version: 66.07
glider: 500
mission: 5
dive: 74
start: 11 18 110 20 16 5
data:
$ID,500
$MISSION,5
$DIVE,74
$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,-122753.82
$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,37
$R_STBD_OVSHOOT,40
$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
$GPS1,181110,200324,2053.837,12457.569,21,0.9,39,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.6
$GPS2,181110,201508,2053.772,12457.576,12,1.1,12,-2.7
$SPEED_LIMITS,0.142,0.256
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.054
$KALMAN_X,-38335.8,680.4,100.9,211691.2,-6635.3
$KALMAN_Y,-15552.2,136.6,445.4,-14466.0,-4495.2
$MHEAD_RNG_PITCHd_Wd,104.9,198700,-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,-165.5,0.0,0.0,0,116,0.00,0.00,-97.22,0.000,2,0.000,0.000,102,2711,3548,0,0,0,0,0,0
$GC,119,-0.65,-165.5,3.6,-5.7,19,136,10.35,2.45,-1.48,0.000,4,0.231,0.056,2836,1094,3623,0,0,0,0,0,0
$GC,202,-0.65,-165.5,33.4,-29.9,33,209,0.00,2.40,0.00,0.000,6,0.000,0.048,2826,2681,3629,0,0,0,0,0,0
$GC,464,-0.65,-165.5,100.4,-25.2,58,468,0.00,2.30,0.00,0.000,4,0.000,0.044,2826,1105,3629,0,0,0,0,0,0
$GC,694,-0.65,-165.5,148.5,-19.2,78,698,0.00,2.35,0.00,0.000,6,0.000,0.050,2813,2707,3630,0,0,0,0,0,0
$GC,954,-0.65,-165.5,190.9,-15.6,102,958,0.00,2.33,0.00,0.000,4,0.000,0.044,2813,1096,3631,0,0,0,0,0,0
$GC,1049,-0.65,-165.5,204.7,-13.8,109,1054,0.12,2.38,0.00,0.000,6,0.173,0.048,2836,2690,3631,0,0,0,0,0,0
$GC,1375,-0.65,-165.5,243.6,-11.9,125,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2691,3633,0,0,0,0,0,0
$GC,1685,-0.65,-165.5,281.1,-12.1,140,1689,0.00,2.28,0.00,0.000,4,0.000,0.042,2836,1106,3633,0,0,0,0,0,0
$GC,1858,-0.65,-165.5,301.4,-11.2,148,1862,0.00,2.35,0.00,0.000,6,0.000,0.049,2825,2718,3633,0,0,0,0,0,0
$GC,2187,-0.65,-165.5,338.3,-10.8,156,2191,0.00,2.33,0.00,0.000,4,0.000,0.042,2825,1094,3632,0,0,0,0,0,0
$GC,2444,-0.65,-165.5,366.5,-10.2,161,2451,0.00,2.40,0.00,0.000,6,0.000,0.048,2813,2704,3632,0,0,0,0,0,0
$GC,2776,-0.65,-165.5,400.5,-10.5,170,2780,0.00,2.30,0.00,0.000,4,0.000,0.044,2813,1111,3632,0,0,0,0,0,0
$GC,2983,-0.65,-165.5,422.1,-11.1,174,2988,0.12,2.38,0.00,0.000,6,0.169,0.048,2836,2710,3631,0,0,0,0,0,0
$GC,3321,-0.65,-165.5,450.4,-8.1,183,3325,0.00,2.35,0.00,0.000,4,0.000,0.043,2837,1101,3628,0,0,0,0,0,0
$GC,3577,-0.65,-165.5,469.2,-7.5,188,3584,0.00,2.38,0.00,0.000,6,0.000,0.049,2826,2692,3627,0,0,0,0,0,0
$GC,3909,-0.65,-165.5,495.0,-7.8,197,3913,0.00,2.33,0.00,0.000,4,0.000,0.043,2826,1108,3625,0,0,0,0,0,0
$GC,4003,-0.65,-165.5,502.5,-7.9,199,4008,0.00,2.38,0.00,0.000,6,0.000,0.049,2814,2714,3625,0,0,0,0,0,0
$GC,4322,-0.65,-165.5,528.4,-8.0,207,4326,0.00,2.38,0.00,0.000,4,0.000,0.041,2814,1094,3622,0,0,0,0,0,0
$GC,4579,-0.65,-165.5,547.2,-6.5,212,4584,0.12,2.38,0.00,0.000,6,0.169,0.048,2837,2716,3620,0,0,0,0,0,0
$GC,4917,-0.65,-165.5,566.2,-6.0,221,4921,0.00,2.38,0.00,0.000,4,0.000,0.041,2838,1106,3618,0,0,0,0,0,0
$GC,5175,-0.65,-165.5,583.2,-6.3,226,5181,0.00,2.38,0.00,0.000,6,0.000,0.049,2827,2710,3615,0,0,0,0,0,0
$GC,5506,-0.65,-165.5,605.1,-6.7,235,5510,0.00,2.35,0.00,0.000,4,0.000,0.043,2827,1108,3613,0,0,0,0,0,0
$GC,5763,-0.65,-165.5,623.3,-6.7,240,5769,0.00,2.35,0.00,0.000,6,0.000,0.048,2815,2695,3611,0,0,0,0,0,0
$GC,6094,-0.65,-165.5,644.3,-5.8,249,6098,0.00,2.33,0.00,0.000,4,0.000,0.043,2815,1108,3608,0,0,0,0,0,0
$GC,6351,-0.65,-165.5,661.7,-6.5,254,6358,0.12,2.40,0.00,0.000,6,0.169,0.049,2839,2720,3606,0,0,0,0,0,0
$GC,6684,-0.65,-165.5,680.9,-5.9,263,6688,0.00,2.35,0.00,0.000,4,0.000,0.043,2839,1102,3605,0,0,0,0,0,0
$GC,6941,-0.65,-165.5,698.2,-7.7,268,6947,0.00,2.40,0.00,0.000,6,0.000,0.050,2828,2714,3603,0,0,0,0,0,0
$GC,7272,-0.65,-165.5,719.8,-6.4,277,7276,0.00,2.33,0.00,0.000,4,0.000,0.041,2828,1108,3601,0,0,0,0,0,0
$GC,7455,-0.65,-165.5,731.9,-6.5,281,7460,0.00,2.38,0.00,0.000,6,0.000,0.048,2816,2693,3600,0,0,0,0,0,0
$GC,7775,-0.65,-165.5,750.0,-5.4,289,7779,0.00,2.33,0.00,0.000,4,0.000,0.041,2816,1110,3598,0,0,0,0,0,0
$GC,7841,-0.65,-165.5,754.1,-6.4,290,7846,0.12,2.38,0.00,0.000,6,0.169,0.049,2840,2717,3598,0,0,0,0,0,0
$GC,8178,-0.65,-165.5,770.7,-5.0,299,8182,0.00,2.35,0.00,0.000,4,0.000,0.043,2840,1103,3596,0,0,0,0,0,0
$GC,8345,-0.65,-165.5,780.0,-5.9,302,8352,0.00,2.40,0.00,0.000,6,0.000,0.050,2830,2696,3595,0,0,0,0,0,0
$GC,8677,-0.65,-165.5,798.8,-5.7,311,8681,0.00,2.33,0.00,0.000,4,0.000,0.042,2830,1113,3594,0,0,0,0,0,0
$GC,8934,-0.65,-165.5,815.7,-6.4,316,8938,0.00,2.35,0.00,0.000,6,0.000,0.048,2818,2714,3593,0,0,0,0,0,0
$GC,9271,-0.65,-165.5,837.7,-6.4,325,9275,0.00,2.33,0.00,0.000,4,0.000,0.041,2818,1111,3591,0,0,0,0,0,0
$GC,9528,-0.65,-165.5,854.1,-5.8,330,9535,0.12,2.38,0.00,0.000,6,0.170,0.049,2842,2710,3590,0,0,0,0,0,0
$GC,9861,-0.65,-165.5,869.7,-4.6,339,9866,0.00,2.35,0.00,0.000,4,0.000,0.044,2842,1112,3589,0,0,0,0,0,0
$GC,10091,-0.65,-165.5,880.9,-4.7,344,10095,0.00,2.38,0.00,0.000,6,0.000,0.050,2832,2696,3588,0,0,0,0,0,0
$GC,10410,-0.65,-165.5,895.7,-4.6,352,10414,0.00,2.33,0.00,0.000,4,0.000,0.044,2832,1104,3586,0,0,0,0,0,0
$GC,10488,-0.65,-165.5,899.6,-5.2,353,10494,0.00,2.38,0.00,0.000,6,0.000,0.051,2820,2711,3586,0,0,0,0,0,0
$STATE,10532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10533,begin apogee
$GC,10538,-0.23,0.0,901.9,5.0,355,10672,0.45,0.00,131.57,1.329,6,0.120,0.000,2974,1893,2944,0,0,0,0,0,0
$STATE,10674,end apogee,CONTROL_FINISHED_OK
$STATE,10674,begin climb
$GC,10676,0.65,165.5,900.9,0.0,358,10831,0.80,2.67,144.65,1.287,4,0.070,0.057,3262,3478,2268,0,0,0,0,0,0
$GC,10886,0.65,165.5,871.4,16.3,363,10891,0.00,2.50,0.00,0.000,6,0.000,0.044,3274,1907,2259,0,0,0,0,0,0
$GC,11229,0.65,165.5,816.2,16.1,372,11234,0.00,2.45,0.00,0.000,4,0.000,0.056,3286,312,2250,0,0,0,0,0,0
$GC,11256,0.65,165.5,811.3,17.1,372,11261,0.00,2.42,0.00,0.000,6,0.000,0.047,3286,1895,2250,0,0,0,0,0,0
$GC,11593,0.65,165.5,752.7,17.5,381,11598,0.00,2.42,0.00,0.000,4,0.000,0.056,3286,3494,2247,0,0,0,0,0,0
$GC,11670,0.65,165.5,738.3,19.2,382,11677,0.10,2.42,0.00,0.000,6,0.127,0.046,3260,1904,2246,0,0,0,0,0,0
$GC,12002,0.65,165.5,690.1,14.4,391,12006,0.00,2.40,0.00,0.000,4,0.000,0.054,3259,3493,2244,0,0,0,0,0,0
$GC,12040,0.65,165.5,684.4,14.7,392,12045,0.00,2.40,0.00,0.000,6,0.000,0.046,3270,1885,2244,0,0,0,0,0,0
$GC,12365,0.65,165.5,638.1,13.9,400,12369,0.00,2.35,0.00,0.000,4,0.000,0.056,3283,314,2243,0,0,0,0,0,0
$GC,12431,0.65,165.5,628.7,13.1,401,12435,0.00,2.38,0.00,0.000,6,0.000,0.048,3283,1911,2242,0,0,0,0,0,0
$GC,12773,0.65,165.5,577.4,15.4,410,12777,0.00,2.40,0.00,0.000,4,0.000,0.057,3283,3491,2241,0,0,0,0,0,0
$GC,12805,0.65,165.5,572.0,15.9,410,12810,0.12,2.38,0.00,0.000,6,0.150,0.048,3256,1898,2241,0,0,0,0,0,0
$GC,13136,0.65,165.5,528.1,12.9,418,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1898,2241,0,0,0,0,0,0
$GC,13461,0.65,165.5,484.4,13.6,426,13465,0.00,2.38,0.00,0.000,4,0.000,0.057,3268,320,2240,0,0,0,0,0,0
$GC,13510,0.65,165.5,477.8,12.7,427,13514,0.00,2.33,0.00,0.000,6,0.000,0.046,3268,1900,2240,0,0,0,0,0,0
$GC,13828,0.65,165.5,434.1,13.9,435,13832,0.00,2.38,0.00,0.000,4,0.000,0.055,3268,3488,2240,0,0,0,0,0,0
$GC,13905,0.65,165.5,422.9,13.8,436,13912,0.00,2.38,0.00,0.000,6,0.000,0.047,3280,1902,2239,0,0,0,0,0,0
$GC,14235,0.65,165.5,376.4,14.2,445,14240,0.00,2.38,0.00,0.000,4,0.000,0.055,3279,3485,2239,0,0,0,0,0,0
$GC,14262,0.65,165.5,372.2,14.4,445,14267,0.05,2.40,0.00,0.000,6,0.129,0.048,3260,1905,2238,0,0,0,0,0,0
$GC,14600,0.65,165.5,334.4,11.0,454,14604,0.00,2.40,0.00,0.000,4,0.000,0.057,3271,309,2239,0,0,0,0,0,0
$GC,14642,0.65,165.5,329.2,10.9,455,14647,0.00,2.38,0.00,0.000,6,0.000,0.048,3271,1897,2239,0,0,0,0,0,0
$GC,14970,0.65,165.5,289.7,12.3,465,14974,0.00,2.35,0.00,0.000,4,0.000,0.054,3271,3483,2239,0,0,0,0,0,0
$GC,15046,0.65,165.5,279.1,13.1,468,15053,0.00,2.38,0.00,0.000,6,0.000,0.044,3284,1898,2239,0,0,0,0,0,0
$GC,15362,0.65,165.5,235.5,13.4,484,15366,0.00,2.38,0.00,0.000,4,0.000,0.054,3284,3491,2239,0,0,0,0,0,0
$GC,15400,0.65,165.5,230.1,13.5,486,15405,0.12,2.38,0.00,0.000,6,0.143,0.045,3257,1895,2239,0,0,0,0,0,0
$GC,15726,0.65,165.5,198.2,8.7,502,15727,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1895,2239,0,0,0,0,0,0
$GC,15981,0.65,165.5,173.3,9.7,526,15982,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1895,2240,0,0,0,0,0,0
$GC,16237,0.71,215.4,153.8,6.5,550,16276,0.00,0.00,36.42,0.729,6,0.000,0.000,3256,1895,2066,0,0,0,0,0,0
$GC,16533,0.76,254.5,134.2,6.9,578,16573,0.10,2.45,32.20,0.696,4,0.097,0.052,3323,3482,1906,0,0,0,0,0,0
$GC,16585,0.76,254.5,128.7,12.3,583,16590,0.12,2.42,0.00,0.000,6,0.134,0.043,3294,1895,1904,0,0,0,0,0,0
$GC,16845,0.76,254.5,101.6,9.0,607,16846,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1895,1898,0,0,0,0,0,0
$GC,17100,0.85,327.9,84.9,5.7,631,17164,0.00,2.50,57.62,0.657,4,0.000,0.052,3306,313,1607,0,0,0,0,0,0
$GC,17195,0.93,392.5,79.3,6.0,640,17258,0.12,2.38,51.90,0.649,6,0.084,0.041,3390,1900,1343,0,0,0,0,0,0
$GC,17511,0.93,392.5,26.4,18.8,671,17517,0.15,2.40,0.00,0.000,4,0.130,0.051,3343,3490,1336,0,0,0,0,0,0
$GC,17546,0.93,392.5,20.8,16.4,677,17552,0.00,2.40,0.00,0.000,6,0.000,0.043,3354,1895,1336,0,0,0,0,0,0
$STATE,17685,end climb,SURFACE_DEPTH_REACHED
$STATE,17685,begin surface coast
$FINISH,0.6,1.022317
$STATE,17709,end surface coast,CONTROL_FINISHED_OK
$STATE,17709,begin surface
$SM_CCo,17726,52.72,0.596,0,0,906,500.16
$SM_GC,1.11,0.00,0.00,52.72,0.000,0.000,0.596,140,2718,906,-9.09,0.51,500.16
$IRIDIUM_FIX,2045.60,12435.14,130512,141457
$TT8_MAMPS,0.027612
$HUMID,1078707732
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.7,11.428
$10V_AH,10.4,8.194
$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,21.225,168.925,454.375,52.725,0.000,71.639,159.478,233.925,0.000,0.000,14.399,1576.203,13378.993,652.806,2619.639,253.830,33.361,1816.106,0.000,2119.168,0.000,0.541,0.000
$DEVICE_MAMPS,230.867,56.758,1329.211,595.959,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,476.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354604
$DATA_FILE_SIZE,26696,706
$CAP_FILE_SIZE,208347,0
$CFSIZE,260165632,218591232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,011336,2053.088,12459.142,34,1.0,34,-2.7