version: 66.07
glider: 500
mission: 5
dive: 321
start: 1 26 111 16 50 44
data:
$ID,500
$MISSION,5
$DIVE,321
$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,-126880.55
$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,39
$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
$GPS1,260111,163806,2245.210,12729.895,34,1.0,34,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.6
$GPS2,260111,164950,2245.273,12729.899,12,1.7,12,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.074,-0.208
$KALMAN_X,-711067.2,-14.8,-593.2,1148897.2,-244.0
$KALMAN_Y,-130992.2,-316.3,-697.3,309093.0,4853.6
$MHEAD_RNG_PITCHd_Wd,163.6,319600,-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,16666,-0.50,-155.7,935.0,-4.4,551,16670,0.00,2.47,0.00,0.000,4,0.000,0.054,2888,3705,3594,0,0,0,0,0,0
$GC,16743,-0.50,-155.7,938.3,-4.9,552,16749,0.00,2.35,0.00,0.000,6,0.000,0.035,2887,2115,3594,0,0,0,0,0,0
$GC,17075,-0.50,-155.7,951.9,-4.1,561,17080,0.00,2.47,0.00,0.000,4,0.000,0.054,2876,3702,3593,0,0,0,0,0,0
$GC,17176,-0.50,-155.7,956.3,-4.4,563,17181,0.10,2.38,0.00,0.000,6,0.129,0.037,2911,2113,3593,0,0,0,0,0,0
$GC,17525,-0.50,-155.7,971.6,-4.8,572,17530,0.00,2.47,0.00,0.000,4,0.000,0.054,2900,3705,3593,0,0,0,0,0,0
$GC,17693,-0.50,-155.7,980.2,-5.4,575,17699,0.00,2.38,0.00,0.000,6,0.000,0.035,2900,2111,3592,0,0,0,0,0,0
$STATE,17900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17900,begin apogee
$GC,17906,-0.23,0.0,991.0,5.3,581,18043,0.28,0.00,134.20,1.473,6,0.087,0.000,3002,1900,2995,0,0,0,0,0,0
$STATE,18044,end apogee,CONTROL_FINISHED_OK
$STATE,18044,begin climb
$GC,18046,0.50,155.7,993.2,0.0,584,18211,0.62,2.72,152.35,1.416,4,0.061,0.052,3249,351,2358,0,0,0,0,0,0
$GC,18312,0.50,155.7,965.9,12.0,590,18317,0.00,2.47,0.00,0.000,6,0.000,0.044,3249,1906,2349,0,0,0,0,0,0
$GC,18625,0.50,155.7,926.0,12.9,598,18630,0.00,2.47,0.00,0.000,4,0.000,0.054,3249,3502,2343,0,0,0,0,0,0
$GC,18732,0.50,155.7,911.0,13.2,600,18736,0.00,2.38,0.00,0.000,6,0.000,0.041,3257,1930,2341,0,0,0,0,0,0
$GC,19074,0.50,155.7,863.9,14.0,609,19075,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1930,2339,0,0,0,0,0,0
$GC,19398,0.50,155.7,820.2,13.3,617,19402,0.00,2.42,0.00,0.000,4,0.000,0.050,3270,326,2338,0,0,0,0,0,0
$GC,19425,0.50,155.7,816.5,13.9,617,19430,0.12,2.38,0.00,0.000,6,0.129,0.043,3229,1919,2338,0,0,0,0,0,0
$GC,19757,0.50,155.7,781.1,10.5,625,19761,0.00,2.40,0.00,0.000,4,0.000,0.052,3228,3501,2337,0,0,0,0,0,0
$GC,19829,0.50,155.7,772.3,11.9,626,19833,0.00,2.40,0.00,0.000,6,0.000,0.041,3240,1904,2336,0,0,0,0,0,0
$GC,20160,0.50,155.7,730.8,12.7,634,20164,0.00,2.40,0.00,0.000,4,0.000,0.053,3252,326,2336,0,0,0,0,0,0
$GC,20215,0.50,155.7,723.8,14.0,635,20219,0.00,2.40,0.00,0.000,6,0.000,0.046,3252,1922,2336,0,0,0,0,0,0
$GC,20563,0.50,155.7,679.4,12.5,644,20567,0.00,2.42,0.00,0.000,4,0.000,0.057,3252,3502,2336,0,0,0,0,0,0
$GC,20662,0.50,155.7,666.0,12.8,646,20667,0.10,2.40,0.00,0.000,6,0.149,0.044,3232,1916,2335,0,0,0,0,0,0
$GC,20977,0.50,155.7,634.2,9.9,654,20981,0.00,2.42,0.00,0.000,4,0.000,0.054,3244,333,2335,0,0,0,0,0,0
$GC,21031,0.50,155.7,628.6,10.1,655,21036,0.00,2.38,0.00,0.000,6,0.000,0.045,3244,1920,2335,0,0,0,0,0,0
$GC,21346,0.50,155.7,596.2,10.3,663,21350,0.00,2.45,0.00,0.000,4,0.000,0.058,3244,3501,2335,0,0,0,0,0,0
$GC,21417,0.50,155.7,587.6,12.5,664,21421,0.00,2.40,0.00,0.000,6,0.000,0.043,3256,1908,2334,0,0,0,0,0,0
$GC,21755,0.50,155.7,547.6,12.1,673,21756,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1908,2334,0,0,0,0,0,0
$GC,22079,0.50,155.7,509.5,11.3,681,22083,0.00,2.50,0.00,0.000,4,0.000,0.058,3255,3500,2334,0,0,0,0,0,0
$GC,22122,0.50,155.7,504.1,11.3,682,22127,0.08,2.45,0.00,0.000,6,0.108,0.044,3236,1913,2334,0,0,0,0,0,0
$GC,22448,0.50,155.7,474.1,9.2,690,22452,0.00,2.42,0.00,0.000,4,0.000,0.053,3247,332,2334,0,0,0,0,0,0
$GC,22487,0.50,155.7,470.1,10.7,691,22491,0.00,2.38,0.00,0.000,6,0.000,0.044,3247,1923,2334,0,0,0,0,0,0
$GC,22812,0.50,155.7,438.6,9.6,699,22816,0.00,2.45,0.00,0.000,4,0.000,0.051,3247,3503,2334,0,0,0,0,0,0
$GC,22878,0.50,155.7,431.3,11.1,700,22882,0.00,2.40,0.00,0.000,6,0.000,0.040,3259,1905,2334,0,0,0,0,0,0
$GC,23221,0.50,155.7,398.2,9.5,709,23225,0.00,2.40,0.00,0.000,4,0.000,0.051,3271,331,2334,0,0,0,0,0,0
$GC,23270,0.50,155.7,393.0,11.2,710,23275,0.12,2.38,0.00,0.000,6,0.123,0.044,3228,1924,2334,0,0,0,0,0,0
$GC,23590,0.50,155.7,369.2,7.5,718,23595,0.00,2.47,0.00,0.000,4,0.000,0.052,3228,3517,2334,0,0,0,0,0,0
$GC,23651,0.50,155.7,363.5,9.2,719,23655,0.00,2.45,0.00,0.000,6,0.000,0.041,3239,1926,2334,0,0,0,0,0,0
$GC,24001,0.50,155.7,335.6,7.8,728,24005,0.00,2.45,0.00,0.000,4,0.000,0.050,3252,325,2335,0,0,0,0,0,0
$GC,24067,0.50,155.7,329.8,7.0,729,24072,0.00,2.38,0.00,0.000,6,0.000,0.041,3251,1937,2335,0,0,0,0,0,0
$GC,24409,0.50,155.7,301.6,8.6,738,24414,0.00,2.40,0.00,0.000,4,0.000,0.050,3252,3509,2335,0,0,0,0,0,0
$GC,24472,0.50,155.7,295.5,10.1,740,24477,0.10,2.42,0.00,0.000,6,0.138,0.040,3230,1897,2335,0,0,0,0,0,0
$GC,24799,0.50,155.7,271.9,6.7,756,24803,0.00,2.40,0.00,0.000,4,0.000,0.050,3241,325,2336,0,0,0,0,0,0
$GC,24849,0.50,155.7,268.2,6.3,758,24853,0.00,2.35,0.00,0.000,6,0.000,0.040,3241,1928,2337,0,0,0,0,0,0
$GC,25176,0.50,155.7,245.3,7.3,774,25181,0.00,2.42,0.00,0.000,4,0.000,0.050,3242,3504,2338,0,0,0,0,0,0
$GC,25216,0.50,155.7,241.7,9.1,776,25220,0.00,2.38,0.00,0.000,6,0.000,0.038,3254,1908,2338,0,0,0,0,0,0
$GC,25542,0.50,155.7,212.3,9.1,792,25546,0.00,2.38,0.00,0.000,4,0.000,0.048,3266,332,2339,0,0,0,0,0,0
$GC,25631,0.50,155.7,204.0,8.8,796,25636,0.10,2.35,0.00,0.000,6,0.126,0.041,3229,1920,2340,0,0,0,0,0,0
$GC,25956,0.51,157.2,184.1,6.0,824,25960,0.00,2.40,0.00,0.000,4,0.000,0.048,3229,3501,2341,0,0,0,0,0,0
$GC,26011,0.51,157.2,180.5,6.0,828,26017,0.00,2.35,0.00,0.000,6,0.000,0.036,3241,1917,2341,0,0,0,0,0,0
$GC,26272,0.51,157.2,162.9,7.2,853,26277,0.00,2.42,0.00,0.000,4,0.000,0.048,3252,323,2342,0,0,0,0,0,0
$GC,26327,0.51,157.2,159.0,7.9,857,26334,0.00,2.38,0.00,0.000,6,0.000,0.038,3252,1960,2343,0,0,0,0,0,0
$GC,26590,0.57,205.8,145.2,4.7,882,26636,0.00,2.40,41.00,0.750,4,0.000,0.048,3252,3499,2155,0,0,0,0,0,0
$GC,26689,0.59,225.4,139.4,5.5,890,26715,0.00,2.40,17.27,0.729,6,0.000,0.037,3263,1909,2075,0,0,0,0,0,0
$GC,26969,0.59,225.4,121.9,6.1,917,26974,0.00,2.42,0.00,0.000,4,0.000,0.046,3275,322,2071,0,0,0,0,0,0
$GC,27020,0.59,225.4,118.3,6.9,921,27024,0.00,2.35,0.00,0.000,6,0.000,0.037,3274,1922,2070,0,0,0,0,0,0
$GC,27280,0.59,225.4,98.1,6.9,945,27284,0.00,2.42,0.00,0.000,4,0.000,0.047,3274,3501,2070,0,0,0,0,0,0
$GC,27331,0.59,225.4,94.1,7.3,949,27335,0.00,2.35,0.00,0.000,6,0.000,0.036,3285,1907,2069,0,0,0,0,0,0
$GC,27591,0.59,225.4,76.2,7.1,973,27595,0.00,2.40,0.00,0.000,4,0.000,0.047,3298,331,2070,0,0,0,0,0,0
$GC,27632,0.62,246.6,73.6,5.4,976,27656,0.00,2.33,19.00,0.667,6,0.000,0.038,3298,1922,1988,0,0,0,0,0,0
$GC,27918,0.62,246.6,58.2,9.6,1003,27922,0.00,2.40,0.00,0.000,4,0.000,0.047,3298,3502,1985,0,0,0,0,0,0
$GC,27950,0.62,246.6,54.9,9.4,1005,27957,0.12,2.40,0.00,0.000,6,0.123,0.037,3268,1882,1985,0,0,0,0,0,0
$GC,28211,0.62,246.6,32.7,8.7,1030,28215,0.00,2.33,0.00,0.000,4,0.000,0.048,3278,326,1984,0,0,0,0,0,0
$GC,28255,0.62,246.6,29.3,6.8,1033,28261,0.00,2.30,0.00,0.000,6,0.000,0.038,3278,1911,1985,0,0,0,0,0,0
$GC,28452,0.71,325.5,17.7,3.9,1052,28526,0.00,2.47,65.28,0.682,4,0.000,0.048,3278,3499,1666,0,0,0,0,0,0
$GC,28565,0.72,327.4,12.5,6.0,1062,28571,0.00,2.40,0.00,0.000,6,0.000,0.037,3289,1906,1664,0,0,0,0,0,0
$STATE,28699,end climb,SURFACE_DEPTH_REACHED
$STATE,28699,begin surface coast
$FINISH,0.5,1.024005
$STATE,28730,end surface coast,CONTROL_FINISHED_OK
$STATE,28730,begin surface
$SM_CCo,28747,42.67,0.669,0,0,1363,400.08
$SM_GC,1.36,0.00,0.00,42.67,0.000,0.000,0.669,112,2150,1363,-9.25,0.85,400.08
$IRIDIUM_FIX,2234.68,12729.56,210712,111158
$TT8_MAMPS,0.028379
$HUMID,1078728377
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,22.0,54.949
$10V_AH,9.8,46.729
$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,21.175,287.575,429.100,42.675,0.000,57.752,75.062,366.564,0.000,0.000,14.646,2363.642,22770.453,667.580,3166.698,509.043,33.388,2182.511,0.000,2656.035,0.000,0.541,0.000
$DEVICE_MAMPS,217.828,58.292,1472.640,668.824,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,736.916,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354676
$DATA_FILE_SIZE,36759,1078
$CAP_FILE_SIZE,310512,0
$CFSIZE,260165632,194699264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270111,005154,2242.360,12731.681,24,1.3,41,-3.3