version: 66.07
glider: 500
mission: 5
dive: 201
start: 12 18 110 0 17 57
data:
$ID,500
$MISSION,5
$DIVE,201
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,471
$T_MISSION,720
$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,160
$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,-124914.98
$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,3100
$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,2190
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2915
$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
$GPS1,181210,001037,2054.150,12654.904,33,1.2,33,-2.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.4
$GPS2,181210,001702,2054.127,12654.850,12,1.7,12,-2.8
$SPEED_LIMITS,0.121,0.235
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.176
$KALMAN_X,-283831.9,-41.9,414.5,660143.2,-4266.7
$KALMAN_Y,111797.1,272.6,-476.9,-140386.4,-147.1
$MHEAD_RNG_PITCHd_Wd,45.5,249133,-11.3,-7.006
$D_GRID,990
$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
$STATE,22,begin dive
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$GC,16486,-0.57,-155.7,884.1,-3.7,552,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2193,3507,0,0,0,0,0,0
$GC,16810,-0.57,-155.7,894.6,-3.0,560,16811,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2193,3506,0,0,0,0,0,0
$GC,17135,-0.57,-155.7,903.1,-2.5,568,17139,0.00,2.45,0.00,0.000,4,0.000,0.055,2875,3775,3506,0,0,0,0,0,0
$GC,17201,-0.57,-155.7,905.0,-3.4,569,17206,0.12,2.35,0.00,0.000,6,0.131,0.038,2911,2190,3505,0,0,0,0,0,0
$GC,17537,-0.57,-155.7,913.0,-2.5,578,17541,0.00,2.35,0.00,0.000,4,0.000,0.050,2915,616,3505,0,0,0,0,0,0
$GC,17604,-0.57,-155.7,915.0,-2.6,579,17608,0.00,2.35,0.00,0.000,6,0.000,0.045,2905,2198,3504,0,0,0,0,0,0
$GC,17945,-0.57,-155.7,923.1,-2.2,588,17946,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2198,3504,0,0,0,0,0,0
$GC,18270,-0.57,-155.7,929.5,-1.9,596,18274,0.00,2.42,0.00,0.000,4,0.000,0.055,2893,3783,3503,0,0,0,0,0,0
$GC,18348,-0.57,-155.7,931.3,-3.2,597,18354,0.00,2.35,0.00,0.000,6,0.000,0.039,2892,2194,3503,0,0,0,0,0,0
$GC,18679,-0.57,-155.7,939.6,-2.7,606,18683,0.00,2.38,0.00,0.000,4,0.000,0.048,2893,612,3503,0,0,0,0,0,0
$GC,18722,-0.57,-155.7,941.1,-3.6,607,18727,0.12,2.35,0.00,0.000,6,0.143,0.044,2919,2196,3504,0,0,0,0,0,0
$GC,19047,-0.57,-155.7,950.1,-2.8,615,19050,0.00,2.38,0.00,0.000,4,0.000,0.046,2920,611,3503,0,0,0,0,0,0
$GC,19107,-0.57,-155.7,952.1,-2.8,616,19111,0.00,2.38,0.00,0.000,6,0.000,0.045,2910,2197,3503,0,0,0,0,0,0
$GC,19420,-0.57,-155.7,960.4,-2.7,624,19424,0.00,2.38,0.00,0.000,4,0.000,0.045,2910,600,3503,0,0,0,0,0,0
$GC,19551,-0.57,-155.7,963.5,-2.0,627,19555,0.00,2.38,0.00,0.000,6,0.000,0.046,2898,2196,3503,0,0,0,0,0,0
$GC,19880,-0.57,-155.7,970.2,-2.0,635,19881,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2193,3502,0,0,0,0,0,0
$GC,20206,-0.57,-155.7,976.9,-2.1,643,20209,0.00,2.38,0.00,0.000,4,0.000,0.047,2898,613,3502,0,0,0,0,0,0
$GC,20289,-0.57,-155.7,979.1,-3.1,644,20297,0.10,2.38,0.00,0.000,6,0.154,0.044,2917,2197,3502,0,0,0,0,0,0
$GC,20620,-0.57,-155.7,986.1,-2.2,653,20621,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2197,3502,0,0,0,0,0,0
$STATE,20780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,20780,begin apogee
$GC,20786,-0.23,0.0,990.1,2.4,657,20916,0.30,0.00,126.97,1.418,6,0.094,0.000,3026,1846,2917,0,0,0,0,0,0
$STATE,20919,end apogee,CONTROL_FINISHED_OK
$STATE,20919,begin climb
$GC,20920,0.57,155.7,988.6,0.0,660,21076,0.70,2.83,146.50,1.397,4,0.068,0.054,3284,3436,2277,0,0,0,0,0,0
$GC,21143,0.57,155.7,954.9,19.1,665,21148,0.00,2.55,0.00,0.000,6,0.000,0.041,3295,1880,2270,0,0,0,0,0,0
$GC,21491,0.57,155.7,892.3,17.9,674,21495,0.00,2.47,0.00,0.000,4,0.000,0.053,3292,3443,2262,0,0,0,0,0,0
$GC,21551,0.57,155.7,880.5,19.7,675,21556,0.00,2.50,0.00,0.000,6,0.000,0.044,3307,1861,2261,0,0,0,0,0,0
$GC,21899,0.57,155.7,812.7,19.5,684,21904,0.00,2.50,0.00,0.000,4,0.000,0.054,3308,3455,2260,0,0,0,0,0,0
$GC,21915,0.57,155.7,809.4,20.1,684,21921,0.12,2.47,0.00,0.000,6,0.155,0.044,3285,1849,2259,0,0,0,0,0,0
$GC,22257,0.57,155.7,748.0,17.8,693,22261,0.00,2.47,0.00,0.000,4,0.000,0.056,3284,3441,2258,0,0,0,0,0,0
$GC,22288,0.57,155.7,741.9,18.8,693,22295,0.00,2.45,0.00,0.000,6,0.000,0.046,3295,1867,2258,0,0,0,0,0,0
$GC,22620,0.57,155.7,681.2,18.2,702,22621,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1867,2256,0,0,0,0,0,0
$GC,22944,0.57,155.7,626.3,16.6,710,22949,0.00,2.45,0.00,0.000,4,0.000,0.056,3295,3456,2253,0,0,0,0,0,0
$GC,22993,0.57,155.7,617.1,18.4,711,22998,0.00,2.47,0.00,0.000,6,0.000,0.044,3309,1858,2254,0,0,0,0,0,0
$GC,23313,0.57,155.7,559.7,18.0,719,23317,0.00,2.42,0.00,0.000,4,0.000,0.054,3311,3442,2256,0,0,0,0,0,0
$GC,23339,0.57,155.7,554.4,18.5,719,23344,0.10,2.45,0.00,0.000,6,0.125,0.047,3283,1861,2255,0,0,0,0,0,0
$GC,23676,0.57,155.7,503.5,14.7,728,23680,0.00,2.42,0.00,0.000,4,0.000,0.056,3294,271,2255,0,0,0,0,0,0
$GC,23708,0.57,155.7,498.6,12.5,728,23714,0.00,2.40,0.00,0.000,6,0.000,0.048,3294,1864,2254,0,0,0,0,0,0
$GC,24038,0.57,155.7,448.3,15.1,737,24043,0.00,2.45,0.00,0.000,4,0.000,0.058,3292,3462,2254,0,0,0,0,0,0
$GC,24128,0.57,155.7,433.8,15.6,739,24133,0.00,2.45,0.00,0.000,6,0.000,0.046,3306,1843,2252,0,0,0,0,0,0
$GC,24447,0.57,155.7,382.3,16.2,747,24451,0.00,2.47,0.00,0.000,4,0.000,0.054,3305,3458,2253,0,0,0,0,0,0
$GC,24473,0.57,155.7,377.3,18.0,747,24478,0.12,2.45,0.00,0.000,6,0.153,0.044,3282,1853,2257,0,0,0,0,0,0
$GC,24809,0.57,155.7,326.9,14.4,756,24813,0.00,2.47,0.00,0.000,4,0.000,0.054,3282,3458,2253,0,0,0,0,0,0
$GC,24852,0.57,155.7,320.3,15.3,757,24857,0.00,2.45,0.00,0.000,6,0.000,0.044,3293,1854,2253,0,0,0,0,0,0
$GC,25173,0.57,155.7,277.0,13.0,769,25174,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1854,2253,0,0,0,0,0,0
$GC,25482,0.57,155.7,238.5,11.8,784,25486,0.00,2.45,0.00,0.000,4,0.000,0.051,3289,3462,2253,0,0,0,0,0,0
$GC,25549,0.57,155.7,229.5,15.0,787,25553,0.00,2.42,0.00,0.000,6,0.000,0.043,3305,1862,2252,0,0,0,0,0,0
$GC,25870,0.57,155.7,191.5,9.6,806,25874,0.00,2.42,0.00,0.000,4,0.000,0.051,3317,261,2253,0,0,0,0,0,0
$GC,25988,0.57,155.7,179.6,10.6,816,25993,0.12,2.38,0.00,0.000,6,0.136,0.041,3276,1875,2253,0,0,0,0,0,0
$GC,26248,0.57,155.7,158.5,8.0,840,26252,0.00,2.35,0.00,0.000,4,0.000,0.051,3276,3443,2254,0,0,0,0,0,0
$GC,26295,0.57,155.7,154.8,8.0,844,26299,0.00,2.38,0.00,0.000,6,0.000,0.041,3287,1846,2254,0,0,0,0,0,0
$GC,26556,0.58,163.8,136.9,6.8,868,26560,0.00,2.45,0.00,0.000,4,0.000,0.051,3286,3451,2255,0,0,0,0,0,0
$GC,26664,0.59,174.6,129.3,6.7,877,26685,0.00,2.35,13.00,0.653,6,0.000,0.040,3298,1861,2203,0,0,0,0,0,0
$GC,26939,0.59,174.6,110.9,7.0,903,26943,0.00,2.40,0.00,0.000,4,0.000,0.050,3299,3441,2203,0,0,0,0,0,0
$GC,26990,0.59,174.6,106.9,8.6,907,26994,0.00,2.35,0.00,0.000,6,0.000,0.041,3310,1855,2202,0,0,0,0,0,0
$GC,27251,0.59,174.6,85.3,7.3,931,27255,0.00,2.38,0.00,0.000,4,0.000,0.050,3323,271,2203,0,0,0,0,0,0
$GC,27278,0.60,185.9,83.4,6.7,933,27294,0.00,2.33,10.98,0.597,6,0.000,0.041,3323,1856,2157,0,0,0,0,0,0
$GC,27548,0.60,185.9,60.9,8.7,958,27552,0.00,2.40,0.00,0.000,4,0.000,0.049,3328,3456,2157,0,0,0,0,0,0
$GC,27643,0.60,185.9,50.0,10.6,966,27648,0.12,2.35,0.00,0.000,6,0.137,0.038,3295,1853,2159,0,0,0,0,0,0
$GC,27903,0.72,279.5,31.7,4.2,990,27985,0.10,2.47,75.60,0.627,4,0.100,0.047,3370,3457,1774,0,0,0,0,0,0
$GC,28004,0.72,279.5,21.2,12.9,1006,28010,0.17,2.45,0.00,0.000,6,0.135,0.041,3331,1858,1769,0,0,0,0,0,0
$STATE,28149,end climb,SURFACE_DEPTH_REACHED
$STATE,28149,begin surface coast
$FINISH,0.5,1.022781
$STATE,28179,end surface coast,CONTROL_FINISHED_OK
$STATE,28179,begin surface
$SM_CCo,28197,106.82,0.630,0,0,874,500.16
$SM_GC,1.17,0.00,0.00,106.82,0.000,0.000,0.630,107,2199,874,-9.36,0.37,500.16
$IRIDIUM_FIX,2045.60,12654.04,110612,101023
$TT8_MAMPS,0.059059
$HUMID,1078558055
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,25.70
$XPDR_PINGS,1
$AR_POSTDIVE_SAMPLENUM,2
$AR_CDRIVE_FREE,8323072000
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,55662280704
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.5,33.369
$10V_AH,10.1,25.756
$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,22.050,271.875,373.050,106.825,0.000,25.687,33.353,199.681,0.250,0.000,13.936,2102.185,22764.742,693.525,2820.730,309.320,33.369,2127.273,0.000,2501.552,0.000,0.542,0.000
$DEVICE_MAMPS,222.430,57.525,1418.183,629.707,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,706.661,0.000,0.000,0.000,0.000,0.000,0.000,28267.600,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.295,0.000,0.000
$MEM,354660
$DATA_FILE_SIZE,36695,1037
$CAP_FILE_SIZE,227044,0
$CFSIZE,260165632,207716352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181210,081106,2056.456,12655.766,28,1.1,28,-2.8