version: 66.07
glider: 500
mission: 5
dive: 322
start: 1 27 111 1 0 44
data:
$ID,500
$MISSION,5
$DIVE,322
$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,-126895.17
$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,3075
$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,2140
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,55
$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,2
$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
$GPS1,270111,005154,2242.360,12731.681,24,1.3,41,-3.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-74.7
$GPS2,270111,005950,2242.286,12731.694,12,1.6,12,-3.3
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.098,-0.198
$KALMAN_X,-710787.9,-113.0,-100.3,1151321.4,1291.6
$KALMAN_Y,-130516.6,-360.9,65.8,302368.4,2463.0
$MHEAD_RNG_PITCHd_Wd,156.8,313592,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
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$GC,4043,-0.50,-155.7,363.9,-5.2,257,4047,0.00,2.38,0.00,0.000,4,0.000,0.044,2913,555,3638,0,0,0,0,0,0
$GC,4173,-0.50,-155.7,371.7,-5.8,259,4178,0.00,2.33,0.00,0.000,6,0.000,0.041,2902,2152,3638,0,0,0,0,0,0
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$GC,4865,-0.50,-155.7,416.7,-6.3,277,4869,0.00,2.40,0.00,0.000,4,0.000,0.050,2878,3726,3638,0,0,0,0,0,0
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$GC,7721,-0.50,-155.7,576.3,-5.8,347,7726,0.10,2.33,0.00,0.000,6,0.130,0.034,2915,2134,3628,0,0,0,0,0,0
$GC,8044,-0.50,-155.7,592.4,-4.9,355,8048,0.00,2.35,0.00,0.000,4,0.000,0.044,2915,564,3627,0,0,0,0,0,0
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$GC,15933,-0.50,-155.7,908.9,-3.1,547,15937,0.00,2.35,0.00,0.000,6,0.000,0.044,2883,2143,3599,0,0,0,0,0,0
$GC,16275,-0.50,-155.7,920.7,-3.8,556,16279,0.00,2.45,0.00,0.000,4,0.000,0.054,2871,3724,3600,0,0,0,0,0,0
$GC,16458,-0.50,-155.7,929.6,-5.4,560,16463,0.12,2.38,0.00,0.000,6,0.118,0.038,2915,2133,3600,0,0,0,0,0,0
$GC,16772,-0.50,-155.7,941.8,-4.1,568,16776,0.00,2.35,0.00,0.000,4,0.000,0.045,2916,560,3599,0,0,0,0,0,0
$GC,16951,-0.50,-155.7,949.1,-3.3,572,16955,0.00,2.35,0.00,0.000,6,0.000,0.043,2908,2150,3598,0,0,0,0,0,0
$GC,17269,-0.50,-155.7,961.4,-3.9,580,17274,0.00,2.38,0.00,0.000,4,0.000,0.044,2906,549,3598,0,0,0,0,0,0
$GC,17336,-0.50,-155.7,964.4,-4.0,581,17341,0.00,2.40,0.00,0.000,6,0.000,0.044,2895,2137,3597,0,0,0,0,0,0
$GC,17679,-0.50,-155.7,980.1,-4.7,590,17682,0.00,2.35,0.00,0.000,4,0.000,0.047,2900,562,3597,0,0,0,0,0,0
$GC,17785,-0.50,-155.7,985.3,-5.0,592,17790,0.00,2.35,0.00,0.000,6,0.000,0.044,2881,2144,3597,0,0,0,0,0,0
$STATE,17894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17894,begin apogee
$GC,17900,-0.23,0.0,990.2,4.4,595,18037,0.32,0.00,134.55,1.460,6,0.087,0.000,3003,1918,2994,0,0,0,0,0,0
$STATE,18040,end apogee,CONTROL_FINISHED_OK
$STATE,18040,begin climb
$GC,18043,0.50,155.7,991.7,0.0,598,18206,0.62,2.72,150.75,1.411,4,0.065,0.051,3246,364,2362,0,0,0,0,0,0
$GC,18229,0.50,155.7,972.9,12.5,602,18233,0.00,2.53,0.00,0.000,6,0.000,0.042,3247,1921,2356,0,0,0,0,0,0
$GC,18570,0.50,155.7,925.6,14.3,611,18574,0.00,2.47,0.00,0.000,4,0.000,0.053,3247,3517,2345,0,0,0,0,0,0
$GC,18658,0.50,155.7,911.6,17.9,613,18662,0.00,2.40,0.00,0.000,6,0.000,0.042,3259,1942,2343,0,0,0,0,0,0
$GC,18983,0.50,155.7,861.5,15.1,621,18987,0.00,2.47,0.00,0.000,4,0.000,0.053,3272,328,2341,0,0,0,0,0,0
$GC,19015,0.50,155.7,856.5,17.0,621,19022,0.12,2.42,0.00,0.000,6,0.131,0.045,3231,1932,2338,0,0,0,0,0,0
$GC,19346,0.50,155.7,816.0,12.0,630,19350,0.00,2.42,0.00,0.000,4,0.000,0.054,3227,3515,2338,0,0,0,0,0,0
$GC,19424,0.50,155.7,806.0,12.1,631,19430,0.00,2.42,0.00,0.000,6,0.000,0.043,3242,1909,2338,0,0,0,0,0,0
$GC,19754,0.50,155.7,761.7,13.5,640,19759,0.00,2.50,0.00,0.000,4,0.000,0.053,3242,3520,2338,0,0,0,0,0,0
$GC,19781,0.50,155.7,757.6,16.0,640,19786,0.00,2.45,0.00,0.000,6,0.000,0.043,3254,1927,2338,0,0,0,0,0,0
$GC,20119,0.50,155.7,710.8,13.3,649,20123,0.00,2.42,0.00,0.000,4,0.000,0.053,3267,337,2337,0,0,0,0,0,0
$GC,20190,0.50,155.7,701.5,11.4,650,20194,0.00,2.38,0.00,0.000,6,0.000,0.046,3267,1923,2338,0,0,0,0,0,0
$GC,20526,0.50,155.7,659.6,12.4,659,20531,0.00,2.47,0.00,0.000,4,0.000,0.058,3266,3521,2339,0,0,0,0,0,0
$GC,20599,0.50,155.7,649.6,13.4,660,20604,0.12,2.45,0.00,0.000,6,0.140,0.044,3240,1914,2336,0,0,0,0,0,0
$GC,20929,0.50,155.7,609.7,12.4,668,20933,0.00,2.42,0.00,0.000,4,0.000,0.055,3250,341,2335,0,0,0,0,0,0
$GC,20973,0.50,155.7,604.2,12.0,669,20978,0.00,2.40,0.00,0.000,6,0.000,0.046,3250,1938,2335,0,0,0,0,0,0
$GC,21298,0.50,155.7,564.4,12.0,677,21302,0.00,2.42,0.00,0.000,4,0.000,0.054,3250,3510,2335,0,0,0,0,0,0
$GC,21341,0.50,155.7,558.5,12.9,678,21345,0.00,2.40,0.00,0.000,6,0.000,0.044,3262,1929,2335,0,0,0,0,0,0
$GC,21666,0.50,155.7,515.8,13.1,686,21671,0.00,2.42,0.00,0.000,4,0.000,0.054,3275,332,2334,0,0,0,0,0,0
$GC,21705,0.50,155.7,510.2,12.3,687,21711,0.12,2.38,0.00,0.000,6,0.126,0.046,3234,1923,2336,0,0,0,0,0,0
$GC,22029,0.50,155.7,478.2,9.4,695,22033,0.00,2.45,0.00,0.000,4,0.000,0.051,3232,3522,2334,0,0,0,0,0,0
$GC,22090,0.50,155.7,471.8,10.7,696,22094,0.00,2.42,0.00,0.000,6,0.000,0.041,3244,1900,2333,0,0,0,0,0,0
$GC,22431,0.50,155.7,437.6,10.0,705,22435,0.00,2.35,0.00,0.000,4,0.000,0.052,3256,351,2334,0,0,0,0,0,0
$GC,22457,0.50,155.7,435.0,9.4,705,22462,0.00,2.38,0.00,0.000,6,0.000,0.044,3256,1931,2337,0,0,0,0,0,0
$GC,22795,0.50,155.7,400.4,10.2,714,22799,0.00,2.42,0.00,0.000,4,0.000,0.053,3256,3512,2334,0,0,0,0,0,0
$GC,22900,0.50,155.7,388.3,10.8,716,22904,0.00,2.40,0.00,0.000,6,0.000,0.041,3269,1929,2334,0,0,0,0,0,0
$GC,23249,0.50,155.7,349.9,11.1,725,23253,0.00,2.42,0.00,0.000,4,0.000,0.050,3281,340,2334,0,0,0,0,0,0
$GC,23283,0.50,155.7,345.8,13.0,725,23289,0.15,2.38,0.00,0.000,6,0.120,0.041,3230,1927,2335,0,0,0,0,0,0
$GC,23613,0.50,155.7,319.3,7.7,734,23617,0.00,2.47,0.00,0.000,4,0.000,0.051,3229,3520,2335,0,0,0,0,0,0
$GC,23673,0.50,155.7,314.1,8.5,735,23678,0.00,2.40,0.00,0.000,6,0.000,0.039,3241,1925,2331,0,0,0,0,0,0
$GC,24004,0.50,155.7,287.5,8.7,747,24008,0.00,2.42,0.00,0.000,4,0.000,0.051,3253,325,2336,0,0,0,0,0,0
$GC,24031,0.50,155.7,284.9,8.6,748,24035,0.00,2.40,0.00,0.000,6,0.000,0.041,3253,1940,2336,0,0,0,0,0,0
$GC,24352,0.50,155.7,255.0,9.1,764,24356,0.00,2.40,0.00,0.000,4,0.000,0.051,3253,3517,2338,0,0,0,0,0,0
$GC,24430,0.50,155.7,247.0,9.4,767,24434,0.00,2.40,0.00,0.000,6,0.000,0.039,3265,1907,2338,0,0,0,0,0,0
$GC,24751,0.50,155.7,218.9,8.4,783,24755,0.00,2.38,0.00,0.000,4,0.000,0.048,3275,341,2339,0,0,0,0,0,0
$GC,24785,0.50,155.7,216.2,8.5,784,24791,0.12,2.35,0.00,0.000,6,0.120,0.041,3233,1924,2339,0,0,0,0,0,0
$GC,25101,0.51,159.1,196.8,5.9,802,25105,0.00,2.45,0.00,0.000,4,0.000,0.049,3233,3517,2339,0,0,0,0,0,0
$GC,25151,0.51,159.1,193.4,6.4,806,25155,0.00,2.38,0.00,0.000,6,0.000,0.039,3243,1927,2339,0,0,0,0,0,0
$GC,25414,0.52,169.3,178.7,5.7,830,25428,0.00,2.47,9.60,0.674,4,0.000,0.050,3256,325,2306,0,0,0,0,0,0
$GC,25463,0.53,177.8,175.9,5.8,834,25477,0.00,2.38,9.57,0.708,6,0.000,0.041,3256,1931,2270,0,0,0,0,0,0
$GC,25738,0.53,177.8,158.2,7.2,860,25742,0.00,2.45,0.00,0.000,4,0.000,0.051,3255,3510,2267,0,0,0,0,0,0
$GC,25815,0.53,177.8,151.9,7.5,866,25821,0.00,2.40,0.00,0.000,6,0.000,0.039,3267,1914,2267,0,0,0,0,0,0
$GC,26078,0.53,177.8,132.2,7.9,891,26082,0.00,2.38,0.00,0.000,4,0.000,0.050,3279,336,2267,0,0,0,0,0,0
$GC,26122,0.53,177.8,128.7,7.2,894,26129,0.10,2.33,0.00,0.000,6,0.126,0.040,3242,1938,2268,0,0,0,0,0,0
$GC,26383,0.59,224.4,114.9,4.8,919,26429,0.00,2.45,40.38,0.741,4,0.000,0.048,3242,3510,2079,0,0,0,0,0,0
$GC,26469,0.60,234.4,110.0,5.7,926,26485,0.00,2.40,9.45,0.660,6,0.000,0.038,3250,1927,2040,0,0,0,0,0,0
$GC,26739,0.60,235.8,95.5,6.0,952,26744,0.00,2.42,0.00,0.000,4,0.000,0.048,3261,325,2035,0,0,0,0,0,0
$GC,26783,0.60,235.8,92.7,7.1,955,26789,0.00,2.38,0.00,0.000,6,0.000,0.038,3261,1936,2036,0,0,0,0,0,0
$GC,27047,0.60,235.8,75.0,7.0,980,27051,0.00,2.45,0.00,0.000,4,0.000,0.050,3261,3515,2036,0,0,0,0,0,0
$GC,27097,0.60,235.8,70.8,9.8,984,27101,0.00,2.38,0.00,0.000,6,0.000,0.038,3272,1921,2036,0,0,0,0,0,0
$GC,27360,0.60,235.8,51.5,7.3,1008,27364,0.00,2.40,0.00,0.000,4,0.000,0.048,3283,335,2036,0,0,0,0,0,0
$GC,27414,0.60,235.8,47.3,6.4,1012,27421,0.00,2.35,0.00,0.000,6,0.000,0.038,3284,1926,2036,0,0,0,0,0,0
$GC,27678,0.60,235.8,23.0,9.9,1037,27682,0.00,2.42,0.00,0.000,4,0.000,0.049,3284,3522,2035,0,0,0,0,0,0
$GC,27739,0.60,235.8,17.0,9.1,1042,27743,0.00,2.35,0.00,0.000,6,0.000,0.035,3296,1920,2035,0,0,0,0,0,0
$STATE,27891,end climb,SURFACE_DEPTH_REACHED
$STATE,27891,begin surface coast
$FINISH,0.9,1.024000
$STATE,27916,end surface coast,CONTROL_FINISHED_OK
$STATE,27916,begin surface
$SM_CCo,27935,83.25,0.673,0,0,1363,400.08
$SM_GC,1.17,0.00,0.00,83.25,0.000,0.000,0.673,108,2164,1363,-9.28,0.71,400.08
$IRIDIUM_FIX,2237.01,12727.71,210712,111105
$TT8_MAMPS,0.059059
$HUMID,1078678055
$INTERNAL_PRESSURE,9.14952
$TCM_TEMP,24.10
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8319401984
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51664912384
$AR_DDRIVE_SIZE,59996930048
$24V_AH,22.0,55.116
$10V_AH,9.9,46.841
$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,21.225,297.300,354.300,83.250,0.000,31.083,37.186,273.827,0.000,0.000,13.983,2186.662,22232.871,660.639,2997.753,416.498,33.379,2147.219,0.000,2605.517,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,59.059,1460.368,673.426,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,723.474,0.000,0.000,0.000,0.000,0.000,0.000,28024.500,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.427,0.000,0.000
$MEM,354684
$DATA_FILE_SIZE,36719,1058
$CAP_FILE_SIZE,235944,0
$CFSIZE,260165632,194674688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270111,084927,2238.783,12734.257,26,2.4,45,-3.3