version: 66.07
glider: 500
mission: 5
dive: 76
start: 11 19 110 6 28 23
data:
$ID,500
$MISSION,5
$DIVE,76
$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,-122784.84
$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,29
$R_STBD_OVSHOOT,36
$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,2
$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
$GPS1,191110,062207,2052.902,12458.394,31,0.8,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-76.4
$GPS2,191110,062726,2052.843,12458.385,10,1.3,10,-2.7
$SPEED_LIMITS,0.142,0.256
$TGT_NAME,T6
$TGT_LATLONG,2028.059,12648.758
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.144
$KALMAN_X,-45073.1,150.9,-127.1,220579.0,-5569.8
$KALMAN_Y,-19263.6,314.9,-587.3,-11618.6,-2937.6
$MHEAD_RNG_PITCHd_Wd,58.4,196930,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.65,-165.4,0.0,0.0,0,128,0.00,0.00,-100.32,0.000,2,0.000,0.000,113,2724,3617,0,0,0,0,0,0
$GC,132,-0.65,-165.5,3.7,-6.8,20,148,10.20,1.67,0.00,0.000,4,0.228,0.043,2822,3861,3617,0,0,0,0,0,0
$GC,338,-0.65,-165.5,65.5,-26.0,45,344,0.00,1.73,0.00,0.000,6,0.000,0.035,2822,2692,3619,0,0,0,0,0,0
$GC,600,-0.65,-165.5,122.1,-18.6,70,604,0.00,2.30,0.00,0.000,4,0.000,0.044,2822,1102,3620,0,0,0,0,0,0
$GC,818,-0.65,-165.5,161.8,-15.8,89,823,0.10,2.35,0.00,0.000,6,0.187,0.048,2835,2693,3623,0,0,0,0,0,0
$GC,1079,-0.65,-165.5,201.1,-13.9,113,1083,0.00,2.28,0.00,0.000,4,0.000,0.043,2835,1114,3626,0,0,0,0,0,0
$GC,1208,-0.65,-165.5,219.8,-14.6,118,1214,0.00,2.35,0.00,0.000,6,0.000,0.051,2826,2710,3625,0,0,0,0,0,0
$GC,1522,-0.65,-165.5,262.8,-13.1,134,1527,0.00,2.33,0.00,0.000,4,0.000,0.043,2825,1113,3627,0,0,0,0,0,0
$GC,1780,-0.65,-165.5,294.5,-11.6,145,1786,0.00,2.35,0.00,0.000,6,0.000,0.047,2813,2700,3627,0,0,0,0,0,0
$GC,2091,-0.65,-165.5,329.7,-11.4,155,2095,0.00,2.30,0.00,0.000,4,0.000,0.043,2814,1115,3628,0,0,0,0,0,0
$GC,2347,-0.65,-165.5,359.8,-10.9,160,2355,0.10,2.35,0.00,0.000,6,0.132,0.048,2837,2695,3628,0,0,0,0,0,0
$GC,2679,-0.65,-165.5,389.9,-9.2,169,2683,0.00,2.30,0.00,0.000,4,0.000,0.042,2838,1113,3625,0,0,0,0,0,0
$GC,2935,-0.65,-165.5,414.5,-9.0,174,2940,0.00,2.38,0.00,0.000,6,0.000,0.048,2827,2716,3627,0,0,0,0,0,0
$GC,3273,-0.65,-165.5,441.8,-7.9,183,3277,0.00,2.35,0.00,0.000,4,0.000,0.041,2827,1095,3626,0,0,0,0,0,0
$GC,3518,-0.65,-165.5,464.2,-9.2,188,3523,0.00,2.40,0.00,0.000,6,0.000,0.048,2815,2704,3624,0,0,0,0,0,0
$GC,3861,-0.65,-165.5,496.3,-9.1,197,3865,0.00,2.35,0.00,0.000,4,0.000,0.044,2815,1113,3622,0,0,0,0,0,0
$GC,4072,-0.65,-165.5,515.2,-8.1,201,4079,0.12,2.35,0.00,0.000,6,0.163,0.047,2839,2693,3621,0,0,0,0,0,0
$GC,4403,-0.65,-165.5,537.5,-6.6,210,4408,0.00,2.33,0.00,0.000,4,0.000,0.043,2839,1096,3618,0,0,0,0,0,0
$GC,4661,-0.65,-165.5,556.2,-7.2,215,4667,0.00,2.35,0.00,0.000,6,0.000,0.048,2829,2707,3620,0,0,0,0,0,0
$GC,4993,-0.65,-165.5,579.8,-7.0,224,4997,0.00,2.35,0.00,0.000,4,0.000,0.044,2829,1094,3615,0,0,0,0,0,0
$GC,5249,-0.65,-165.5,601.0,-7.9,229,5256,0.00,2.38,0.00,0.000,6,0.000,0.048,2816,2715,3613,0,0,0,0,0,0
$GC,5581,-0.65,-165.5,625.0,-6.8,238,5585,0.00,2.35,0.00,0.000,4,0.000,0.043,2816,1094,3613,0,0,0,0,0,0
$GC,5793,-0.65,-165.5,638.9,-6.9,242,5799,0.08,2.40,0.00,0.000,6,0.140,0.050,2833,2689,3611,0,0,0,0,0,0
$GC,6131,-0.65,-165.5,657.6,-5.7,251,6134,0.00,2.33,0.00,0.000,4,0.000,0.043,2833,1096,3607,0,0,0,0,0,0
$GC,6236,-0.65,-165.5,664.1,-6.0,253,6241,0.00,2.40,0.00,0.000,6,0.000,0.048,2822,2705,3606,0,0,0,0,0,0
$GC,6550,-0.65,-165.5,683.3,-6.3,261,6554,0.00,2.35,0.00,0.000,4,0.000,0.044,2822,1104,3604,0,0,0,0,0,0
$GC,6650,-0.65,-165.5,689.8,-6.6,263,6655,0.10,2.38,0.00,0.000,6,0.179,0.049,2837,2706,3604,0,0,0,0,0,0
$GC,6968,-0.65,-165.5,706.8,-5.3,271,6972,0.00,2.35,0.00,0.000,4,0.000,0.044,2838,1099,3601,0,0,0,0,0,0
$GC,7225,-0.65,-165.5,722.3,-6.6,276,7230,0.00,2.40,0.00,0.000,6,0.000,0.049,2827,2692,3600,0,0,0,0,0,0
$GC,7562,-0.65,-165.5,745.3,-7.1,285,7566,0.00,2.33,0.00,0.000,4,0.000,0.043,2827,1111,3598,0,0,0,0,0,0
$GC,7819,-0.65,-165.5,764.1,-6.9,290,7826,0.00,2.40,0.00,0.000,6,0.000,0.048,2815,2708,3596,0,0,0,0,0,0
$GC,8151,-0.65,-165.5,787.5,-6.9,299,8156,0.00,2.35,0.00,0.000,4,0.000,0.044,2815,1113,3594,0,0,0,0,0,0
$GC,8375,-0.65,-165.5,802.9,-7.1,304,8380,0.12,2.38,0.00,0.000,6,0.164,0.048,2839,2696,3593,0,0,0,0,0,0
$GC,8699,-0.65,-165.5,821.2,-5.5,312,8703,0.00,2.33,0.00,0.000,4,0.000,0.044,2840,1105,3592,0,0,0,0,0,0
$GC,8883,-0.65,-165.5,832.4,-5.9,316,8888,0.00,2.40,0.00,0.000,6,0.000,0.049,2829,2694,3591,0,0,0,0,0,0
$GC,9209,-0.65,-165.5,851.9,-6.0,324,9213,0.00,2.35,0.00,0.000,4,0.000,0.044,2830,1101,3589,0,0,0,0,0,0
$GC,9466,-0.65,-165.5,868.1,-6.8,329,9472,0.00,2.40,0.00,0.000,6,0.000,0.048,2817,2708,3588,0,0,0,0,0,0
$GC,9798,-0.65,-165.5,889.9,-6.7,338,9802,0.00,2.33,0.00,0.000,4,0.000,0.044,2817,1113,3586,0,0,0,0,0,0
$STATE,9941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9941,begin apogee
$GC,9946,-0.23,0.0,900.1,6.8,341,10080,0.45,0.00,131.05,1.314,6,0.122,0.000,2969,1902,2946,0,0,0,0,0,0
$STATE,10083,end apogee,CONTROL_FINISHED_OK
$STATE,10083,begin climb
$GC,10086,0.65,165.5,901.5,0.0,344,10238,0.77,2.58,144.07,1.282,4,0.068,0.054,3258,3480,2269,0,0,0,0,0,0
$GC,10321,0.65,165.5,870.2,15.3,349,10326,0.00,2.50,0.00,0.000,6,0.000,0.044,3269,1904,2258,0,0,0,0,0,0
$GC,10658,0.65,165.5,816.7,16.1,358,10662,0.00,2.42,0.00,0.000,4,0.000,0.054,3282,311,2253,0,0,0,0,0,0
$GC,10685,0.65,165.5,812.1,17.1,358,10689,0.00,2.40,0.00,0.000,6,0.000,0.046,3282,1898,2252,0,0,0,0,0,0
$GC,11015,0.65,165.5,757.5,16.4,366,11019,0.00,2.40,0.00,0.000,4,0.000,0.055,3282,3488,2249,0,0,0,0,0,0
$GC,11125,0.65,165.5,738.2,16.5,368,11131,0.10,2.42,0.00,0.000,6,0.122,0.046,3256,1903,2249,0,0,0,0,0,0
$GC,11468,0.65,165.5,690.3,13.8,377,11473,0.00,2.42,0.00,0.000,4,0.000,0.056,3263,306,2248,0,0,0,0,0,0
$GC,11507,0.65,165.5,684.9,13.9,378,11511,0.00,2.40,0.00,0.000,6,0.000,0.048,3267,1902,2247,0,0,0,0,0,0
$GC,11830,0.65,165.5,640.9,13.8,386,11835,0.00,2.40,0.00,0.000,4,0.000,0.059,3267,3489,2246,0,0,0,0,0,0
$GC,11977,0.65,165.5,618.4,15.0,389,11981,0.00,2.40,0.00,0.000,6,0.000,0.049,3279,1895,2248,0,0,0,0,0,0
$GC,12323,0.65,165.5,562.6,15.8,398,12328,0.00,2.40,0.00,0.000,4,0.000,0.057,3276,3485,2245,0,0,0,0,0,0
$GC,12345,0.65,165.5,558.8,17.2,398,12350,0.12,2.40,0.00,0.000,6,0.150,0.049,3253,1888,2243,0,0,0,0,0,0
$GC,12680,0.65,165.5,513.0,13.1,407,12685,0.00,2.38,0.00,0.000,4,0.000,0.058,3264,321,2245,0,0,0,0,0,0
$GC,12707,0.65,165.5,509.4,13.7,407,12711,0.00,2.35,0.00,0.000,6,0.000,0.046,3264,1919,2245,0,0,0,0,0,0
$GC,13044,0.65,165.5,463.3,13.1,416,13048,0.00,2.35,0.00,0.000,4,0.000,0.055,3264,3487,2244,0,0,0,0,0,0
$GC,13083,0.65,165.5,457.9,13.8,417,13087,0.00,2.38,0.00,0.000,6,0.000,0.048,3276,1900,2244,0,0,0,0,0,0
$GC,13406,0.65,165.5,412.6,13.9,425,13410,0.00,2.38,0.00,0.000,4,0.000,0.058,3288,315,2244,0,0,0,0,0,0
$GC,13483,0.65,165.5,402.5,12.7,426,13489,0.00,2.33,0.00,0.000,6,0.000,0.047,3289,1902,2244,0,0,0,0,0,0
$GC,13814,0.65,165.5,357.4,13.7,435,13818,0.00,2.40,0.00,0.000,4,0.000,0.054,3288,3499,2244,0,0,0,0,0,0
$GC,13944,0.65,165.5,338.5,15.5,438,13949,0.15,2.35,0.00,0.000,6,0.146,0.043,3253,1890,2246,0,0,0,0,0,0
$GC,14267,0.65,165.5,301.7,11.1,446,14271,0.00,2.35,0.00,0.000,4,0.000,0.056,3264,310,2244,0,0,0,0,0,0
$GC,14293,0.65,165.5,298.7,10.5,446,14298,0.00,2.38,0.00,0.000,6,0.000,0.045,3264,1905,2244,0,0,0,0,0,0
$GC,14621,0.65,165.5,261.9,11.1,462,14625,0.00,2.35,0.00,0.000,4,0.000,0.054,3260,3492,2244,0,0,0,0,0,0
$GC,14659,0.65,165.5,257.3,11.5,464,14664,0.00,2.35,0.00,0.000,6,0.000,0.047,3276,1899,2244,0,0,0,0,0,0
$GC,14985,0.65,165.5,219.2,11.2,480,14989,0.00,2.35,0.00,0.000,4,0.000,0.054,3288,305,2243,0,0,0,0,0,0
$GC,15028,0.65,165.5,214.2,10.9,482,15032,0.00,2.33,0.00,0.000,6,0.000,0.044,3289,1901,2244,0,0,0,0,0,0
$GC,15350,0.65,165.5,178.2,10.8,506,15354,0.00,2.35,0.00,0.000,4,0.000,0.058,3290,3486,2245,0,0,0,0,0,0
$GC,15451,0.65,165.5,166.5,11.7,514,15457,0.15,2.33,0.00,0.000,6,0.137,0.043,3249,1896,2248,0,0,0,0,0,0
$GC,15711,0.71,218.8,148.1,6.4,539,15756,0.00,2.42,39.78,0.715,4,0.000,0.054,3263,309,2051,0,0,0,0,0,0
$GC,15796,0.74,237.1,142.2,7.6,546,15817,0.00,2.38,15.82,0.672,6,0.000,0.043,3263,1900,1979,0,0,0,0,0,0
$GC,16072,0.81,292.5,122.9,6.3,572,16124,0.12,2.47,44.58,0.678,4,0.085,0.051,3351,3492,1752,0,0,0,0,0,0
$GC,16207,0.81,292.5,104.1,15.0,584,16214,0.12,2.45,0.00,0.000,6,0.111,0.041,3313,1894,1745,0,0,0,0,0,0
$GC,16469,0.81,292.5,79.0,8.8,609,16474,0.00,2.40,0.00,0.000,4,0.000,0.052,3321,308,1743,0,0,0,0,0,0
$GC,16508,0.81,292.5,75.5,9.0,612,16512,0.00,2.33,0.00,0.000,6,0.000,0.041,3320,1901,1742,0,0,0,0,0,0
$GC,16770,0.81,292.5,50.1,9.7,636,16774,0.00,2.35,0.00,0.000,4,0.000,0.055,3325,3486,1746,0,0,0,0,0,0
$GC,16802,0.81,292.5,46.5,10.9,638,16808,0.00,2.38,0.00,0.000,6,0.000,0.044,3335,1886,1743,0,0,0,0,0,0
$GC,17068,0.81,292.5,18.7,10.7,672,17073,0.00,2.30,0.00,0.000,4,0.000,0.052,3347,319,1742,0,0,0,0,0,0
$GC,17136,0.81,292.5,11.5,10.4,684,17142,0.12,2.30,0.00,0.000,6,0.127,0.041,3306,1911,1742,0,0,0,0,0,0
$STATE,17241,end climb,SURFACE_DEPTH_REACHED
$STATE,17241,begin surface coast
$FINISH,0.6,0.999361
$STATE,17288,end surface coast,CONTROL_FINISHED_OK
$STATE,17288,begin surface
$SM_CCo,17306,97.75,0.592,0,0,908,500.16
$SM_GC,1.05,0.00,0.00,97.75,0.000,0.000,0.592,136,2713,908,-9.09,0.37,500.16
$IRIDIUM_FIX,2043.29,12456.88,130512,191924
$TT8_MAMPS,0.058292
$HUMID,1078596764
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,25.60
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8327036928
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,58974896128
$AR_DDRIVE_SIZE,59996930048
$24V_AH,23.8,11.748
$10V_AH,10.3,8.353
$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,20.675,178.675,375.300,97.750,0.000,24.406,34.157,153.085,0.000,0.000,12.798,1520.847,12861.107,614.012,2521.118,223.148,33.359,1831.311,0.000,2243.490,0.000,0.542,0.000
$DEVICE_MAMPS,227.799,59.059,1313.871,592.124,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,480.593,0.000,0.000,0.000,0.000,0.000,0.000,17494.199,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.493,0.000,0.000
$MEM,354616
$DATA_FILE_SIZE,26732,711
$CAP_FILE_SIZE,161872,0
$CFSIZE,260165632,218480640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191110,112001,2053.394,12458.854,37,1.5,37,-2.7