version: 66.07
glider: 500
mission: 5
dive: 73
start: 11 18 110 15 13 34
data:
$ID,500
$MISSION,5
$DIVE,73
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,1050
$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,366
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,170
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$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,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-122738.79
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2945
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$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,-66.543793
$PRESSURE_SLOPE,0.00011603366
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,9
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$GPS1,181110,150254,2054.038,12456.874,43,1.6,43,-2.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-74.7
$GPS2,181110,151238,2053.944,12456.795,12,1.8,12,-2.7
$SPEED_LIMITS,0.142,0.256
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,0.067
$KALMAN_X,-34303.0,491.1,227.3,206368.4,-5817.0
$KALMAN_Y,-12510.4,10.3,-656.9,-15958.0,-1370.2
$MHEAD_RNG_PITCHd_Wd,77.5,200093,-13.4,-8.197
$D_GRID,900
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-165.5,0.0,0.0,0,119,0.00,0.00,-100.20,0.000,6,0.000,0.000,123,2704,3621,0,0,0,0,0,0
$GC,122,-0.65,-165.5,3.8,-6.1,20,138,10.30,2.35,0.00,0.000,4,0.232,0.041,2835,1111,3627,0,0,0,0,0,0
$GC,144,-0.65,-165.5,14.1,-34.1,24,150,0.00,2.40,0.00,0.000,6,0.000,0.048,2826,2717,3628,0,0,0,0,0,0
$GC,343,-0.65,-165.5,70.1,-24.7,47,347,0.00,2.38,0.00,0.000,4,0.000,0.044,2826,1109,3629,0,0,0,0,0,0
$GC,410,-0.65,-165.5,87.4,-25.0,52,415,0.00,2.35,0.00,0.000,6,0.000,0.049,2813,2707,3629,0,0,0,0,0,0
$GC,671,-0.65,-165.5,144.0,-20.6,77,675,0.00,2.35,0.00,0.000,4,0.000,0.044,2814,1096,3630,0,0,0,0,0,0
$GC,691,-0.65,-165.5,148.5,-20.6,78,698,0.10,2.40,0.00,0.000,6,0.151,0.050,2835,2696,3630,0,0,0,0,0,0
$GC,953,-0.65,-165.5,187.9,-14.6,103,957,0.00,2.30,0.00,0.000,4,0.000,0.044,2835,1103,3632,0,0,0,0,0,0
$GC,1182,-0.65,-165.5,219.2,-12.1,117,1186,0.00,2.35,0.00,0.000,6,0.000,0.048,2824,2717,3632,0,0,0,0,0,0
$GC,1497,-0.65,-165.5,259.9,-12.0,132,1501,0.00,2.35,0.00,0.000,4,0.000,0.042,2824,1096,3632,0,0,0,0,0,0
$GC,1753,-0.65,-165.5,292.4,-11.9,143,1760,0.00,2.38,0.00,0.000,6,0.000,0.049,2812,2694,3632,0,0,0,0,0,0
$GC,2066,-0.65,-165.5,331.2,-12.9,153,2070,0.00,2.28,0.00,0.000,4,0.000,0.041,2812,1109,3632,0,0,0,0,0,0
$GC,2245,-0.65,-165.5,355.3,-13.1,157,2250,0.12,2.33,0.00,0.000,6,0.170,0.048,2835,2703,3631,0,0,0,0,0,0
$GC,2564,-0.65,-165.5,384.9,-8.2,165,2568,0.00,2.33,0.00,0.000,4,0.000,0.044,2835,1112,3631,0,0,0,0,0,0
$GC,2738,-0.65,-165.5,400.0,-8.6,169,2742,0.00,2.33,0.00,0.000,6,0.000,0.049,2825,2707,3631,0,0,0,0,0,0
$GC,3062,-0.65,-165.5,426.9,-8.0,177,3066,0.00,2.33,0.00,0.000,4,0.000,0.043,2825,1110,3630,0,0,0,0,0,0
$GC,3318,-0.65,-165.5,450.9,-9.9,182,3323,0.00,2.35,0.00,0.000,6,0.000,0.048,2813,2693,3628,0,0,0,0,0,0
$GC,3655,-0.65,-165.5,482.2,-9.2,191,3659,0.00,2.28,0.00,0.000,4,0.000,0.043,2813,1113,3626,0,0,0,0,0,0
$GC,3761,-0.65,-165.5,492.0,-9.3,193,3766,0.12,2.35,0.00,0.000,6,0.170,0.050,2836,2716,3625,0,0,0,0,0,0
$GC,4104,-0.65,-165.5,516.2,-7.0,202,4108,0.00,2.33,0.00,0.000,4,0.000,0.044,2837,1112,3622,0,0,0,0,0,0
$GC,4316,-0.65,-165.5,531.9,-7.6,206,4322,0.00,2.38,0.00,0.000,6,0.000,0.049,2826,2733,3620,0,0,0,0,0,0
$GC,4648,-0.65,-165.5,556.2,-7.1,215,4652,0.00,2.35,0.00,0.000,4,0.000,0.042,2826,1105,3618,0,0,0,0,0,0
$GC,4837,-0.65,-165.5,570.2,-6.8,219,4841,0.00,2.38,0.00,0.000,6,0.000,0.048,2814,2732,3617,0,0,0,0,0,0
$GC,5151,-0.65,-165.5,594.3,-7.8,227,5155,0.00,2.38,0.00,0.000,4,0.000,0.043,2813,1113,3614,0,0,0,0,0,0
$GC,5409,-0.65,-165.5,615.1,-8.0,232,5415,0.12,2.35,0.00,0.000,6,0.170,0.048,2837,2707,3612,0,0,0,0,0,0
$GC,5740,-0.65,-165.5,635.0,-5.9,241,5744,0.00,2.33,0.00,0.000,4,0.000,0.044,2837,1111,3610,0,0,0,0,0,0
$GC,5997,-0.65,-165.5,651.3,-6.8,246,6003,0.00,2.38,0.00,0.000,6,0.000,0.048,2827,2722,3607,0,0,0,0,0,0
$GC,6328,-0.65,-165.5,673.8,-6.9,255,6332,0.00,2.38,0.00,0.000,4,0.000,0.044,2827,1108,3605,0,0,0,0,0,0
$GC,6585,-0.65,-165.5,692.7,-7.0,260,6589,0.00,2.35,0.00,0.000,6,0.000,0.049,2814,2712,3604,0,0,0,0,0,0
$GC,6923,-0.65,-165.5,714.5,-6.1,269,6927,0.00,2.33,0.00,0.000,4,0.000,0.043,2815,1113,3602,0,0,0,0,0,0
$GC,7181,-0.65,-165.5,731.4,-7.0,274,7187,0.12,2.35,0.00,0.000,6,0.169,0.048,2838,2694,3599,0,0,0,0,0,0
$GC,7512,-0.65,-165.5,750.6,-6.0,283,7516,0.00,2.30,0.00,0.000,4,0.000,0.044,2838,1115,3598,0,0,0,0,0,0
$GC,7668,-0.65,-165.5,760.4,-6.2,286,7672,0.00,2.38,0.00,0.000,6,0.000,0.050,2827,2693,3597,0,0,0,0,0,0
$GC,8010,-0.65,-165.5,781.6,-6.2,295,8014,0.00,2.33,0.00,0.000,4,0.000,0.043,2828,1109,3595,0,0,0,0,0,0
$GC,8177,-0.65,-165.5,792.8,-6.8,298,8184,0.00,2.40,0.00,0.000,6,0.000,0.051,2816,2734,3594,0,0,0,0,0,0
$GC,8509,-0.65,-165.5,813.6,-6.1,307,8513,0.00,2.40,0.00,0.000,4,0.000,0.044,2815,1098,3593,0,0,0,0,0,0
$GC,8766,-0.65,-165.5,829.7,-6.0,312,8771,0.12,2.38,0.00,0.000,6,0.169,0.048,2839,2697,3591,0,0,0,0,0,0
$GC,9104,-0.65,-165.5,846.5,-5.1,321,9108,0.00,2.33,0.00,0.000,4,0.000,0.044,2839,1105,3590,0,0,0,0,0,0
$GC,9265,-0.65,-165.5,855.2,-5.1,324,9270,0.00,2.40,0.00,0.000,6,0.000,0.051,2829,2734,3589,0,0,0,0,0,0
$GC,9603,-0.65,-165.5,874.8,-6.0,333,9607,0.00,2.40,0.00,0.000,4,0.000,0.044,2829,1102,3588,0,0,0,0,0,0
$GC,9860,-0.65,-165.5,891.5,-6.6,338,9866,0.00,2.40,0.00,0.000,6,0.000,0.051,2817,2711,3587,0,0,0,0,0,0
$STATE,10026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10027,begin apogee
$GC,10032,-0.23,0.0,902.7,6.7,343,10167,0.45,0.00,132.00,1.325,6,0.120,0.000,2970,1891,2944,0,0,0,0,0,0
$STATE,10168,end apogee,CONTROL_FINISHED_OK
$STATE,10168,begin climb
$GC,10170,0.65,165.5,904.0,0.0,346,10322,0.77,2.62,143.48,1.298,4,0.071,0.057,3256,3482,2270,0,0,0,0,0,0
$GC,10394,0.65,165.5,875.6,15.3,351,10399,0.00,2.50,0.00,0.000,6,0.000,0.044,3267,1903,2260,0,0,0,0,0,0
$GC,10743,0.65,165.5,821.5,16.0,360,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1903,2254,0,0,0,0,0,0
$GC,11068,0.65,165.5,769.8,15.7,368,11072,0.00,2.42,0.00,0.000,4,0.000,0.057,3280,309,2252,0,0,0,0,0,0
$GC,11082,0.65,165.5,767.2,16.0,368,11087,0.00,2.42,0.00,0.000,6,0.000,0.047,3279,1900,2252,0,0,0,0,0,0
$GC,11432,0.65,165.5,710.9,15.9,377,11436,0.00,2.40,0.00,0.000,4,0.000,0.055,3279,3490,2252,0,0,0,0,0,0
$GC,11570,0.65,165.5,687.4,16.9,380,11576,0.08,2.45,0.00,0.000,6,0.134,0.046,3261,1889,2250,0,0,0,0,0,0
$GC,11890,0.65,165.5,642.1,14.3,388,11894,0.00,2.38,0.00,0.000,4,0.000,0.057,3273,309,2250,0,0,0,0,0,0
$GC,11929,0.65,165.5,636.2,15.2,389,11933,0.00,2.38,0.00,0.000,6,0.000,0.048,3272,1911,2250,0,0,0,0,0,0
$GC,12253,0.65,165.5,586.7,15.3,397,12258,0.00,2.38,0.00,0.000,4,0.000,0.057,3273,3484,2250,0,0,0,0,0,0
$GC,12314,0.65,165.5,576.9,15.5,398,12319,0.00,2.40,0.00,0.000,6,0.000,0.048,3284,1886,2249,0,0,0,0,0,0
$GC,12663,0.65,165.5,522.2,15.8,407,12667,0.00,2.35,0.00,0.000,4,0.000,0.058,3297,320,2249,0,0,0,0,0,0
$GC,12701,0.65,165.5,515.5,15.9,408,12706,0.12,2.35,0.00,0.000,6,0.144,0.047,3258,1901,2249,0,0,0,0,0,0
$GC,13026,0.65,165.5,471.1,13.2,416,13030,0.00,2.40,0.00,0.000,4,0.000,0.059,3258,3484,2249,0,0,0,0,0,0
$GC,13169,0.65,165.5,450.2,13.5,419,13174,0.00,2.40,0.00,0.000,6,0.000,0.045,3268,1900,2249,0,0,0,0,0,0
$GC,13483,0.65,165.5,407.0,13.9,427,13487,0.00,2.38,0.00,0.000,4,0.000,0.057,3281,310,2249,0,0,0,0,0,0
$GC,13503,0.65,165.5,404.0,13.4,427,13508,0.00,2.40,0.00,0.000,6,0.000,0.048,3281,1904,2249,0,0,0,0,0,0
$GC,13846,0.65,165.5,355.1,14.2,436,13850,0.00,2.38,0.00,0.000,4,0.000,0.057,3281,3496,2249,0,0,0,0,0,0
$GC,13912,0.65,165.5,345.3,14.0,437,13917,0.08,2.42,0.00,0.000,6,0.127,0.046,3263,1891,2249,0,0,0,0,0,0
$GC,14256,0.65,165.5,307.3,10.8,446,14260,0.00,2.42,0.00,0.000,4,0.000,0.054,3263,3499,2249,0,0,0,0,0,0
$GC,14287,0.65,165.5,303.1,12.5,446,14294,0.00,2.40,0.00,0.000,6,0.000,0.044,3274,1902,2249,0,0,0,0,0,0
$GC,14602,0.65,165.5,267.4,11.0,461,14606,0.00,2.35,0.00,0.000,4,0.000,0.054,3286,313,2250,0,0,0,0,0,0
$GC,14723,0.65,165.5,254.1,10.7,466,14730,0.00,2.35,0.00,0.000,6,0.000,0.044,3286,1900,2250,0,0,0,0,0,0
$GC,15039,0.65,165.5,219.1,10.8,482,15043,0.00,2.35,0.00,0.000,4,0.000,0.054,3286,3496,2251,0,0,0,0,0,0
$GC,15139,0.65,165.5,207.0,12.8,486,15146,0.10,2.38,0.00,0.000,6,0.115,0.043,3259,1903,2252,0,0,0,0,0,0
$GC,15462,0.65,166.9,178.4,8.1,513,15466,0.00,2.35,0.00,0.000,4,0.000,0.052,3270,302,2253,0,0,0,0,0,0
$GC,15513,0.65,166.9,174.0,8.9,517,15517,0.00,2.33,0.00,0.000,6,0.000,0.043,3270,1900,2253,0,0,0,0,0,0
$GC,15780,0.65,166.9,151.0,8.7,542,15784,0.00,2.35,0.00,0.000,4,0.000,0.052,3270,3484,2254,0,0,0,0,0,0
$GC,15925,0.65,166.9,137.9,8.6,554,15931,0.00,2.33,0.00,0.000,6,0.000,0.040,3282,1896,2256,0,0,0,0,0,0
$GC,16186,0.73,232.7,120.4,6.0,579,16247,0.00,2.47,52.40,0.693,4,0.000,0.051,3282,3480,1995,0,0,0,0,0,0
$GC,16276,0.74,241.4,114.3,7.9,587,16293,0.00,2.40,8.35,0.598,6,0.000,0.040,3293,1907,1959,0,0,0,0,0,0
$GC,16548,0.83,310.5,95.1,5.9,613,16610,0.00,2.47,54.70,0.663,4,0.000,0.051,3305,305,1678,0,0,0,0,0,0
$GC,16657,0.91,381.3,89.3,5.8,623,16723,0.12,2.40,56.45,0.666,6,0.084,0.039,3383,1902,1389,0,0,0,0,0,0
$GC,16983,0.91,381.3,33.7,18.4,654,16988,0.12,2.40,0.00,0.000,4,0.149,0.050,3346,3488,1381,0,0,0,0,0,0
$GC,17023,0.91,381.3,26.8,18.1,658,17029,0.00,2.40,0.00,0.000,6,0.000,0.044,3357,1889,1381,0,0,0,0,0,0
$STATE,17212,end climb,SURFACE_DEPTH_REACHED
$STATE,17212,begin surface coast
$FINISH,0.4,1.022452
$STATE,17236,end surface coast,CONTROL_FINISHED_OK
$STATE,17236,begin surface
$SM_CCo,17254,57.62,0.601,0,0,905,500.16
$SM_GC,0.99,0.00,0.00,57.62,0.000,0.000,0.601,102,2710,905,-9.21,0.28,500.16
$IRIDIUM_FIX,2045.60,12454.99,130512,090926
$TT8_MAMPS,0.027612
$HUMID,1078685797
$INTERNAL_PRESSURE,9.19835
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.8,11.258
$10V_AH,10.4,8.120
$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,20.900,178.100,447.375,57.625,0.000,57.973,69.008,266.790,0.000,0.000,14.748,1570.679,12782.501,642.858,2628.676,261.689,33.359,1847.436,0.000,2192.663,0.000,0.542,0.000
$DEVICE_MAMPS,232.401,59.059,1324.609,601.328,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,469.665,0.000,0.000,0.000,0.000,0.000,0.000,637.429,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354624
$DATA_FILE_SIZE,23392,696
$CAP_FILE_SIZE,209447,0
$CFSIZE,260165632,218669056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181110,200324,2053.837,12457.569,21,0.9,39,-2.7