version: 66.07
glider: 500
mission: 5
dive: 342
start: 2 2 111 20 36 37
data:
$ID,500
$MISSION,5
$DIVE,342
$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,-127336.25
$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,3079
$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,1915
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,54
$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
$GPS1,020211,202700,2218.639,12809.253,36,1.4,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.3
$GPS2,020211,203543,2218.662,12809.155,12,1.7,29,-3.2
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,T2
$TGT_LATLONG,2049.515,12946.832
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.096,-0.199
$KALMAN_X,-764484.6,-439.3,-581.0,1270520.6,-2113.0
$KALMAN_Y,-127612.4,-39.2,-394.5,255823.8,5551.1
$MHEAD_RNG_PITCHd_Wd,157.5,236317,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
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$GC,15712,-0.50,-155.7,844.2,-4.2,564,15716,0.00,2.47,0.00,0.000,4,0.000,0.058,2879,3682,3597,0,0,0,0,0,0
$GC,15761,-0.50,-155.7,846.5,-4.1,565,15766,0.12,2.35,0.00,0.000,6,0.114,0.037,2924,2090,3597,0,0,0,0,0,0
$GC,16075,-0.50,-155.7,858.9,-4.1,573,16079,0.00,2.45,0.00,0.000,4,0.000,0.057,2913,3678,3596,0,0,0,0,0,0
$GC,16215,-0.50,-155.7,864.5,-4.2,576,16219,0.00,2.35,0.00,0.000,6,0.000,0.038,2913,2107,3596,0,0,0,0,0,0
$GC,16528,-0.50,-155.7,875.8,-3.5,584,16533,0.00,2.45,0.00,0.000,4,0.000,0.057,2902,3680,3595,0,0,0,0,0,0
$GC,16623,-0.50,-155.7,878.8,-3.3,586,16627,0.00,2.35,0.00,0.000,6,0.000,0.036,2902,2091,3595,0,0,0,0,0,0
$GC,16936,-0.50,-155.7,886.7,-2.3,594,16940,0.00,2.50,0.00,0.000,4,0.000,0.057,2890,3686,3595,0,0,0,0,0,0
$GC,17003,-0.50,-155.7,888.0,-1.5,595,17008,0.00,2.38,0.00,0.000,6,0.000,0.038,2892,2103,3594,0,0,0,0,0,0
$GC,17340,-0.50,-155.7,895.6,-2.5,604,17344,0.00,2.47,0.00,0.000,4,0.000,0.058,2879,3682,3594,0,0,0,0,0,0
$GC,17425,-0.50,-155.7,898.3,-3.4,606,17430,0.12,2.38,0.00,0.000,6,0.114,0.037,2923,2088,3591,0,0,0,0,0,0
$GC,17749,-0.50,-155.7,911.7,-4.6,614,17753,0.00,2.50,0.00,0.000,4,0.000,0.058,2912,3683,3593,0,0,0,0,0,0
$GC,17904,-0.50,-155.7,919.8,-5.3,617,17908,0.00,2.35,0.00,0.000,6,0.000,0.038,2912,2102,3593,0,0,0,0,0,0
$GC,18246,-0.50,-155.7,936.7,-4.9,626,18250,0.00,2.50,0.00,0.000,4,0.000,0.058,2901,3681,3593,0,0,0,0,0,0
$GC,18307,-0.50,-155.7,939.4,-4.2,627,18312,0.00,2.35,0.00,0.000,6,0.000,0.038,2901,2092,3592,0,0,0,0,0,0
$GC,18651,-0.50,-155.7,952.3,-3.6,636,18655,0.00,2.47,0.00,0.000,4,0.000,0.057,2890,3683,3593,0,0,0,0,0,0
$GC,18690,-0.50,-155.7,953.6,-2.7,637,18694,0.00,2.35,0.00,0.000,6,0.000,0.038,2889,2101,3591,0,0,0,0,0,0
$GC,19015,-0.50,-155.7,963.6,-3.0,645,19019,0.00,2.47,0.00,0.000,4,0.000,0.059,2878,3680,3590,0,0,0,0,0,0
$GC,19098,-0.50,-155.7,966.0,-3.0,646,19104,0.12,2.35,0.00,0.000,6,0.113,0.038,2923,2097,3591,0,0,0,0,0,0
$GC,19429,-0.50,-155.7,974.4,-2.7,655,19433,0.00,2.53,0.00,0.000,4,0.000,0.058,2909,3682,3590,0,0,0,0,0,0
$GC,19582,-0.50,-155.7,979.0,-3.5,658,19586,0.00,2.40,0.00,0.000,6,0.000,0.037,2914,2090,3590,0,0,0,0,0,0
$STATE,19880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,19880,begin apogee
$GC,19886,-0.23,0.0,991.9,4.7,666,20025,0.25,0.00,136.35,1.532,6,0.084,0.000,3008,1909,2995,0,0,0,0,0,0
$STATE,20028,end apogee,CONTROL_FINISHED_OK
$STATE,20028,begin climb
$GC,20031,0.50,155.7,994.0,0.0,669,20197,0.62,2.75,155.38,1.486,4,0.058,0.052,3253,352,2359,0,0,0,0,0,0
$GC,20249,0.50,155.7,973.0,13.0,674,20253,0.00,2.53,0.00,0.000,6,0.000,0.045,3254,1914,2351,0,0,0,0,0,0
$GC,20561,0.50,155.7,932.0,13.3,682,20565,0.00,2.47,0.00,0.000,4,0.000,0.057,3254,3495,2343,0,0,0,0,0,0
$GC,20638,0.50,155.7,920.5,13.4,683,20644,0.00,2.40,0.00,0.000,6,0.000,0.043,3266,1930,2341,0,0,0,0,0,0
$GC,20969,0.50,155.7,873.1,14.2,692,20973,0.00,2.45,0.00,0.000,4,0.000,0.053,3279,335,2339,0,0,0,0,0,0
$GC,20989,0.50,155.7,869.9,12.0,692,20995,0.12,2.38,0.00,0.000,6,0.129,0.048,3238,1911,2339,0,0,0,0,0,0
$GC,21333,0.50,155.7,828.9,12.1,701,21337,0.00,2.47,0.00,0.000,4,0.000,0.057,3237,3503,2338,0,0,0,0,0,0
$GC,21427,0.50,155.7,815.7,13.6,703,21431,0.00,2.40,0.00,0.000,6,0.000,0.043,3249,1921,2340,0,0,0,0,0,0
$GC,21745,0.50,155.7,771.9,13.8,711,21750,0.00,2.45,0.00,0.000,4,0.000,0.055,3261,330,2337,0,0,0,0,0,0
$GC,21786,0.50,155.7,766.5,15.9,712,21790,0.00,2.40,0.00,0.000,6,0.000,0.048,3261,1918,2336,0,0,0,0,0,0
$GC,22109,0.50,155.7,721.8,13.6,720,22113,0.00,2.45,0.00,0.000,4,0.000,0.056,3261,3500,2336,0,0,0,0,0,0
$GC,22192,0.50,155.7,710.0,13.3,722,22197,0.10,2.40,0.00,0.000,6,0.157,0.043,3243,1909,2336,0,0,0,0,0,0
$GC,22516,0.50,155.7,675.0,10.2,730,22520,0.00,2.42,0.00,0.000,4,0.000,0.054,3254,328,2335,0,0,0,0,0,0
$GC,22559,0.50,155.7,670.7,9.7,731,22563,0.00,2.42,0.00,0.000,6,0.000,0.047,3253,1918,2335,0,0,0,0,0,0
$GC,22884,0.50,155.7,635.7,11.6,739,22888,0.00,2.45,0.00,0.000,4,0.000,0.057,3254,3501,2335,0,0,0,0,0,0
$GC,22978,0.50,155.7,622.6,13.9,741,22982,0.00,2.40,0.00,0.000,6,0.000,0.042,3265,1906,2336,0,0,0,0,0,0
$GC,23291,0.50,155.7,580.8,13.0,749,23295,0.00,2.47,0.00,0.000,4,0.000,0.058,3271,3498,2334,0,0,0,0,0,0
$GC,23324,0.50,155.7,576.4,12.0,749,23330,0.12,2.42,0.00,0.000,6,0.139,0.044,3239,1912,2334,0,0,0,0,0,0
$GC,23654,0.50,155.7,545.1,8.8,758,23658,0.00,2.45,0.00,0.000,4,0.000,0.056,3250,324,2334,0,0,0,0,0,0
$GC,23680,0.50,155.7,542.8,7.6,758,23685,0.00,2.38,0.00,0.000,6,0.000,0.047,3251,1918,2334,0,0,0,0,0,0
$GC,24018,0.50,155.7,512.9,9.3,767,24022,0.00,2.45,0.00,0.000,4,0.000,0.057,3251,3499,2334,0,0,0,0,0,0
$GC,24067,0.50,155.7,507.3,12.2,768,24071,0.00,2.42,0.00,0.000,6,0.000,0.043,3263,1908,2333,0,0,0,0,0,0
$GC,24385,0.50,155.7,470.2,12.2,776,24389,0.00,2.45,0.00,0.000,4,0.000,0.053,3275,334,2332,0,0,0,0,0,0
$GC,24481,0.50,155.7,458.3,12.5,778,24486,0.12,2.40,0.00,0.000,6,0.123,0.048,3232,1918,2334,0,0,0,0,0,0
$GC,24798,0.50,155.7,430.5,8.2,786,24803,0.00,2.45,0.00,0.000,4,0.000,0.056,3232,3502,2334,0,0,0,0,0,0
$GC,24877,0.50,155.7,423.9,9.4,787,24882,0.00,2.40,0.00,0.000,6,0.000,0.041,3242,1906,2334,0,0,0,0,0,0
$GC,25207,0.50,155.7,397.5,8.1,796,25208,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1906,2334,0,0,0,0,0,0
$GC,25532,0.50,155.7,369.0,8.8,804,25533,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1906,2334,0,0,0,0,0,0
$GC,25857,0.50,155.7,337.8,9.8,812,25858,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1906,2335,0,0,0,0,0,0
$GC,26183,0.50,155.7,311.3,7.6,820,26184,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1906,2336,0,0,0,0,0,0
$GC,26488,0.50,155.7,289.8,7.8,830,26493,0.00,2.42,0.00,0.000,4,0.000,0.051,3256,330,2337,0,0,0,0,0,0
$GC,26527,0.50,155.7,286.3,8.4,832,26532,0.00,2.38,0.00,0.000,6,0.000,0.042,3260,1924,2338,0,0,0,0,0,0
$GC,26855,0.50,155.7,254.7,9.0,848,26859,0.00,2.42,0.00,0.000,4,0.000,0.054,3256,3499,2338,0,0,0,0,0,0
$GC,26898,0.50,155.7,250.6,10.8,850,26902,0.00,2.40,0.00,0.000,6,0.000,0.041,3268,1905,2338,0,0,0,0,0,0
$GC,27224,0.50,155.7,223.3,9.1,866,27229,0.00,2.40,0.00,0.000,4,0.000,0.050,3281,333,2340,0,0,0,0,0,0
$GC,27287,0.50,155.7,217.4,9.7,869,27292,0.12,2.35,0.00,0.000,6,0.122,0.041,3235,1918,2339,0,0,0,0,0,0
$GC,27606,0.50,155.7,193.7,7.6,888,27610,0.00,2.42,0.00,0.000,4,0.000,0.052,3237,3502,2341,0,0,0,0,0,0
$GC,27684,0.50,155.7,187.3,8.4,894,27689,0.00,2.38,0.00,0.000,6,0.000,0.038,3247,1916,2341,0,0,0,0,0,0
$GC,27946,0.50,155.7,168.4,7.4,919,27950,0.00,2.45,0.00,0.000,4,0.000,0.051,3259,334,2340,0,0,0,0,0,0
$GC,27985,0.50,155.7,165.5,7.7,922,27990,0.00,2.35,0.00,0.000,6,0.000,0.042,3259,1918,2341,0,0,0,0,0,0
$GC,28247,0.50,155.7,144.4,6.6,946,28251,0.00,2.42,0.00,0.000,4,0.000,0.052,3259,3492,2343,0,0,0,0,0,0
$GC,28332,0.50,155.7,137.0,7.0,953,28336,0.00,2.38,0.00,0.000,6,0.000,0.041,3272,1920,2344,0,0,0,0,0,0
$GC,28593,0.50,155.7,117.1,6.7,977,28597,0.00,2.42,0.00,0.000,4,0.000,0.050,3284,326,2344,0,0,0,0,0,0
$GC,28717,0.50,155.7,106.6,8.8,987,28723,0.12,2.35,0.00,0.000,6,0.116,0.041,3239,1924,2345,0,0,0,0,0,0
$GC,28977,0.50,155.7,90.2,6.0,1012,28981,0.00,2.42,0.00,0.000,4,0.000,0.054,3238,3488,2345,0,0,0,0,0,0
$GC,29050,0.50,155.7,85.3,7.0,1018,29055,0.00,2.40,0.00,0.000,6,0.000,0.041,3248,1914,2346,0,0,0,0,0,0
$GC,29312,0.54,186.4,71.7,5.2,1042,29341,0.00,0.00,25.25,0.718,6,0.000,0.000,3253,1914,2236,0,0,0,0,0,0
$GC,29598,0.61,239.3,58.0,4.6,1069,29650,0.00,2.50,44.83,0.755,4,0.000,0.051,3258,325,2019,0,0,0,0,0,0
$GC,29684,0.61,239.3,53.7,6.4,1077,29689,0.00,2.38,0.00,0.000,6,0.000,0.041,3258,1915,2016,0,0,0,0,0,0
$GC,29947,0.61,239.3,37.2,6.7,1101,29951,0.00,2.45,0.00,0.000,4,0.000,0.050,3258,324,2013,0,0,0,0,0,0
$GC,30204,0.61,239.3,15.6,8.5,1123,30210,0.00,2.38,0.00,0.000,6,0.000,0.041,3251,1924,2012,0,0,0,0,0,0
$STATE,30335,end climb,SURFACE_DEPTH_REACHED
$STATE,30335,begin surface coast
$FINISH,0.4,1.023526
$STATE,30369,end surface coast,CONTROL_FINISHED_OK
$STATE,30369,begin surface
$SM_CCo,30390,78.62,0.726,0,0,1364,400.08
$SM_GC,1.19,0.00,0.00,78.62,0.000,0.000,0.726,113,2116,1364,-9.27,0.45,400.08
$IRIDIUM_FIX,2213.68,12808.65,280712,060653
$TT8_MAMPS,0.059059
$HUMID,1078656119
$INTERNAL_PRESSURE,9.17882
$TCM_TEMP,24.40
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,1
$AR_CDRIVE_FREE,8318812160
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,51486785536
$AR_DDRIVE_SIZE,59996930048
$24V_AH,21.8,58.960
$10V_AH,9.8,50.019
$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,21.400,313.800,361.800,78.625,0.000,28.204,39.915,299.796,0.000,0.000,31.700,2363.239,24168.162,681.767,3295.769,483.116,33.389,2302.160,0.000,2893.816,0.000,0.541,0.000
$DEVICE_MAMPS,218.595,65.962,1532.466,725.582,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,779.086,0.000,0.000,0.000,0.000,0.000,0.000,30423.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,2.372,0.000,0.000
$MEM,354956
$DATA_FILE_SIZE,40073,1139
$CAP_FILE_SIZE,254117,0
$CFSIZE,260165632,192602112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030211,050601,2218.055,12810.436,35,1.9,35,-3.2