version: 66.07
glider: 500
mission: 5
dive: 242
start: 12 31 110 8 24 43
data:
$ID,500
$MISSION,5
$DIVE,242
$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,550
$T_MISSION,1020
$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,-125579.99
$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,3070
$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,31
$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,2995
$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
$GPS1,311210,081624,2145.410,12655.958,36,1.6,53,-3.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.3
$GPS2,311210,082349,2145.323,12655.940,10,1.5,15,-3.0
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.030,0.222
$KALMAN_X,-436251.8,-988.2,267.2,815537.6,-752.0
$KALMAN_Y,-7555.5,72.5,22.3,73488.9,-4690.2
$MHEAD_RNG_PITCHd_Wd,10.7,154446,-9.2,-6.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,15269,-0.50,-155.7,909.2,-4.2,533,15273,0.10,2.40,0.00,0.000,4,0.146,0.045,2913,604,3590,0,0,0,0,0,0
$GC,15312,-0.50,-155.7,911.2,-4.8,534,15316,0.00,2.38,0.00,0.000,6,0.000,0.046,2902,2197,3590,0,0,0,0,0,0
$GC,15638,-0.50,-155.7,922.9,-3.5,542,15642,0.00,2.40,0.00,0.000,4,0.000,0.045,2902,612,3589,0,0,0,0,0,0
$GC,15705,-0.50,-155.7,925.7,-3.9,543,15709,0.00,2.38,0.00,0.000,6,0.000,0.046,2892,2195,3589,0,0,0,0,0,0
$GC,16048,-0.50,-155.7,936.8,-3.0,552,16052,0.00,2.45,0.00,0.000,4,0.000,0.057,2880,3771,3588,0,0,0,0,0,0
$GC,16075,-0.50,-155.7,937.7,-3.7,552,16079,0.00,2.38,0.00,0.000,6,0.000,0.037,2879,2189,3588,0,0,0,0,0,0
$GC,16406,-0.50,-155.7,948.8,-3.5,560,16411,0.10,2.40,0.00,0.000,4,0.148,0.049,2913,611,3588,0,0,0,0,0,0
$GC,16457,-0.50,-155.7,950.7,-3.5,561,16461,0.00,2.35,0.00,0.000,6,0.000,0.046,2903,2193,3588,0,0,0,0,0,0
$GC,16770,-0.50,-155.7,961.6,-3.6,569,16774,0.00,2.38,0.00,0.000,4,0.000,0.047,2903,602,3587,0,0,0,0,0,0
$GC,16818,-0.50,-155.7,963.9,-4.6,570,16823,0.00,2.38,0.00,0.000,6,0.000,0.046,2892,2196,3587,0,0,0,0,0,0
$GC,17139,-0.50,-155.7,977.4,-4.3,578,17143,0.00,2.38,0.00,0.000,4,0.000,0.046,2892,613,3587,0,0,0,0,0,0
$GC,17166,-0.50,-155.7,978.9,-5.4,578,17170,0.00,2.35,0.00,0.000,6,0.000,0.045,2881,2195,3586,0,0,0,0,0,0
$STATE,17425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17425,begin apogee
$GC,17431,-0.23,0.0,990.8,4.6,585,17562,0.32,0.00,128.10,1.393,6,0.096,0.000,2996,1860,2994,0,0,0,0,0,0
$STATE,17563,end apogee,CONTROL_FINISHED_OK
$STATE,17563,begin climb
$GC,17565,0.50,155.7,991.6,0.0,588,17720,0.62,2.70,146.50,1.358,4,0.071,0.054,3226,3435,2358,0,0,0,0,0,0
$GC,17764,0.50,155.7,972.7,11.3,592,17771,0.00,2.60,0.00,0.000,6,0.000,0.042,3238,1855,2350,0,0,0,0,0,0
$GC,18097,0.50,155.7,932.5,12.1,601,18101,0.00,2.53,0.00,0.000,4,0.000,0.055,3251,264,2341,0,0,0,0,0,0
$GC,18123,0.50,155.7,929.2,11.5,601,18127,0.00,2.50,0.00,0.000,6,0.000,0.046,3251,1856,2340,0,0,0,0,0,0
$GC,18460,0.50,155.7,884.6,13.3,610,18464,0.00,2.47,0.00,0.000,4,0.000,0.055,3251,3448,2337,0,0,0,0,0,0
$GC,18509,0.50,155.7,877.5,14.8,611,18514,0.12,2.45,0.00,0.000,6,0.139,0.044,3225,1854,2336,0,0,0,0,0,0
$GC,18822,0.50,155.7,841.5,11.5,619,18826,0.00,2.45,0.00,0.000,4,0.000,0.056,3236,266,2336,0,0,0,0,0,0
$GC,18843,0.50,155.7,838.9,11.4,619,18848,0.00,2.42,0.00,0.000,6,0.000,0.046,3235,1875,2335,0,0,0,0,0,0
$GC,19179,0.50,155.7,799.1,11.8,628,19184,0.00,2.40,0.00,0.000,4,0.000,0.054,3236,3445,2334,0,0,0,0,0,0
$GC,19256,0.50,155.7,789.4,12.0,629,19263,0.00,2.45,0.00,0.000,6,0.000,0.044,3247,1862,2334,0,0,0,0,0,0
$GC,19588,0.50,155.7,748.2,12.7,638,19589,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1862,2333,0,0,0,0,0,0
$GC,19913,0.50,155.7,705.9,13.2,646,19917,0.00,2.47,0.00,0.000,4,0.000,0.056,3259,262,2333,0,0,0,0,0,0
$GC,19929,0.50,155.7,703.8,13.2,646,19933,0.00,2.42,0.00,0.000,6,0.000,0.047,3259,1861,2332,0,0,0,0,0,0
$GC,20271,0.50,155.7,654.9,14.3,655,20275,0.00,2.47,0.00,0.000,4,0.000,0.058,3259,3456,2333,0,0,0,0,0,0
$GC,20342,0.50,155.7,643.7,16.5,656,20347,0.10,2.47,0.00,0.000,6,0.110,0.044,3232,1861,2332,0,0,0,0,0,0
$GC,20681,0.50,155.7,602.9,11.8,665,20685,0.00,2.45,0.00,0.000,4,0.000,0.056,3244,269,2332,0,0,0,0,0,0
$GC,20702,0.50,155.7,599.9,11.6,665,20707,0.00,2.45,0.00,0.000,6,0.000,0.048,3244,1854,2332,0,0,0,0,0,0
$GC,21046,0.50,155.7,560.2,11.3,674,21050,0.00,2.50,0.00,0.000,4,0.000,0.060,3244,3464,2331,0,0,0,0,0,0
$GC,21162,0.50,155.7,545.9,11.5,676,21166,0.00,2.50,0.00,0.000,6,0.000,0.048,3256,1856,2331,0,0,0,0,0,0
$GC,21499,0.50,155.7,506.7,11.6,685,21504,0.00,2.50,0.00,0.000,4,0.000,0.057,3256,3459,2331,0,0,0,0,0,0
$GC,21532,0.50,155.7,502.5,13.2,685,21539,0.10,2.47,0.00,0.000,6,0.106,0.045,3212,1862,2330,0,0,0,0,0,0
$GC,21864,0.50,155.7,472.5,8.9,694,21868,0.00,2.45,0.00,0.000,4,0.000,0.056,3224,272,2330,0,0,0,0,0,0
$GC,21902,0.50,155.7,469.1,9.4,695,21907,0.00,2.42,0.00,0.000,6,0.000,0.048,3224,1885,2330,0,0,0,0,0,0
$GC,22227,0.50,155.7,438.1,9.5,703,22231,0.00,2.40,0.00,0.000,4,0.000,0.057,3224,3451,2331,0,0,0,0,0,0
$GC,22304,0.50,155.7,430.0,11.0,704,22310,0.00,2.42,0.00,0.000,6,0.000,0.044,3236,1853,2330,0,0,0,0,0,0
$GC,22635,0.50,155.7,396.7,10.1,713,22639,0.00,2.42,0.00,0.000,4,0.000,0.055,3248,274,2330,0,0,0,0,0,0
$GC,22650,0.50,155.7,394.9,10.6,713,22654,0.00,2.38,0.00,0.000,6,0.000,0.044,3248,1858,2330,0,0,0,0,0,0
$GC,22999,0.50,155.7,356.5,11.0,722,23003,0.00,2.42,0.00,0.000,4,0.000,0.054,3248,3445,2330,0,0,0,0,0,0
$GC,23088,0.50,155.7,345.6,11.1,724,23093,0.00,2.45,0.00,0.000,6,0.000,0.044,3260,1844,2330,0,0,0,0,0,0
$GC,23408,0.50,155.7,310.1,10.8,732,23412,0.00,2.40,0.00,0.000,4,0.000,0.055,3272,279,2330,0,0,0,0,0,0
$GC,23462,0.50,155.7,304.3,11.5,733,23467,0.10,2.40,0.00,0.000,6,0.095,0.043,3230,1864,2330,0,0,0,0,0,0
$GC,23778,0.50,155.7,282.5,6.6,747,23783,0.00,2.42,0.00,0.000,4,0.000,0.053,3230,3456,2330,0,0,0,0,0,0
$GC,23907,0.50,155.7,271.9,8.5,753,23911,0.00,2.38,0.00,0.000,6,0.000,0.040,3241,1860,2331,0,0,0,0,0,0
$GC,24233,0.50,155.7,241.6,9.8,769,24237,0.00,2.42,0.00,0.000,4,0.000,0.051,3241,3448,2332,0,0,0,0,0,0
$GC,24254,0.50,155.7,239.4,8.3,770,24259,0.00,2.40,0.00,0.000,6,0.000,0.043,3253,1854,2332,0,0,0,0,0,0
$GC,24575,0.50,155.7,207.6,9.3,786,24576,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1853,2332,0,0,0,0,0,0
$GC,24890,0.50,155.7,180.1,8.0,811,24895,0.00,2.40,0.00,0.000,4,0.000,0.053,3265,271,2333,0,0,0,0,0,0
$GC,24935,0.50,155.7,176.1,10.4,814,24941,0.12,2.35,0.00,0.000,6,0.119,0.041,3222,1874,2334,0,0,0,0,0,0
$GC,25196,0.50,160.9,159.5,5.9,839,25200,0.00,2.40,0.00,0.000,4,0.000,0.054,3221,3447,2334,0,0,0,0,0,0
$GC,25268,0.50,160.9,154.6,6.4,845,25273,0.00,2.40,0.00,0.000,6,0.000,0.041,3231,1850,2334,0,0,0,0,0,0
$GC,25529,0.53,184.1,139.7,5.4,869,25552,0.00,0.00,20.90,0.667,6,0.000,0.000,3231,1850,2244,0,0,0,0,0,0
$GC,25804,0.53,184.1,124.2,6.1,895,25805,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1850,2241,0,0,0,0,0,0
$GC,26060,0.58,220.4,109.8,5.1,919,26095,0.00,2.47,30.55,0.660,4,0.000,0.051,3231,3444,2095,0,0,0,0,0,0
$GC,26124,0.64,268.1,106.2,4.8,924,26171,0.10,2.42,39.60,0.653,6,0.096,0.042,3314,1856,1901,0,0,0,0,0,0
$GC,26425,0.64,268.1,78.7,9.8,953,26426,0.12,0.00,0.00,0.000,6,0.121,0.000,3271,1856,1893,0,0,0,0,0,0
$GC,26680,0.66,285.9,63.9,5.5,977,26701,0.00,2.47,14.43,0.591,4,0.000,0.052,3282,269,1828,0,0,0,0,0,0
$GC,26724,0.67,296.9,61.2,5.7,981,26739,0.00,2.35,10.43,0.553,6,0.000,0.041,3282,1856,1783,0,0,0,0,0,0
$GC,26995,0.67,296.9,44.1,6.1,1006,27000,0.00,2.45,0.00,0.000,4,0.000,0.051,3282,3450,1777,0,0,0,0,0,0
$GC,27034,0.67,296.9,40.1,10.2,1009,27039,0.00,2.42,0.00,0.000,6,0.000,0.040,3292,1846,1777,0,0,0,0,0,0
$GC,27304,0.67,296.9,11.4,10.9,1048,27310,0.00,2.38,0.00,0.000,4,0.000,0.053,3304,278,1777,0,0,0,0,0,0
$GC,27338,0.67,296.9,7.9,10.3,1054,27344,0.00,2.33,0.00,0.000,6,0.000,0.041,3304,1861,1774,0,0,0,0,0,0
$STATE,27387,end climb,SURFACE_DEPTH_REACHED
$STATE,27387,begin surface coast
$FINISH,0.4,1.010807
$STATE,27422,end surface coast,CONTROL_FINISHED_OK
$STATE,27422,begin surface
$SM_CCo,27438,100.12,0.568,0,0,955,500.16
$SM_GC,1.25,0.00,0.00,100.12,0.000,0.000,0.568,103,2210,955,-9.27,0.57,500.16
$IRIDIUM_FIX,2136.49,12655.91,240612,181808
$TT8_MAMPS,0.028379
$HUMID,1078653539
$INTERNAL_PRESSURE,9.13976
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,22.4,40.256
$10V_AH,10.1,33.709
$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,21.450,302.850,390.500,100.125,0.000,30.828,34.849,236.833,0.000,0.000,16.922,2317.973,21669.289,718.305,2868.819,384.969,33.387,2175.807,0.000,2521.204,0.000,0.541,0.000
$DEVICE_MAMPS,223.964,59.826,1392.872,568.347,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,728.960,0.000,0.000,0.000,0.000,0.000,0.000,503.576,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354600
$DATA_FILE_SIZE,36702,1069
$CAP_FILE_SIZE,302754,0
$CFSIZE,260165632,202985472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311210,160455,2147.476,12655.859,35,1.1,35,-3.0