.8,157.1,-8.0,305,1654,0.00,2.15,0.00,0.000,4,0.000,0.031,2534,3189,3272,0,0,0,0,0,0
$GC,1681,-0.56,-116.8,159.6,-7.8,311,1686,0.00,2.15,0.00,0.000,6,0.000,0.025,2534,1793,3272,0,0,0,0,0,0
$GC,2006,-0.56,-116.8,188.2,-10.2,372,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1793,3272,0,0,0,0,0,0
$GC,2330,-0.60,-116.8,216.4,-8.7,416,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1792,3272,0,0,0,0,0,0
$GC,2642,-0.64,-116.8,241.1,-7.4,446,2643,0.12,0.00,0.00,0.000,6,0.087,0.000,2459,1792,3271,0,0,0,0,0,0
$GC,2951,-0.54,-116.8,277.2,-10.4,476,2956,0.22,2.17,0.00,0.000,4,0.121,0.038,2531,404,3271,0,0,0,0,0,0
$GC,2983,-0.54,-116.8,279.8,-8.0,479,2988,0.00,2.10,0.00,0.000,6,0.000,0.024,2523,1801,3271,0,0,0,0,0,0
$GC,3304,-0.54,-116.8,307.1,-10.0,510,3308,0.00,2.17,0.00,0.000,4,0.000,0.038,2523,406,3271,0,0,0,0,0,0
$GC,3319,-0.54,-116.8,308.8,-10.6,511,3326,0.00,2.10,0.00,0.000,6,0.000,0.024,2518,1800,3271,0,0,0,0,0,0
$GC,3635,-0.54,-116.8,340.7,-9.7,542,3639,0.00,2.20,0.00,0.000,4,0.000,0.038,2519,405,3270,0,0,0,0,0,0
$GC,3656,-0.54,-116.8,342.7,-9.9,544,3660,0.00,2.10,0.00,0.000,6,0.000,0.024,2510,1803,3271,0,0,0,0,0,0
$GC,3977,-0.54,-116.8,370.9,-8.7,575,3981,0.00,2.17,0.00,0.000,4,0.000,0.038,2509,404,3271,0,0,0,0,0,0
$GC,4013,-0.54,-116.8,374.4,-10.4,578,4021,0.00,2.12,0.00,0.000,6,0.000,0.024,2505,1820,3271,0,0,0,0,0,0
$GC,4330,-0.54,-116.8,404.3,-9.2,609,4334,0.00,2.20,0.00,0.000,4,0.000,0.038,2505,409,3270,0,0,0,0,0,0
$GC,4355,-0.54,-116.8,406.8,-9.3,611,4362,0.08,2.10,0.00,0.000,6,0.110,0.023,2526,1812,3270,0,0,0,0,0,0
$GC,4671,-0.59,-116.8,429.5,-6.5,642,4675,0.00,2.20,0.00,0.000,4,0.000,0.038,2526,404,3270,0,0,0,0,0,0
$GC,4697,-0.59,-116.8,431.4,-7.6,644,4705,0.00,2.08,0.00,0.000,6,0.000,0.023,2522,1793,3270,0,0,0,0,0,0
$GC,5014,-0.59,-116.8,453.8,-7.6,675,5017,0.00,2.15,0.00,0.000,4,0.000,0.038,2522,409,3269,0,0,0,0,0,0
$GC,5039,-0.59,-116.8,456.0,-9.4,677,5046,0.00,2.10,0.00,0.000,6,0.000,0.023,2518,1813,3269,0,0,0,0,0,0
$GC,5355,-0.59,-116.8,483.3,-8.4,708,5359,0.00,2.20,0.00,0.000,4,0.000,0.038,2518,403,3269,0,0,0,0,0,0
$GC,5376,-0.59,-116.8,485.2,-9.3,710,5380,0.00,2.08,0.00,0.000,6,0.000,0.024,2510,1795,3269,0,0,0,0,0,0
$GC,5696,-0.59,-116.8,511.7,-8.1,734,5699,0.00,2.15,0.00,0.000,4,0.000,0.038,2510,401,3268,0,0,0,0,0,0
$GC,5747,-0.59,-116.8,516.2,-8.4,736,5754,0.00,2.12,0.00,0.000,6,0.000,0.023,2506,1821,3268,0,0,0,0,0,0
$GC,6058,-0.59,-116.8,540.4,-8.4,752,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1821,3268,0,0,0,0,0,0
$GC,6364,-0.59,-116.8,565.4,-7.9,767,6367,0.00,2.20,0.00,0.000,4,0.000,0.039,2506,399,3268,0,0,0,0,0,0
$GC,6421,-0.59,-116.8,570.6,-9.0,769,6428,0.00,2.12,0.00,0.000,6,0.000,0.023,2496,1808,3268,0,0,0,0,0,0
$GC,6733,-0.59,-116.8,597.1,-8.3,785,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1808,3268,0,0,0,0,0,0
$GC,7037,-0.59,-116.8,621.8,-8.1,800,7041,0.00,2.20,0.00,0.000,4,0.000,0.039,2496,403,3267,0,0,0,0,0,0
$GC,7059,-0.59,-116.8,623.6,-9.2,801,7062,0.00,2.08,0.00,0.000,6,0.000,0.025,2492,1787,3267,0,0,0,0,0,0
$GC,7386,-0.59,-116.8,651.0,-8.0,817,7390,0.00,2.15,0.00,0.000,4,0.000,0.039,2491,398,3267,0,0,0,0,0,0
$GC,7417,-0.59,-116.8,653.8,-8.7,818,7424,0.00,2.10,0.00,0.000,6,0.000,0.025,2482,1797,3266,0,0,0,0,0,0
$GC,7727,-0.59,-116.8,680.5,-8.4,834,7731,0.00,2.17,0.00,0.000,4,0.000,0.039,2482,407,3266,0,0,0,0,0,0
$GC,7758,-0.54,-116.8,683.4,-9.5,835,7764,0.12,2.10,0.00,0.000,6,0.104,0.024,2521,1797,3266,0,0,0,0,0,0
$GC,8077,-0.60,-116.8,702.2,-5.8,851,8080,0.00,2.12,0.00,0.000,4,0.000,0.032,2518,3201,3266,0,0,0,0,0,0
$GC,8096,-0.69,-116.8,703.5,-6.3,852,8101,0.08,2.15,0.00,0.000,6,0.055,0.026,2454,1804,3266,0,0,0,0,0,0
$GC,8418,-0.63,-116.8,736.3,-11.0,868,8422,0.15,2.20,0.00,0.000,4,0.127,0.041,2502,398,3265,0,0,0,0,0,0
$GC,8476,-0.63,-116.8,741.7,-8.8,871,8480,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1807,3265,0,0,0,0,0,0
$GC,8804,-0.63,-116.8,763.6,-6.9,887,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1808,3265,0,0,0,0,0,0
$GC,9107,-0.63,-116.8,787.9,-8.3,902,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1807,3264,0,0,0,0,0,0
$STATE,9249,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9249,begin apogee
$GC,9253,-0.14,0.0,799.8,8.6,909,9351,0.47,0.00,94.47,1.085,6,0.094,0.000,2662,1736,2791,0,0,0,0,0,0
$STATE,9352,end apogee,CONTROL_FINISHED_OK
$STATE,9352,begin climb
$GC,9353,0.57,116.8,802.4,0.0,914,9463,0.60,2.38,101.72,1.053,4,0.063,0.042,2896,361,2314,0,0,0,0,0,0
$GC,9559,0.45,116.8,793.2,8.1,924,9563,0.15,2.20,0.00,0.000,6,0.119,0.025,2847,1745,2311,0,0,0,0,0,0
$GC,9885,0.51,164.7,774.3,5.7,940,9930,0.00,2.30,40.22,1.033,4,0.000,0.032,2847,3149,2120,0,0,0,0,0,0
$GC,10000,0.55,193.3,767.0,6.6,945,10033,0.00,2.22,25.45,1.006,6,0.000,0.028,2857,1770,2005,0,0,0,0,0,0
$GC,10335,0.55,193.3,741.3,8.3,962,10339,0.00,2.30,0.00,0.000,4,0.000,0.042,2868,343,2004,0,0,0,0,0,0
$GC,10358,0.55,193.3,739.5,9.0,963,10361,0.00,2.15,0.00,0.000,6,0.000,0.025,2868,1749,2004,0,0,0,0,0,0
$GC,10683,0.55,193.3,711.3,8.4,979,10687,0.00,2.20,0.00,0.000,4,0.000,0.031,2868,3146,2002,0,0,0,0,0,0
$GC,10719,0.55,193.3,707.9,9.3,980,10727,0.00,2.20,0.00,0.000,6,0.000,0.028,2879,1746,2002,0,0,0,0,0,0
$GC,11030,0.55,193.3,681.1,8.3,996,11034,0.00,2.20,0.00,0.000,4,0.000,0.030,2879,3153,2001,0,0,0,0,0,0
$GC,11061,0.55,193.3,678.2,9.2,997,11066,0.00,2.20,0.00,0.000,6,0.000,0.028,2890,1750,2001,0,0,0,0,0,0
$GC,11379,0.50,193.3,648.4,9.7,1013,11382,0.00,2.22,0.00,0.000,4,0.000,0.042,2901,342,2001,0,0,0,0,0,0
$GC,11430,0.45,193.3,642.8,10.1,1015,11437,0.15,2.15,0.00,0.000,6,0.108,0.025,2848,1752,2000,0,0,0,0,0,0
$GC,11742,0.52,221.6,621.2,6.6,1031,11767,0.00,0.00,23.88,0.964,6,0.000,0.000,2848,1752,1888,0,0,0,0,0,0
$GC,12067,0.61,245.4,599.1,6.8,1047,12092,0.15,2.20,21.00,0.940,4,0.072,0.029,2926,3162,1790,0,0,0,0,0,0
$GC,12112,0.53,245.4,594.4,10.5,1049,12117,0.17,2.25,0.00,0.000,6,0.114,0.028,2876,1755,1791,0,0,0,0,0,0
$GC,12429,0.53,245.4,567.7,8.5,1065,12432,0.00,2.20,0.00,0.000,4,0.000,0.031,2876,3161,1791,0,0,0,0,0,0
$GC,12471,0.53,245.4,563.6,9.8,1067,12475,0.00,2.22,0.00,0.000,6,0.000,0.028,2885,1753,1791,0,0,0,0,0,0
$GC,12798,0.53,245.4,532.0,9.7,1083,12801,0.00,2.22,0.00,0.000,4,0.000,0.042,2897,339,1791,0,0,0,0,0,0
$GC,12834,0.53,245.4,527.9,11.4,1085,12838,0.00,2.15,0.00,0.000,6,0.000,0.025,2897,1745,1791,0,0,0,0,0,0
$GC,13152,0.53,245.4,493.6,10.9,1103,13155,0.00,2.15,0.00,0.000,4,0.000,0.031,2897,3150,1791,0,0,0,0,0,0
$GC,13183,0.53,245.4,489.9,12.1,1106,13187,0.10,2.20,0.00,0.000,6,0.113,0.028,2869,1749,1791,0,0,0,0,0,0
$GC,13504,0.57,245.4,461.0,8.7,1137,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1748,1791,0,0,0,0,0,0
$GC,13816,0.62,245.4,433.1,8.6,1167,13819,0.00,2.20,0.00,0.000,4,0.000,0.042,2879,338,1791,0,0,0,0,0,0
$GC,13842,0.62,245.4,430.7,9.0,1169,13845,0.00,2.12,0.00,0.000,6,0.000,0.025,2879,1748,1791,0,0,0,0,0,0
$GC,14162,0.62,245.4,402.1,8.8,1200,14166,0.00,2.15,0.00,0.000,4,0.000,0.031,2879,3140,1791,0,0,0,0,0,0
$GC,14194,0.62,245.4,399.1,9.2,1203,14198,0.00,2.15,0.00,0.000,6,0.000,0.029,2889,1755,1791,0,0,0,0,0,0
$GC,14514,0.63,247.8,372.4,7.8,1234,14519,0.00,0.00,3.90,0.583,6,0.000,0.000,2889,1754,1781,0,0,0,0,0,0
$GC,14824,0.63,247.8,343.7,9.9,1264,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1754,1781,0,0,0,0,0,0
$GC,15136,0.63,247.8,311.5,10.8,1294,15140,0.00,2.15,0.00,0.000,4,0.000,0.031,2889,3144,1781,0,0,0,0,0,0
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$GC,18024,0.68,247.8,21.3,8.2,1731,18029,0.00,2.17,0.00,0.000,4,0.000,0.036,2904,3142,1781,0,0,0,0,0,0
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$STATE,18268,end climb,SURFACE_DEPTH_REACHED
$STATE,18268,begin surface coast
$FINISH,1.2,1.025803
$STATE,18295,end surface coast,CONTROL_FINISHED_OK
$STATE,18295,begin surface
$SM_CCo,18307,0.73,0.100,0,0,1772,250.20
$SM_GC,2.50,0.00,0.00,0.73,0.000,0.000,0.100,193,1751,1772,-7.83,-1.39,250.20
$IRIDIUM_FIX,3634.97,-12212.59,270799,161601
$TT8_MAMPS,0.052156
$HUMID,54.68
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,15.80
$XPDR_PINGS,118
$ALTIM_BOTTOM_PING,750.5,57.9
$24V_AH,23.5,30.548
$10V_AH,9.7,47.908
$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,19.000,169.150,310.650,0.725,0.000,89.950,95.607,372.157,31.250,0.000,13.088,0.000,13107.678,490.767,4610.917,880.265,0.000,1951.156,0.000,3961.392,0.000,14.547,0.000
$DEVICE_MAMPS,210.158,102.011,1085.305,99.710,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.710,3743.936,2697.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,286660
$DATA_FILE_SIZE,123170,1782
$CAP_FILE_SIZE,203874,0
$CFSIZE,260165632,232402944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020510,220201,3647.275,-12215.776,78,1.4,78,14.8