version: 66.07
glider: 500
mission: 5
dive: 277
start: 1 11 111 23 21 44
data:
$ID,500
$MISSION,5
$DIVE,277
$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,400
$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,-126122.29
$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,2095
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,38
$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
$GPS1,110111,231124,2213.245,12702.732,39,0.9,39,-3.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.6
$GPS2,110111,232050,2213.225,12702.710,11,1.2,11,-3.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.178,0.121
$KALMAN_X,-594387.1,285.4,-198.1,984552.3,-5807.7
$KALMAN_Y,-188540.1,-1568.0,2031.2,305774.8,-784.5
$MHEAD_RNG_PITCHd_Wd,58.9,102175,-9.9,-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
$STATE,15,begin dive
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$GC,15789,-0.52,-155.7,900.5,-4.9,538,15794,0.00,2.40,0.00,0.000,4,0.000,0.048,2886,518,3554,0,0,0,0,0,0
$GC,15822,-0.52,-155.7,902.4,-5.6,538,15828,0.00,2.38,0.00,0.000,6,0.000,0.046,2874,2100,3554,0,0,0,0,0,0
$GC,16154,-0.52,-155.7,917.9,-4.5,547,16159,0.00,2.42,0.00,0.000,4,0.000,0.053,2862,3676,3554,0,0,0,0,0,0
$GC,16204,-0.52,-155.7,920.4,-5.0,548,16209,0.12,2.35,0.00,0.000,6,0.118,0.038,2904,2093,3554,0,0,0,0,0,0
$GC,16519,-0.52,-155.7,930.6,-3.2,556,16523,0.00,2.40,0.00,0.000,4,0.000,0.049,2904,519,3554,0,0,0,0,0,0
$GC,16568,-0.52,-155.7,932.5,-3.3,557,16572,0.00,2.35,0.00,0.000,6,0.000,0.046,2895,2097,3553,0,0,0,0,0,0
$GC,16888,-0.52,-155.7,943.0,-3.2,565,16892,0.00,2.42,0.00,0.000,4,0.000,0.054,2883,3675,3553,0,0,0,0,0,0
$GC,16972,-0.52,-155.7,946.0,-3.3,567,16976,0.00,2.38,0.00,0.000,6,0.000,0.038,2883,2093,3552,0,0,0,0,0,0
$GC,17299,-0.52,-155.7,955.9,-2.9,575,17300,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2093,3552,0,0,0,0,0,0
$GC,17620,-0.52,-155.7,966.0,-3.2,583,17625,0.00,2.45,0.00,0.000,4,0.000,0.055,2870,3679,3552,0,0,0,0,0,0
$GC,17661,-0.52,-155.7,967.4,-3.5,584,17666,0.10,2.38,0.00,0.000,6,0.129,0.039,2904,2090,3551,0,0,0,0,0,0
$GC,17986,-0.52,-155.7,978.7,-3.6,592,17990,0.00,2.38,0.00,0.000,4,0.000,0.048,2904,518,3551,0,0,0,0,0,0
$GC,18023,-0.52,-155.7,980.3,-4.2,592,18030,0.00,2.38,0.00,0.000,6,0.000,0.046,2894,2096,3551,0,0,0,0,0,0
$STATE,18271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,18271,begin apogee
$GC,18278,-0.23,0.0,990.9,4.4,599,18403,0.30,0.00,122.72,1.429,6,0.091,0.000,3003,1880,2995,0,0,0,0,0,0
$STATE,18404,end apogee,CONTROL_FINISHED_OK
$STATE,18404,begin climb
$GC,18406,0.52,155.7,991.2,0.0,602,18564,0.62,2.72,149.10,1.378,4,0.065,0.054,3237,3458,2360,0,0,0,0,0,0
$GC,18624,0.52,155.7,966.6,14.1,607,18628,0.00,2.58,0.00,0.000,6,0.000,0.041,3249,1883,2351,0,0,0,0,0,0
$GC,18944,0.52,155.7,921.5,14.2,615,18945,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1883,2342,0,0,0,0,0,0
$GC,19268,0.52,155.7,875.8,14.0,623,19272,0.00,2.42,0.00,0.000,4,0.000,0.054,3249,3462,2339,0,0,0,0,0,0
$GC,19295,0.52,155.7,871.9,14.3,623,19299,0.00,2.42,0.00,0.000,6,0.000,0.044,3260,1876,2339,0,0,0,0,0,0
$GC,19625,0.52,155.7,825.7,14.1,631,19629,0.00,2.45,0.00,0.000,4,0.000,0.056,3273,284,2338,0,0,0,0,0,0
$GC,19664,0.52,155.7,820.1,12.9,632,19669,0.12,2.40,0.00,0.000,6,0.131,0.049,3232,1875,2337,0,0,0,0,0,0
$GC,19991,0.52,155.7,783.5,11.3,640,19995,0.00,2.42,0.00,0.000,4,0.000,0.054,3232,3470,2336,0,0,0,0,0,0
$GC,20096,0.52,155.7,769.8,12.4,642,20101,0.00,2.45,0.00,0.000,6,0.000,0.044,3243,1871,2335,0,0,0,0,0,0
$GC,20439,0.52,155.7,726.6,12.6,651,20443,0.00,2.42,0.00,0.000,4,0.000,0.058,3255,291,2335,0,0,0,0,0,0
$GC,20478,0.52,155.7,721.6,13.0,652,20483,0.00,2.40,0.00,0.000,6,0.000,0.048,3256,1885,2335,0,0,0,0,0,0
$GC,20804,0.52,155.7,678.2,13.5,660,20808,0.00,2.45,0.00,0.000,4,0.000,0.056,3255,3477,2334,0,0,0,0,0,0
$GC,20909,0.52,155.7,662.7,14.1,662,20913,0.00,2.47,0.00,0.000,6,0.000,0.042,3268,1841,2334,0,0,0,0,0,0
$GC,21259,0.52,155.7,615.7,13.3,671,21263,0.00,2.50,0.00,0.000,4,0.000,0.054,3268,3468,2333,0,0,0,0,0,0
$GC,21279,0.52,155.7,612.4,13.5,671,21285,0.15,2.45,0.00,0.000,6,0.140,0.045,3233,1884,2333,0,0,0,0,0,0
$GC,21624,0.52,155.7,576.9,10.1,680,21625,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1884,2333,0,0,0,0,0,0
$GC,21947,0.52,155.7,544.2,10.2,688,21951,0.00,2.45,0.00,0.000,4,0.000,0.054,3245,283,2333,0,0,0,0,0,0
$GC,21973,0.52,155.7,541.2,9.7,688,21978,0.00,2.45,0.00,0.000,6,0.000,0.048,3245,1891,2332,0,0,0,0,0,0
$GC,22311,0.52,155.7,502.4,12.0,697,22315,0.00,2.42,0.00,0.000,4,0.000,0.054,3245,3474,2332,0,0,0,0,0,0
$GC,22416,0.52,155.7,488.4,12.5,699,22420,0.00,2.45,0.00,0.000,6,0.000,0.043,3257,1881,2332,0,0,0,0,0,0
$GC,22765,0.52,155.7,444.8,12.7,708,22769,0.00,2.42,0.00,0.000,4,0.000,0.054,3257,3463,2332,0,0,0,0,0,0
$GC,22785,0.52,155.7,441.9,13.1,708,22790,0.10,2.45,0.00,0.000,6,0.148,0.045,3239,1882,2332,0,0,0,0,0,0
$GC,23129,0.52,155.7,404.5,10.6,717,23130,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1882,2332,0,0,0,0,0,0
$GC,23452,0.52,155.7,371.8,10.0,725,23456,0.00,2.42,0.00,0.000,4,0.000,0.052,3238,3468,2332,0,0,0,0,0,0
$GC,23485,0.52,155.7,368.1,10.2,725,23491,0.00,2.47,0.00,0.000,6,0.000,0.043,3249,1873,2332,0,0,0,0,0,0
$GC,23817,0.52,155.7,333.3,10.4,734,23821,0.00,2.45,0.00,0.000,4,0.000,0.052,3249,3474,2332,0,0,0,0,0,0
$GC,23888,0.52,155.7,325.3,10.8,735,23892,0.00,2.45,0.00,0.000,6,0.000,0.042,3261,1879,2332,0,0,0,0,0,0
$GC,24206,0.52,155.7,290.8,10.8,745,24211,0.00,2.42,0.00,0.000,4,0.000,0.054,3274,292,2332,0,0,0,0,0,0
$GC,24273,0.52,155.7,283.2,9.5,748,24278,0.12,2.38,0.00,0.000,6,0.125,0.044,3231,1881,2333,0,0,0,0,0,0
$GC,24599,0.52,155.7,259.3,6.8,764,24604,0.00,2.40,0.00,0.000,4,0.000,0.051,3230,3473,2333,0,0,0,0,0,0
$GC,24671,0.52,155.7,253.3,9.1,767,24675,0.00,2.45,0.00,0.000,6,0.000,0.041,3242,1869,2334,0,0,0,0,0,0
$GC,24992,0.52,155.7,225.5,9.6,783,24996,0.00,2.45,0.00,0.000,4,0.000,0.051,3241,3476,2334,0,0,0,0,0,0
$GC,25019,0.52,155.7,222.8,10.9,784,25023,0.00,2.45,0.00,0.000,6,0.000,0.042,3253,1884,2335,0,0,0,0,0,0
$GC,25342,0.52,155.7,194.6,7.9,803,25346,0.00,2.45,0.00,0.000,4,0.000,0.051,3265,287,2335,0,0,0,0,0,0
$GC,25374,0.52,155.7,191.7,8.2,805,25380,0.00,2.40,0.00,0.000,6,0.000,0.044,3265,1883,2336,0,0,0,0,0,0
$GC,25635,0.52,155.7,168.3,9.0,830,25639,0.00,2.40,0.00,0.000,4,0.000,0.051,3266,3462,2336,0,0,0,0,0,0
$GC,25756,0.52,155.7,156.7,8.5,840,25763,0.08,2.42,0.00,0.000,6,0.104,0.040,3227,1877,2337,0,0,0,0,0,0
$GC,26019,0.57,193.2,141.9,4.9,865,26053,0.00,2.45,29.30,0.719,4,0.000,0.051,3226,3473,2207,0,0,0,0,0,0
$GC,26077,0.60,221.1,138.9,5.2,870,26107,0.00,2.45,24.08,0.716,6,0.000,0.040,3236,1879,2093,0,0,0,0,0,0
$GC,26369,0.67,275.6,122.9,4.5,898,26421,0.12,2.53,45.60,0.722,4,0.081,0.052,3334,283,1870,0,0,0,0,0,0
$GC,26468,0.67,275.6,112.4,10.7,907,26473,0.15,2.40,0.00,0.000,6,0.110,0.044,3284,1876,1865,0,0,0,0,0,0
$GC,26728,0.67,275.6,91.6,8.3,931,26732,0.00,2.42,0.00,0.000,4,0.000,0.049,3283,3470,1862,0,0,0,0,0,0
$GC,26783,0.67,275.6,86.5,9.0,935,26789,0.00,2.42,0.00,0.000,6,0.000,0.040,3294,1868,1861,0,0,0,0,0,0
$GC,27045,0.67,275.6,60.1,9.2,960,27049,0.00,2.45,0.00,0.000,4,0.000,0.055,3306,298,1861,0,0,0,0,0,0
$GC,27083,0.67,275.6,56.2,9.0,963,27087,0.00,2.35,0.00,0.000,6,0.000,0.045,3306,1893,1860,0,0,0,0,0,0
$GC,27345,0.67,275.6,28.5,12.0,987,27349,0.00,2.38,0.00,0.000,4,0.000,0.051,3306,3469,1860,0,0,0,0,0,0
$GC,27388,0.67,275.6,22.8,10.8,990,27395,0.05,2.40,0.00,0.000,6,0.107,0.041,3282,1891,1860,0,0,0,0,0,0
$STATE,27584,end climb,SURFACE_DEPTH_REACHED
$STATE,27584,begin surface coast
$FINISH,0.5,1.023780
$STATE,27617,end surface coast,CONTROL_FINISHED_OK
$STATE,27617,begin surface
$SM_CCo,27634,61.47,0.613,0,0,1363,400.08
$SM_GC,1.27,0.00,0.00,61.47,0.000,0.000,0.613,107,2105,1363,-9.26,0.28,400.08
$IRIDIUM_FIX,2206.70,12657.78,060712,090902
$TT8_MAMPS,0.028379
$HUMID,1078720635
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,22.1,46.675
$10V_AH,9.9,40.263
$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,21.550,293.125,370.800,61.475,0.000,61.249,64.741,239.996,0.750,0.000,13.104,2261.403,21940.092,647.377,2946.792,443.696,33.389,2108.552,0.000,2554.204,0.000,0.542,0.000
$DEVICE_MAMPS,220.129,63.661,1428.921,612.833,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,692.301,0.000,0.000,0.000,0.000,0.000,0.000,613.553,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354640
$DATA_FILE_SIZE,36735,1012
$CAP_FILE_SIZE,295642,0
$CFSIZE,260165632,198975488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120111,070437,2215.382,12703.126,37,1.0,37,-3.1