version: 66.07
glider: 500
mission: 5
dive: 293
start: 1 17 111 11 23 19
data:
$ID,500
$MISSION,5
$DIVE,293
$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,-126386.54
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,48
$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
$GPS1,170111,110630,2248.814,12701.522,43,0.9,48,-3.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-75.2
$GPS2,170111,112225,2248.781,12701.386,13,1.3,13,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T1
$TGT_LATLONG,2308.380,12704.078
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.161,0.151
$KALMAN_X,-669867.2,-534.3,310.3,1058017.5,-4601.9
$KALMAN_Y,-210717.9,-839.2,136.4,394952.0,597.5
$MHEAD_RNG_PITCHd_Wd,50.3,36586,-9.4,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,15259,-0.51,-155.7,899.3,-3.7,513,15263,0.00,2.35,0.00,0.000,6,0.000,0.044,2889,2106,3604,0,0,0,0,0,0
$GC,15577,-0.51,-155.7,910.2,-3.5,521,15582,0.00,2.42,0.00,0.000,4,0.000,0.052,2877,3685,3604,0,0,0,0,0,0
$GC,15663,-0.51,-155.7,913.5,-3.6,523,15668,0.10,2.35,0.00,0.000,6,0.130,0.036,2912,2090,3603,0,0,0,0,0,0
$GC,15988,-0.51,-155.7,923.8,-3.3,531,15992,0.00,2.35,0.00,0.000,4,0.000,0.046,2912,517,3603,0,0,0,0,0,0
$GC,16055,-0.51,-155.7,926.2,-3.7,532,16059,0.00,2.38,0.00,0.000,6,0.000,0.044,2901,2109,3603,0,0,0,0,0,0
$GC,16398,-0.51,-155.7,937.9,-3.4,541,16402,0.00,2.40,0.00,0.000,4,0.000,0.046,2902,520,3602,0,0,0,0,0,0
$GC,16470,-0.51,-155.7,940.6,-3.8,542,16475,0.00,2.35,0.00,0.000,6,0.000,0.043,2891,2108,3602,0,0,0,0,0,0
$GC,16801,-0.51,-155.7,951.2,-3.0,550,16805,0.00,2.38,0.00,0.000,4,0.000,0.046,2891,520,3602,0,0,0,0,0,0
$GC,16920,-0.51,-155.7,954.8,-2.5,552,16924,0.00,2.35,0.00,0.000,6,0.000,0.043,2879,2101,3602,0,0,0,0,0,0
$GC,17256,-0.51,-155.7,963.6,-2.8,561,17260,0.00,2.45,0.00,0.000,4,0.000,0.054,2867,3687,3602,0,0,0,0,0,0
$GC,17295,-0.51,-155.7,965.0,-4.4,562,17300,0.12,2.35,0.00,0.000,6,0.118,0.038,2910,2098,3601,0,0,0,0,0,0
$GC,17622,-0.51,-155.7,975.2,-3.6,570,17626,0.00,2.40,0.00,0.000,4,0.000,0.048,2910,516,3601,0,0,0,0,0,0
$GC,17671,-0.51,-155.7,977.7,-5.3,571,17675,0.00,2.40,0.00,0.000,6,0.000,0.044,2901,2108,3601,0,0,0,0,0,0
$STATE,17947,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17947,begin apogee
$GC,17953,-0.23,0.0,990.3,4.6,578,18091,0.28,0.00,134.50,1.453,6,0.090,0.000,3002,1885,2995,0,0,0,0,0,0
$STATE,18092,end apogee,CONTROL_FINISHED_OK
$STATE,18092,begin climb
$GC,18094,0.51,155.7,991.9,0.0,581,18249,0.65,0.00,152.38,1.397,6,0.067,0.000,3236,1885,2360,0,0,0,0,0,0
$GC,18554,0.51,155.7,942.3,11.8,593,18558,0.00,2.50,0.00,0.000,4,0.000,0.053,3236,3481,2344,0,0,0,0,0,0
$GC,18642,0.51,155.7,930.9,12.4,595,18647,0.00,2.42,0.00,0.000,6,0.000,0.041,3246,1887,2342,0,0,0,0,0,0
$GC,18969,0.51,155.7,888.1,13.4,603,18973,0.00,2.45,0.00,0.000,4,0.000,0.053,3246,3482,2339,0,0,0,0,0,0
$GC,18989,0.51,155.7,884.8,13.0,603,18994,0.00,2.42,0.00,0.000,6,0.000,0.043,3257,1905,2339,0,0,0,0,0,0
$GC,19333,0.51,155.7,836.5,14.2,612,19334,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1904,2339,0,0,0,0,0,0
$GC,19657,0.51,155.7,789.6,14.4,620,19661,0.00,2.42,0.00,0.000,4,0.000,0.053,3256,3490,2337,0,0,0,0,0,0
$GC,19688,0.51,155.7,784.6,16.0,620,19695,0.12,2.45,0.00,0.000,6,0.139,0.044,3230,1862,2337,0,0,0,0,0,0
$GC,20021,0.51,155.7,743.7,12.3,629,20025,0.00,2.50,0.00,0.000,4,0.000,0.054,3229,3481,2337,0,0,0,0,0,0
$GC,20071,0.51,155.7,737.0,11.8,630,20075,0.00,2.40,0.00,0.000,6,0.000,0.044,3240,1900,2336,0,0,0,0,0,0
$GC,20384,0.51,155.7,697.6,12.4,638,20388,0.00,2.45,0.00,0.000,4,0.000,0.056,3241,3489,2336,0,0,0,0,0,0
$GC,20404,0.51,155.7,694.7,12.8,638,20409,0.00,2.45,0.00,0.000,6,0.000,0.046,3252,1872,2336,0,0,0,0,0,0
$GC,20748,0.51,155.7,653.2,11.9,647,20752,0.00,2.47,0.00,0.000,4,0.000,0.055,3252,3481,2336,0,0,0,0,0,0
$GC,20786,0.51,155.7,648.1,12.8,648,20791,0.10,2.40,0.00,0.000,6,0.146,0.044,3233,1887,2335,0,0,0,0,0,0
$GC,21111,0.51,155.7,615.2,10.3,656,21115,0.00,2.40,0.00,0.000,4,0.000,0.053,3244,310,2335,0,0,0,0,0,0
$GC,21156,0.51,155.7,610.3,11.0,657,21160,0.00,2.40,0.00,0.000,6,0.000,0.046,3244,1908,2335,0,0,0,0,0,0
$GC,21487,0.51,155.7,571.6,11.9,665,21491,0.00,2.42,0.00,0.000,4,0.000,0.055,3244,3495,2335,0,0,0,0,0,0
$GC,21636,0.51,155.7,551.4,13.3,668,21641,0.00,2.45,0.00,0.000,6,0.000,0.043,3256,1891,2335,0,0,0,0,0,0
$GC,21986,0.51,155.7,509.2,11.9,677,21990,0.00,2.40,0.00,0.000,4,0.000,0.054,3269,320,2335,0,0,0,0,0,0
$GC,22013,0.51,155.7,505.8,13.2,677,22018,0.12,2.38,0.00,0.000,6,0.127,0.045,3227,1912,2335,0,0,0,0,0,0
$GC,22343,0.51,155.7,476.1,8.7,685,22348,0.00,2.40,0.00,0.000,4,0.000,0.054,3226,3489,2335,0,0,0,0,0,0
$GC,22411,0.51,155.7,469.3,10.1,686,22415,0.00,2.40,0.00,0.000,6,0.000,0.044,3238,1902,2334,0,0,0,0,0,0
$GC,22746,0.51,155.7,437.3,9.5,695,22750,0.00,2.42,0.00,0.000,4,0.000,0.054,3250,307,2335,0,0,0,0,0,0
$GC,22800,0.51,155.7,432.0,8.9,696,22805,0.00,2.42,0.00,0.000,6,0.000,0.044,3250,1905,2335,0,0,0,0,0,0
$GC,23115,0.51,155.7,403.5,8.6,704,23119,0.00,2.45,0.00,0.000,4,0.000,0.054,3250,3495,2334,0,0,0,0,0,0
$GC,23226,0.51,155.7,393.1,8.5,706,23230,0.00,2.40,0.00,0.000,6,0.000,0.042,3262,1887,2334,0,0,0,0,0,0
$GC,23576,0.51,155.7,362.7,9.4,715,23581,0.00,2.47,0.00,0.000,4,0.000,0.051,3262,3500,2335,0,0,0,0,0,0
$GC,23609,0.51,155.7,358.9,10.5,715,23616,0.15,2.42,0.00,0.000,6,0.130,0.041,3225,1906,2336,0,0,0,0,0,0
$GC,23942,0.51,155.7,334.3,7.5,724,23944,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1906,2336,0,0,0,0,0,0
$GC,24265,0.51,155.7,310.1,7.2,732,24269,0.00,2.40,0.00,0.000,4,0.000,0.050,3237,314,2337,0,0,0,0,0,0
$GC,24286,0.54,184.9,308.6,5.2,732,24316,0.00,2.35,22.77,0.880,6,0.000,0.041,3237,1912,2241,0,0,0,0,0,0
$GC,24632,0.54,184.9,285.7,6.2,746,24637,0.00,2.40,0.00,0.000,4,0.000,0.051,3237,3483,2237,0,0,0,0,0,0
$GC,24711,0.54,184.9,279.6,8.8,749,24717,0.00,2.38,0.00,0.000,6,0.000,0.038,3248,1893,2237,0,0,0,0,0,0
$GC,25026,0.54,184.9,252.0,9.4,765,25030,0.00,2.38,0.00,0.000,4,0.000,0.051,3261,323,2237,0,0,0,0,0,0
$GC,25076,0.54,184.9,246.7,10.7,767,25080,0.00,2.33,0.00,0.000,6,0.000,0.040,3261,1916,2237,0,0,0,0,0,0
$GC,25396,0.54,184.9,213.1,10.0,783,25397,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1916,2237,0,0,0,0,0,0
$GC,25710,0.54,184.9,186.8,7.4,806,25714,0.00,2.38,0.00,0.000,4,0.000,0.049,3260,3481,2237,0,0,0,0,0,0
$GC,25774,0.54,184.9,181.7,7.0,811,25779,0.00,2.35,0.00,0.000,6,0.000,0.038,3272,1891,2238,0,0,0,0,0,0
$GC,26035,0.54,184.9,158.8,9.6,835,26036,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1891,2239,0,0,0,0,0,0
$GC,26290,0.54,184.9,133.7,9.5,859,26294,0.00,2.40,0.00,0.000,4,0.000,0.051,3285,315,2239,0,0,0,0,0,0
$GC,26329,0.54,184.9,129.9,11.5,862,26334,0.12,2.33,0.00,0.000,6,0.120,0.040,3241,1904,2240,0,0,0,0,0,0
$GC,26591,0.58,213.0,114.4,5.3,886,26624,0.00,2.38,25.50,0.713,4,0.000,0.048,3240,3479,2124,0,0,0,0,0,0
$GC,26651,0.58,213.0,110.2,7.0,891,26658,0.00,2.38,0.00,0.000,6,0.000,0.038,3250,1903,2122,0,0,0,0,0,0
$GC,26913,0.58,213.0,92.7,7.4,916,26917,0.00,2.40,0.00,0.000,4,0.000,0.048,3261,310,2121,0,0,0,0,0,0
$GC,26951,0.58,213.0,89.9,9.1,919,26955,0.00,2.33,0.00,0.000,6,0.000,0.039,3261,1899,2120,0,0,0,0,0,0
$GC,27212,0.58,213.0,72.8,7.4,943,27216,0.00,2.38,0.00,0.000,4,0.000,0.048,3261,3489,2120,0,0,0,0,0,0
$GC,27274,0.58,213.0,67.7,9.2,948,27278,0.00,2.40,0.00,0.000,6,0.000,0.038,3272,1881,2120,0,0,0,0,0,0
$GC,27535,0.58,213.0,50.6,8.2,972,27539,0.00,2.35,0.00,0.000,4,0.000,0.048,3284,307,2120,0,0,0,0,0,0
$GC,27557,0.58,213.0,49.0,6.9,973,27563,0.00,2.33,0.00,0.000,6,0.000,0.039,3284,1913,2120,0,0,0,0,0,0
$GC,27818,0.58,213.0,24.2,10.6,998,27822,0.00,2.38,0.00,0.000,4,0.000,0.048,3283,3477,2121,0,0,0,0,0,0
$GC,27850,0.58,213.0,20.1,12.3,1000,27857,0.08,2.38,0.00,0.000,6,0.100,0.038,3251,1890,2121,0,0,0,0,0,0
$GC,28047,0.58,213.0,4.9,6.5,1019,28052,0.00,2.35,0.00,0.000,4,0.000,0.048,3262,315,2121,0,0,0,0,0,0
$STATE,28067,end climb,SURFACE_DEPTH_REACHED
$STATE,28067,begin surface coast
$FINISH,0.5,1.023962
$STATE,28097,end surface coast,CONTROL_FINISHED_OK
$STATE,28097,begin surface
$SM_CCo,28117,90.82,0.655,0,0,1363,400.08
$SM_GC,1.33,0.00,0.00,90.82,0.000,0.000,0.655,107,2096,1363,-9.26,-0.11,400.08
$IRIDIUM_FIX,2239.35,12702.48,120712,050525
$TT8_MAMPS,0.027612
$HUMID,1078694829
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,22.0,50.089
$10V_AH,9.8,42.840
$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,21.400,313.700,335.150,90.825,0.000,57.828,76.950,603.732,0.000,0.000,15.174,2318.127,22323.990,703.611,3224.887,568.684,33.375,2144.202,0.000,2550.843,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,55.991,1452.698,655.018,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,700.831,0.000,0.000,0.000,0.000,0.000,0.000,1022.350,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354848
$DATA_FILE_SIZE,36688,1023
$CAP_FILE_SIZE,309571,0
$CFSIZE,260165632,197332992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170111,191437,2252.196,12703.370,31,1.1,31,-3.3