version: 66.07
glider: 500
mission: 5
dive: 319
start: 1 26 111 0 38 2
data:
$ID,500
$MISSION,5
$DIVE,319
$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,-126844.34
$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,2120
$C_ROLL_CLIMB,1915
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,29
$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
$GPS1,260111,003000,2250.726,12726.206,37,1.2,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-74.8
$GPS2,260111,003708,2250.719,12726.150,13,1.3,13,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.093,-0.200
$KALMAN_X,-711589.3,134.4,239.9,1141952.6,-1183.6
$KALMAN_Y,-134156.1,-357.0,210.1,321476.2,4865.3
$MHEAD_RNG_PITCHd_Wd,158.4,331194,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
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$GC,15392,-0.50,-155.7,900.4,-4.6,539,15396,0.00,2.38,0.00,0.000,4,0.000,0.047,2910,542,3602,0,0,0,0,0,0
$GC,15431,-0.50,-155.7,902.1,-4.3,540,15435,0.00,2.35,0.00,0.000,6,0.000,0.044,2901,2127,3601,0,0,0,0,0,0
$GC,15757,-0.50,-155.7,914.7,-3.8,548,15761,0.00,2.38,0.00,0.000,4,0.000,0.045,2901,542,3600,0,0,0,0,0,0
$GC,15778,-0.50,-155.7,915.4,-2.9,548,15782,0.00,2.35,0.00,0.000,6,0.000,0.044,2890,2126,3601,0,0,0,0,0,0
$GC,16123,-0.50,-155.7,925.9,-3.0,557,16127,0.00,2.40,0.00,0.000,4,0.000,0.045,2889,542,3600,0,0,0,0,0,0
$GC,16194,-0.50,-155.7,928.2,-2.6,558,16199,0.00,2.40,0.00,0.000,6,0.000,0.045,2878,2116,3600,0,0,0,0,0,0
$GC,16532,-0.50,-155.7,937.2,-2.8,567,16536,0.00,2.47,0.00,0.000,4,0.000,0.054,2865,3713,3599,0,0,0,0,0,0
$GC,16566,-0.50,-155.7,938.4,-3.8,567,16571,0.12,2.40,0.00,0.000,6,0.114,0.038,2910,2117,3599,0,0,0,0,0,0
$GC,16898,-0.50,-155.7,947.7,-3.0,575,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2116,3599,0,0,0,0,0,0
$GC,17223,-0.50,-155.7,961.0,-4.4,583,17227,0.00,2.47,0.00,0.000,4,0.000,0.055,2900,3713,3598,0,0,0,0,0,0
$GC,17390,-0.50,-155.7,968.0,-3.3,586,17397,0.00,2.38,0.00,0.000,6,0.000,0.037,2899,2113,3598,0,0,0,0,0,0
$GC,17723,-0.50,-155.7,980.9,-3.8,595,17727,0.00,2.47,0.00,0.000,4,0.000,0.054,2887,3705,3597,0,0,0,0,0,0
$GC,17778,-0.50,-155.7,983.0,-3.7,596,17782,0.00,2.38,0.00,0.000,6,0.000,0.036,2887,2111,3598,0,0,0,0,0,0
$STATE,17966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17966,begin apogee
$GC,17972,-0.23,0.0,990.3,3.9,601,18110,0.30,0.00,134.48,1.466,6,0.086,0.000,2999,1903,2994,0,0,0,0,0,0
$STATE,18111,end apogee,CONTROL_FINISHED_OK
$STATE,18111,begin climb
$GC,18113,0.50,155.7,990.9,0.0,604,18272,0.62,2.78,151.10,1.418,4,0.061,0.053,3235,3493,2359,0,0,0,0,0,0
$GC,18344,0.50,155.7,964.3,14.5,608,18349,0.00,2.55,0.00,0.000,6,0.000,0.042,3247,1928,2350,0,0,0,0,0,0
$GC,18688,0.50,155.7,917.6,14.0,617,18693,0.00,2.50,0.00,0.000,4,0.000,0.054,3259,324,2342,0,0,0,0,0,0
$GC,18749,0.50,155.7,908.6,13.4,618,18753,0.00,2.42,0.00,0.000,6,0.000,0.046,3259,1911,2341,0,0,0,0,0,0
$GC,19099,0.50,155.7,856.4,15.1,627,19103,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,3509,2340,0,0,0,0,0,0
$GC,19193,0.50,155.7,841.1,15.5,629,19199,0.12,2.42,0.00,0.000,6,0.140,0.041,3232,1906,2339,0,0,0,0,0,0
$GC,19516,0.50,155.7,803.6,11.4,637,19517,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1905,2339,0,0,0,0,0,0
$GC,19837,0.50,155.7,766.8,11.4,645,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1905,2339,0,0,0,0,0,0
$GC,20162,0.50,155.7,728.7,11.7,653,20166,0.00,2.42,0.00,0.000,4,0.000,0.053,3243,326,2338,0,0,0,0,0,0
$GC,20213,0.50,155.7,722.9,11.4,654,20217,0.00,2.40,0.00,0.000,6,0.000,0.044,3243,1918,2339,0,0,0,0,0,0
$GC,20525,0.50,155.7,687.5,11.1,662,20529,0.00,2.42,0.00,0.000,4,0.000,0.052,3244,3502,2338,0,0,0,0,0,0
$GC,20642,0.50,155.7,673.0,12.4,664,20646,0.00,2.40,0.00,0.000,6,0.000,0.041,3255,1911,2338,0,0,0,0,0,0
$GC,20973,0.50,155.7,632.9,12.1,672,20977,0.00,2.45,0.00,0.000,4,0.000,0.054,3255,3502,2338,0,0,0,0,0,0
$GC,21017,0.50,155.7,627.3,11.6,673,21022,0.12,2.40,0.00,0.000,6,0.136,0.043,3228,1916,2337,0,0,0,0,0,0
$GC,21336,0.50,155.7,594.8,9.9,681,21340,0.00,2.42,0.00,0.000,4,0.000,0.054,3239,333,2338,0,0,0,0,0,0
$GC,21421,0.50,155.7,585.9,11.3,683,21425,0.00,2.38,0.00,0.000,6,0.000,0.046,3239,1920,2338,0,0,0,0,0,0
$GC,21747,0.50,155.7,550.6,10.9,691,21751,0.00,2.42,0.00,0.000,4,0.000,0.052,3239,3504,2338,0,0,0,0,0,0
$GC,21790,0.50,155.7,545.1,11.2,692,21794,0.00,2.40,0.00,0.000,6,0.000,0.041,3250,1910,2337,0,0,0,0,0,0
$GC,22116,0.50,155.7,511.8,9.9,700,22118,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1910,2338,0,0,0,0,0,0
$GC,22439,0.50,155.7,481.2,9.6,708,22443,0.00,2.40,0.00,0.000,4,0.000,0.053,3263,333,2338,0,0,0,0,0,0
$GC,22472,0.50,155.7,478.0,11.3,708,22478,0.00,2.40,0.00,0.000,6,0.000,0.044,3263,1924,2338,0,0,0,0,0,0
$GC,22802,0.50,155.7,441.9,11.1,717,22807,0.00,2.45,0.00,0.000,4,0.000,0.054,3263,3503,2339,0,0,0,0,0,0
$GC,22908,0.50,155.7,429.1,11.6,719,22913,0.15,2.40,0.00,0.000,6,0.129,0.041,3226,1906,2339,0,0,0,0,0,0
$GC,23251,0.50,155.7,404.6,6.7,728,23255,0.00,2.40,0.00,0.000,4,0.000,0.051,3238,325,2339,0,0,0,0,0,0
$GC,23307,0.50,155.7,400.3,7.1,729,23312,0.00,2.38,0.00,0.000,6,0.000,0.042,3238,1932,2340,0,0,0,0,0,0
$GC,23655,0.50,155.7,371.0,8.7,738,23659,0.00,2.40,0.00,0.000,4,0.000,0.051,3238,3502,2340,0,0,0,0,0,0
$GC,23762,0.50,155.7,360.4,10.4,740,23766,0.00,2.38,0.00,0.000,6,0.000,0.038,3250,1909,2341,0,0,0,0,0,0
$GC,24104,0.50,155.7,329.0,9.1,749,24108,0.00,2.40,0.00,0.000,4,0.000,0.051,3262,334,2342,0,0,0,0,0,0
$GC,24148,0.50,155.7,324.7,9.4,750,24152,0.00,2.35,0.00,0.000,6,0.000,0.044,3262,1916,2342,0,0,0,0,0,0
$GC,24477,0.50,155.7,295.0,8.9,759,24481,0.00,2.42,0.00,0.000,4,0.000,0.051,3262,3504,2343,0,0,0,0,0,0
$GC,24588,0.50,155.7,283.4,10.4,764,24593,0.12,2.38,0.00,0.000,6,0.133,0.039,3232,1917,2344,0,0,0,0,0,0
$GC,24910,0.50,155.7,259.3,7.5,780,24914,0.00,2.40,0.00,0.000,4,0.000,0.051,3244,335,2345,0,0,0,0,0,0
$GC,24937,0.50,155.7,257.3,8.0,781,24941,0.00,2.35,0.00,0.000,6,0.000,0.042,3244,1920,2346,0,0,0,0,0,0
$GC,25252,0.50,155.7,234.2,7.3,796,25256,0.00,2.42,0.00,0.000,4,0.000,0.053,3244,3503,2347,0,0,0,0,0,0
$GC,25347,0.50,155.7,226.0,7.4,800,25351,0.00,2.38,0.00,0.000,6,0.000,0.037,3255,1910,2347,0,0,0,0,0,0
$GC,25667,0.50,155.7,198.3,9.0,816,25671,0.00,2.40,0.00,0.000,4,0.000,0.049,3268,337,2348,0,0,0,0,0,0
$GC,25723,0.50,155.7,193.0,8.4,820,25730,0.12,2.33,0.00,0.000,6,0.117,0.041,3222,1917,2349,0,0,0,0,0,0
$GC,25985,0.50,155.7,176.7,6.0,845,25989,0.00,2.40,0.00,0.000,4,0.000,0.048,3222,3503,2350,0,0,0,0,0,0
$GC,26046,0.50,155.7,172.6,7.5,850,26050,0.00,2.35,0.00,0.000,6,0.000,0.035,3232,1913,2350,0,0,0,0,0,0
$GC,26307,0.51,164.0,156.9,5.8,874,26317,0.00,0.00,7.72,0.651,6,0.000,0.000,3232,1913,2325,0,0,0,0,0,0
$GC,26572,0.54,183.3,140.9,5.5,899,26592,0.00,0.00,18.52,0.723,6,0.000,0.000,3232,1913,2247,0,0,0,0,0,0
$GC,26847,0.60,235.3,127.8,4.6,925,26898,0.00,2.50,44.08,0.762,4,0.000,0.051,3242,337,2034,0,0,0,0,0,0
$GC,26925,0.62,253.0,123.3,5.5,932,26947,0.00,2.38,16.30,0.725,6,0.000,0.039,3243,1918,1962,0,0,0,0,0,0
$GC,27204,0.62,253.0,100.3,8.1,958,27208,0.00,2.42,0.00,0.000,4,0.000,0.048,3234,3513,1956,0,0,0,0,0,0
$GC,27320,0.62,253.0,90.8,8.9,968,27326,0.10,2.40,0.00,0.000,6,0.104,0.038,3280,1916,1954,0,0,0,0,0,0
$GC,27581,0.62,253.0,71.5,8.6,992,27585,0.00,2.42,0.00,0.000,4,0.000,0.049,3280,321,1954,0,0,0,0,0,0
$GC,27686,0.62,253.0,62.5,10.9,1001,27692,0.00,2.38,0.00,0.000,6,0.000,0.039,3280,1923,1953,0,0,0,0,0,0
$GC,27948,0.62,253.0,40.9,7.5,1026,27952,0.00,2.40,0.00,0.000,4,0.000,0.046,3280,329,1953,0,0,0,0,0,0
$GC,28089,0.62,253.0,28.9,9.6,1038,28093,0.00,2.33,0.00,0.000,6,0.000,0.038,3280,1920,1953,0,0,0,0,0,0
$GC,28286,0.63,260.2,15.4,5.8,1056,28296,0.00,0.00,6.18,0.517,6,0.000,0.000,3280,1920,1934,0,0,0,0,0,0
$STATE,28432,end climb,SURFACE_DEPTH_REACHED
$STATE,28432,begin surface coast
$FINISH,1.3,1.023941
$STATE,28465,end surface coast,CONTROL_FINISHED_OK
$STATE,28465,begin surface
$SM_CCo,28482,70.60,0.680,0,0,1364,400.08
$SM_GC,1.24,0.00,0.00,70.60,0.000,0.000,0.680,106,2154,1364,-9.26,0.96,400.08
$IRIDIUM_FIX,2244.02,12723.99,200712,101058
$TT8_MAMPS,0.028379
$HUMID,1078723216
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,22.0,54.594
$10V_AH,9.7,46.539
$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,21.275,287.375,378.375,70.600,0.000,30.236,37.589,214.538,0.000,0.000,15.994,2358.000,22573.949,667.448,2884.417,472.229,33.383,2133.478,0.000,2573.499,0.000,0.540,0.000
$DEVICE_MAMPS,218.595,58.292,1465.737,680.329,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,733.552,0.000,0.000,0.000,0.000,0.000,0.000,475.359,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,36687,1073
$CAP_FILE_SIZE,303972,0
$CFSIZE,260165632,194899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260111,083507,2247.649,12728.825,32,1.1,32,-3.3